int main (int argc, char**argv) { //option variables bool do_help = false, do_version = false, do_test = false, has_opt = false, opt_armor = false, opt_yes = false, opt_fingerprint = false, opt_clearsign = false, opt_import_no_action = false; std::string recipient, user, input, output, name, filter, action_param, detach_sign, symmetric; char action = 0; int c, option_index; for (;;) { static struct option long_opts[] = { {"help", 0, 0, 'h' }, {"version", 0, 0, 'V' }, {"test", 0, 0, 'T' }, //global options {"armor", 0, 0, 'a' }, {"yes", 0, 0, 'y' }, {"recipient", 1, 0, 'r' }, {"user", 1, 0, 'u' }, //I/O redirection from default stdin/out {"in", 1, 0, 'R' }, {"out", 1, 0, 'o' }, //keyring management {"list", 0, 0, 'k' }, {"import", 0, 0, 'i' }, {"export", 0, 0, 'p' }, {"delete", 1, 0, 'x' }, {"rename", 1, 0, 'm' }, {"list-secret", 0, 0, 'K' }, {"import-secret", 0, 0, 'I' }, {"export-secret", 0, 0, 'P' }, {"delete-secret", 1, 0, 'X' }, {"rename-secret", 1, 0, 'M' }, {"gen-key", 1, 0, 'g' }, {"name", 1, 0, 'N' }, {"filter", 1, 0, 'F' }, {"fingerprint", 0, 0, 'f' }, {"no-action", 0, 0, 'n' }, //actions {"sign", 0, 0, 's' }, {"verify", 0, 0, 'v' }, {"encrypt", 0, 0, 'e' }, {"decrypt", 0, 0, 'd' }, //action options {"clearsign", 0, 0, 'C' }, {"detach-sign", 1, 0, 'b' }, {"symmetric", 1, 0, 'S' }, {0, 0, 0, 0 } }; option_index = -1; c = getopt_long (argc, argv, "hVTayr:u:R:o:kipx:m:KIPX:M:g:N:F:fnsvedCb:S:", long_opts, &option_index); if (c == -1) break; has_opt = true; switch (c) { case '?': case ':': case 'h': do_help = true; break; #define read_flag(ch,var) case ch: var=true; break; #define read_single_opt(ch,var,errmsg) \ case ch: if(var.length()) {progerr(errmsg); do_help=true;}\ else var=optarg; break; #define read_action(ch) read_action_comb(ch,0,0) #define read_action_comb(ch, hit, comb) \ case ch: \ if(hit && action==hit) { \ action=comb; \ if(optarg) action_param=optarg; \ } else if(action) { \ progerr("please specify a single action"); \ do_help=true; \ } else { \ action=ch; \ if(optarg) action_param=optarg; \ } break; read_flag ('V', do_version) read_flag ('T', do_test) read_flag ('a', opt_armor) read_flag ('y', opt_yes) read_single_opt ('r', recipient, "specify only one recipient") read_single_opt ('u', user, "specify only one local user") read_single_opt ('R', input, "cannot accept multiple inputs") read_single_opt ('o', output, "cannot accept multiple outputs") read_action ('k') read_action ('i') read_action ('p') read_action ('x') read_action ('m') read_action ('K') read_action ('I') read_action ('P') read_action ('X') read_action ('M') read_action ('g') read_single_opt ('N', name, "please specify single name") read_single_opt ('F', filter, "please specify single filter string") read_flag ('f', opt_fingerprint) read_flag ('n', opt_import_no_action) /* * combinations of s+e and d+v are possible. result is * 'E' = "big encrypt with sig" and 'D' "big decrypt * with verify". */ read_action_comb ('s', 'e', 'E') read_action_comb ('v', 'd', 'D') read_action_comb ('e', 's', 'E') read_action_comb ('d', 'v', 'D') read_flag ('C', opt_clearsign) read_single_opt ('b', detach_sign, "specify only one detach-sign file") read_single_opt ('S', symmetric, "specify only one symmetric parameter") #undef read_flag #undef read_single_opt #undef read_action default: //which doesn't just happen. do_help = true; break; } } if (optind != argc) { progerr ("unmatched non-option parameters"); do_help = true; } if ( (!has_opt) || do_help) { print_help (argv[0]); return 0; } if (do_version) { print_version(); return 0; } /* * something will be happening, therefore init everything */ keyring KR; algorithm_suite AS; //register all available algorithms fill_algorithm_suite (AS); /* * cin/cout redirection */ int exitval = 0; if (input.length() && !redirect_cin (input) ) { progerr ("could not open input file"); exitval = 1; goto exit; } if (output.length() && !redirect_cout (output) ) { progerr ("could not redirect to output file"); exitval = 1; goto exit; } /* * check the option flags and do whatever was requested */ if (do_test) { test(); goto exit; } if (symmetric.length() ) switch (action) { case 's': case 'v': break; default: progerr ("specified action doesn't support symmetric operation"); exitval = 1; goto exit; } switch (action) { case 'g': exitval = action_gen_key (action_param, name, KR, AS); break; case 'e': exitval = action_encrypt (recipient, opt_armor, KR, AS); break; case 'd': exitval = action_decrypt (opt_armor, KR, AS); break; case 's': exitval = action_sign (user, opt_armor, detach_sign, opt_clearsign, symmetric, KR, AS); break; case 'v': exitval = action_verify (opt_armor, detach_sign, opt_clearsign, opt_yes, symmetric, KR, AS); break; case 'E': exitval = action_sign_encrypt (user, recipient, opt_armor, KR, AS); break; case 'D': exitval = action_decrypt_verify (opt_armor, opt_yes, KR, AS); break; case 'k': exitval = action_list (opt_fingerprint, filter, KR); break; case 'i': exitval = action_import (opt_armor, opt_import_no_action, opt_yes, opt_fingerprint, filter, name, KR); break; case 'p': exitval = action_export (opt_armor, filter, name, KR); break; case 'x': exitval = action_delete (opt_yes, action_param, KR); break; case 'm': exitval = action_rename (opt_yes, action_param, name, KR); break; case 'K': exitval = action_list_sec (opt_fingerprint, filter, KR); break; case 'I': exitval = action_import_sec (opt_armor, opt_import_no_action, opt_yes, opt_fingerprint, filter, name, KR); break; case 'P': exitval = action_export_sec (opt_armor, opt_yes, filter, name, KR); break; case 'X': exitval = action_delete_sec (opt_yes, action_param, KR); break; case 'M': exitval = action_rename_sec (opt_yes, action_param, name, KR); break; default: progerr ("no action specified, use `--help'"); exitval = 1; break; } /* * all done. * keyring is _not_ automatically saved here to prevent frequent * rewriting and due the fact that everything that modifies it _must_ * also ensure and verify that it was written back correctly. */ exit: if (!KR.close() ) { progerr ("could not close keyring, " "something weird is going to happen."); } return exitval; }
/** * passes the problem to the Planner; the plan to post-processing. */ bool RDDLSIMPlannerInterface::runPlanner() { // save problem to file for planner if(use_problem_topic && problem_instance_received) { ROS_INFO("KCL: (%s) (%s) Writing problem to file.", ros::this_node::getName().c_str(), problem_name.c_str()); std::ofstream dest; dest.open((problem_path).c_str()); dest << problem_instance; dest.close(); } // prepare the planner command line std::string str = planner_command; std::size_t dit = str.find("DOMAIN"); if(dit!=std::string::npos) str.replace(dit,6,domain_path); std::size_t pit = str.find("PROBLEM"); if(pit!=std::string::npos) str.replace(pit,7,problem_path); std::string commandString = str + " > " + data_path + "plan.pddl"; // call the planer ROS_INFO("KCL: (%s) (%s) Running: %s", ros::this_node::getName().c_str(), problem_name.c_str(), commandString.c_str()); std::string plan = runCommand(commandString.c_str()); ROS_INFO("KCL: (%s) (%s) Planning complete", ros::this_node::getName().c_str(), problem_name.c_str()); // CHECK PLANNER OUTPUT // Planner output example: // ** Actions received: [move-current-dir(e1, e3);, open-door-going-down(e0);] // ** Actions received: [close-door(e1);] // check the planner solved the problem std::ifstream planfile; planfile.open((data_path + "plan.pddl").c_str()); std::string line; planner_output.clear(); std::regex actionline_rgx("\\*\\* Actions received: \\[(.*)\\]"); // Action received line filter // Action name and parameters extraction: if more than one action, it my have a comma and a space. // Then we group the action name and the parameters, ignoring the parenthesis. if no parameters the second part is matched std::regex action_name_params_rgx(",?\\s?(.+)\\((.*)\\)|,?\\s?(.+)"); std::smatch match; int action_idx = 0; while (std::getline(planfile, line)) { // Check any action was found if (std::regex_search(line, match, actionline_rgx)) { std::istringstream action_list(match[1].str()); // Get all the actions in a sstream std::string action; while (getline(action_list, action, ';')) { // Get each action separately if (std::regex_search(action, match, action_name_params_rgx)) { // Separate action name and parameters // output_format: 0.000: (undock kenny wp1) [10.000]\n std::string action_name = (match[1].str().empty())? match[3].str(): match[1].str(); planner_output += std::to_string(action_idx) + ": (" + action_name; // Action name std::istringstream p(match[2].str()); // parameters std::string param; while (getline(p, param, ',')) { planner_output += " "+ param; } planner_output += ") [0.001]\n"; // Close parenthesis and add duration } } ++action_idx; } } planfile.close(); bool solved = !planner_output.empty(); if(!solved) ROS_INFO("KCL: (%s) (%s) Plan was unsolvable.", ros::this_node::getName().c_str(), problem_name.c_str()); else ROS_INFO("KCL: (%s) (%s) Plan was solved.", ros::this_node::getName().c_str(), problem_name.c_str()); return solved; }