[openrtm-commit:03351] r3424 - in trunk/OpenRTM-aist/src/lib: coil/posix/coil coil/vxworks/coil coil/win32/coil rtm
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openrtm ＠ openrtm.org
2018年 11月 1日 (木) 17:59:24 JST
Author: miyamoto
Date: 2018-11-01 17:59:24 +0900 (Thu, 01 Nov 2018)
New Revision: 3424
Modified:
trunk/OpenRTM-aist/src/lib/coil/posix/coil/Process.cpp
trunk/OpenRTM-aist/src/lib/coil/posix/coil/Process.h
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.cpp
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.h
trunk/OpenRTM-aist/src/lib/coil/win32/coil/Process.cpp
trunk/OpenRTM-aist/src/lib/coil/win32/coil/Process.h
trunk/OpenRTM-aist/src/lib/rtm/ModuleManager.cpp
Log:
[incompat]
Modified: trunk/OpenRTM-aist/src/lib/coil/posix/coil/Process.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/posix/coil/Process.cpp 2018-11-01 08:39:08 UTC (rev 3423)
+++ trunk/OpenRTM-aist/src/lib/coil/posix/coil/Process.cpp 2018-11-01 08:59:24 UTC (rev 3424)
@@ -20,6 +20,7 @@
#ifndef COIL_PROCESS_H
#define COIL_PROCESS_H
+#include <coil/File.h>
#include <coil/stringutil.h>
#include <stdlib.h>
@@ -30,6 +31,7 @@
#include <sys/stat.h>
#include <string>
+
namespace coil
{
@@ -81,6 +83,27 @@
return daemon(nochdir, noclose);
}
+ int create_process(std::string command, std::vector<std::string> &out)
+ {
+ FILE* fd;
+ out.clear();
+ if ((fd = popen(command.c_str(), "r")) == NULL)
+ {
+ //std::cerr << "popen faild" << std::endl;
+ return -1;
+ }
+ do
+ {
+ char str[512];
+ fgets(str, 512, fd);
+ std::string line(str);
+ if (0 < line.size())
+ line.erase(line.size() - 1);
+ out.push_back(line);
+ } while (!feof(fd));
+ return 0;
+ }
+
}; // namespace coil
#endif // COIL_PROCESS_H
Modified: trunk/OpenRTM-aist/src/lib/coil/posix/coil/Process.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/posix/coil/Process.h 2018-11-01 08:39:08 UTC (rev 3423)
+++ trunk/OpenRTM-aist/src/lib/coil/posix/coil/Process.h 2018-11-01 08:59:24 UTC (rev 3424)
@@ -60,5 +60,27 @@
int daemon(int nochdir, int noclose);
+ /*!
+ * @if jp
+ * @brief ¥×¥í¥»¥¹¤òµ¯Æ°¤·¤Æ½ÐÎϤò¼èÆÀ¤¹¤ë
+ *
+ *
+ *
+ * @param cmd µ¯Æ°¤¹¤ë¼Â¹Ô¥Õ¥¡¥¤¥ë¤Î¥Õ¥ë¥Ñ¥¹
+ * @param out ½ÐÎÏ·ë²Ì
+ * @return 0: À®¸ù, -1: ¼ºÇÔ
+ *
+ * @else
+ * @brief Launching a process
+ *
+ *
+ * @param command full path string to a command to be executed.
+ * @param out
+ * @return 0: successful, -1: failed
+ *
+ * @endif
+ */
+ int create_process(std::string command, std::vector<std::string> &out);
+
}; // namespace coil
#endif // COIL_PROCESS_H
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.cpp 2018-11-01 08:39:08 UTC (rev 3423)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.cpp 2018-11-01 08:59:24 UTC (rev 3424)
@@ -48,6 +48,11 @@
return -1;
}
+ int create_process(std::string command, std::vector<std::string> &out)
+ {
+ return -1;
+ }
+
}; // namespace coil
#endif // COIL_PROCESS_H
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.h 2018-11-01 08:39:08 UTC (rev 3423)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.h 2018-11-01 08:59:24 UTC (rev 3424)
@@ -57,5 +57,7 @@
int daemon(int nochdir, int noclose);
+ int create_process(std::string command, std::vector<std::string> &out);
+
}; // namespace coil
#endif // COIL_PROCESS_H
Modified: trunk/OpenRTM-aist/src/lib/coil/win32/coil/Process.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/win32/coil/Process.cpp 2018-11-01 08:39:08 UTC (rev 3423)
+++ trunk/OpenRTM-aist/src/lib/coil/win32/coil/Process.cpp 2018-11-01 08:59:24 UTC (rev 3424)
@@ -68,5 +68,81 @@
// not implemented
return 0;
}
+
+
+ /*!
+ * @if jp
+ * @brief プロセスを起動して出力を取得する
+ *
+ * @else
+ *
+ * @endif
+ */
+ int create_process(std::string command, std::vector<std::string> &out)
+ {
+ HANDLE rPipe, wPipe;
+ SECURITY_ATTRIBUTES sa;
+ sa.nLength = sizeof(sa);
+ sa.bInheritHandle = TRUE;
+ sa.lpSecurityDescriptor = NULL;
+ if (!CreatePipe(&rPipe, &wPipe, &sa, 0))
+ {
+ return -1;
+ }
+
+
+ STARTUPINFO si = { 0 };
+ si.cb = sizeof(si);
+ si.dwFlags = STARTF_USESTDHANDLES;
+ si.hStdInput = stdin;
+ si.hStdOutput = wPipe;
+ si.hStdError = wPipe;
+
+
+#ifdef UNICODE
+ // std::string -> LPTSTR
+ std::wstring wcommand = string2wstring(command);
+ LPTSTR lpcommand = new TCHAR[wcommand.size() + 1];
+ _tcscpy(lpcommand, wcommand.c_str());
+#else
+ // std::string -> LPTSTR
+ LPTSTR lpcommand = new TCHAR[command.size() + 1];
+ _tcscpy(lpcommand, command.c_str());
+#endif // UNICODE
+
+ PROCESS_INFORMATION pi = { 0 };
+ if (!CreateProcess(NULL, lpcommand, NULL, NULL, TRUE, CREATE_NO_WINDOW, NULL, NULL, &si, &pi))
+ {
+ delete lpcommand;
+ return -1;
+ }
+
+
+ WaitForSingleObject(pi.hProcess, INFINITE);
+ CloseHandle(pi.hProcess);
+ CloseHandle(pi.hThread);
+
+
+ char Buf[1025] = { 0 };
+ DWORD len;
+ ReadFile(rPipe, Buf, sizeof(Buf) - 1, &len, NULL);
+
+
+ out = coil::split(std::string(Buf), "\n");
+
+ for (coil::vstring::iterator itr = out.begin(); itr != out.end(); ++itr)
+ {
+ std::string &tmp = (*itr);
+ if (0 < tmp.size())
+ {
+ tmp.erase(tmp.size() - 1);
+ }
+ coil::eraseBothEndsBlank(tmp);
+ }
+
+ delete lpcommand;
+ return 0;
+
+ }
}; // namespace coil
Modified: trunk/OpenRTM-aist/src/lib/coil/win32/coil/Process.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/win32/coil/Process.h 2018-11-01 08:39:08 UTC (rev 3423)
+++ trunk/OpenRTM-aist/src/lib/coil/win32/coil/Process.h 2018-11-01 08:59:24 UTC (rev 3424)
@@ -90,6 +90,29 @@
return line;
}
};
+
+ /*!
+ * @if jp
+ * @brief プロセスを起動して出力を取得する
+ *
+ *
+ *
+ * @param cmd 起動する実行ファイルのフルパス
+ * @param out 出力結果
+ * @return 0: 成功, -1: 失敗
+ *
+ * @else
+ * @brief Launching a process
+ *
+ *
+ * @param command full path string to a command to be executed.
+ * @param out
+ * @return 0: successful, -1: failed
+ *
+ * @endif
+ */
+ int create_process(std::string command, std::vector<std::string> &out);
+
}; // namespace coil
inline FILE* popen(const char* cmd, const char* mode)
Modified: trunk/OpenRTM-aist/src/lib/rtm/ModuleManager.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ModuleManager.cpp 2018-11-01 08:39:08 UTC (rev 3423)
+++ trunk/OpenRTM-aist/src/lib/rtm/ModuleManager.cpp 2018-11-01 08:59:24 UTC (rev 3424)
@@ -567,33 +567,35 @@
for (size_t i(0), len(modules.size()); i < len; ++i)
{
+
std::string cmd(lprop["profile_cmd"]);
cmd += " \"" + modules[i] + "\"";
- FILE* fd;
- if ((fd = popen(cmd.c_str(), "r")) == NULL)
- {
- std::cerr << "popen faild" << std::endl;
- m_loadfailmods.push_back(modules[i]);
+
+ coil::vstring out;
+ if (coil::create_process(cmd, out) == -1)
+ {
+ std::cerr << "create_process faild" << std::endl;
continue;
- }
+ }
coil::Properties p;
- do
- {
- char str[512];
- fgets(str, 512, fd);
- std::string line(str);
- if (0 < line.size())
- line.erase(line.size() - 1);
- std::string::size_type pos(line.find(":"));
+
+ for (coil::vstring::iterator itr = out.begin(); itr != out.end(); ++itr)
+ {
+ std::string tmp = (*itr);
+ std::string::size_type pos(tmp.find(":"));
if (pos != std::string::npos)
- {
- std::string key(line.substr(0, pos));
+ {
+ std::string key(tmp.substr(0, pos));
coil::eraseBothEndsBlank(key);
- p[key] = line.substr(pos + 1);
+ p[key] = tmp.substr(pos + 1);
coil::eraseBothEndsBlank(p[key]);
- }
- } while (!feof(fd));
- pclose(fd);
+ }
+
+ }
+
+
+
+
RTC_DEBUG(("rtcprof cmd sub process done."));
if (p["implementation_id"].empty()) {
m_loadfailmods.push_back(modules[i]);
@@ -602,6 +604,7 @@
p["module_file_name"] = coil::basename(modules[i].c_str());
p["module_file_path"] = modules[i].c_str();
modprops.push_back(p);
+
}
#endif
}
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