Add standalone executables

CMakeLists.txt

@@ -39,6 +39,11 @@ ign_find_package(TINYXML2 REQUIRED PRIVATE PRETTY tinyxml2)
 ign_find_package(ignition-common4 REQUIRED PRIVATE)
 set(IGN_COMMON_MAJOR_VER ${ignition-common4_VERSION_MAJOR})
 
+#--------------------------------------
+# Find ignition-utils
+ign_find_package(ignition-utils1 REQUIRED COMPONENTS cli)
+set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
+
 #--------------------------------------
 # Find ignition-plugin
 ign_find_package(ignition-plugin1 REQUIRED_BY launch COMPONENTS loader register)

examples/ls.ign

@@ -0,0 +1,6 @@
+<?xml version='1.0'?>
+<ignition version='1.0'>
+  <executable name='ls'>
+    <command>ls</command>
+  </executable>
+</ignition>

src/CMakeLists.txt

@@ -1,13 +1,11 @@
 # add_subdirectory(plugins)
 
 set (sources
-  ign.cc
   Manager.cc
 )
 
 set (gtest_sources
   Manager_TEST.cc
-  ign_TEST.cc
 )
 
 # Create the library target.
@@ -35,62 +33,4 @@ ign_build_tests(TYPE UNIT SOURCES ${gtest_sources}
                   ignition-common${IGN_COMMON_MAJOR_VER}::ignition-common${IGN_COMMON_MAJOR_VER}
 )
 
-# Generate a the ruby script.
-# Note that the major version of the library is included in the name.
-# Ex: cmdlaunch0.rb
-if (APPLE)
-  set(IGN_LIBRARY_NAME lib${PROJECT_LIBRARY_TARGET_NAME}.dylib)
-else()
-  set(IGN_LIBRARY_NAME lib${PROJECT_LIBRARY_TARGET_NAME}.so)
-endif()
-
-configure_file(
-  "cmdlaunch.rb.in"
-  "${CMAKE_CURRENT_BINARY_DIR}/cmdlaunch${PROJECT_VERSION_MAJOR}.rb" @ONLY)
-
-
-# Install the ruby command line library in an unversioned location.
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/cmdlaunch${PROJECT_VERSION_MAJOR}.rb DESTINATION lib/ruby/ignition)
-
-set(ign_library_path
-  "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmdlaunch${PROJECT_VERSION_MAJOR}")
-
-# Generate a configuration file.
-# Note that the major version of the library is included in the name.
-# Ex: fuel0.yaml
-configure_file(
-  "launch.yaml.in"
-    "${CMAKE_CURRENT_BINARY_DIR}/launch${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
-
-# Install the yaml configuration files in an unversioned location.
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/launch${PROJECT_VERSION_MAJOR}.yaml DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/ignition/)
-
-#===============================================================================
-# Generate the ruby script for internal testing.
-# Note that the major version of the library is included in the name.
-# Ex: cmdlaunch0.rb
-set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmdlaunch${PROJECT_VERSION_MAJOR}.rb")
-set(cmd_script_configured_test "${cmd_script_generated_test}.configured")
-
-# Set the library_location variable to the full path of the library file within
-# the build directory.
-set(IGN_LIBRARY_NAME "$<TARGET_FILE:${PROJECT_LIBRARY_TARGET_NAME}>")
-
-configure_file(
-  "cmdlaunch.rb.in"
-  "${cmd_script_configured_test}"
-  @ONLY)
-
-file(GENERATE
-  OUTPUT "${cmd_script_generated_test}"
-  INPUT  "${cmd_script_configured_test}")
-
-# Used only for internal testing.
-set(ign_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmdlaunch${PROJECT_VERSION_MAJOR}")
-
-# Generate a configuration file for internal testing.
-# Note that the major version of the library is included in the name.
-# Ex: launch0.yaml
-configure_file(
-  "launch.yaml.in"
-    "${CMAKE_BINARY_DIR}/test/conf/launch${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+add_subdirectory(cmd)

src/cmd/CMakeLists.txt

@@ -0,0 +1,126 @@
+# Collect source files into the "sources" variable and unit test files into the
+# "gtest_sources" variable.
+ign_get_libsources_and_unittests(sources gtest_sources)
+
+add_library(ign STATIC ign.cc)
+target_include_directories(ign PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(ign PUBLIC
+  ${PROJECT_LIBRARY_TARGET_NAME}
+  ignition-common${IGN_COMMON_MAJOR_VER}::ignition-common${IGN_COMMON_MAJOR_VER}
+)
+
+set(launch_executable ign-launch)
+add_executable(${launch_executable} launch_main.cc)
+target_link_libraries(${launch_executable}
+  ign
+  ignition-utils${IGN_UTILS_VER}::cli
+  ignition-common${IGN_COMMON_MAJOR_VER}::ignition-common${IGN_COMMON_MAJOR_VER}
+)
+
+install(
+  TARGETS
+  ${launch_executable}
+  DESTINATION
+  ${IGN_LIB_INSTALL_DIR}/ignition/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}/
+)
+
+# Build the unit tests.
+ign_build_tests(TYPE UNIT SOURCES ${gtest_sources}
+  TEST_LIST test_list
+  LIB_DEPS ${EXTRA_TEST_LIB_DEPS})
+
+foreach(test ${test_list})
+  target_link_libraries(${test} ign)
+
+  # Inform each test of its output directory so it knows where to call the
+  # auxiliary files from. Using a generator expression here is useful for
+  # multi-configuration generators, like Visual Studio.
+  target_compile_definitions(${test} PRIVATE
+    "DETAIL_IGN_TRANSPORT_TEST_DIR=\"$<TARGET_FILE_DIR:${test}>\""
+    "IGN_TEST_LIBRARY_PATH=\"$<TARGET_FILE_DIR:${PROJECT_LIBRARY_TARGET_NAME}>\"")
+
+endforeach()
+
+if (TARGET UNIT_ign_TEST)
+  set_tests_properties(
+    UNIT_ign_TEST
+    PROPERTIES
+    ENVIRONMENT
+      "IGN_CONFIG_PATH=${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>"
+  )
+endif()
+
+#===============================================================================
+# Generate the ruby script for internal testing.
+# Note that the major version of the library is included in the name.
+# Ex: cmdlaunch5.rb
+set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_script_configured_test "${CMAKE_CURRENT_BINARY_DIR}/test_cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb.configured")
+
+# Set the library_location variable to the full path of the library file within
+# the build directory.
+set(launch_exe_location "$<TARGET_FILE:${launch_executable}>")
+
+configure_file(
+  "cmd${IGN_DESIGNATION}.rb.in"
+  "${cmd_script_configured_test}"
+  @ONLY
+)
+
+file(GENERATE
+  OUTPUT "${cmd_script_generated_test}"
+  INPUT  "${cmd_script_configured_test}"
+)
+
+#===============================================================================
+# Used for the installed version.
+# Generate the ruby script that gets installed.
+# Note that the major version of the library is included in the name.
+# Ex: cmdlaunch5.rb
+set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_script_configured "${cmd_script_generated}.configured")
+
+# Set the library_location variable to the relative path to the library file
+# within the install directory structure.
+set(launch_exe_location "../../../${CMAKE_INSTALL_LIBDIR}/ignition/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}/$<TARGET_FILE_NAME:${launch_executable}>")
+
+message("launch_exe_location " ${launch_exe_location})
+
+configure_file(
+  "cmd${IGN_DESIGNATION}.rb.in"
+  "${cmd_script_configured}"
+  @ONLY)
+
+file(GENERATE
+  OUTPUT "${cmd_script_generated}"
+  INPUT  "${cmd_script_configured}")
+
+set(ign_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
+
+# Generate a configuration file for internal testing.
+# Note that the major version of the library is included in the name.
+# Ex: launch5.yaml
+configure_file(
+  "${IGN_DESIGNATION}.yaml.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml.configured" @ONLY)
+
+file(GENERATE
+  OUTPUT "${CMAKE_BINARY_DIR}/test/conf/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml"
+  INPUT "${CMAKE_CURRENT_BINARY_DIR}/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml.configured")
+
+# Used for the installed version.
+set(ign_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
+
+# Generate the configuration file that is installed.
+# Note that the major version of the library is included in the name.
+# Ex: launch5.yaml
+configure_file(
+  "${IGN_DESIGNATION}.yaml.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+
+# Install the yaml configuration files in an unversioned location.
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/ignition/)
+
+# Install the ruby command line library in an unversioned location.
+install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition)

src/cmd/cmdlaunch.rb.in

@@ -0,0 +1,65 @@
+#!/usr/bin/env ruby
+
+# Copyright (C) 2014 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+require 'open3'
+
+# Constants.
+LIBRARY_VERSION = '@PROJECT_VERSION_FULL@'
+COMMANDS = {
+  "launch" => "@launch_exe_location@",
+}
+
+#
+# Class for the Ignition launch command line tools.
+#
+class Cmd
+  def execute(args)
+    command = args[0]
+    exe_name = COMMANDS[command]
+
+    if exe_name[0] == '/'
+      # If the first character is a slash, we'll assume that we've been given an
+      # absolute path to the executable. This is only used during test mode.
+    else
+      # We're assuming that the library path is relative to the current
+      # location of this script.
+      exe_name = File.expand_path(File.join(File.dirname(__FILE__), exe_name))
+    end
+    conf_version = LIBRARY_VERSION
+    exe_version = `#{exe_name} --version`.strip
+
+    # Sanity check: Verify that the version of the yaml file matches the version
+    # of the library that we are using.
+    unless exe_version.eql? conf_version
+      puts "Error: Version mismatch. Your configuration file version is
+            [#{conf_version}] but #{exe_name} version is [#{exe_version}]."
+      exit(-1)
+    end
+
+    # Drop command from list of arguments
+    Open3.popen2e(exe_name, *args[1..-1]) do |_in, out_err, wait_thr|
+      begin
+        out_err.each do |line|
+          print line
+        end
+        exit(wait_thr.value.exitstatus)
+      rescue Interrupt => e
+        print e.message
+        exit(-1)
+      end
+    end
+  end
+end

src/ign.cc → src/cmd/ign.cc

@@ -19,29 +19,28 @@
 
 #include "ignition/launch/config.hh"
 #include "ign.hh"
-#include "Manager.hh"
+#include "../Manager.hh"
 
 //////////////////////////////////////////////////
-extern "C" IGNITION_LAUNCH_VISIBLE char *ignitionVersion()
+extern "C" char *ignitionVersion()
 {
   return strdup(IGNITION_LAUNCH_VERSION_FULL);
 }
 
 //////////////////////////////////////////////////
-extern "C" IGNITION_LAUNCH_VISIBLE const char *configPath()
+extern "C" const char *configPath()
 {
   return IGNITION_LAUNCH_INITIAL_CONFIG_PATH;
 }
 
 //////////////////////////////////////////////////
-extern "C" IGNITION_LAUNCH_VISIBLE void cmdVerbosity(
-    const char *_verbosity)
+extern "C" void cmdVerbosity(const int _verbosity)
 {
-  ignition::common::Console::SetVerbosity(std::atoi(_verbosity));
+  ignition::common::Console::SetVerbosity(_verbosity);
 }
 
 //////////////////////////////////////////////////
-extern "C" IGNITION_LAUNCH_VISIBLE int run(const char *_config)
+extern "C" int run(const char *_config)
 {
   ignition::launch::Manager mgr;
   return mgr.RunConfig(_config);

src/ign.hh → src/cmd/ign.hh

@@ -21,17 +21,17 @@
 
 /// \brief External hook to read the library version.
 /// \return C-string representing the version. Ex.: 0.1.2
-extern "C" IGNITION_LAUNCH_VISIBLE char *ignitionVersion();
+extern "C" char *ignitionVersion();
 
 /// \brief Set verbosity level
 /// \param[in] _verbosity 0 to 4
-extern "C" IGNITION_LAUNCH_VISIBLE void cmdVerbosity(
-    const char *_verbosity);
+extern "C" void cmdVerbosity(
+    const int _verbosity);
 
 /// \brief External hook to execute 'ign fuel list -t model' from the command
 /// line.
 /// \param[in] _config Config file to run.
 /// \return 1 if successful, 0 if not.
-extern "C" IGNITION_LAUNCH_VISIBLE int run(const char *_config);
+extern "C" int run(const char *_config);
 
 #endif

src/ign_TEST.cc → src/cmd/ign_TEST.cc

@@ -49,8 +49,7 @@ std::string customExecStr(std::string _cmd)
 TEST(CmdLine, Ls)
 {
   std::string cmd = std::string("IGN_CONFIG_PATH=") + IGN_CONFIG_PATH +
-    " ign launch " +
-    std::string(PROJECT_SOURCE_PATH) + "/test/config/ls.ign";
+    " ign launch " + std::string(PROJECT_SOURCE_PATH) + "/test/config/ls.ign";
 
   std::cout << "Running command [" << cmd << "]" << std::endl;
 
@@ -72,3 +71,40 @@ TEST(CmdLine, EchoSelf)
   std::string output = customExecStr(cmd);
   EXPECT_EQ(filePath, output) << output;
 }
+
+/////////////////////////////////////////////////
+TEST(CmdLine, HelpSelf)
+{
+  std::string cmd = std::string("IGN_CONFIG_PATH=") + IGN_CONFIG_PATH +
+    " ign launch --help";
+
+  std::string output = customExecStr(cmd);
+  EXPECT_NE(std::string::npos,
+    output.find("Introspect Ignition launch")) << output;
+}
+
+/////////////////////////////////////////////////
+TEST(CmdLine, EchoErb)
+{
+  std::string filePath =
+      std::string(PROJECT_SOURCE_PATH) + "/test/config/erb.ign";
+
+  std::string cmd = std::string("IGN_CONFIG_PATH=") + IGN_CONFIG_PATH +
+    " ign launch " + filePath + " testVar:=erb1234";
+
+  std::string output = customExecStr(cmd);
+  EXPECT_EQ("erb1234", output) << output;
+}
+
+/////////////////////////////////////////////////
+TEST(CmdLine, EchoBadErb)
+{
+  std::string filePath =
+      std::string(PROJECT_SOURCE_PATH) + "/test/config/erb.ign";
+
+  std::string cmd = std::string("IGN_CONFIG_PATH=") + IGN_CONFIG_PATH +
+    " ign launch " + filePath + " badargument";
+
+  std::string output = customExecStr(cmd);
+  EXPECT_NE(std::string::npos, output.find("is wrong for erb")) << output;
+}