/usr/lib/ruby/ignition/cmdtransport4.rb is in libignition-transport4-dev 4.0.0+dfsg-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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# 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.
# We use 'dl' for Ruby <= 1.9.x and 'fiddle' for Ruby >= 2.0.x
if RUBY_VERSION.split('.')[0] < '2'
require 'dl'
require 'dl/import'
include DL
else
require 'fiddle'
require 'fiddle/import'
include Fiddle
end
require 'optparse'
# Constants.
LIBRARY_NAME = '../../../lib/x86_64-linux-gnu/libignition-transport4.so'
LIBRARY_VERSION = '4.0.0'
COMMON_OPTIONS =
" -h [ --help ] Print this help message.\n"\
" \n" +
" --force-version <VERSION> Use a specific library version.\n"\
" \n" +
' --versions Show the available versions.'
COMMANDS = { 'topic' =>
"Print information about topics.\n\n" +
" ign topic [options]\n\n" +
"Options:\n\n" +
" -i [ --info ] Get info about a topic.\n"+
" Requires the -t option.\n"+
" \n"+
" -l [ --list ] List all topics.\n" +
" \n"+
" -t [ --topic ] arg Name of a topic.\n" +
" Required with -i, -p.\n" +
" \n"+
" -m [ --msgtype ] arg Type of message to " +
"publish.\n" +
" Arg is a message type.\n" +
" Required with -p.\n" +
" \n"+
" -p [ --pub ] arg Publish a message.\n" +
" arg is the message data." +
" The format expected is\n " +
" the same used by Protobuf DebugString(). E.g.:\n\n" +
" ign topic -t /foo -m " +
" ignition.msgs.StringMsg\n " +
" -p \'data:\"Custom data\"\'\n\n" +
" Requires -t and -m.\n" +
" \n"+
" -e [ --echo ] Output data to screen." +
" E.g.:\n\n" +
" ign topic -e -t /foo\n" +
" \n"+
" Requires -t.\n" +
" \n"+
" -d [--duration] arg Duration (seconds) to run"+
". Applicable with echo.\n" +
" \n"+
COMMON_OPTIONS,
'service' =>
"Print information about services.\n\n" +
" ign service [options]\n\n" +
"Options:\n\n" +
" -i [ --info ] Get info about a service."+
"\n" +
" Requires the -s option.\n"+
" \n"+
" -l [ --list ] List all services.\n" +
" \n"+
" -s [ --service ] arg Name of a service.\n" +
" Arg is a service name.\n" +
" Required with -i, -r.\n" +
" \n"+
" -r [ --req ] arg Request a service.\n" +
" Arg is the input data." +
" The format expected is\n " +
" the same used by Protobuf DebugString(). E.g.:\n\n" +
" ign service -s /echo\n" +
" --reqtype ignition.msgs"+
".StringMsg\n" +
" --reptype ignition.msgs"+
".StringMsg\n" +
" --timeout 2000 --req \'"+
"data: \"Hello\"\n\n" +
" Requires -s, --timeout,\n"+
" --reqtype, --reptype.\n" +
" \n"+
" --timeout arg Timeout in milliseconds." +
"\n Arg is a timeout in " +
"milliseconds.\n" +
" Required with -r.\n" +
" \n"+
" --reqtype arg Type of a request.\n" +
" Arg is the request type." +
" \n\n"+
" --reptype arg Type of a response.\n" +
" Arg is the response type."+
" \n\n"+
COMMON_OPTIONS
}
#
# Class for the Ignition transport command line tools.
#
class Cmd
#
# Return a structure describing the options.
#
def parse(args)
options = {}
usage = COMMANDS[args[0]]
# Read the command line arguments.
opt_parser = OptionParser.new do |opts|
opts.banner = usage
opts.on('-h', '--help', 'Print this help message') do
puts usage
exit(0)
end
opts.on('-l', '--list', 'Print information about topics') do |l|
options['list'] = l
end
opts.on('-t topic', '--topic', String,
'Topic name') do |t|
options['topic'] = t
end
opts.on('-s service', '--service', String,
'Service name') do |t|
options['service'] = t
end
opts.on('-m type', '--msgtype', String,
'Message type') do |t|
options['msgtype'] = t
end
opts.on('-p data', '--pub', String,
'Publish a message') do |t|
options['pub'] = t
end
opts.on('-i', '--info', String,
'Print information about a topic') do |t|
options['info'] = t
end
opts.on('-r data', '--req', String,
'Request a data') do |t|
options['req'] = t
end
opts.on('--timeout data', Integer,
'Timeout') do |t|
options['timeout'] = t
end
opts.on('--reqtype type', String,
'Request type') do |t|
options['reqtype'] = t
end
opts.on('--reptype type', String,
'Response type') do |t|
options['reptype'] = t
end
opts.on('-e', '--echo', String,
'Output topic data to screen') do |e|
options['echo'] = e
end
opts.on('-d secs', '--duration', Float,
'Duration (seconds) to run') do |d|
options['duration'] = d
end
end
begin
opt_parser.parse!(args)
rescue
puts usage
exit(-1)
end
# Check that there is at least one command and there is a plugin that knows
# how to handle it.
if ARGV.empty? || !COMMANDS.key?(ARGV[0]) ||
options.empty?
puts usage
exit(-1)
end
options['command'] = ARGV[0]
options
end # parse()
def execute(args)
options = parse(args)
# puts 'Parsed:'
# puts options
# Read the plugin that handles the command.
# We're assuming that the library path is relative to the current
# location of this script.
plugin = File.expand_path(File.join(File.dirname(__FILE__), LIBRARY_NAME))
conf_version = LIBRARY_VERSION
begin
Importer.dlload plugin
rescue DLError
puts "Library error: [#{plugin}] not found."
exit(-1)
end
# Read the library version.
Importer.extern 'char* ignitionVersion()'
begin
plugin_version = Importer.ignitionVersion.to_s
rescue DLError
puts "Library error: Problem running 'ignitionVersion()' from #{plugin}."
exit(-1)
end
# Sanity check: Verify that the version of the yaml file matches the version
# of the library that we are using.
unless plugin_version.eql? conf_version
puts "Error: Version mismatch. Your configuration file version is
[#{conf_version}] but #{plugin} version is [#{plugin_version}]."
exit(-1)
end
begin
case options['command']
when 'topic'
if options.key?('list')
Importer.extern 'void cmdTopicList()'
Importer.cmdTopicList
elsif options.key?('info')
if not options.key?('topic')
puts 'ign topic --info: missing topic name (-t <topic>)'
puts 'Try ign topic --help'
else
Importer.extern 'void cmdTopicInfo(const char *)'
Importer.cmdTopicInfo(options['topic'])
end
elsif options.key?('pub')
if not options.key?('topic')
puts 'ign topic --pub: missing topic name (-t <topic>)'
puts 'Try ign topic --help'
elsif not options.key?('msgtype')
puts 'ign topic --pub: missing message type (--msgtype <type>)'
puts 'Try ign topic --help'
else
Importer.extern 'void cmdTopicPub(const char *, const char *, const char *)'
Importer.cmdTopicPub(options['topic'], options['msgtype'],
options['pub'])
end
elsif options.key?('echo')
if not options.key?('topic')
puts 'ign topic --echo: missing topic name (-t <topic>)'
puts 'Try ign topic --help'
else
duration = -1.0
if options.key?('duration')
duration = options['duration']
end
Importer.extern 'void cmdTopicEcho(const char*, double)'
topic = options['topic']
Importer.cmdTopicEcho(topic, duration.to_f)
end
else
puts 'Command error: I do not have an implementation '\
'for this command.'
end
when 'service'
if options.key?('list')
Importer.extern 'void cmdServiceList()'
Importer.cmdServiceList
elsif options.key?('info')
if not options.key?('service')
puts 'ign service --info: missing service name (-s <service>)'
puts 'Try ign service --help'
else
Importer.extern 'void cmdServiceInfo(const char *)'
Importer.cmdServiceInfo(options['service'])
end
elsif options.key?('req')
if not options.key?('service')
puts 'ign service --req: missing service name (-s <service>)'
puts 'Try ign service --help'
elsif not options.key?('reqtype')
puts 'ign service --req: missing input type (--reqtype <type>)'
puts 'Try ign service --help'
elsif not options.key?('reptype')
puts 'ign service --req: missing response type (--reptype <type>)'
puts 'Try ign service --help'
elsif not options.key?('timeout')
puts 'ign service --req: missing timeout in ms (--timeout '\
'<timeout>)'
puts 'Try ign service --help'
else
Importer.extern 'void cmdServiceReq(const char *, const char *,'\
'const char *, int, const char *)'
Importer.cmdServiceReq(options['service'], options['reqtype'],
options['reptype'], options['timeout'], options['req'])
end
else
puts 'Command error: I do not have an implementation '\
'for this command.'
end
else
puts 'Command error: I do not have an implementation for '\
"command [ign #{options['command']}]."
end
rescue
puts "Library error: Problem running [#{options['command']}]() "\
"from #{plugin}."
end
end
end
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