Added standalone executable

loader/src/cmd/CMakeLists.txt

@@ -1,3 +1,26 @@
+add_library(ign STATIC ign.cc)
+target_include_directories(ign PUBLIC ${CMAKE_SOURCE_DIR}/loader/include)
+target_link_libraries(ign PUBLIC
+  ${PROJECT_LIBRARY_TARGET_NAME}
+)
+
+set(plugin_executable ign-plugin)
+add_executable(${plugin_executable} plugin_main.cc)
+target_link_libraries(${plugin_executable}
+  ign
+  ignition-utils${IGN_UTILS_VER}::cli
+  ${loader}
+)
+
+set(INSTALL_STANDALONE_EXECUTABLE "${IGN_LIB_INSTALL_DIR}/ignition/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
+
+install(
+  TARGETS
+  ${plugin_executable}
+  DESTINATION
+  ${INSTALL_STANDALONE_EXECUTABLE}
+)
+
 #===============================================================================
 # Generate the ruby script for internal testing.
 # Note that the major version of the library is included in the name.
@@ -7,7 +30,7 @@ set(cmd_script_configured_test "${CMAKE_CURRENT_BINARY_DIR}/test_cmd${IGN_DESIGN
 
 # Set the library_location variable to the full path of the library file within
 # the build directory.
-set(library_location "$<TARGET_FILE:${loader}>")
+set(plugin_exe_location "$<TARGET_FILE:${plugin_executable}>")
 
 configure_file(
   "cmd${IGN_DESIGNATION}.rb.in"
@@ -29,7 +52,7 @@ set(cmd_script_configured "${CMAKE_CURRENT_BINARY_DIR}/cmd${IGN_DESIGNATION}${PR
 
 # Set the library_location variable to the relative path to the library file
 # within the install directory structure.
-set(library_location "../../../${CMAKE_INSTALL_LIBDIR}/$<TARGET_FILE_NAME:${loader}>")
+set(plugin_exe_location "${CMAKE_INSTALL_PREFIX}/${INSTALL_STANDALONE_EXECUTABLE}/$<TARGET_FILE_NAME:${plugin_executable}>")
 
 configure_file(
   "cmd${IGN_DESIGNATION}.rb.in"

loader/src/cmd/cmdplugin.rb.in

@@ -1,6 +1,6 @@
-#!/usr/bin/ruby
+#!/usr/bin/env ruby
 
-# Copyright (C) 2020 Open Source Robotics Foundation
+# Copyright (C) 2021 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.
@@ -14,172 +14,52 @@
 # 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'
+require 'open3'
 
 # Constants.
-LIBRARY_NAME = '@library_location@'
 LIBRARY_VERSION = '@PROJECT_VERSION_FULL@'
-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 = {  'plugin' =>
-                    "Print information about plugins.\n\n"                    +
-                    "  ign plugin [options]\n\n"                              +
-                    "Options:\n\n"                                            +
-                    "  -i [ --info ]              Get info about a plugin.\n" +
-                    "                             Requires the -p option.\n"  +
-                    "\n"                                                      +
-                    "  -p [ --plugin ] arg        Path to a plugin.\n"        +
-                    "                             Required with -i.\n"        +
-                    "\n"                                                      +
-                    "  -v [ --verbose ]           Print verbose info.\n"      +
-                    "\n"                                                      +
-                    COMMON_OPTIONS
-           }
+COMMANDS = {
+  "plugin" => "@plugin_exe_location@",
+}
 
 #
-# Class for the Ignition plugin command line tools.
+# Class for the Ignition @IGN_DESIGNATION@ 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('-i', '--info', String,
-              'Print information about a plugin') do |t|
-        options['info'] = t
-      end
-
-      opts.on('-p plugin', '--plugin', String,
-              'Plugin name') do |t|
-        options['plugin'] = t
-      end
-
-      opts.on('-v', '--verbose', 'Print verbose info') do
-        options["verbose"] = 1
-      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
+    command = args[0]
+    exe_name = COMMANDS[command]
 
-    # Read the plugin that handles the command.
-    if LIBRARY_NAME[0] == '/'
+    if exe_name[0] == '/'
       # If the first character is a slash, we'll assume that we've been given an
-      # absolute path to the library. This is only used during test mode.
-      plugin = LIBRARY_NAME
+      # 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.
-      plugin = File.expand_path(File.join(File.dirname(__FILE__), LIBRARY_NAME))
+      exe_name = File.expand_path(File.join(File.dirname(__FILE__), exe_name))
     end
     conf_version = LIBRARY_VERSION
-
-    begin
-      Importer.dlload plugin
-    rescue DLError
-      puts "Library error: [#{plugin}] not found."
-      if plugin.end_with? ".dylib"
-        puts "If this script was executed with /usr/bin/ruby, this error may be caused by
-macOS System Integrity Protection. One workaround is to use a different
-version of ruby, for example:
-    brew install ruby
-and add the following line to your shell profile:
-    export PATH=/usr/local/opt/ruby/bin:$PATH"
-      end
-      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
+    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 plugin_version.eql? conf_version
+    unless exe_version.eql? conf_version
       puts "Error: Version mismatch. Your configuration file version is
-            [#{conf_version}] but #{plugin} version is [#{plugin_version}]."
+            [#{conf_version}] but #{exe_name} version is [#{exe_version}]."
       exit(-1)
     end
 
-    begin
-      case options['command']
-      when 'plugin'
-        if options.key?('info')
-          if not options.key?('plugin')
-            puts 'ign plugin --info: missing plugin name (-p <plugin>)'
-            puts 'Try ign plugin --help'
-          else
-            options["verbose"] = 0 if !options.key?('verbose')
-            Importer.extern 'void cmdPluginInfo(const char *, int)'
-            Importer.cmdPluginInfo(options['plugin'], options["verbose"])
-          end
-        else
-          puts 'Command error: I do not have an implementation '\
-               'for this command.'
+    # 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
-      else
-        puts 'Command error: I do not have an implementation for '\
-             "command [ign #{options['command']}]."
+        exit(wait_thr.value.exitstatus)
+      rescue Interrupt => e
+        print e.message
+        exit(-1)
       end
-    rescue
-      puts "Library error: Problem running [#{options['command']}]() "\
-           "from #{plugin}."
     end
   end
 end

loader/src/ign.cc → loader/src/cmd/ign.cc

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2020 Open Source Robotics Foundation
+ * Copyright (C) 2021 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.
@@ -15,17 +15,17 @@
  *
 */
 
+#include <cstring>
 #include <iostream>
 #include <string>
+#include <unordered_set>
 
 #include "ignition/plugin/Loader.hh"
 #include "ignition/plugin/config.hh"
-
-using namespace ignition;
-using namespace plugin;
+#include "ign.hh"
 
 //////////////////////////////////////////////////
-extern "C" void IGNITION_PLUGIN_LOADER_VISIBLE cmdPluginInfo(
+extern "C" void cmdPluginInfo(
     const char *_plugin, int _verbose)
 {
   if (!_plugin || std::string(_plugin).empty())
@@ -73,7 +73,7 @@ extern "C" void IGNITION_PLUGIN_LOADER_VISIBLE cmdPluginInfo(
 }
 
 //////////////////////////////////////////////////
-extern "C" const char IGNITION_PLUGIN_LOADER_VISIBLE *ignitionVersion()
+extern "C" const char *ignitionVersion()
 {
-  return IGNITION_PLUGIN_VERSION_FULL;
+  return strdup(IGNITION_PLUGIN_VERSION_FULL);
 }

loader/src/cmd/ign.hh

@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+
+#ifndef IGNITION_PLUGIN_IGN_HH_
+#define IGNITION_PLUGIN_IGN_HH_
+
+#include "ignition/plugin/Export.hh"
+
+/// \brief External hook to read the library version.
+/// \return C-string representing the version. Ex.: 0.1.2
+extern "C" const char *ignitionVersion();
+
+/// \brief Plugin info
+/// \param[in] _plugin Name of the plugin
+/// \param[in] _verbose Verbosity level
+extern "C" void cmdPluginInfo(const char *_plugin, int _verbose);
+
+#endif