Added ros::package wrapper.

CMakeLists.txt

@@ -49,6 +49,7 @@ set(SOURCES
   include/qml_ros_plugin/image_transport_subscriber.h
   include/qml_ros_plugin/message_conversions.h
   include/qml_ros_plugin/node_handle.h
+  include/qml_ros_plugin/package.h
   include/qml_ros_plugin/publisher.h
   include/qml_ros_plugin/qml_ros_conversion.h
   include/qml_ros_plugin/qobject_ros.h
@@ -68,6 +69,7 @@ set(SOURCES
   src/image_transport_subscriber.cpp
   src/message_conversions.cpp
   src/node_handle.cpp
+  src/package.cpp
   src/publisher.cpp
   src/qml_ros_plugin.cpp
   src/qobject_ros.cpp
@@ -121,6 +123,10 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest_gtest(${PROJECT_NAME}_test_logging test/test_logging.test test/logging.cpp)
   target_link_libraries(${PROJECT_NAME}_test_logging ${PROJECT_NAME})
   set_target_properties(${PROJECT_NAME}_test_logging PROPERTIES OUTPUT_NAME test_logging PREFIX "")
+
+  add_rostest_gtest(${PROJECT_NAME}_test_package test/test_package.test test/package.cpp)
+  target_link_libraries(${PROJECT_NAME}_test_package ${PROJECT_NAME})
+  set_target_properties(${PROJECT_NAME}_test_package PROPERTIES OUTPUT_NAME test_package PREFIX "")
 endif ()
 
 # to run: catkin build --this --no-deps -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug -v --catkin-make-args qml_ros_plugin_coverage

docs/pages/Ros-Singleton.rst

@@ -75,8 +75,24 @@ Example:
     if (Ros.queryTopicType(topics[i]) == "sensor_msgs/Image") cameraTopics.push(topics[i])
   }
 
+Package API
+-----------
+The package property provides a wrapper for ``ros::package``.
+
+.. code-block:: qml
+
+  // Retrieve a list of all packages
+  var packages = Ros.package.getAll()
+  // Get the fully-qualified path to a specific package
+  var path = Ros.package.getPath("some_pkg")
+  // Get plugins for a package as a map [package_name -> [values]]
+  var plugins = Ros.package.getPlugins("rviz", "plugin")
+
 API
 ---
+.. doxygenclass:: qml_ros_plugin::Package
+  :members:
+
 .. doxygenclass:: qml_ros_plugin::TopicInfo
   :members:
 

include/qml_ros_plugin/package.h

@@ -0,0 +1,63 @@
+// Copyright (c) 2020 Stefan Fabian. All rights reserved.
+// Licensed under the MIT license. See LICENSE file in the project root for full license information.
+
+#ifndef QML_ROS_PLUGIN_PACKAGE_H
+#define QML_ROS_PLUGIN_PACKAGE_H
+
+#include <QtCore>
+
+namespace qml_ros_plugin
+{
+
+/*!
+ * A wrapper for ros::package
+ */
+class Package
+{
+Q_GADGET
+
+public:
+  /*!
+   * Runs a command of the form 'rospack <cmd>'. (This does not make a subprocess call!)
+   * @param cmd The command passed to rospack.
+   * @return The output of the command as a string.
+   */
+  Q_INVOKABLE QString command( const QString &cmd );
+
+  /*!
+   * Queries the path to a package.
+   * @param package_name The name of the package.
+   * @return The fully-qualified path to the given package or an empty string if the package is not found.
+   */
+  Q_INVOKABLE QString getPath( const QString &package_name );
+
+  /*!
+   * @return A list of all packages.
+   */
+  Q_INVOKABLE QStringList getAll();
+
+  /*!
+   * Queries for all plugins exported for a given package.
+   *
+   * @code{.xml}
+   * <export>
+   *   <name attribute="value"/>
+   *   <rviz plugin="${prefix}/plugin_description.xml"/>
+   * </export>
+   * @endcode
+   *
+   * To query for rviz plugins you would pass 'rviz' as the name and 'plugin' as the attribute.
+   *
+   * @param name The name of the export tag.
+   * @param attribute The name of the attribute for the value is obtained.
+   * @param force_recrawl Forces rospack to rediscover everything on the system before running the search.
+   * @return A map with the name of the package exporting something for name as the key (string) and a QStringList
+   *   containing all exported values as the value.
+   */
+  Q_INVOKABLE QVariantMap getPlugins( const QString &name, const QString &attribute, bool force_recrawl = false );
+};
+}
+
+Q_DECLARE_METATYPE( qml_ros_plugin::Package );
+
+#endif //QML_ROS_PLUGIN_PACKAGE_H

include/qml_ros_plugin/ros.h

@@ -6,6 +6,7 @@
 
 #include "qml_ros_plugin/console.h"
 #include "qml_ros_plugin/node_handle.h"
+#include "qml_ros_plugin/package.h"
 #include "qml_ros_plugin/topic_info.h"
 
 #include <QJSValue>
@@ -119,6 +120,8 @@ Q_OBJECT
 
   Console console() const;
 
+  Package package() const;
+
   /*!
    * A callback queue that is guaranteed to be called on a background thread.
    * @return A shared pointer to the callback queue.
@@ -157,6 +160,7 @@ Q_OBJECT
 
   // @formatter:off
   Q_PROPERTY( qml_ros_plugin::Console console READ console )
+  Q_PROPERTY( qml_ros_plugin::Package package READ package )
   Q_PROPERTY( QJSValue debug READ debug )
   Q_PROPERTY( QJSValue info READ info )
   Q_PROPERTY( QJSValue warn READ warn )
@@ -194,6 +198,8 @@ Q_OBJECT
 
   Console console() const;
 
+  Package package() const;
+
   /*!
    * Outputs a ROS debug message. The equivalent of calling ROS_DEBUG in C++.
    * The signature in QML is @c debug(msg, consoleName) where @a consoleName is an optional parameter which defaults to

src/package.cpp

@@ -0,0 +1,56 @@
+// Copyright (c) 2020 Stefan Fabian. All rights reserved.
+// Licensed under the MIT license. See LICENSE file in the project root for full license information.
+
+#include "qml_ros_plugin/package.h"
+#include "qml_ros_plugin/message_conversions.h"
+
+#include <ros/package.h>
+#include <ros/ros.h>
+
+namespace qml_ros_plugin
+{
+
+QString Package::command( const QString &cmd )
+{
+  return QString::fromStdString( ros::package::command( cmd.toStdString()));
+}
+
+QString Package::getPath( const QString &package_name )
+{
+  return QString::fromStdString( ros::package::getPath( package_name.toStdString()));
+}
+
+QStringList Package::getAll()
+{
+  QStringList result;
+  ros::V_string result_std;
+  if ( !ros::package::getAll( result_std ))
+  {
+    ROS_WARN_NAMED( "qml_ros_plugin", "Failed to get packages!" );
+    return {};
+  }
+  result.reserve( result_std.size());
+  for ( const auto &s : result_std )
+    result.append( QString::fromStdString( s ));
+  return result;
+}
+
+QVariantMap Package::getPlugins( const QString &name, const QString &attribute, bool force_recrawl )
+{
+  std::vector<std::pair<std::string, std::string>> exports;
+  ros::package::getPlugins( name.toStdString(), attribute.toStdString(), exports, force_recrawl );
+  QVariantMap result;
+  for ( const auto &pair : exports )
+  {
+    const QString &package = QString::fromStdString( pair.first );
+    const QString &value = QString::fromStdString( pair.second );
+    if ( result.contains( package ))
+    {
+      conversion::obtainValueAsReference<QStringList>( result[package] ).append( value );
+      continue;
+    }
+    result.insert( package, QStringList{ value } );
+  }
+  return result;
+}
+}

src/qml_ros_plugin.cpp

@@ -35,11 +35,12 @@ Q_OBJECT
     qRegisterMetaType<actionlib::ActionClient<ros_babel_fish::BabelFishAction>::GoalHandle>();
 
     qmlRegisterType<Array>();
+    qmlRegisterType<Console>();
+    qmlRegisterType<Package>();
     qmlRegisterUncreatableMetaObject( ros_init_options::staticMetaObject, "Ros", 1, 0, "RosInitOptions",
                                       "Error: Can not create enum object." );
     qmlRegisterUncreatableMetaObject( ros_console_levels::staticMetaObject, "Ros", 1, 0, "RosConsoleLevels",
                                       "Error: Can not create enum object." );
-    qmlRegisterType<Console>();
     qmlRegisterSingletonType<RosQmlSingletonWrapper>( "Ros", 1, 0, "Ros",
                                                       []( QQmlEngine *engine, QJSEngine *scriptEngine ) -> QObject *
                                                       {

src/ros.cpp

@@ -160,10 +160,9 @@ void RosQml::updateSpinner()
   spinner_->start();
 }
 
-Console RosQml::console() const
-{
-  return {};
-}
+Console RosQml::console() const { return {}; }
+
+Package RosQml::package() const { return {}; }
 
 std::shared_ptr<ros::CallbackQueue> RosQml::callbackQueue()
 {
@@ -212,6 +211,8 @@ QString RosQmlSingletonWrapper::queryTopicType( const QString &name ) const
 
 Console RosQmlSingletonWrapper::console() const { return RosQml::getInstance().console(); }
 
+Package RosQmlSingletonWrapper::package() const { return RosQml::getInstance().package(); }
+
 QJSValue RosQmlSingletonWrapper::debug()
 {
   if ( debug_function_.isCallable()) return debug_function_;

test/all_tests.test

@@ -4,6 +4,7 @@
   <include file="$(find qml_ros_plugin)/test/test_image_transport_subscriber.test"/>
   <include file="$(find qml_ros_plugin)/test/test_logging.test"/>
   <include file="$(find qml_ros_plugin)/test/test_message_conversions.test"/>
+  <include file="$(find qml_ros_plugin)/test/test_package.test"/>
   <include file="$(find qml_ros_plugin)/test/test_ros_life_cycle.test"/>
   <include file="$(find qml_ros_plugin)/test/test_spinning.test"/>
 </launch>

test/package.cpp

@@ -0,0 +1,103 @@
+//
+// Created by Stefan Fabian on 04.03.20.
+//
+
+#include "common.h"
+#include "message_comparison.h"
+//#ifndef _WIN32
+//#include <unistd.h>
+//#endif
+
+#include <qml_ros_plugin/ros.h>
+
+#include <ros/ros.h>
+#include <ros/package.h>
+
+#ifdef _WIN32
+int setenv(const char *name, const char *value, int overwrite)
+{
+  if(!overwrite)
+  {
+    size_t envsize = 0;
+    errno_t errcode = getenv_s(&envsize, NULL, 0, name);
+    if(errcode || envsize)
+      return errcode;
+  }
+  return _putenv_s(name, value);
+}
+#endif
+
+template<typename ContainerA, typename KeyType>
+::testing::AssertionResult listEquals( const ContainerA &container, const std::vector<KeyType> &values )
+{
+  std::map<KeyType, bool> found;
+  for ( const auto &key : values )
+  {
+    found.insert( { key, false } );
+  }
+  for ( const auto &value : container )
+  {
+    if ( found.find( value ) == found.end())
+      return ::testing::AssertionFailure() << value << " is in container but was not expected!";
+    found[value] = true;
+  }
+  for ( const auto &pair : found )
+  {
+    if ( !pair.second )
+      return ::testing::AssertionFailure() << pair.first << " was not found in container.";
+  }
+  return ::testing::AssertionSuccess();
+}
+
+using namespace qml_ros_plugin;
+
+TEST( Package, package )
+{
+  RosQmlSingletonWrapper wrapper;
+  QString path = wrapper.package().getPath( ROS_PACKAGE_NAME );
+  ASSERT_FALSE( path.isEmpty());
+  EXPECT_EQ( path.toStdString(), ros::package::getPath( ROS_PACKAGE_NAME ));
+
+  char *oldrpp = getenv( "ROS_PACKAGE_PATH" );
+  std::string package_path = path.toStdString() + "/test/test_packages";
+  setenv( "ROS_PACKAGE_PATH", package_path.c_str(), 1 );
+  path = wrapper.package().getPath( ROS_PACKAGE_NAME );
+  EXPECT_TRUE( path.isEmpty());
+
+  EXPECT_TRUE( listEquals( wrapper.package().getAll(),
+                           std::vector<QString>{ "poor_people", "rich_people", "rick_astley", "world" } ));
+
+  QVariantMap plugins = wrapper.package().getPlugins( "world", "value" );
+  std::map<QString, std::vector<QString>> expected_plugins = {{ "rich_people", { "Nothing but despair" }},
+                                                              { "rick_astley", { "Never Gonna Give You Up" }}};
+  for ( const auto &key : plugins.keys())
+  {
+    ASSERT_NE( expected_plugins.find( key ), expected_plugins.end()) << key;
+    EXPECT_TRUE( listEquals( plugins[key].toStringList(), expected_plugins[key] )) << key;
+  }
+
+  plugins = wrapper.package().getPlugins( "world", "wars" );
+  expected_plugins = {{ "rich_people", { "true" }}};
+
+  for ( const auto &key : plugins.keys())
+  {
+    ASSERT_NE( expected_plugins.find( key ), expected_plugins.end()) << key;
+    EXPECT_TRUE( listEquals( plugins[key].toStringList(), expected_plugins[key] )) << key;
+  }
+
+  QString output = wrapper.package().command( "depends-on poor_people" );
+  EXPECT_EQ( output.trimmed(), QString( "rich_people" ));
+
+  setenv( "ROS_PACKAGE_PATH", (package_path + "/not_existing_subfolder").c_str(), 1 );
+  ASSERT_TRUE( wrapper.package().getAll().empty());
+
+  setenv( "ROS_PACKAGE_PATH", oldrpp, 1 );
+}
+
+int main( int argc, char **argv )
+{
+  testing::InitGoogleTest( &argc, argv );
+  ros::init( argc, argv, "test_logging" );
+  QCoreApplication app( argc, argv );
+  return RUN_ALL_TESTS();
+}

test/test_package.test

@@ -0,0 +1,3 @@
+<launch>
+  <test test-name="package" pkg="qml_ros_plugin" type="test_package"/>
+</launch>

test/test_packages/poor_people/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>poor_people</name>
+  <version>1.0.0</version>
+  <description>The poor_people package</description>
+
+  <maintainer email="qml_ros_plugin@stefanfabian.me">Stefan Fabian</maintainer>
+
+  <license>Birthright</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>world</depend>
+
+  <export>
+  </export>
+</package>