launch.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// 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 CONCEALER__LAUNCH_HPP_
#define CONCEALER__LAUNCH_HPP_
 
#ifdef CONCEALER_ISOLATE_STANDARD_OUTPUT
#include <fcntl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
#endif
 
#include <boost/algorithm/string.hpp>
#include <concealer/execute.hpp>
#include <cstdlib>
#include <iostream>
#include <string>
#include <system_error>
#include <type_traits>
#include <vector>
 
namespace concealer
{
template <typename Parameters>
auto ros2_launch(
  const std::string & package, const std::string & file, const Parameters & parameters)
{
#ifdef CONCEALER_ISOLATE_STANDARD_OUTPUT
  const std::string log_filename = "/tmp/scenario_test_runner/autoware-output.txt";
  const auto fd = ::open(log_filename.c_str(), O_RDWR | O_CREAT, S_IRUSR | S_IWUSR);
  ::dup2(fd, STDOUT_FILENO);
  ::dup2(fd, STDERR_FILENO);
  ::close(fd);
#endif
 
  const auto argv = [&]() {
    auto argv = std::vector<std::string>();
 
    argv.push_back("python3");
    argv.push_back(boost::algorithm::replace_all_copy(dollar("which ros2"), "\n", ""));
    argv.push_back("launch");
    argv.push_back(package);
    argv.push_back(file);
 
    for (const auto & parameter : parameters) {
      argv.push_back(parameter);
    }
 
    return argv;
  }();
 
  if (const auto process_id = fork(); process_id < 0) {
    throw std::system_error(errno, std::system_category());
  } else if (process_id == 0 and execute(argv) < 0) {
    std::cout << std::system_error(errno, std::system_category()).what() << std::endl;
    std::exit(EXIT_FAILURE);
  } else {
    return process_id;
  }
}
}  // namespace concealer
 
#endif  // CONCEALER__LAUNCH_HPP_