plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/EnvironmentUtils.java

/*****************************************************************************
 * Copyright (c) 2020 CEA LIST.
 *
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v2.0
 * which accompanies this distribution, and is available at
 * https://www.eclipse.org/legal/epl-2.0/
 *
 * Contributors:
 *  Ansgar Radermacher  ansgar.radermacher@cea.fr
 *
 *****************************************************************************/

package org.eclipse.papyrus.robotics.ros2.base;

import java.io.BufferedReader;
import java.io.File;
import java.io.InputStreamReader;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

import org.eclipse.core.resources.ResourcesPlugin;
import org.eclipse.core.runtime.IProgressMonitor;
import org.eclipse.core.runtime.IStatus;
import org.eclipse.core.runtime.Status;
import org.eclipse.core.runtime.jobs.Job;
import org.eclipse.jface.dialogs.MessageDialog;
import org.eclipse.papyrus.designer.infra.base.StringUtils;
import org.eclipse.swt.SWT;
import org.eclipse.swt.widgets.Display;
import org.eclipse.swt.widgets.FileDialog;
import org.eclipse.swt.widgets.Shell;

import com.google.common.collect.Lists;

/**
 * Manage an environment for sub-processes
 */
public class EnvironmentUtils {

	public static final String BASH_ENV = "BASH_ENV"; //$NON-NLS-1$

	public static final String PATH = "PATH"; //$NON-NLS-1$

	public static final String ROS_PREFIX = "ROS_"; //$NON-NLS-1$

	public static final String DECLARE_X = "declare -x"; //$NON-NLS-1$

	protected static Map<String, String> localEnv = null;

	protected static Job setupJob;

	/**
	 * @return an environment map
	 */
	public static Map<String, String> getenv() {
		if (localEnv == null) {
			localEnv = new HashMap<String, String>();
			localEnv.putAll(System.getenv());
		}
		return localEnv;
	}

	/**
	 * Return an environment value from a key
	 * 
	 * @param key
	 * @return the environment value
	 */
	public static String get(String key) {
		return getenv().get(key);
	}

	// update the following environment values (and those starting with ROS_)
	public static final List<String> checkValues = Lists.newArrayList(
			Ros2Constants.CMAKE_PREFIX_PATH,
			Ros2Constants.AMENT_PREFIX_PATH,
			Ros2Constants.PYTHON_PATH,
			"PATH", //$NON-NLS-1$
			"LD_LIBRARY_PATH"); //$NON-NLS-1$

	/**
	 * Run setup application in a new job
	 */
	public static void runCheckAndApplySetupJob(final String pathList) {
		setupJob = new Job("check environment") { //$NON-NLS-1$

			@Override
			public IStatus run(IProgressMonitor monitor) {
				boolean ok = EnvironmentUtils.checkAndApplySetup(pathList, monitor);
				setupJob = null;
				if (ok) {
					return Status.OK_STATUS;
				} else {
					return Status.CANCEL_STATUS;
				}
			}
		};
		setupJob.schedule();
	}

	/**
	 * block, until an eventually running setup job is finished
	 */
	public static void waitForSetupJob() {
		if (setupJob != null) {
			try {
				setupJob.join();
			} catch (InterruptedException e) {
				Activator.log.error(e);
			}
		}
	}

	/**
	 * Apply setup parameters
	 * 
	 * @param pathList
	 *            a colon (File.pathSeparator) separated list of setup paths
	 */
	@SuppressWarnings("nls")
	public static boolean checkAndApplySetup(String pathList, IProgressMonitor monitor) {
		if (pathList.length() == 0) {
			// empty, nothing to do
			return true;
		}
		String[] pathListArray = pathList.split(File.pathSeparator);
		resetEnvironment();
		monitor.beginTask("source setup.file", pathListArray.length);
		for (String setupPath : pathListArray) {
			String setupFile = setupPath + "/setup.bash"; //$NON-NLS-1$
			monitor.subTask(setupFile);
			if (new File(setupFile).exists()) {
				sourceScript(setupFile);
			} else {
				// execute error message asynchronously to avoid blocking the tests (that run
				// on an CI server without a ROS2 installation)
				Display.getDefault().asyncExec(new Runnable() {

					@Override
					public void run() {
						final Shell shell = Display.getCurrent().getActiveShell();
						MessageDialog.openInformation(shell, "ROS setup", String.format( //$NON-NLS-1$
								"Papyrus for Robotics could not find a setup.bash file at location (%s). " +
										"Please verify the PATH in the ROS2 preferences.\n" +
										"=> Window => Preferences => type \"ros\" in filter => setup path list.",
								setupPath));
					}
				});
			}
			if (monitor.isCanceled()) {
				return false;
			}
			monitor.worked(1);
		}
		return true;
	}

	/**
	 * reset the local environment variables back to the system values
	 */
	public static void resetEnvironment() {
		if (localEnv != null) {
			for (String var : System.getenv().keySet()) {
				if (var.startsWith(ROS_PREFIX) || checkValues.contains(var)) {
					String value = System.getenv(var);
					localEnv.put(var, value);
				}
			}
		}
	}
	
	@SuppressWarnings("nls")
	public static void selectAndSourceScript(String initialFile, Shell shell) {
		if (shell != null) {
			FileDialog fd = new FileDialog(shell, SWT.OPEN);
			fd.setText("Open");
			String[] filterExt = { "*.bash;*.sh" };
			String[] filterNames = { "setup files" };
			fd.setFilterExtensions(filterExt);
			fd.setFilterNames(filterNames);
			fd.setFileName(initialFile);
			String fileName = fd.open();
			if (fileName != null) {
				sourceScript(fileName);
			}
		}
	}

	/**
	 * Source the ROS2 setup.bash created within the Eclipse workspace
	 * (if it exists)
	 */
	public static void sourceWorkspace() {
		String fileName = ResourcesPlugin.getWorkspace().getRoot().getLocation().toString();
		fileName += "/install/setup.bash"; //$NON-NLS-1$
		if (new File(fileName).exists()) {
			sourceScript(fileName);
		}
	}

	/**
	 * Source a ROS script and update the environment accordingly.
	 * 
	 * @param scriptFile
	 */
	public static void sourceScript(String scriptFile) {
		ProcessBuilder pb = new ProcessBuilder("bash", //$NON-NLS-1$
				"-c", //$NON-NLS-1$
				"export"); //$NON-NLS-1$
		Map<String, String> pbEnv = pb.environment();
		// the file in BASH_ENV is read by bash
		pbEnv.put(BASH_ENV, scriptFile);
		pbEnv.putAll(getenv());

		try {
			Process p = pb.start();
			BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
			boolean error = ProcessUtils.logErrors(p);
			if (error) {
				return;
			}
			String line;
			// Map<String, String> env = EnvironmentUtils.getModifiableEnvironmentMap();
			while ((line = results.readLine()) != null) {
				line = line.substring(DECLARE_X.length());
				String lineArray[] = line.split("="); //$NON-NLS-1$
				if (lineArray.length == 2) {
					String var = lineArray[0].trim();
					String value = StringUtils.unquote(lineArray[1]);

					if (var.startsWith(ROS_PREFIX) || checkValues.contains(var)) {
						localEnv.put(var, value);
					}
				}
			}
		} catch (Exception e) {
			Activator.log.error(e);
		}
	}

	/**
	 * Return the executable or null
	 * 
	 * @param executable
	 *            the name of the executable
	 * @return the absolute path to the executable or null
	 */
	public static String getFromPath(final String executable) {
		String path = get(PATH);
		if (path != null) {
			String[] pathParts = path.split(File.pathSeparator);
			for (String pathPart : pathParts) {
				File file = new File(pathPart + File.separator + executable);
				if (file.exists()) {
					return file.getAbsolutePath();
				}
			}
		}
		return null;
	}
}