148 lines
3.9 KiB
C++
148 lines
3.9 KiB
C++
/*
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* Copyright (C) 2009, Willow Garage, Inc.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "resource_retriever/retriever.h"
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#include <string.h>
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#include <ros/package.h>
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#include <ros/console.h>
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#include <curl/curl.h>
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namespace resource_retriever
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{
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class CURLStaticInit
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{
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public:
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CURLStaticInit()
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: initialized_(false)
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{
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CURLcode ret = curl_global_init(CURL_GLOBAL_ALL);
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if (ret != 0)
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{
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ROS_ERROR("Error initializing libcurl! retcode = %d", ret);
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}
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else
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{
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initialized_ = true;
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}
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}
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~CURLStaticInit()
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{
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if (initialized_)
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{
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curl_global_cleanup();
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}
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}
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bool initialized_;
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};
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static CURLStaticInit g_curl_init;
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Retriever::Retriever()
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{
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curl_handle_ = curl_easy_init();
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}
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Retriever::~Retriever()
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{
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if (curl_handle_)
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{
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curl_easy_cleanup(curl_handle_);
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}
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}
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struct MemoryBuffer
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{
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std::vector<uint8_t> v;
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};
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size_t curlWriteFunc(void* buffer, size_t size, size_t nmemb, void* userp)
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{
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MemoryBuffer* membuf = (MemoryBuffer*)userp;
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size_t prev_size = membuf->v.size();
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membuf->v.resize(prev_size + size * nmemb);
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memcpy(&membuf->v[prev_size], buffer, size * nmemb);
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return size * nmemb;
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}
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MemoryResource Retriever::get(const std::string& url)
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{
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std::string mod_url = url;
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if (url.find("package://") == 0)
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{
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mod_url.erase(0, strlen("package://"));
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size_t pos = mod_url.find("/");
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if (pos == std::string::npos)
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{
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throw Exception(url, "Could not parse package:// format into file:// format");
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}
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std::string package = mod_url.substr(0, pos);
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mod_url.erase(0, pos);
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std::string package_path = ros::package::getPath(package);
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if (package_path.empty())
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{
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throw Exception(url, "Package [" + package + "] does not exist");
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}
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mod_url = "file://" + package_path + mod_url;
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}
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curl_easy_setopt(curl_handle_, CURLOPT_URL, mod_url.c_str());
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curl_easy_setopt(curl_handle_, CURLOPT_WRITEFUNCTION, curlWriteFunc);
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char error_buffer[CURL_ERROR_SIZE];
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curl_easy_setopt(curl_handle_, CURLOPT_ERRORBUFFER , error_buffer);
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MemoryResource res;
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MemoryBuffer buf;
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curl_easy_setopt(curl_handle_, CURLOPT_WRITEDATA, &buf);
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CURLcode ret = curl_easy_perform(curl_handle_);
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if (ret != 0)
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{
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throw Exception(mod_url, error_buffer);
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}
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else if (!buf.v.empty())
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{
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res.size = buf.v.size();
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res.data.reset(new uint8_t[res.size]);
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memcpy(res.data.get(), &buf.v[0], res.size);
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}
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return res;
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}
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}
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