www.gusucode.com > robotsimulink 工具箱 matlab源码程序 > robotsimulink/robotslros/+robotics/+codertarget/+internal/LinuxSystemInterface.m
classdef LinuxSystemInterface < robotics.codertarget.internal.SystemInterface
%This class is for internal use only. It may be removed in the future.
%LinuxSystemInterface Define an interface for system operations supported on Linux hardware
%
% LinuxSystemInterface is a abstract class which
% defines the interface methods for communicating with hardware running
% a Linux distribution.
%
% The following methods are implemented by this class:
%
% output = system(OBJ,COMMAND,SUDO) Called when a system command gets
% executed on the hardware. SUDO is an optional argument.
%
% putFile(obj,localSrc,remoteDest) Copy localSrc on the host computer to
% remoteDest on the hardware.
%
% getFile(obj,remoteSrc,localDest) Copy the remoteSrc on the hardware to
% to the localDest on the host computer.
%
% a = dir(obj,fileSpec) Directory listing for fileSpec. The output a is a
% structure containing name, folder, isdir and bytes fields.
% Copyright 2015-2016 The MathWorks, Inc.
properties (Abstract, Access = protected)
Ssh
end
methods (Access = public)
%% System
function output = system(obj,command,sudo)
% output = system(hw,command,<sudo>) executes the command on
% the hardware and returns the resulting output. If the
% optional input, 'sudo', is specified as the third argument,
% the command is executed as super user.
i_validateCharArg(command,'command');
if nargin > 2
sudo = validatestring(sudo,{'sudo'},'','sudo');
sudo = [sudo, ' '];
else
sudo = '';
end
% Execute command on the remote host via SSH
try
output = execute(obj.Ssh,[sudo command]);
catch ME
throwAsCaller(ME);
end
end
%% putFile
function putFile(obj,localFile,remoteFile,throwEx)
% PUTFILE(hw,localFile,remoteFile) copies the localFile on the
% host computer to the remoteFile on the hardware. Path names
% and wildcards may be used to specify the localFile. The
% remoteFile argument must either be a directory or a name
% representing a single file, depending on the localFile
% specification.
%
% The remoteFile argument is optional. If not specified, the
% localFile is copied to the user's home directory.
%
% See also dir, getFile and putFile.
i_validateCharArg(localFile,'localFile');
if nargin > 2
i_validateCharArg(remoteFile,'remoteFile');
% Run an echo on the target device to expand ~ and other
% variables, such as $HOME
remoteFile = strtrim(execute(obj.Ssh,['echo ' remoteFile],false));
else
% Default to user's home folder
remoteFile = strtrim(execute(obj.Ssh,'echo ~',false));
end
remoteFile = i_handleSpaces(remoteFile);
if (nargin < 4)
throwEx = true;
end
% Retrieve local file information
locFileInfo = dir(localFile);
if numel(locFileInfo) == 0 && throwEx
error('shared_linuxservices:utils:PutFileError',...
'Cannot identify %s. No such file or directory.',localFile);
end
% Determine remoteFile type
remoteFile = strtrim(remoteFile);
remFileIsDir = i_exist(obj.Ssh,remoteFile,'dir');
remFileIsFile = i_exist(obj.Ssh,remoteFile,'file');
if numel(locFileInfo) > 1 && ~remFileIsDir && remFileIsFile
error('shared_linuxservices:utils:GetFileError',...
['Cannot identify %s. No such directory. ',...
'When localFile argument specifies multiple files or a directory, ', ...
'the remoteFile argument must be an existing directory.'],remoteFile);
elseif numel(locFileInfo) > 1 && ~remFileIsDir && ~remFileIsFile
i_mkRemoteDir(obj.Ssh,remoteFile);
end
remFileIsDir = i_exist(obj.Ssh,remoteFile,'dir');
% Copy each file/directory recursively
for k = 1:numel(locFileInfo)
thisFile = locFileInfo(k);
if thisFile.isdir
if ~isequal(thisFile.name,'.') && ~isequal(thisFile.name,'..')
newFolder = i_fullLnxFile(remoteFile,thisFile.name);
i_mkRemoteDir(obj.Ssh,newFolder);
putFile(obj,...
fullfile(thisFile.folder,thisFile.name),...
newFolder,...
false);
end
else
try
if remFileIsDir
remFileName = i_fullLnxFile(remoteFile,thisFile.name);
else
remFileName = remoteFile;
end
scpPutFile(obj.Ssh,...
fullfile(thisFile.folder,thisFile.name),...
remFileName);
catch ME
throwAsCaller(ME);
end
end
end
end
%% getFile
function getFile(obj,remoteFile,localFile,throwEx)
% GETFILE(hw,remoteFile,localFile) copies remoteFile on the
% hardware to the localFile in the host computer. Path names
% and wildcards may be used to specify the remoteFile. The
% localFile argument must either be a directory or a name
% representing a single file, depending on the remoteFile
% specification.
%
% The localFile argument is optional. If not specified, the
% remoteFile is copied to the current directory.
%
% See also dir, putFile and system.
i_validateCharArg(remoteFile,'remoteFile');
remoteFile = i_handleSpaces(remoteFile);
if (nargin < 3)
localFile = pwd;
else
i_validateCharArg(localFile,'localFile');
end
if (nargin < 4)
throwEx = true;
end
% Copy remote file(s) to local file system
remFileInfo = dir(obj,remoteFile);
if numel(remFileInfo) == 0 && throwEx
error('shared_linuxservices:utils:GetFileError',...
'Cannot identify %s. No such file or directory.',remoteFile);
end
% Determine localFile type
localFile = strtrim(localFile);
if numel(remFileInfo) > 1 && ~exist(localFile,'dir') ...
&& exist(localFile,'file')
error('shared_linuxservices:utils:GetFileError',...
['Cannot identify %s. No such directory. ',...
'When remoteFile argument specifies multiple files or a directory, ', ...
'the localFile argument must be an existing directory.'],localFile);
elseif numel(remFileInfo) > 1 && ~exist(localFile,'dir') ...
&& ~exist(localFile,'file')
i_mkdir(localFile);
end
% Copy files recursively
for k = 1:numel(remFileInfo)
thisFile = remFileInfo(k);
if thisFile.isdir
% recursively copy the directory
if ~isequal(thisFile.name,'.') && ~isequal(thisFile.name,'..')
newDir = fullfile(localFile,thisFile.name);
i_mkdir(newDir);
getFile(obj,...
i_fullLnxFile(thisFile.folder,thisFile.name),...
newDir,...
false); % Don't throw an error if file does not exist
end
else
try
if isdir(localFile)
localFileName = fullfile(localFile,thisFile.name);
else
localFileName = localFile;
end
scpGetFile(obj.Ssh,...
i_fullLnxFile(thisFile.folder,thisFile.name),...
localFileName);
catch ME
throwAsCaller(ME);
end
end
end
end
%% dir
function d = dir(obj,fileSpec)
%dir List directory.
% dir directory_name lists the files in a directory. Pathnames and
% asterisk wildcards may be used. A single asterisk in the path touching
% only file separators will represent exactly one directory name. A
% single asterisk at the end of an input will represent any filename. An
% asterisk followed or preceded by characters will resolve to zero or
% more characters. A double asterisk can only be used in the path and
% will represent zero or more directory names. It cannot touch a character
% other than a file separator. For example, dir *.m lists all files with
% a .m extension in the current directory. dir */*.m lists all files with
% a .m extension exactly one directory under the current directory.
% dir **/*.m lists all files with a .m extension zero or more directories
% under the current directory.
%
% D = dir(hw,'directory_name') returns the results in an M-by-1
% structure with the fields:
% name -- Filename
% folder -- Absolute path
% bytes -- Number of bytes allocated to the file
% isdir -- 1 if name is a directory and 0 if not
%
% See also getFile, putFile and system.
i_validateCharArg(fileSpec,'fileSpec');
fileSpec = i_fullLnxFile(strtrim(fileSpec));
fileSpec = i_handleSpaces(fileSpec);
if fileSpec(1) ~= '/' && fileSpec(1) ~= '~'
rootDir = strtrim(system(obj,'echo ~'));
else
rootDir = '';
end
rootDir = i_handleSpaces(rootDir);
d = [];
% Stat the file spec. Dereference symbolic links
out = execute(obj.Ssh,['stat -L --printf=''%n:&:%F:&:%s:&:%y\n'' ' fileSpec],false);
if isempty(out)
return;
end
% We treat directories differently
tmp = regexp(strtrim(out),'\n','split');
if numel(tmp) == 1
tmp1 = regexp(tmp{1},':&:','split');
if strfind(tmp1{2},'directory')
d = i_dirDirectory(obj.Ssh,tmp1{1});
return;
end
end
for k = 1:numel(tmp)
tmp1 = regexp(tmp{k},':&:','split');
[p,n,ext] = fileparts(tmp1{1});
d(end+1,1).name = [n ext]; %#ok<AGROW>
d(end).folder = fileparts(i_fullLnxFile(rootDir,p,[n ext]));
if strfind(tmp1{2},'directory')
d(end).isdir = true;
d(end).bytes = 0;
else
d(end).isdir = false;
d(end).bytes = str2double(tmp1{3});
end
end
end
%% deleteFile
function deleteFile(obj,fileName)
% DELETEFILE(hw,fileName) deletes a file on the hardware.
i_validateCharArg(fileName,'fileName');
fileName = i_handleSpaces(fileName);
try
execute(obj.Ssh,['rm -fr ' fileName]);
catch ME
throwAsCaller(ME);
end
end
end
end
% Internal functions
function i_validateCharArg(file,argName)
validateattributes(file,{'char'},{'nonempty','row'},'',argName);
end
function file = i_fullLnxFile(varargin)
% Convert paths to Linux convention.
% Replace backslash with forward slash (if the user provides windows path
% separators), but ignore escaped spaces, since
% that backslash is used as an escape character, not as a path separator.
% Escaped spaces might occur if the path contains file or folder names with
% spaces.
file = regexprep(varargin{1}, '\\[^ ]', '/');
for i = 2:nargin
file = [file, '/', varargin{i}]; %#ok<AGROW>
end
file = strrep(file, '//', '/');
file = regexprep(file, '/$', ''); %remove trailing slash
end
function d = i_dirDirectory(ssh,directory)
d = [];
directory = i_handleSpaces(strtrim(directory));
out = execute(ssh,['stat -L --printf=''%n:&:%F:&:%s\n'' ' ...
directory '/.* ' directory '/*'],false);
if isempty(out)
return;
end
tmp = regexp(strtrim(out),'\n','split');
for k = 1:numel(tmp)
tmp1 = regexp(tmp{k},':&:','split');
if numel(tmp1) < 3
break;
end
[p,n,ext] = fileparts(tmp1{1});
d(end+1).name = [n ext]; %#ok<AGROW>
d(end).folder = p;
if strfind(tmp1{2},'directory')
d(end).isdir = true;
d(end).bytes = 0;
else
d(end).isdir = false;
d(end).bytes = str2double(tmp1{3});
end
end
end
function i_mkdir(p)
[s,msg,msgid] = mkdir(p);
if s ~= 0 && ~isequal(msgid,'MATLAB:MKDIR:DirectoryExists')
error(msgid,msg);
end
end
function ret = i_exist(ssh,fileSpec,fileType)
% Replacement for exist for file on the remote file system
ret = 0;
fileSpec = i_handleSpaces(fileSpec);
switch fileType
case 'dir'
out = execute(ssh,['[ -d ' fileSpec ' ] && echo 1 || echo 0'],false);
if isequal(strtrim(out),'1')
ret = 7;
end
case 'file'
out = execute(ssh,['[ -f ' fileSpec ' ] && echo 1 || echo 0'],false);
if isequal(strtrim(out),'1')
ret = 2;
end
end
end
function i_mkRemoteDir(ssh,remoteFile)
try
remoteFile = i_handleSpaces(remoteFile);
execute(ssh,['mkdir -p ' remoteFile]);
catch ME
throwAsCaller(ME);
end
end
function escapedPath = i_handleSpaces(filePath)
%i_handleSpaces Handle spaces in file or folder path
% In the system command that we send over SSH, spaces in the
% path to a file or a folder need to be escaped with a backslash.
% Escape spaces. For example, this will change "file_w s" into "file_w\ s".
escapedPath = strrep(filePath, ' ', '\ ');
% If the spaces were already escaped, we should undo the
% double-escaping. Since this function might be called multiple times with
% the same names, we want to prevent double escapes. If the user calls
% i_handleSpaces with "file_w\ s", the return will be an unchanged
% "file_w\ s".
escapedPath = strrep(escapedPath, '\\ ', '\ ');
end