aos/aos_cli_utils.cc

#include "aos/aos_cli_utils.h"

#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>

#include <chrono>
#include <iomanip>
#include <iostream>
#include <set>
#include <string>
#include <string_view>
#include <utility>

#include "aos/configuration.h"
#include "aos/events/shm_event_loop.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/time/time.h"

ABSL_FLAG(std::string, config, "aos_config.json",
          "File path of aos configuration");

ABSL_FLAG(
    bool, _bash_autocomplete, false,
    "Internal use: Outputs channel list for use with autocomplete script.");

ABSL_FLAG(bool, _zsh_compatability, false,
          "Internal use: Force completion to complete either channels or "
          "message_types, zsh doesn't handle spaces well.");

ABSL_FLAG(std::string, _bash_autocomplete_word, "",
          "Internal use: Current word being autocompleted");

ABSL_FLAG(bool, all, false,
          "If true, print out the channels for all nodes, not just the "
          "channels which are visible on this node.");

ABSL_FLAG(
    bool, canonical, false,
    "If true, print out the canonical channel names instead of the aliases.");

namespace aos {
namespace {

namespace chrono = std::chrono;

bool EndsWith(std::string_view str, std::string_view ending) {
  const std::size_t offset = str.size() - ending.size();
  return str.size() >= ending.size() &&
         std::equal(str.begin() + offset, str.end(), ending.begin(),
                    ending.end());
}

void StreamSeconds(std::ostream &stream,
                   const aos::monotonic_clock::time_point now) {
  if (now < monotonic_clock::epoch()) {
    chrono::seconds seconds =
        chrono::duration_cast<chrono::seconds>(now.time_since_epoch());

    stream << "-" << -seconds.count() << "." << std::setfill('0')
           << std::setw(9)
           << chrono::duration_cast<chrono::nanoseconds>(seconds -
                                                         now.time_since_epoch())
                  .count();
  } else {
    chrono::seconds seconds =
        chrono::duration_cast<chrono::seconds>(now.time_since_epoch());
    stream << seconds.count() << "." << std::setfill('0') << std::setw(9)
           << chrono::duration_cast<chrono::nanoseconds>(
                  now.time_since_epoch() - seconds)
                  .count();
  }
}

}  // namespace

bool CliUtilInfo::Initialize(
    int *argc, char ***argv,
    std::function<bool(const aos::Channel *)> channel_filter,
    std::string_view channel_filter_description, bool expect_args) {
  // Don't generate failure output if the config doesn't exist while attempting
  // to autocomplete.
  if (absl::GetFlag(FLAGS__bash_autocomplete) &&
      (!(EndsWith(absl::GetFlag(FLAGS_config), ".json") ||
         EndsWith(absl::GetFlag(FLAGS_config), ".bfbs")))) {
    std::cout << "COMPREPLY=()";
    return true;
  }

  config = aos::configuration::MaybeReadConfig(absl::GetFlag(FLAGS_config));
  if (absl::GetFlag(FLAGS__bash_autocomplete) && !config.has_value()) {
    std::cout << "COMPREPLY=()";
    return true;
  }
  CHECK(config.has_value()) << "Could not read config. See above errors.";

  event_loop.emplace(&config->message());
  event_loop->SkipTimingReport();
  event_loop->SkipAosLog();

  const flatbuffers::Vector<flatbuffers::Offset<aos::Channel>> *channels =
      event_loop->configuration()->channels();

  do {
    std::string channel_name;
    std::string message_type;
    if (*argc > 1) {
      channel_name = (*argv)[1];
      ShiftArgs(argc, argv);
    }
    if (*argc > 1) {
      message_type = (*argv)[1];
      ShiftArgs(argc, argv);
    }

    if (absl::GetFlag(FLAGS__bash_autocomplete)) {
      Autocomplete(channel_name, message_type, channel_filter);
      return true;
    }

    if (channel_name.empty() && message_type.empty()) {
      // Just print all the channels (or the ones that pass through the filter).
      // Sort them before doing so.
      std::cout << "Channels:\n";
      std::set<std::pair<std::string, std::string>> channels_to_print;
      for (const aos::Channel *channel : *channels) {
        if (absl::GetFlag(FLAGS_all) || channel_filter(channel)) {
          if (absl::GetFlag(FLAGS_canonical)) {
            channels_to_print.emplace(channel->name()->c_str(),
                                      channel->type()->c_str());
          } else {
            std::set<std::string> aliases = configuration::GetChannelAliases(
                event_loop->configuration(), channel->name()->string_view(),
                channel->type()->string_view(), "", event_loop->node());
            CHECK_GT(aliases.size(), 0u);
            if (aliases.size() == 1) {
              // There were no aliases. Just print the canonical name.
              channels_to_print.emplace(channel->name()->str(),
                                        channel->type()->str());
            } else {
              // Assume that the shortest alias (excluding the input name) is
              // the base alias, and use that.
              // TODO(Sanjay): Consider having GetChannelAliases return a
              // hierarchical list instead.
              CHECK_EQ(aliases.erase(channel->name()->str()), 1u);
              auto it = aliases.begin();
              std::string_view shortest_alias = *it;
              while (it != aliases.end()) {
                if (shortest_alias.size() > it->size()) {
                  shortest_alias = *it;
                }
                ++it;
              }
              channels_to_print.emplace(std::string(shortest_alias),
                                        channel->type()->c_str());
            }
          }
        }
      }
      for (const auto &[name, type] : channels_to_print) {
        std::cout << name << ' ' << type << '\n';
      }
      return true;
    }

    std::vector<const aos::Channel *> found_channels_now;
    bool found_exact = false;
    for (const aos::Channel *channel : *channels) {
      const std::set<std::string> aliases =
          aos::configuration::GetChannelAliases(
              event_loop->configuration(), channel->name()->string_view(),
              channel->type()->string_view(), "", event_loop->node());
      if (auto it = std::find_if(aliases.begin(), aliases.end(),
                                 [channel_name](const std::string &alias) {
                                   return alias == channel_name;
                                 });
          it == aliases.end()) {
        continue;
      }

      if (channel->type()->string_view() == message_type) {
        if (!found_exact) {
          found_channels_now.clear();
          found_exact = true;
        }
      } else if (!found_exact && channel->type()->string_view().find(
                                     message_type) != std::string_view::npos) {
      } else {
        continue;
      }

      if (!absl::GetFlag(FLAGS_all) && !channel_filter(channel)) {
        LOG(FATAL) << "matched channel does not pass the channel filter: \""
                   << channel_filter_description
                   << "\" [matched channel info]: "
                   << configuration::CleanedChannelToString(channel);
      }

      found_channels_now.push_back(channel);
    }

    if (found_channels_now.empty()) {
      LOG(FATAL)
          << "Could not find any channels with the given name and type for "
          << channel_name << " " << message_type;
    } else if (found_channels_now.size() > 1 && !message_type.empty()) {
      LOG(FATAL) << "Multiple channels found with same type for "
                 << channel_name << " " << message_type;
    }
    for (const aos::Channel *channel : found_channels_now) {
      found_channels.push_back(channel);
    }
  } while (expect_args && *argc > 1);

  return false;
}

void CliUtilInfo::Autocomplete(
    std::string_view channel_name, std::string_view message_type,
    std::function<bool(const aos::Channel *)> channel_filter) {
  const aos::Configuration *const config_msg = event_loop->configuration();
  const bool unique_match =
      std::count_if(config_msg->channels()->begin(),
                    config_msg->channels()->end(),
                    [channel_name, message_type](const aos::Channel *channel) {
                      return channel->name()->string_view() == channel_name &&
                             channel->type()->string_view() == message_type;
                    }) == 1;

  const bool editing_message =
      !channel_name.empty() &&
      absl::GetFlag(FLAGS__bash_autocomplete_word) == message_type;
  const bool editing_channel =
      !editing_message &&
      absl::GetFlag(FLAGS__bash_autocomplete_word) == channel_name;

  std::cout << "COMPREPLY=(";

  // If we have a unique match, don't provide any suggestions. Otherwise, check
  // that were're editing one of the two positional arguments.
  if (!unique_match && (editing_message || editing_channel)) {
    for (const aos::Channel *channel : *config_msg->channels()) {
      if (absl::GetFlag(FLAGS_all) || channel_filter(channel)) {
        const std::set<std::string> aliases =
            aos::configuration::GetChannelAliases(
                config_msg, channel->name()->string_view(),
                channel->type()->string_view(), "", event_loop->node());
        // Suggest only message types if the message type argument is being
        // entered.
        if (editing_message) {
          // Then, filter for channel names that exactly match one of the
          // aliases and types that begin with message_type.
          if (aliases.contains(std::string(channel_name)) &&
              channel->type()->string_view().find(message_type) == 0) {
            std::cout << '\'' << channel->type()->c_str() << "' ";
          }
        } else if (auto it =
                       std::find_if(aliases.begin(), aliases.end(),
                                    [channel_name](const std::string &alias) {
                                      return alias.find(channel_name) == 0;
                                    });
                   it != aliases.end()) {
          // If the message type is empty, then return full autocomplete.
          // Otherwise, since the message type is poulated yet not being edited,
          // the user must be editing the channel name alone, in which case only
          // suggest channel names, not pairs.
          if (!absl::GetFlag(FLAGS__zsh_compatability) &&
              message_type.empty()) {
            std::cout << '\'' << *it << ' ' << channel->type()->c_str() << "' ";
          } else {
            std::cout << '\'' << *it << "' ";
          }
        }
      }
    }
  }
  std::cout << ')';
}

void PrintMessage(const std::string_view node_name, const aos::Channel *channel,
                  const aos::Context &context, aos::FastStringBuilder *builder,
                  PrintOptions options) {
  // Print the flatbuffer out to stdout, both to remove the
  // unnecessary cruft from glog and to allow the user to readily
  // redirect just the logged output independent of any debugging
  // information on stderr.

  builder->Reset();

  CHECK(flatbuffers::Verify(*channel->schema(),
                            *channel->schema()->root_table(),
                            static_cast<const uint8_t *>(context.data),
                            static_cast<size_t>(context.size)))
      << ": Corrupted flatbuffer on " << channel->name()->c_str() << " "
      << channel->type()->c_str();

  aos::FlatbufferToJson(
      builder, channel->schema(), static_cast<const uint8_t *>(context.data),
      {options.pretty, static_cast<size_t>(options.max_vector_size),
       options.pretty_max, options.hex});

  if (options.json) {
    std::cout << "{";
    if (!node_name.empty()) {
      std::cout << "\"node\": \"" << node_name << "\", ";
    }
    std::cout << "\"monotonic_event_time\": ";
    StreamSeconds(std::cout, context.monotonic_event_time);
    std::cout << ", \"realtime_event_time\": \"" << context.realtime_event_time
              << "\", ";

    if (context.monotonic_remote_time != context.monotonic_event_time) {
      std::cout << "\"monotonic_remote_time\": ";
      StreamSeconds(std::cout, context.monotonic_remote_time);
      std::cout << ", \"realtime_remote_time\": \""
                << context.realtime_remote_time << "\", ";
    }

    std::cout << "\"channel\": "
              << aos::configuration::StrippedChannelToString(channel)
              << ", \"data\": " << *builder << "}";
  } else {
    if (!node_name.empty()) {
      std::cout << node_name << " ";
    }

    if (options.print_timestamps) {
      if (context.monotonic_remote_time != context.monotonic_event_time) {
        std::cout << context.realtime_event_time << " ("
                  << context.monotonic_event_time << ") sent "
                  << context.realtime_remote_time << " ("
                  << context.monotonic_remote_time << ") "
                  << channel->name()->c_str() << ' ' << channel->type()->c_str()
                  << ": " << *builder;
      } else {
        std::cout << context.realtime_event_time << " ("
                  << context.monotonic_event_time << ") "
                  << channel->name()->c_str() << ' ' << channel->type()->c_str()
                  << ": " << *builder;
      }
    } else {
      std::cout << *builder;
    }
  }
}

void PrintMessage(const aos::Channel *channel, const aos::Context &context,
                  aos::FastStringBuilder *builder, PrintOptions options) {
  PrintMessage("", channel, context, builder, options);
}

void PrintMessage(const std::string_view node_name,
                  aos::NodeEventLoopFactory *node_factory,
                  const aos::Channel *channel, const aos::Context &context,
                  aos::FastStringBuilder *builder, PrintOptions options) {
  if (!options.json && options.distributed_clock) {
    std::cout << node_factory->ToDistributedClock(context.monotonic_event_time)
              << " ";
  }
  PrintMessage(node_name, channel, context, builder, options);
}

Printer::Printer(PrintOptions options, bool flush)
    : options_(options), flush_(flush) {
  if (options_.json) {
    std::cout << "[";
  }
}

Printer::~Printer() {
  if (options_.json) {
    if (message_count_ > 0) {
      std::cout << "\n]\n";
    } else {
      std::cout << "]\n";
    }
  }
}

void Printer::PrintMessage(const std::string_view node_name,
                           aos::NodeEventLoopFactory *node_factory,
                           const aos::Channel *channel,
                           const aos::Context &context) {
  if (options_.json) {
    if (message_count_ != 0) {
      std::cout << ",\n  ";
    } else {
      std::cout << "\n  ";
    }
  }

  aos::PrintMessage(node_name, node_factory, channel, context, &str_builder_,
                    options_);

  if (!options_.json) {
    if (flush_) {
      std::cout << std::endl;
    } else {
      std::cout << "\n";
    }
  }
  ++message_count_;
}

void Printer::PrintMessage(const aos::Channel *channel,
                           const aos::Context &context) {
  if (options_.json) {
    if (message_count_ != 0) {
      std::cout << ",\n  ";
    } else {
      std::cout << "\n  ";
    }
  }

  aos::PrintMessage(channel, context, &str_builder_, options_);

  if (!options_.json) {
    if (flush_) {
      std::cout << std::endl;
    } else {
      std::cout << "\n";
    }
  }
  ++message_count_;
}

}  // namespace aos