C++ ConnectionState::getRoute方法代码示例

 bool MpiCarrier::expectSenderSpecifier(ConnectionState& proto) {
    // interpret everything that sendHeader wrote
    name = proto.getRoute().getToName();

    #ifdef MPI_DEBUG
    printf("[MpiCarrier @ %s] Waiting for header\n", route.c_str());
    #endif

    other = proto.is().readLine();
    proto.setRoute(proto.getRoute().addFromName(other));
    // Receiver
    route = name + "<-" + other;

    createStream(false);
    if (!MpiControl) return false;
    if (! MpiControl->isRunning())
        return false;

    ConstString other_id = proto.is().readLine();
    bool notLocal = comm->notLocal(other_id);

    port = proto.is().readLine();

    #ifdef MPI_DEBUG
    printf("[MpiCarrier @ %s] Header received\n", route.c_str());
    #endif

    return notLocal && proto.is().isOk();
}

bool yarp::os::impl::LocalCarrier::expectExtraHeader(ConnectionState& proto) {
    portName = proto.getRoute().getToName();
    // switch over to some local structure to communicate
    peerMutex.wait();
    peer = manager.getSender(this);
    //printf("receiver %ld (%s) sees sender %ld (%s)\n",
    //       (long int) this, portName.c_str(),
    //       (long int) peer, peer->portName.c_str());
    proto.setRoute(proto.getRoute().addFromName(peer->portName));
    peerMutex.post();

    return true;
}

 bool MpiCarrier::sendHeader(ConnectionState& proto) {
    // Send the "magic number" for this carrier
    ManagedBytes header(8);
    getHeader(header.bytes());
    proto.os().write(header.bytes());
    if (!proto.os().isOk()) return false;

    // Now we can do whatever we want, as long as somehow
    // we also send the name of the originating port

    name = proto.getRoute().getFromName();
    other = proto.getRoute().getToName();
    Bytes b2((char*)name.c_str(),name.length());
    proto.os().write(b2);
    proto.os().write('\r');
    proto.os().write('\n');

    // Sender
    route = name + "->" + other;

    createStream(true);

    if (!MpiControl) return false;
    if (! MpiControl->isRunning())
        return false;
    comm->openPort();
    char* port = comm->port_name;
    char* uid = comm->unique_id;

    #ifdef MPI_DEBUG
    printf("[MpiCarrier @ %s] setting up MpiPort '%s'\n", route.c_str(), port);
    #endif

    Bytes b4(uid,strlen(uid));
    proto.os().write(b4);
    proto.os().write('\r');
    proto.os().write('\n');

    Bytes b3(port,strlen(port));
    proto.os().write(b3);
    proto.os().write('\r');
    proto.os().write('\n');
    proto.os().flush();


    #ifdef MPI_DEBUG
    printf("[MpiCarrier @ %s] Header sent\n", route.c_str());
    #endif

    return proto.os().isOk();
}

bool AbstractCarrier::expectSenderSpecifier(ConnectionState& proto)
{
    NetInt32 numberSrc;
    Bytes number((char*)&numberSrc, sizeof(NetInt32));
    int len = 0;
    YARP_SSIZE_T r = proto.is().readFull(number);
    if ((size_t)r!=number.length()) {
        YARP_DEBUG(Logger::get(), "did not get sender name length");
        return false;
    }
    len = NetType::netInt(number);
    if (len>1000) {
        len = 1000;
    }
    if (len<1) {
        len = 1;
    }
    ManagedBytes b(len+1);
    r = proto.is().readFull(Bytes(b.get(), len));
    if ((int)r!=len) {
        YARP_DEBUG(Logger::get(), "did not get sender name");
        return false;
    }
    ConstString s = b.get();
    Route route = proto.getRoute();
    route.setFromName(s);
    proto.setRoute(route);
    return true;
}

bool XmlRpcCarrier::shouldInterpretRosMessages(ConnectionState& proto) {
    // We need to set the interpretRos flag, which controls
    // whether ROS-style admin messages are treated as
    // admin messages or data messages in YARP.
    // In the future, they should always be data messages.
    // For now, they should be admin messages for all ports
    // except ports tagged as corresponding to ros nodes.

    bool nodelike = false;
    Contactable *port = proto.getContactable();
    Property opt;
    if (port) {
        Property *pport = port->acquireProperties(true);
        if (pport) {
            opt = *pport;
        }
        port->releaseProperties(pport);
    }
    if (opt.check("node_like")) {
        nodelike = true;
    }

    Name n(proto.getRoute().getCarrierName() + "://test");
    ConstString rospass = n.getCarrierModifier("ros");
    interpretRos = !nodelike;
    if (rospass=="1"||rospass=="on") {
        interpretRos = true;
    }
    if (rospass=="0"||rospass=="off") {
        interpretRos = false;
    }
    return interpretRos;
}

bool AbstractCarrier::expectSenderSpecifier(ConnectionState& proto) {
    NetInt32 numberSrc;
    Bytes number((char*)&numberSrc,sizeof(NetInt32));
    int len = 0;
    YARP_SSIZE_T r = proto.is().readFull(number);
    if ((size_t)r!=number.length()) {
        YARP_DEBUG(Logger::get(),"did not get sender name length");
        return false;
    }
    len = NetType::netInt(number);
    if (len>1000) len = 1000;
    if (len<1) len = 1;
    // expect a string -- these days null terminated, but not in YARP1
    ManagedBytes b(len+1);
    r = proto.is().readFull(Bytes(b.get(),len));
    if ((int)r!=len) {
        YARP_DEBUG(Logger::get(),"did not get sender name");
        return false;
    }
    // add null termination for YARP1
    b.get()[len] = '\0';
    String s = b.get();
    proto.setRoute(proto.getRoute().addFromName(s));
    return true;
}

bool yarp::os::impl::TextCarrier::expectSenderSpecifier(ConnectionState& proto)
{
    YARP_SPRINTF0(Logger::get(), debug, "TextCarrier::expectSenderSpecifier");
    Route route = proto.getRoute();
    route.setFromName(proto.is().readLine());
    proto.setRoute(route);
    return true;
}

bool XmlRpcCarrier::sendHeader(ConnectionState& proto) {
    shouldInterpretRosMessages(proto);
    ConstString target = "POST /RPC2";
    Name n(proto.getRoute().getCarrierName() + "://test");
    ConstString pathValue = n.getCarrierModifier("path");
    if (pathValue!="") {
        target = "POST /";
        target += pathValue;
        // on the wider web, we should provide real host names
        host = NetworkBase::queryName(proto.getRoute().getToName());
    }
    target += " HTTP/1.1\n";
    http = target;
    Bytes b((char*)target.c_str(),target.length());
    proto.os().write(b);
    return true;
}

bool yarp::os::impl::HttpCarrier::sendHeader(ConnectionState& proto) {
    ConstString target = "GET / HTTP/1.0\r\n";
    ConstString path = proto.getRoute().getToName();
    if (path.size()>=2) {
        target = "GET " + path + " HTTP/1.0\r\n";
    }
    Contact host = proto.getRoute().getToContact();
    if (host.getHost()!="") {
        target += "Host: ";
        target += host.getHost();
        target += "\r\n";
    }
    target += "\r\n";
    Bytes b((char*)target.c_str(),target.length());
    proto.os().write(b);
    return true;

}

bool yarp::os::impl::McastCarrier::becomeMcast(ConnectionState& proto, bool sender) {
#ifndef YARP_HAS_ACE
    return false;
#else
    YARP_UNUSED(sender);
    DgramTwoWayStream *stream = new DgramTwoWayStream();
    yAssert(stream!=YARP_NULLPTR);
    Contact remote = proto.getStreams().getRemoteAddress();
    Contact local;
    local = proto.getStreams().getLocalAddress();
    bool test = true;
    //(yarp::NameConfig::getEnv("YARP_MCAST_TEST")!="");
    /*
    if (test) {
        printf("  MULTICAST is being extended; some temporary status messages added\n");
        printf("  Local: %s\n", local.toString().c_str());
        printf("  Remote: %s\n", remote.toString().c_str());
    }
    */
    proto.takeStreams(YARP_NULLPTR); // free up port from tcp

    if (sender) {
        /*
            Multicast behavior seems a bit variable.
            We assume here that if packages need to be broadcast
            to targets via different network interfaces, that
            we'll need to send independently on those two
            interfaces.  This may or may not always be the case,
            the author doesn't know, so is being cautious.
        */
        key = proto.getRoute().getFromName();
        if (test) {
            key += "/net=";
            key += local.getHost();
        }
        YARP_DEBUG(Logger::get(),
                    ConstString("multicast key: ") + key);
        addSender(key);
    }

    bool ok = true;
    if (isElect()||!sender) {
        if (test) {
            ok = stream->join(mcastAddress,sender,local);
        } else {
            ok = stream->join(mcastAddress,sender);
        }
    }

    if (!ok) {
        delete stream;
        return false;
    }
    proto.takeStreams(stream);
    return true;
#endif
}

bool MjpegCarrier::sendHeader(ConnectionState& proto) {
    Name n(proto.getRoute().getCarrierName() + "://test");
    ConstString pathValue = n.getCarrierModifier("path");
    ConstString target = "GET /?action=stream\n\n";
    if (pathValue!="") {
        target = "GET /";
        target += pathValue;
    }
    target += " HTTP/1.1\n";
    Contact host = proto.getRoute().getToContact();
    if (host.getHost()!="") {
        target += "Host: ";
        target += host.getHost();
        target += "\r\n";
    }
    target += "\n";
    Bytes b((char*)target.c_str(),target.length());
    proto.os().write(b);
    return true;
}

// Now, the initial hand-shaking
bool H264Carrier::prepareSend(ConnectionState& proto)
{
     //get all parameters of this carrier
     Name n(proto.getRoute().getCarrierName() + "://test");

     cfgParams.crop.left = getIntParam(n, "cropLeft");
     cfgParams.crop.right = getIntParam(n, "cropRight");
     cfgParams.crop.top = getIntParam(n, "cropTop");
     cfgParams.crop.bottom = getIntParam(n, "cropBottom");
     cfgParams.fps_max = getIntParam(n, "max_fps");
     cfgParams.verbose = (getIntParam(n, "verbose") >0) ? true: false;

    return true;
}

bool yarp::os::impl::LocalCarrier::sendHeader(ConnectionState& proto) {
    portName = proto.getRoute().getFromName();

    manager.setSender(this);

    defaultSendHeader(proto);
    // now switch over to some local structure to communicate
    peerMutex.lock();
    peer = manager.getReceiver();
    //printf("sender %ld sees receiver %ld\n", (long int) this,
    //       (long int) peer);
    peerMutex.unlock();

    return true;
}

bool HumanCarrier::sendHeader(ConnectionState& proto) {
    // Send the "magic number" for this carrier
    ManagedBytes header(8);
    getHeader(header.bytes());
    proto.os().write(header.bytes());
    if (!proto.os().isOk()) return false;

    // Now we can do whatever we want, as long as somehow
    // we also send the name of the originating port

    // let's just send the port name in plain text terminated with a
    // carriage-return / line-feed
    ConstString from = proto.getRoute().getFromName();
    Bytes b2((char*)from.c_str(),from.length());
    proto.os().write(b2);
    proto.os().write('\r');
    proto.os().write('\n');
    proto.os().flush();
    return proto.os().isOk();
}

ConstString TcpRosCarrier::getRosType(ConnectionState& proto) {
    ConstString typ = "";
    ConstString rtyp = "";
    if (proto.getContactable()) {
        Type t = proto.getContactable()->getType(); 
        typ = t.getName();
        md5sum = t.readProperties().find("md5sum").asString();
        message_definition = t.readProperties().find("message_definition").asString();
        user_type = typ;
        if (typ=="yarp/image") {
            wire_type = "sensor_msgs/Image";
            rtyp = "";
        } else if (typ=="yarp/bottle") {
            rtyp = proto.getContactable()->getType().getNameOnWire();
            if (rtyp=="yarp/image") rtyp = "sensor_msgs/Image";
            wire_type = rtyp;
        } else if (typ!="") {
            rtyp = typ;
            wire_type = typ;
        }
    }
    Name n(proto.getRoute().getCarrierName() + "://test");
    ConstString mode = "topic";
    ConstString modeValue = n.getCarrierModifier("topic");
    if (modeValue=="") {
        mode = "service";
        modeValue = n.getCarrierModifier("service");
    }
    if (modeValue!="") {
        ConstString package = n.getCarrierModifier("package");
        if (package!="") {
            rtyp = package + "/" + modeValue;
        }
    }

    dbg_printf("USER TYPE %s\n", user_type.c_str());
    dbg_printf("WIRE TYPE %s\n", wire_type.c_str());

    return rtyp;
}