C++ ConstString::find方法代码示例

bool RosLookup::lookupCore(const ConstString& name) {
    Bottle req, reply;
    req.addString("lookupNode");
    req.addString("dummy_id");
    req.addString(name);
    rpc(getRosCoreAddress(), "xmlrpc", req, reply, verbose);
    if (reply.get(0).asInt()!=1) {
        fprintf(stderr, "Failure: %s\n", reply.toString().c_str());
        return false;
    }
    ConstString url = reply.get(2).asString();
    ConstString::size_type break1 = url.find("://",0);
    if (break1==ConstString::npos) {
        fprintf(stderr, "url not understood: %s\n", url.c_str());
        return false;
    }
    ConstString::size_type break2 = url.find(":",break1+3);
    if (break2==ConstString::npos) {
        fprintf(stderr, "url not understood: %s\n", url.c_str());
        return false;
    }
    ConstString::size_type break3 = url.find("/",break2+1);
    if (break3==ConstString::npos) {
        fprintf(stderr, "url not understood: %s\n", url.c_str());
        return false;
    }
    hostname = url.substr(break1+3,break2-break1-3);
    Value vportnum;
    vportnum.fromString(url.substr(break2+1,break3-break2-1).c_str());
    portnum = vportnum.asInt();
    if (verbose) printf("%s\n", reply.toString().c_str());
    valid = (portnum!=0);
    rpc(getRosCoreAddress(), "xmlrpc", req, reply, verbose);
    return valid;
}

Contact YarpNameSpace::registerContact(const Contact& contact) {
    NameClient& nic = HELPER(this);
    Contact address = nic.registerName(contact.getName().c_str(),
                                       contact);
    if (address.isValid()) {
        NestedContact nc;
        nc.fromString(address.getRegName().c_str());
        ConstString cat = nc.getCategory();
        if (nc.getNestedName()!="") {
            //bool service = (cat.find("1") != ConstString::npos);
            bool publish = (cat.find("+") != ConstString::npos);
            bool subscribe = (cat.find("-") != ConstString::npos);
            ContactStyle style;
            Contact c1 = Contact::byName(nc.getFullName());
            Contact c2 = Contact::byName(ConstString("topic:/") + nc.getNestedName());
            if (subscribe) {
                style.persistenceType = ContactStyle::END_WITH_TO_PORT;
                connectPortToTopic(c2,c1,style);
            }
            if (publish) {
                style.persistenceType = ContactStyle::END_WITH_FROM_PORT;
                connectPortToTopic(c1,c2,style);
            }
        }
    }
    return address;
}

Contact NameServer::queryName(const ConstString& name) {
    ConstString base = name;
    ConstString pat = "";
    if (name.find("/net=") == 0) {
        size_t patStart = 5;
        size_t patEnd = name.find('/',patStart);
        if (patEnd>=patStart && patEnd!=ConstString::npos) {
            pat = name.substr(patStart,patEnd-patStart);
            base = name.substr(patEnd);
            YARP_DEBUG(Logger::get(),ConstString("Special query form ") +
                       name + " (" + pat + "/" + base + ")");
        }
    }

    NameRecord *rec = getNameRecord(base,false);
    if (rec!=YARP_NULLPTR) {
        if (pat!="") {
            ConstString ip = rec->matchProp("ips",pat);
            if (ip!="") {
                SplitString sip(ip.c_str());
                Contact c = rec->getAddress();
                c.setHost(sip.get(0));
                return c;
            }
        }
        return rec->getAddress();
    }
    return Contact();
}

ConstString Protocol::getSenderSpecifier() {
    Route r = getRoute();
    // We pull the sender name from the route.
    ConstString from = r.getFromName();
    // But we need to add any qualifiers looking in the carrier
    // name.  Ideally, we wouldn't need to bundle that in with
    // the sender name, but we do it for now in the name of
    // backwards compatibility.
    ConstString carrier = r.getCarrierName();
    size_t start = carrier.find("+");
    if (start!=String::npos) {
        from += " (";
        for (size_t i=start+1; i<(size_t)carrier.length(); i++) {
            char ch = carrier[i];
            if (ch=='+') {
                from += ") (";
            } else if (ch=='.') {
                from += " ";
            } else {
                from += ch;
            }
        }
        from += ")";
    }
    return from;
}

Contact MultiNameSpace::detectNameServer(bool useDetectedServer,
                                        bool& scanNeeded,
                                        bool& serverUsed) {
    // This code looks like a placeholder that never got replaced.
    // It is using a heuristic that namespaces with "/ros" in the
    // name are ros namespaces.  There's no need for guesswork like
    // that anymore.  Also, code duplication.  Should spin this
    // off into a proper plugin mechanism for namespaces.
    ConstString name = NetworkBase::getNameServerName();
    Contact fake, r;
    if (name.find("/ros")!=ConstString::npos) {
        RosNameSpace ns(fake);
        r = ns.detectNameServer(useDetectedServer,scanNeeded,serverUsed);
        if (r.isValid()&&useDetectedServer&&scanNeeded) {
            HELPER(this).activate(true);
        }
    } else {
        YarpNameSpace ns(fake);
        r = ns.detectNameServer(useDetectedServer,scanNeeded,serverUsed);
        if (r.isValid()&&useDetectedServer&&scanNeeded) {
            HELPER(this).activate(true);
        }
    }
    return r;
}

void FallbackNameClient::run() {
    NameConfig nc;
    Contact call = FallbackNameServer::getAddress();
    DgramTwoWayStream send;
    send.join(call, true);
    listen.join(call, false);
    if (!listen.isOk()) {
        YARP_ERROR(Logger::get(), ConstString("Multicast not available"));
        return;
    }
    ConstString msg = ConstString("NAME_SERVER query ") + nc.getNamespace();
    send.beginPacket();
    send.writeLine(msg.c_str(), (int)msg.length());
    send.flush();
    send.endPacket();
    for (int i=0; i<5; i++) {
        listen.beginPacket();
        ConstString txt = listen.readLine();
        listen.endPacket();
        if (closed) return;
        YARP_DEBUG(Logger::get(), ConstString("Fallback name client got ") + txt);
        if (txt.find("registration ")==0) {
            address = NameClient::extractAddress(txt);
            YARP_INFO(Logger::get(), ConstString("Received address ") +
                      address.toURI());
            return;
        }
    }
}

Bottle NameServer::ncmdList(int argc, char *argv[]) {
    Bottle response;

    ConstString prefix = "";

    if (argc==1) {
        prefix = STR(argv[0]);
    }

    response.addString("ports");
    for (PLATFORM_MAP(ConstString,NameRecord)::iterator it = nameMap.begin(); it!=nameMap.end(); it++) {
        NameRecord& rec = PLATFORM_MAP_ITERATOR_SECOND(it);
        ConstString iname = rec.getAddress().getRegName();
        if (iname.find(prefix)==0) {
            if (iname==prefix || iname[prefix.length()]=='/' ||
                prefix[prefix.length()-1]=='/') {
                if (rec.getAddress().isValid()) {
                    response.addList() = botify(rec.getAddress());
                }
            }
        }
    }

    return response;
}

Contact YarpNameSpace::unregisterName(const ConstString& name) {
    NestedContact nc;
    nc.fromString(name);
    ConstString cat = nc.getCategory();
    if (nc.getNestedName()!="") {
        //bool service = (cat.find("1") != ConstString::npos);
        bool publish = (cat.find("+") != ConstString::npos);
        bool subscribe = (cat.find("-") != ConstString::npos);
        ContactStyle style;
        Contact c1 = Contact::byName(nc.getFullName());
        Contact c2 = Contact::byName(ConstString("topic:/") + nc.getNestedName());
        if (subscribe) {
            disconnectPortFromTopic(c2,c1,style);
        }
        if (publish) {
            disconnectPortFromTopic(c1,c2,style);
        }
    }
    NameClient& nic = HELPER(this);
    return nic.unregisterName(name);
}

ConstString RosNameSpace::toRosName(const ConstString& name) {
    if (name.find(':')==ConstString::npos) return name;
    ConstString result;
    for (size_t i=0; i<name.length(); i++) {
        if (name[i]!=':') {
            result += name[i];
        } else {
            result += "__";
        }
    }
    return result;
}

// helper method for "yarpdev" body
static void toDox(PolyDriver& dd, FILE *os) {
    fprintf(os,"===============================================================\n");
    fprintf(os,"== Options checked by device:\n== \n");

    Bottle order = dd.getOptions();
    for (int i=0; i<order.size(); i++) {
        ConstString name = order.get(i).toString();
        if (name=="wrapped"||(name.find(".wrapped")!=ConstString::npos)) {
            continue;
        }
        ConstString desc = dd.getComment(name.c_str());
        Value def = dd.getDefaultValue(name.c_str());
        Value actual = dd.getValue(name.c_str());
        ConstString out = "";
        out += name;
        if (!actual.isNull()) {
            if (actual.toString()!="") {
                out += "=";
                if (actual.toString().length()<40) {
                    out += actual.toString().c_str();
                } else {
                    out += "(value too long)";
                }
            }
        }
        if (!def.isNull()) {
            if (def.toString()!="") {
                out += " [";
                if (def.toString().length()<40) {
                    out += def.toString().c_str();
                } else {
                    out += "(value too long)";
                }
                out += "]";
            }
        }
        if (desc!="") {
            out += "\n    ";
            out += desc.c_str();
        }
        fprintf(os,"%s\n", out.c_str());
    }
    fprintf(os,"==\n");
    fprintf(os,"===============================================================\n");
}

Contact RosNameSpace::queryName(const ConstString& name) {
    dbg_printf("ROSNameSpace queryName(%s)\n", name.c_str());
    NestedContact nc(name);
    ConstString full = name;
    ConstString node = nc.getNodeName();
    ConstString srv = nc.getNestedName();
    ConstString cat = nc.getCategory();
    bool is_service = false;

    Bottle cmd,reply;
    if (cat.find("-1")==ConstString::npos) {
        cmd.addString("lookupNode");
        cmd.addString("dummy_id");
        cmd.addString(toRosNodeName(node));
        NetworkBase::write(getNameServerContact(),
                           cmd, reply);
    }
    Contact contact;
    if (reply.get(0).asInt()!=1) {
        cmd.clear();
        reply.clear();
        cmd.addString("lookupService");
        cmd.addString("dummy_id");
        cmd.addString(toRosNodeName(node));
        NetworkBase::write(getNameServerContact(),
                           cmd, reply);
        is_service = true;
    }
    contact = Contact::fromString(reply.get(2).asString());
    // unfortunate differences in labeling carriers
    if (contact.getCarrier()=="rosrpc") {
        contact = contact.addCarrier(ConstString("rossrv+service.") + name);
    } else {
        contact = contact.addCarrier("xmlrpc");
    }
    contact = contact.addName(name);

    if (srv == "" || !is_service) return contact;

    return Contact();
}

ConstString RosNameSpace::fromRosName(const ConstString& name) {
    if (name.find("__")==ConstString::npos) return name;
    // length is at least 2
    ConstString result;
    int ct = 0;
    for (size_t i=0; i<name.length(); i++) {
        if (name[i]!='_') {
            if (ct) result += '_';
            result += name[i];
            ct = 0;
        } else {
            ct++;
            if (ct==2) {
                result += ':';
                ct = 0;
            }
        }
    }
    if (ct) result += '_';
    return result;
}

bool NameServiceOnTriples::cmdList(NameTripleState& act) {
    if (!act.bottleMode) {
        act.reply.addString("old");
    } else {
        act.reply.addString("ports");
    }
    lock();
    Triple t;
    t.setNameValue("port","*");
    ConstString prefix = "";
    if (act.cmd.size()>1) {
        prefix = act.cmd.get(1).asString();
    }
    list<Triple> lst = act.mem.query(t, YARP_NULLPTR);
    act.nestedMode = true;
    for (list<Triple>::iterator it=lst.begin(); it!=lst.end(); it++) {
        if (prefix=="") {
            act.cmd.clear();
            act.cmd.addString("query");
            act.cmd.addString(it->value.c_str());
            act.mem.reset();
            cmdQuery(act,true);
        } else {
            ConstString iname = it->value.c_str();
            if (iname.find(prefix)==0) {
                if (iname==prefix || iname[prefix.length()]=='/' ||
                    prefix[prefix.length()-1]=='/') {
                    act.cmd.clear();
                    act.cmd.addString("query");
                    act.cmd.addString(iname);
                    act.mem.reset();
                    cmdQuery(act,true);
                }
            }
        }
    }
    unlock();
    return true;
}

int main(int argc, char *argv[]) {
    Property p;
    p.fromCommand(argc,argv);

    // To make sure that the dev test are able to find all the devices
    // compile by YARP, also the one compiled as dynamic plugins
    // we add the build directory to the YARP_DATA_DIRS enviromental variable
    // CMAKE_CURRENT_DIR is the define by the CMakeLists.txt tests file
    ConstString dirs = CMAKE_BINARY_DIR +
                       yarp::os::Network::getDirectorySeparator() +
                       "share" +
                       yarp::os::Network::getDirectorySeparator() +
                       "yarp";

    // Add TEST_DATA_DIR to YARP_DATA_DIRS in order to find the contexts used
    // by the tests
    dirs += yarp::os::Network::getPathSeparator() +
            TEST_DATA_DIR;

    // If set, append user YARP_DATA_DIRS
    // FIXME check if this can be removed
    Network::getEnvironment("YARP_DATA_DIRS");
    if (!Network::getEnvironment("YARP_DATA_DIRS").empty()) {
        dirs += yarp::os::Network::getPathSeparator() +
                Network::getEnvironment("YARP_DATA_DIRS");
    }

    Network::setEnvironment("YARP_DATA_DIRS", dirs);
    printf("YARP_DATA_DIRS=\"%s\"\n", Network::getEnvironment("YARP_DATA_DIRS").c_str());

    // check where to put description of device
    ConstString dest = "";
    dest = p.check("doc",Value("")).toString();

    ConstString fileName = p.check("file",Value("default.ini")).asString();

    if (p.check("file")) {
        p.fromConfigFile(fileName);
    }

    ConstString deviceName = p.check("device",Value("")).asString();

    // if no device given, we should be operating a completely
    // standard test harness like for libYARP_OS and libYARP_sig
    if (deviceName=="") {
        return harness_main(argc,argv);
    }

    // device name given - use special device testing procedure

#ifdef CHECK_FOR_LEAKS
    mtrace();
#endif

    int result = 0;

    Network::init();
    Network::setLocalMode(true);

    ConstString seek = fileName.c_str();
    ConstString exampleName = "";
    int pos = seek.rfind('/');
    if (pos==-1) {
        pos = seek.rfind('\\');
    }
    if (pos==-1) {
        pos = 0;
    } else {
        pos++;
    }
    int len = seek.find('.',pos);
    if (len==-1) {
        len = seek.length();
    } else {
        len -= pos;
    }
    exampleName = seek.substr(pos,len).c_str();
    ConstString shortFileName = seek.substr(pos,seek.length()).c_str();

    PolyDriver dd;
	YARP_DEBUG(Logger::get(), "harness opening...");

    bool ok = dd.open(p);
    YARP_DEBUG(Logger::get(), "harness opened.");
    result = ok?0:1;

    ConstString wrapperName = "";
    ConstString codeName = "";

    DriverCreator *creator =
        Drivers::factory().find(deviceName.c_str());
    if (creator!=nullptr) {
        wrapperName = creator->getWrapper();
        codeName = creator->getCode();
    }


    if (dest!="") {
        ConstString dest2 = dest.c_str();
        if (result!=0) {
//.........这里部分代码省略.........

int main(int argc, char *argv[]) {
    Property p;
    p.fromCommand(argc,argv);

    // check where to put description of device
    ConstString dest = "";
    dest = p.check("doc",Value("")).toString();

    ConstString fileName = p.check("file",Value("default.ini")).asString();

    if (p.check("file")) {
        p.fromConfigFile(fileName);
    }

    ConstString deviceName = p.check("device",Value("")).asString();

    // if no device given, we should be operating a completely
    // standard test harness like for libYARP_OS and libYARP_sig
    if (deviceName=="") {
        return harness_main(argc,argv);
    }

    // device name given - use special device testing procedure

#ifdef CHECK_FOR_LEAKS
    mtrace();
#endif

    int result = 0;

    Network::init();
    Network::setLocalMode(true);

    ConstString seek = fileName.c_str();
    ConstString exampleName = "";
    int pos = seek.rfind('/');
    if (pos==-1) {
        pos = seek.rfind('\\');
    }
    if (pos==-1) {
        pos = 0;
    } else {
        pos++;
    }
    int len = seek.find('.',pos);
    if (len==-1) {
        len = seek.length();
    } else {
        len -= pos;
    }
    exampleName = seek.substr(pos,len).c_str();
    ConstString shortFileName = seek.substr(pos,seek.length()).c_str();

    PolyDriver dd;
	YARP_DEBUG(Logger::get(), "harness opening...");

    bool ok = dd.open(p);
    YARP_DEBUG(Logger::get(), "harness opened.");
    result = ok?0:1;

    ConstString wrapperName = "";
    ConstString codeName = "";

    DriverCreator *creator =
        Drivers::factory().find(deviceName.c_str());
    if (creator!=NULL) {
        wrapperName = creator->getWrapper();
        codeName = creator->getCode();
    }


    if (dest!="") {
        ConstString dest2 = dest.c_str();
        if (result!=0) {
            dest2 += ".fail";
        }
        FILE *fout = fopen(dest2.c_str(),"w");
        if (fout==NULL) {
            printf("Problem writing to %s\n", dest2.c_str());
            yarp::os::exit(1);
        }
        fprintf(fout,"/**\n");
        fprintf(fout," * \\ingroup dev_examples\n");
        fprintf(fout," *\n");
        fprintf(fout," * \\defgroup %s Example for %s (%s)\n\n",
                exampleName.c_str(),
                deviceName.c_str(),
                exampleName.c_str());
        fprintf(fout, "Instantiates \\ref cmd_device_%s \"%s\" device implemented by %s.\n",
                deviceName.c_str(), deviceName.c_str(), codeName.c_str());
        fprintf(fout, "\\verbatim\n%s\\endverbatim\n",
                getFile(fileName.c_str()).c_str());
        fprintf(fout, "If this text is saved in a file called %s then the device can be created by doing:\n",
                shortFileName.c_str());
        fprintf(fout, "\\verbatim\nyarpdev --file %s\n\\endverbatim\n",
                shortFileName.c_str());
        fprintf(fout, "Of course, the configuration could be passed just as command line options, or as a yarp::os::Property object in a program:\n");
        fprintf(fout, "\\code\n");
        fprintf(fout, "Property p;\n");
        fprintf(fout, "p.fromConfigFile(\"%s\");\n",
//.........这里部分代码省略.........