C++ ConstString::substr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;
}

    virtual void report(const SearchReport& report, const char *context) {
        ConstString ctx = context;
        ConstString key = report.key.c_str();
        ConstString prefix = "";

        prefix = ctx;
        prefix += ".";

        key = prefix + key;
        if (key.substr(0,1)==".") {
            key = key.substr(1,key.length());
        }

        if (!present.check(key.c_str())) {
            present.put(key.c_str(),"present");
            order.addString(key.c_str());
        }

        if (report.isFound) {
            actual.put(key.c_str(),report.value);
            return;
        }

        if (report.isComment==true) {
            comment.put(key.c_str(),report.value);
            return;
        }

        if (report.isDefault==true) {
            fallback.put(key.c_str(),report.value);
            return;
        }
    }

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();
}

static void generateTypeMap(RosType& t, ConstString& txt) {
    txt = "";
    generateTypeMap1(t,txt);
    if (txt.length()>0) {
        txt = txt.substr(1,txt.length());
    }
    if (!t.reply) return;
    txt += " ---";
    generateTypeMap1(*(t.reply),txt);    
}

 ConstString context2path(Property& config, const ConstString& context ) {
     ConstString cap =
         config.check("capability_directory",Value("app")).asString();
     ConstString path = getPath(root,cap,context,"");
     if (path.length()>1) {
         if (path[path.length()-1]=='/') {
             path = path.substr(0,path.length()-1);
         }
     }
     return path;
 }

/**
* Quick implementation, space for improvement.
*/
ConstString Matrix::toString(int precision, int width, const char* endRowStr) const
{
    ConstString ret;
    char tmp[350];
    int c, r;
    if(width>0) // if width is specified use a space as separator
    {
        for(r=0;r<nrows;r++)
        {        
            for(c=0;c<ncols;c++)
            {
                sprintf(tmp, "% *.*lf ", width, precision, (*this)[r][c]);
                ret+=tmp;
            }
            ret = ret.substr(0,ret.length()-1);     // remove the last character (space)
            if(r<nrows-1)                          // if it is not the last row
                ret+= endRowStr;
        }
    }
    else    // if width is not specified use tab as separator
    {
        for(r=0;r<nrows;r++)
        {
            for(c=0;c<ncols;c++)
            {
                sprintf(tmp, "% .*lf\t", precision, (*this)[r][c]);
                ret+=tmp;
            }
            ret = ret.substr(0,ret.length()-1);     // remove the last character (tab)
            if(r<nrows-1)                          // if it is not the last row
                ret+= endRowStr;
        }
    }

    return ret;
}

/**
* Quick implementation, space for improvement.
*/
ConstString Vector::toString(int precision, int width) const
{
    ConstString ret = "";
    size_t c;
    char tmp[350];
    if(width<0){
        for(c=0;c<length();c++){
            sprintf(tmp, "% .*lf\t", precision, (*this)[c]);
            ret+=tmp;
        }
    }else{
        for(c=0;c<length();c++){
            sprintf(tmp, "% *.*lf ", width, precision, (*this)[c]);
            ret+=tmp;
        }
    }

    if(length()>=1)
        return ret.substr(0, ret.length()-1);
    return ret;
}

    bool readDir(const ConstString& dirname, ACE_DIR *&dir, String& result) {
        bool ok = true;

        struct YARP_DIRENT **namelist;
        YARP_closedir(dir);
        dir = NULL;
        int n = YARP_scandir(dirname.c_str(),&namelist,NULL,YARP_alphasort);
        if (n<0) {
            return false;
        }
        for (int i=0; i<n; i++) {
            ConstString name = namelist[i]->d_name;
            free(namelist[i]);
            int len = (int)name.length();
            if (len<4) continue;
            if (name.substr(len-4)!=".ini") continue;
            ConstString fname = ConstString(dirname) + "/" + name;
            ok = ok && readFile(fname,result,false);
            result += "\n[]\n";  // reset any nested sections
        }
        free(namelist);

        /*
        struct YARP_DIRENT *ent = YARP_readdir(dir);
        while (ent) {
            ConstString name = ent->d_name;
            ent = ACE_OS::readdir(dir);
            int len = (int)name.length();
            if (len<4) continue;
            if (name.substr(len-4)!=".ini") continue;
            ConstString fname = dirname + "/" + name;
            ok = ok && readFile(fname,result,false);
            result += "\n[]\n";  // reset any nested sections
        }
        YARP_closedir(dir);
        dir = NULL;
        */
        return ok;
    }

static void toDox(PolyDriver& dd, FILE *os) {
    fprintf(os, "<table>\n");
    fprintf(os, "<tr><td>PROPERTY</td><td>DESCRIPTION</td><td>DEFAULT</td></tr>\n");
    Bottle order = dd.getOptions();
    for (int i=0; i<order.size(); i++) {
        ConstString name = order.get(i).toString().c_str();
        if (name=="wrapped"||name.substr(0,10)=="subdevice.") {
            continue;
        }
        ConstString desc = dd.getComment(name.c_str());
        ConstString def = dd.getDefaultValue(name.c_str()).toString();
        ConstString out = "";
        out += "<tr><td>";
        out += name.c_str();
        out += "</td><td>";
        out += desc.c_str();
        out += "</td><td>";
        out += def.c_str();
        out += "</td></tr>";
        fprintf(os,"%s\n",out.c_str());
    }
    fprintf(os, "</table>\n");
}

//.........这里部分代码省略.........
            cmd.addString(typ);
            Contact c;
            if (store) {
                c = rosify(store->query(nc.getNodeName()));
            } else {
                Nodes& nodes = NameClient::getNameClient().getNodes();
                c = rosify(nodes.getParent(contact.getName()));
            }
            //Contact c = rosify(contact);
            cmd.addString(c.toURI());
            bool ok = NetworkBase::write(getNameServerContact(),
                                         cmd, reply);
            if (!ok) {
                fprintf(stderr, "ROS registration error: %s\n", reply.toString().c_str());
                return Contact();
            }
            if (cat=="-") {
                Bottle *publishers = reply.get(2).asList();
                if (publishers && publishers->size()>=1) {
                    cmd.clear();
                    cmd.addString(contact.toURI());
                    cmd.addString("publisherUpdate");
                    cmd.addString("/yarp/RosNameSpace");
                    cmd.addString(toRosName(nc.getNestedName()));
                    cmd.addList() = *publishers;

                    mutex.wait();
                    bool need_start = false;
                    if (pending.size()==0) {
                        mutex.post();
                        stop();
                        need_start = true;
                        mutex.wait();
                    }
                    pending.addList() = cmd;
                    if (need_start) {
                        start();
                    }
                    mutex.post();
                }
            }
        }
        return contact;
    }

    // Remainder of method is supporting older /name+#/foo syntax

    ConstString name = contact.getName();
    size_t pub_idx = name.find("+#");
    size_t sub_idx = name.find("-#");

    ConstString node = "";
    ConstString pub = "";
    ConstString sub = "";
    if (pub_idx!=ConstString::npos) {
        node = name.substr(0, pub_idx);
        pub = name.substr(pub_idx+2, name.length());
        YARP_SPRINTF1(Logger::get(), debug, "Publish to %s", pub.c_str());
    }
    if (sub_idx!=ConstString::npos) {
        node = name.substr(0, sub_idx);
        sub = name.substr(sub_idx+2, name.length());
        YARP_SPRINTF1(Logger::get(), debug, "Subscribe to %s", sub.c_str());
    }
    if (node=="") {
        node = name;
    }
    YARP_SPRINTF4(Logger::get(), debug, "Name [%s] Node [%s] sub [%s] pub [%s]",
                  name.c_str(), node.c_str(), sub.c_str(), pub.c_str());

    {
        Bottle cmd, reply;
        // for ROS, we fake port name registrations by
        // registering them as nodes that publish to an arbitrary
        // topic
        cmd.clear();
        cmd.addString("registerPublisher");
        cmd.addString(toRosNodeName(node));
        cmd.addString("/yarp/registration");
        cmd.addString("*");
        Contact c = rosify(contact);
        cmd.addString(c.toString());
        bool ok = NetworkBase::write(getNameServerContact(),
                                     cmd, reply);
        if (!ok) {
            return Contact();
        }
    }

    if (pub!="") {
        NetworkBase::connect(node, ConstString("topic:/") + pub);
    }
    if (sub!="") {
        NetworkBase::connect(ConstString("topic:/") + sub, node);
    }

    Contact c = contact;
    c.setName(node);
    return c;
}

Contact RosNameSpace::unregisterAdvanced(const ConstString& name, NameStore *store) {
    NestedContact nc;
    nc.fromString(name);
    ConstString cat = nc.getCategory();

    if (nc.getNestedName()!="") {
        if (cat == "-1") {
            Nodes& nodes = NameClient::getNameClient().getNodes();
            Contact c = nodes.getURI(name);
            c.setCarrier("rosrpc");
            c = rosify(c);
            Bottle cmd, reply;
            cmd.clear();
            cmd.addString("unregisterService");
            cmd.addString(toRosNodeName(nc.getNodeName()));
            cmd.addString(nc.getNestedName());
            cmd.addString(c.toURI());
            bool ok = NetworkBase::write(getNameServerContact(),
                                         cmd, reply);
            if (!ok) return Contact();
        } else if (cat == "+" || cat== "-") {
            Bottle cmd, reply;
            cmd.clear();
            cmd.addString((cat=="+")?"unregisterPublisher":"unregisterSubscriber");
            cmd.addString(toRosNodeName(nc.getNodeName()));
            cmd.addString(nc.getNestedName());
            Contact c;
            if (store) {
                c = rosify(store->query(nc.getNodeName()));
            } else {
                Nodes& nodes = NameClient::getNameClient().getNodes();
                c = rosify(nodes.getParent(name));
            }
            cmd.addString(c.toString());
            bool ok = NetworkBase::write(getNameServerContact(),
                                         cmd, reply);
            if (!ok) return Contact();
        }
        return Contact();
    }

    // Remainder of method is supporting older /name+#/foo syntax

    size_t pub_idx = name.find("+#");
    size_t sub_idx = name.find("-#");

    ConstString node = "";
    ConstString pub = "";
    ConstString sub = "";
    if (pub_idx!=ConstString::npos) {
        node = name.substr(0, pub_idx);
        pub = name.substr(pub_idx+2, name.length());
    }
    if (sub_idx!=ConstString::npos) {
        node = name.substr(0, sub_idx);
        sub = name.substr(sub_idx+2, name.length());
    }
    if (node=="") {
        node = name;
    }
    YARP_SPRINTF3(Logger::get(), debug, "Name [%s] sub [%s] pub [%s]\n",
                  name.c_str(), sub.c_str(), pub.c_str());

    if (pub!="") {
        NetworkBase::disconnect(name, ConstString("topic:/") + pub);
    }
    if (sub!="") {
        NetworkBase::disconnect(ConstString("topic:/") + sub, name);
    }

    Contact contact = NetworkBase::queryName(name);
    Bottle cmd, reply;
    cmd.addString("unregisterPublisher");
    cmd.addString(name);
    cmd.addString("/yarp/registration");
    Contact c("http", contact.getHost().c_str(), contact.getPort());
    cmd.addString(c.toString());
    bool ok = NetworkBase::write(getNameServerContact(),
                                 cmd, reply);
    if (!ok) return Contact();

    return Contact();
}

bool Port::open(const Contact& contact, bool registerName,
                const char *fakeName) {
    Contact contact2 = contact;

    if (!NetworkBase::initialized()) {
        YARP_ERROR(Logger::get(), "YARP not initialized; create a yarp::os::Network object before using ports");
        return false;
    }

    ConstString n = contact2.getName();

    bool local = false;
    if (n == "" && contact2.getPort()<=0) {
        local = true;
        registerName = false;
        n = "...";
    }

    NestedContact nc(n);
    if (nc.getNestedName()!="") {
        if (nc.getNodeName() == "") {
            Nodes& nodes = NameClient::getNameClient().getNodes();
            nodes.requireActiveName();
            ConstString node_name = nodes.getActiveName();
            if (node_name!="") {
                n = n + node_name;
            }
        }
    }

    if (n!="" && n[0]!='/'  && n[0]!='=' && n!="..." && n.substr(0,3)!="...") {
        if (fakeName==NULL) {
            Nodes& nodes = NameClient::getNameClient().getNodes();
            ConstString node_name = nodes.getActiveName();
            if (node_name!="") {
                // n = node_name + "=/" + n;
                n = "/" + n + "@" + node_name;
            }
        }
    }
    if (n!="" && n[0]!='/'  && n[0]!='=' && n!="..." && n.substr(0,3)!="...") {
        if (fakeName==NULL) {
            YARP_SPRINTF1(Logger::get(),error,
                          "Port name '%s' needs to start with a '/' character",
                          n.c_str());
            return false;
        }
    }
    if (n!="" && n!="..." && n[0]!='=' && n.substr(0,3)!="...") {
        if (fakeName==NULL) {
            ConstString prefix = NetworkBase::getEnvironment("YARP_PORT_PREFIX");
            if (prefix!="") {
                n = prefix + n;
                contact2 = contact2.addName(n);
            }
        }
    }
    PortCoreAdapter *currentCore = &(HELPER(implementation));
    if (currentCore!=NULL) {
        NestedContact nc;
        nc.fromString(n);
        if (nc.getNestedName()!="") {
            if (nc.getCategory()=="") {
                // we need to add in a category
                ConstString cat = "";
                if (currentCore->commitToRead) {
                    cat = "-";
                } else if (currentCore->commitToWrite) {
                    cat = "+";
                }
                if (cat!="") {
                    if (currentCore->commitToRpc) {
                        cat += "1";
                    }
                    contact2 = contact2.addName(nc.getNestedName() +
                                                cat +
                                                "@" +
                                                nc.getNodeName());
                } else {
                    YARP_SPRINTF1(Logger::get(),error,
                                  "Error: Port '%s' is not committed to being either an input or output port.",
                                  n.c_str());
                    YARP_SPRINTF0(Logger::get(),error,
                                  "YARP does not mind, but we are trying to register with a name server that does.");
                    YARP_SPRINTF0(Logger::get(),error,
                                  "You can call Port::setWriteOnly() or Port::setReadOnly(), OR rename the port.");
                    NestedContact nc2 = nc;
                    nc2.setCategoryWrite();
                    YARP_SPRINTF1(Logger::get(),error,
                                  "For an output port, call it: %s (+ adds data)",
                                  nc2.toString().c_str());
                    nc2.setCategoryRead();
                    YARP_SPRINTF1(Logger::get(),error,
                                  "For an input port, call it: %s (- takes data)",
                                  nc2.toString().c_str());
                    return false;
                }
            }
        }
    }
//.........这里部分代码省略.........

 void fromCommand(int argc, char *argv[],bool wipe=true) {
     String tag = "";
     Bottle accum;
     Bottle total;
     bool qualified = false;
     for (int i=0; i<argc; i++) {
         String work = argv[i];
         bool isTag = false;
         if (work.length()>=2) {
             if (work[0]=='-'&&work[1]=='-') {
                 work = work.substr(2,work.length()-2);
                 isTag = true;
                 if (work.find("::")!=String::npos) {
                     qualified = true;
                 }
             }
         }
         if (isTag) {
             if (tag!="") {
                 total.addList().copy(accum);
             }
             tag = work;
             accum.clear();
         } else {
             if (work.find("\\")!=String::npos) {
                 // Specifically when reading from the command
                 // line, we will allow windows-style paths.
                 // Hence we have to break the "\" character
                 String buf = "";
                 for (unsigned int i=0; i<work.length(); i++) {
                     buf += work[i];
                     if (work[i]=='\\') {
                         buf += work[i];
                     }
                 }
                 work = buf;
             }
         }
         accum.add(Value::makeValue(work.c_str()));
     }
     if (tag!="") {
         total.addList().copy(accum);
     }
     if (!qualified) {
         fromBottle(total,wipe);
         return;
     }
     if (wipe) {
         clear();
     }
     Bottle *cursor = NULL;
     for (int i=0; i<total.size(); i++) {
         cursor = NULL;
         Bottle *term = total.get(i).asList();
         if (!term) continue;
         ConstString key = term->get(0).asString();
         ConstString base = key;
         while (key.length()>0) {
             int at = key.find("::");
             base = key;
             if (at>=0) {
                 base = key.substr(0,at);
                 key = key.substr(at+2);
             } else {
                 key = "";
             }
             Bottle& result = (cursor!=NULL)? (cursor->findGroup(base.c_str())) : owner.findGroup(base.c_str());
             if (result.isNull()) {
                 if (!cursor) {
                     cursor = &putBottle((base).c_str());
                 } else {
                     cursor = &cursor->addList();
                 }
                 cursor->addString(base);
             } else {
                 cursor = &result;
             }
         }
         if (cursor) {
             cursor->copy(*term);
             cursor->get(0) = Value(base);
         }
     }
 }

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.........