C++ NameConfig::getNamespace方法代码示例

Contact YarpNameSpace::detectNameServer(bool useDetectedServer,
                                        bool& scanNeeded,
                                        bool& serverUsed) {
    NameConfig nc;
    NameClient& nic = HELPER(this);
    nic.setFakeMode(false);
    nic.updateAddress();
    nic.setScan();
    if (useDetectedServer) {
        nic.setSave();
    }
    nic.send("ping", false);
    scanNeeded = nic.didScan();
    serverUsed = nic.didSave();

    Contact c = nic.getAddress();
    c.setName(nc.getNamespace().c_str());
    //Contact c = nic.getAddress().toContact();
    //    if (scanNeeded) {
    //        Address addr = nic.getAddress();
    //        c.setSocket("tcp", addr.getName().c_str(), addr.getPort());
    ////}
    //c.setName(nc.getNamespace().c_str());
    return c;
}

Contact RosNameSpace::detectNameServer(bool useDetectedServer,
                                       bool& scanNeeded,
                                       bool& serverUsed) {
    YARP_UNUSED(useDetectedServer);
    NameConfig nc;
    nc.fromFile();
    Contact c = nc.getAddress();
    scanNeeded = false;
    serverUsed = false;

    if (!c.isValid()) {
        scanNeeded = true;
        fprintf(stderr, "Checking for ROS_MASTER_URI...\n");
        ConstString addr = NetworkBase::getEnvironment("ROS_MASTER_URI");
        c = Contact::fromString(addr.c_str());
        if (c.isValid()) {
            c.setCarrier("xmlrpc");
            c.setName(nc.getNamespace().c_str());
            NameConfig nc;
            nc.setAddress(c);
            nc.setMode("ros");
            nc.toFile();
            serverUsed = true;
         }
    }
    return c;
}

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;
        }
    }
}

bool NetworkBase::setNameServerName(const ConstString& name) {
    NameConfig nc;
    ConstString fname = nc.getConfigFileName(YARP_CONFIG_NAMESPACE_FILENAME);
    nc.writeConfig(fname,name + "\n");
    nc.getNamespace(true);
    getNameSpace().activate(true);
    return true;
}

ConstString NetworkBase::getNameServerName() {
    NameConfig nc;
    ConstString name = nc.getNamespace(false);
    return name.c_str();
}

bool BootstrapServer::configFileBootstrap(yarp::os::Contact& contact,
                                          bool configFileRequired,
                                          bool mayEditConfigFile) {
    Contact suggest = contact;

    // see what address is lying around
    Contact prev;
    NameConfig conf;
    if (conf.fromFile()) {
        prev = conf.getAddress();
    } else if (configFileRequired) {
        fprintf(stderr,"Could not read configuration file %s\n",
                conf.getConfigFileName().c_str());
        return false;
    }

    // merge
    if (prev.isValid()) {
        if (suggest.getHost() == "...") {
            suggest.setHost(prev.getHost());
        }
        if (suggest.getCarrier() == "...") {
            suggest.setCarrier(prev.getCarrier());
        }
        if (suggest.getPort() == 0) {
            suggest.setPort(prev.getPort());
        }
    }

    if (suggest.getRegName() == "...") {
        suggest.setName(conf.getNamespace());
    }

    // still something not set?
    if (suggest.getPort() == 0) {
        suggest.setPort(10000);
    }
    if (suggest.getHost() == "...") {
        // should get my IP
        suggest.setHost(conf.getHostName());
    }

    if (!configFileRequired)  {
        // finally, should make sure IP is local, and if not, correct it
        if (!conf.isLocalName(suggest.getHost())) {
            fprintf(stderr,"Overriding non-local address for name server\n");
            suggest.setHost(conf.getHostName());
        } else {
            // Let's just check we're not a loopback
            ConstString betterHost = conf.getHostName(false,suggest.getHost());
            if (betterHost!=suggest.getHost()) {
                fprintf(stderr,"Overriding loopback address for name server\n");
                suggest.setHost(betterHost);
            }
        }
    }
    else
    {
        if (!conf.isLocalName(conf.getHostName())) {
            fprintf(stderr,"The address written in config file doesn't belong any interface \n");
            return false;
        }
        suggest.setHost(conf.getHostName());
    }

    bool changed = false;
    if (prev.isValid()) {
        changed = (prev.getHost() != suggest.getHost()) ||
            (prev.getPort() != suggest.getPort()) ||
            (conf.getMode() != "yarp" && conf.getMode() != "");
    }
    if (changed && !mayEditConfigFile) {
        fprintf(stderr,"PROBLEM: need to change settings in %s\n",
                conf.getConfigFileName().c_str());
        fprintf(stderr,"  Current settings: host %s port %d family %s\n",
                prev.getHost().c_str(), prev.getPort(),
                (conf.getMode()=="")?"yarp":conf.getMode().c_str());
        fprintf(stderr,"  Desired settings:  host %s port %d family %s\n",
                suggest.getHost().c_str(), suggest.getPort(), "yarp");
        fprintf(stderr,"Please specify '--write' if it is ok to overwrite current settings, or\n");
        if(!configFileRequired)
            fprintf(stderr,"Please specify '--read' to use the current settings, or\n");
        else
            fprintf(stderr,"Please set an existing address in config file, or\n");
        fprintf(stderr,"delete %s\n", conf.getConfigFileName().c_str());
        return false;
    }
    bool shouldSave = changed || !prev.isValid();

    if (shouldSave) {
        // and save
        conf.setAddress(suggest);
        if (!conf.toFile()) {
            fprintf(stderr,"Could not save configuration file %s\n",
                    conf.getConfigFileName().c_str());
        }
    }

    contact = suggest;
    return true;
//.........这里部分代码省略.........

int yarp_readdir(const char *path, void *buf, fuse_fill_dir_t filler,
                 off_t offset, struct fuse_file_info *fi)
{
    (void) offset;
    (void) fi;

    printf(">>>>>>>>>>>READING DIR\n");


    filler(buf, ".", NULL, 0);
    filler(buf, "..", NULL, 0);

    YPath ypath(path);

    if (ypath.isPort()) {
        filler(buf, "rw", NULL, 0);
        //filler(buf, "write", NULL, 0); //deprecated
        //filler(buf, "status", NULL, 0);
        return 0;
    }

    NameConfig nc;

    ConstString name = nc.getNamespace();
    Bottle msg, reply;
    msg.addString("bot");
    msg.addString("list");
    Network::write(name.c_str(),
                   msg,
                   reply);

    printf("Got %s\n", reply.toString().c_str());

    ACE_Ordered_MultiSet<ConstString> lines;


    for (int i=1; i<reply.size(); i++) {
        Bottle *entry = reply.get(i).asList();
        string rpath = path;
        if (rpath[rpath.length()-1]!='/') {
            rpath = rpath + "/";
        }
        if (entry!=NULL) {
            ConstString name = entry->check("name",Value("")).asString();
            if (name!="") {
                if (strstr(name.c_str(),rpath.c_str())==
                           name.c_str()) {
                    printf(">>> %s is in path %s\n", name.c_str(),
                           rpath.c_str());
                    ConstString part(name.c_str()+rpath.length());
                    if (part[0]=='/') {
                        part = part.substr(1,part.length()-1);
                    }
                    printf("    %s is the addition\n", part.c_str());

                    char *brk = (char*)strstr(part.c_str(),"/");
                    if (brk!=NULL) {
                        *brk = '\0';
                    }
                    ConstString item(part.c_str());
                    printf("    %s is the item\n", item.c_str());
                    if (item!="") {
                        lines.remove(item);
                        lines.insert(item);
                    }
                }
            }
        }
    }

    // return result in alphabetical order
    ACE_Ordered_MultiSet_Iterator<ConstString> iter(lines);
    iter.first();
    while (!iter.done()) {
        printf("adding item %s\n", (*iter).c_str());
        filler(buf, (*iter).c_str(), NULL, 0);
        iter.advance();
    }

    return 0;
}

int NameServer::main(int argc, char *argv[]) {
    //Network yarp;

    // pick an address
    Contact suggest("...",0); // suggestion is initially empty

    ConstString nameSpace = "";

    if (argc>=1) {
        if (argv[0][0]=='/') {
            nameSpace = argv[0];
            // BUT: not used yet
            argv++;
            argc--;
        }
        if (argc>=2) {
            suggest = Contact(argv[0],NetType::toInt(argv[1]));
        } else if (argc>=1) {
            suggest = Contact("...",NetType::toInt(argv[0]));
        }
    }

    Property config;
    config.fromCommand(argc,argv,false);

    bool bNoAuto=config.check("noauto");

    // see what address is lying around
    Contact prev;
    NameConfig conf;
    if (nameSpace!="") {
        conf.setNamespace(nameSpace.c_str());
    }
    if (conf.fromFile()) {
        prev = conf.getAddress();
    }
    else if (bNoAuto)
    {
        YARP_ERROR(Logger::get(), ConstString("Could not find configuration file ") +
        conf.getConfigFileName());

        return 1;
    }

    // merge
    if (prev.isValid()) {
        if (suggest.getHost()=="...") {
            suggest = Contact(prev.getHost(),suggest.getPort());
        }
        if (suggest.getPort()==0) {
            suggest = Contact(suggest.getHost(),prev.getPort());
        }
    }

    // still something not set?
    if (suggest.getPort()==0) {
        suggest = Contact(suggest.getHost(),NetworkBase::getDefaultPortRange());
    }
    if (suggest.getHost()=="...") {
        // should get my IP
        suggest = Contact(conf.getHostName(),suggest.getPort());
    }

    // finally, should make sure IP is local, and if not, correct it
    if (!conf.isLocalName(suggest.getHost())) {
        YARP_INFO(Logger::get(),"Overriding non-local address for name server");
        suggest = Contact(conf.getHostName(),suggest.getPort());
    }

    // and save
    conf.setAddress(suggest);
    if (!conf.toFile()) {
        YARP_ERROR(Logger::get(), ConstString("Could not save configuration file ") +
                   conf.getConfigFileName());
    }

    MainNameServer name(suggest.getPort() + 2);
    // register root for documentation purposes
    name.registerName(conf.getNamespace(),suggest);

    Port server;
    name.setPort(server);
    server.setReaderCreator(name);
    suggest.setName(conf.getNamespace());
    bool ok = server.open(suggest, false);
    if (ok) {
        YARP_DEBUG(Logger::get(), ConstString("Name server listening at ") +
                   suggest.toURI());

        YARP_SPRINTF2(Logger::get(),info,
                      "Name server can be browsed at http://%s:%d/",
                      suggest.getHost().c_str(), suggest.getPort());

#ifdef YARP_HAS_ACE
        FallbackNameServer fallback(name);
        fallback.start();

        // register fallback root for documentation purposes
        name.registerName("fallback",FallbackNameServer::getAddress());
        YARP_INFO(Logger::get(), ConstString("Bootstrap server listening at ") +
//.........这里部分代码省略.........