C++ NameConfig::toFile方法代码示例

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;
}

bool NetworkBase::setNameServerContact(Contact &nameServerContact)
{
    NameConfig nameConfig;
    if (nameServerContact.getName() != "")
        setNameServerName(nameServerContact.getName());
    nameConfig.fromFile();
    nameConfig.setAddress(nameServerContact);
    bool result = nameConfig.toFile();
    getNameSpace().activate(true);
    return result;
}

String NameClient::send(const String& cmd, bool multi) {
    //printf("*** OLD YARP command %s\n", cmd.c_str());
    setup();

    if (NetworkBase::getQueryBypass()) {
        ContactStyle style;
        Bottle bcmd(cmd.c_str()), reply;
        NetworkBase::writeToNameServer(bcmd,reply,style);
        ConstString si = reply.toString(), so;
        for (int i=0; i<(int)si.length(); i++) {
            if (si[i]!='\"') {
                so += si[i];
            }
        }
        return so.c_str();
    }
    bool retried = false;
    bool retry = false;
    String result;
    Contact server = getAddress();
    float timeout = 10;
    server.setTimeout(timeout);

    do {

        YARP_DEBUG(Logger::get(),String("sending to nameserver: ") + cmd);

        if (isFakeMode()) {
            //YARP_DEBUG(Logger::get(),"fake mode nameserver");
            return getServer().apply(cmd,Contact::bySocket("tcp","127.0.0.1",NetworkBase::getDefaultPortRange())) + "\n";
        }

        TcpFace face;
        YARP_DEBUG(Logger::get(),String("connecting to ") + getAddress().toURI());
        OutputProtocol *ip = NULL;
        if (!retry) {
            ip = face.write(server);
        } else {
            retried = true;
        }
        if (ip==NULL) {
            YARP_INFO(Logger::get(),"No connection to nameserver");
            if (!allowScan) {
                YARP_INFO(Logger::get(),"*** try running: yarp detect ***");
            }
            Contact alt;
            if (!isFakeMode()) {
                if (allowScan) {
                    YARP_INFO(Logger::get(),"no connection to nameserver, scanning mcast");
                    reportScan = true;
#ifdef YARP_HAS_ACE
                    alt = FallbackNameClient::seek();
#else
                    return ""; // nothing to do, nowhere to turn
#endif
                }
            }
            if (alt.isValid()) {
                address = alt;
                if (allowSaveScan) {
                    reportSaveScan = true;
                    NameConfig nc;
                    nc.setAddress(alt);
                    nc.toFile();
                }
                server = getAddress();
                server.setTimeout(timeout);
                ip = face.write(server);
                if (ip==NULL) {
                    YARP_ERROR(Logger::get(),
                               "no connection to nameserver, scanning mcast");
                    return "";
                }
            } else {
                return "";
            }
        }
        String cmdn = cmd + "\n";
        Bytes b((char*)cmdn.c_str(),cmdn.length());
        ip->getOutputStream().write(b);
        bool more = multi;
        while (more) {
            String line = "";
            line = ip->getInputStream().readLine();
            if (!(ip->isOk())) {
                more = false;
                //YARP_DEBUG(Logger::get(), e.toString() + " <<< exception from name server");
                retry = true;
                break;
            }
            if (line.length()>1) {
                if (line[0] == '*'||line[0] == '[') {
                    more = false;
                }
            }
            result += line + "\n";
        }
        ip->close();
        delete ip;
        YARP_SPRINTF1(Logger::get(),
//.........这里部分代码省略.........

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 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.........