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;
}
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);
}
static void appendResourceType(ConstString& path,
const ConstString& resourceType) {
if (resourceType=="") return;
ConstString slash = NetworkBase::getDirectorySeparator();
if (path.length()>0) {
if (path[path.length()-1] != slash[0]) {
path += NetworkBase::getDirectorySeparator();
}
}
path += resourceType;
}
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;
}
bool AbstractCarrier::sendSenderSpecifier(ConnectionState& proto)
{
NetInt32 numberSrc;
Bytes number((char*)&numberSrc, sizeof(NetInt32));
const ConstString senderName = proto.getSenderSpecifier();
//const ConstString& senderName = getRoute().getFromName();
NetType::netInt((int)senderName.length()+1, number);
OutputStream& os = proto.os();
os.write(number);
Bytes b((char*)senderName.c_str(), senderName.length()+1);
os.write(b);
os.flush();
return os.isOk();
}
void Class::SetName(ConstString name,bool badd2map)
{
if(name.length())
{
mClassName = AddPooledString(name.c_str());
if( badd2map )
{
ClassMapType::iterator it = mClassMap.find(mClassName);
if(it != mClassMap.end())
{
if(it->second != this)
{
Class *previous = it->second;
orkprintf("ERROR: Duplicate class name %s! previous class %p\n", mClassName.c_str(), previous);
OrkAssert(false);
}
}
else
{
mClassMap.AddSorted(mClassName, this);
}
}
}
}
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;
}
}
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 BufferedConnectionWriter::applyConvertTextMode() {
if (convertTextModePending) {
convertTextModePending = false;
Bottle b;
StringOutputStream sos;
for (size_t i=0; i<lst_used; i++) {
yarp::os::ManagedBytes& m = *(lst[i]);
sos.write(m.usedBytes());
}
const String& str = sos.str();
b.fromBinary(str.c_str(),str.length());
ConstString replacement = b.toString() + "\n";
for (size_t i=0; i<lst.size(); i++) {
delete lst[i];
}
lst_used = 0;
target = &lst;
lst.clear();
stopPool();
Bytes data((char*)replacement.c_str(),replacement.length());
appendBlockCopy(data);
}
return true;
}
void checkFormat() {
report(0,"check matrix format conforms to network standard...");
Matrix m;
unsigned int rr = 10;
unsigned int cc = 5;
makeTestMatrix(m,rr,cc);
BufferedConnectionWriter writer;
m.write(writer);
ConstString s = writer.toString();
Bottle bot;
bot.fromBinary(s.c_str(),(int)s.length());
checkEqual(bot.get(0).asInt(),rr,"row count matches");
checkEqual(bot.get(1).asInt(),cc,"column count matches");
Bottle *lst = bot.get(2).asList();
checkTrue(lst!=NULL,"have data");
if (!lst) return;
checkEqual(lst->size(),(int)(rr*cc),"data length matches");
if (lst->size()!=(int)(rr*cc)) return;
bool ok = true;
for (int i=0; i<(int)(rr*cc); i++) {
double v = lst->get(i).asDouble();
if (fabs(v-i)>0.01) {
ok = false;
checkEqualish(v,i,"cell matches");
break;
}
}
checkTrue(ok,"data matches");
}
static bool matchCarrier(const Bytes *header, Bottle& code) {
int at = 0;
bool success = true;
bool done = false;
for (int i=0; i<code.size() && !done; i++) {
Value& v = code.get(i);
if (v.isString()) {
ConstString str = v.asString();
for (int j=0; j<(int)str.length(); j++) {
if ((int)header->length()<=at) {
success = false;
done = true;
break;
}
if (str[j] != header->get()[at]) {
success = false;
done = true;
break;
}
at++;
}
} else {
at++;
}
}
return success;
}
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;
}
NetInt32 Vocab::encode(const ConstString& str) {
char a = '\0';
char b = '\0';
char c = '\0';
char d = '\0';
if (str.length()>=1) {
a = str[0];
if (str.length()>=2) {
b = str[1];
if (str.length()>=3) {
c = str[2];
if (str.length()>=4) {
d = str[3];
}
}
}
}
return VOCAB(a,b,c,d);
}
void testNulls() {
report(0,"testing null insertion");
ConstString s;
s += 'h';
s += '\0';
s += 'd';
checkEqual((int)s.length(),3,"length with internal null");
checkEqual(s[1],'\0',"null is there");
checkEqual(s[2],'d',"after null");
}
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;
}
bool yarp::os::impl::HttpCarrier::checkHeader(const Bytes& header, const char *prefix) {
if (header.length()==8) {
ConstString target = prefix;
for (unsigned int i=0; i<target.length(); i++) {
if (!(target[i]==header.get()[i])) {
return false;
}
}
return true;
}
return false;
}
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;
}
void checkStandard() {
PortablePair<Bottle,Bottle> pp;
pp.head.fromString("1 2 3");
pp.body.fromString("yes no");
BufferedConnectionWriter writer;
pp.write(writer);
ConstString s = writer.toString();
Bottle bot;
bot.fromBinary(s.c_str(),s.length());
checkEqual(bot.size(),2,"it is a pair");
checkEqual(bot.get(0).asList()->size(),3,"head len is right");
checkEqual(bot.get(1).asList()->size(),2,"body len is right");
}
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\n";
Bytes b((char*)target.c_str(),target.length());
proto.os().write(b);
return true;
}
bool MpiComm::connect(ConstString port) {
char* port_name = new char[port.length()+1];
memcpy(port_name, port.c_str(), port.length());
port_name[port.length()] = '\0';
#ifdef MPI_DEBUG
printf("[MpiComm @ %s] Waiting for accept\n", name.c_str());
#endif
MPI_Comm intercomm;
MPI_Comm_set_errhandler(comm, MPI_ERRORS_RETURN);
int err = MPI_Comm_connect( port_name, MPI_INFO_NULL, 0, comm, &intercomm );
MPI_Comm_set_errhandler(comm, MPI_ERRORS_ARE_FATAL);
if (err != MPI_SUCCESS ) {
yError("MpiCarrier: Couldn't create connection\n");
return false;
}
#ifdef MPI_DEBUG
printf("[MpiComm @ %s] Connection established\n", name.c_str());
#endif
bool high = true;
MPI_Intercomm_merge(intercomm, high, &comm);
MPI_Comm_disconnect(&intercomm);
#ifdef MPI_DEBUG
printf("[MpiComm @ %s] Comms merged \n", name.c_str());
#endif
delete[] port_name;
return true;
}
/**
* 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;
}
void testStandard() {
report(0,"checking standard compliance of description...");
ImageOf<PixelRgb> img;
img.resize(8,4);
img.zero();
BufferedConnectionWriter writer;
img.write(writer);
ConstString s = writer.toString();
Bottle bot;
bot.fromBinary(s.c_str(),s.length());
checkEqual(bot.size(),4,"plausible bottle out");
checkEqual(bot.get(0).toString().c_str(),"mat","good tag");
YARP_DEBUG(Logger::get(),"an example image:");
YARP_DEBUG(Logger::get(),bot.toString().c_str());
}
ConstString UnitTest::humanize(const ConstString& txt) {
ConstString result("");
for (unsigned int i=0; i<txt.length(); i++) {
char ch = txt[i];
if (ch == '\n') {
result += "\\n";
} else if (ch == '\r') {
result += "\\r";
} else if (ch == '\0') {
result += "\\0";
} else {
result += ch;
}
}
return result;
}
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 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 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;
}
/**
* 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;
}
bool WireWriter::writeTag(const char *tag, int split, int len) {
if (!split) {
return writeString(tag);
}
ConstString bit = "";
char ch = 'x';
while (ch!='\0') {
ch = *tag;
tag++;
if (ch=='\0'||ch=='_') {
if (bit.length()<=4) {
writer.appendInt(BOTTLE_TAG_VOCAB);
writer.appendInt(Vocab::encode(bit));
} else {
writeString(bit.c_str());
}
bit = "";
} else {
bit += ch;
}
}
return true;
}
