Contact NameServer::unregisterName(const ConstString& name) {
Contact prev = queryName(name);
if (prev.isValid()) {
if (prev.getPort()!=-1) {
NameRecord& rec = getNameRecord(prev.getRegName());
if (rec.isReusablePort()) {
HostRecord& host = getHostRecord(prev.getHost());
host.release(prev.getPort());
}
if (rec.isReusableIp()) {
if (rec.getAddress().getCarrier()=="mcast") {
mcastRecord.releaseAddress(rec.getAddress().getHost().c_str());
}
}
rec.clear();
tmpNames.release(name);
Bottle event;
event.addVocab(Vocab::encode("del"));
event.addString(name.c_str());
onEvent(event);
}
}
return queryName(name);
}
bool TcpFace::open(const Contact& address) {
YARP_DEBUG(Logger::get(), std::string("opening for address ") + address.toURI());
this->address = address;
#ifdef YARP_HAS_ACE
ACE_INET_Addr serverAddr((address.getPort()>0)?address.getPort():0);
int result = peerAcceptor.open(serverAddr, 1);
if (address.getPort()<=0) {
ACE_INET_Addr localAddr;
peerAcceptor.get_local_addr(localAddr);
this->address = address;
this->address.setSocket("tcp",
NameConfig::getHostName(),
localAddr.get_port_number());
}
#else
int result = peerAcceptor.open(address);
if (address.getPort()<=0) {
this->address = address;
this->address.setSocket("tcp",
NameConfig::getHostName(),
peerAcceptor.get_port_number());
}
#endif
if (result==-1) {
return false;
}
return true;
}
int DgramTwoWayStream::restrictMcast(ACE_SOCK_Dgram_Mcast * dmcast,
const Contact& group,
const Contact& ipLocal,
bool add) {
restrictInterfaceIp = ipLocal;
YARP_INFO(Logger::get(),
String("multicast connection ") + group.getHost() + " on network interface for " + ipLocal.getHost());
int result = -1;
// There's some major damage in ACE mcast interfaces.
// Most require interface names, yet provide no way to query
// these names - and in the end, convert to IP addresses.
// Here we try to do an end run around ACE.
// based on: ACE_SOCK_Dgram::set_nic
ip_mreq multicast_address;
ACE_INET_Addr group_addr(group.getPort(),
group.getHost().c_str());
ACE_INET_Addr interface_addr(ipLocal.getPort(),
ipLocal.getHost().c_str());
multicast_address.imr_interface.s_addr =
htonl (interface_addr.get_ip_address ());
multicast_address.imr_multiaddr.s_addr =
htonl (group_addr.get_ip_address ());
if (add) {
YARP_DEBUG(Logger::get(),"Trying to correct mcast membership...\n");
result =
((ACE_SOCK*)dmcast)->set_option (IPPROTO_IP,
IP_ADD_MEMBERSHIP,
&multicast_address,
sizeof (struct ip_mreq));
} else {
YARP_DEBUG(Logger::get(),"Trying to correct mcast output...");
result =
((ACE_SOCK*)dmcast)->set_option (IPPROTO_IP,
IP_MULTICAST_IF,
&multicast_address.imr_interface.s_addr,
sizeof (struct in_addr));
}
if (result!=0) {
int num = errno;
YARP_DEBUG(Logger::get(),
String("mcast result: ") +
strerror(num));
if (num==98) {
// our membership is already correct / Address already in use
result = 0;
}
result = 0; // in fact, best to proceed for Windows.
}
return result;
}
int SocketTwoWayStream::open(const Contact& address) {
if (address.getPort()==-1) {
return -1;
}
std::string host = address.getHost();
yarp::os::impl::TcpConnector connector;
#ifdef YARP_HAS_ACE
if (address.getHost() == "localhost") {
// ACE does not like localhost. At all.
NameConfig config;
host = config.getHostName(true);
}
ACE_INET_Addr addr(address.getPort(), host.c_str());
YARP_timeval openTimeout;
YARP_timeval *timeout = nullptr;
if (address.hasTimeout()) {
openTimeout.set(address.getTimeout());
timeout = &openTimeout;
}
int result = connector.connect(stream, addr, timeout, ACE_Addr::sap_any, 1);
#else
int result;
if (address.hasTimeout())
{
YARP_timeval timeout;
/* set timeout seconds and microseconds */
timeout.tv_sec = (int) address.getTimeout();
timeout.tv_usec = (address.getTimeout() - (int) address.getTimeout()) * 1000000;
result = connector.connect(stream, address, &timeout);
}
else
{
result = connector.connect(stream, address, nullptr);
}
#endif
if (result>=0) {
happy = true;
} else {
YARP_SPRINTF2(Logger::get(),
debug,
"TCP connection to tcp://%s:%d failed to open",
host.c_str(),
address.getPort());
}
updateAddresses();
return result;
}
Contact MultiNameSpace::registerName(const ConstString& name) {
SpaceList lst = HELPER(this).getAll();
Contact result;
for (int i=0; i<(int)lst.size(); i++) {
Contact iresult;
if (result.getPort()<=0) {
iresult = lst[i]->registerName(name);
} else {
iresult = lst[i]->registerContact(result);
}
if (i==0 || result.getPort()<=0) {
result = iresult;
}
}
return result;
}
int ShmemHybridStream::open(const Contact& yarp_address,bool sender)
{
m_bLinked=false;
ACE_INET_Addr ace_address(yarp_address.getPort(),yarp_address.getHost().c_str());
if (sender)
{
return connect(ace_address);
}
else
{
ACE_INET_Addr ace_server_addr(ace_address.get_port_number());
int result = m_Acceptor.open(ace_server_addr);
if (result<0)
{
YARP_ERROR(Logger::get(),ConstString("ShmemHybridStream open result")+NetType::toString(result));
return result;
}
m_Acceptor.get_local_addr(ace_server_addr);
m_LocalAddress = Contact(ace_server_addr.get_host_addr(),ace_server_addr.get_port_number());
m_RemoteAddress = m_LocalAddress; // finalized in call to accept()
return result;
}
return 1;
}
int yarp_symlink(const char *to, const char *from) {
//TODO: actually, it only works with ln -s /read rd, and yet it throwns
// some errors
//YPath ypath(from);
//if (!ypath.isStem()) { //Check that the path exists? Is it right?
// return -ENOENT;
//}
//Create the new Contact
//Contact src = Network::queryName(from);
//printf("source [%s] is %s\n", from, src.toString().c_str());
//Contact dest = Contact::byName(to).addSocket(src.getCarrier(),src.getHost(),src.getPort());
//printf("dest [%s] should be %s\n", to, src.toString().c_str());
//Network::registerContact(dest);
printf("SYMLINK requested from [%s] to [%s]\n", from, to);
// special symlink entry
//Contact src = Network::queryName(to);
Contact dest = Contact::byName(from).addSocket("symlink",
"none",
1);
printf("Planning to register %s / %d / %d\n",
dest.toString().c_str(),
dest.isValid(),
dest.getPort());
Network::registerContact(dest);
Network::setProperty(from,"link",Value(to));
return 0;
}
Bottle NameServer::botify(const Contact& address) {
Bottle result;
if (address.isValid()) {
Bottle bname;
bname.addString("name");
bname.addString(address.getRegName().c_str());
Bottle bip;
bip.addString("ip");
bip.addString(address.getHost().c_str());
Bottle bnum;
bnum.addString("port_number");
bnum.addInt(address.getPort());
Bottle bcarrier;
bcarrier.addString("carrier");
bcarrier.addString(address.getCarrier().c_str());
result.addString("port");
result.addList() = bname;
result.addList() = bip;
result.addList() = bnum;
result.addList() = bcarrier;
} else {
Bottle bstate;
bstate.addString("error");
bstate.addInt(-2);
bstate.addString("port not known");
result.addString("port");
result.addList() = bstate;
}
return result;
}
bool DgramTwoWayStream::join(const Contact& group, bool sender,
const Contact& ipLocal) {
#ifdef YARP_HAS_ACE
YARP_DEBUG(Logger::get(),String("subscribing to mcast address ") +
group.toURI() + " for " +
(sender?"writing":"reading"));
multiMode = true;
if (sender) {
if (ipLocal.isValid()) {
return openMcast(group,ipLocal);
} else {
// just use udp as normal
return open(group);
}
//return;
}
ACE_SOCK_Dgram_Mcast *dmcast = new ACE_SOCK_Dgram_Mcast;
//possible flags: ((ACE_SOCK_Dgram_Mcast::options)(ACE_SOCK_Dgram_Mcast::OPT_NULLIFACE_ALL | ACE_SOCK_Dgram_Mcast::OPT_BINDADDR_YES));
dgram = dmcast;
mgram = dmcast;
yAssert(dgram!=NULL);
ACE_INET_Addr addr(group.getPort(),group.getHost().c_str());
int result = -1;
if (ipLocal.isValid()) {
result = 0;
result = dmcast->join(addr,1);
if (result==0) {
result = restrictMcast(dmcast,group,ipLocal,true);
}
} else {
result = dmcast->join(addr,1);
}
configureSystemBuffers();
if (result!=0) {
YARP_ERROR(Logger::get(),"cannot connect to multi-cast address");
happy = false;
return false;
}
localAddress = group;
remoteAddress = group;
localHandle.set(localAddress.getPort(),localAddress.getHost().c_str());
remoteHandle.set(remoteAddress.getPort(),remoteAddress.getHost().c_str());
allocate();
return true;
#else
return false;
#endif
}
/**
* Open the server port and listen for clients
*/
int TcpAcceptor::shared_open(const Contact& address) {
struct sockaddr_in servAddr;
servAddr.sin_addr.s_addr = INADDR_ANY;
servAddr.sin_family = AF_INET;
servAddr.sin_port = htons((address.getPort()>0)?address.getPort():0);
inet_aton(address.getHost().c_str(), &servAddr.sin_addr);
memset(servAddr.sin_zero, '\0', sizeof servAddr.sin_zero);
// servAddress = Address(inet_ntoa(servAddr.sin_addr),servAddr.sin_port);
if (bind(get_handle(), (struct sockaddr *)&servAddr,
sizeof (struct sockaddr)) == -1) {
perror("At bind(sockfd) there was an error...");
return -1;
}
if (listen(get_handle(), BACKLOG) == -1) {
perror("At listen(sockfd) there was an error...");
return -1;
}
struct sigaction sa;
sa.sa_handler = sigchld_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = SA_RESTART;
if (sigaction(SIGCHLD, &sa, NULL) == -1) {
perror("At sigaction(address) there was an error...");
return -1;
}
struct sockaddr_in sin;
socklen_t addrlen = sizeof(sin);
if (getsockname(get_handle(), (struct sockaddr *)&sin, &addrlen) == 0 &&
sin.sin_family == AF_INET &&
addrlen == sizeof(sin)) {
port_number = (int)ntohs(sin.sin_port);
} else {
perror("At getsockname(address) there was an error...");
return -1;
}
return 1;
}
Contact RosNameSpace::rosify(const Contact& contact) {
ConstString carrier = ((contact.getCarrier() == "rosrpc") ? "rosrpc" : "http");
ConstString hostname = contact.getHost();
if (yarp::os::impl::NameConfig::isLocalName(hostname)) {
char hn[HOST_NAME_MAX];
yarp::os::gethostname(hn, sizeof(hn));
hostname = hn;
}
return Contact(carrier, hostname, contact.getPort());
}
ConstString NameServer::textify(const Contact& address) {
ConstString result = "";
if (address.isValid()) {
if (address.getPort()>=0) {
result = "registration name ";
result = result + address.getRegName() +
" ip " + address.getHost() + " port " +
NetType::toString(address.getPort()) + " type " +
address.getCarrier() + "\n";
} else {
result = "registration name ";
result = result + address.getRegName() +
" ip " + "none" + " port " +
"none" + " type " +
address.getCarrier() + "\n";
}
}
return result;
}
Contact MultiNameSpace::registerName(const ConstString& name) {
SpaceList lst = HELPER(this).getAll();
Contact result;
// loop through namespaces
for (int i=0; i<(int)lst.size(); i++) {
Contact iresult;
// Register name with namespace. If contact information is
// fleshed out while registering, we carry that along for
// registration with the next namespace.
if (result.getPort()<=0) {
iresult = lst[i]->registerName(name);
} else {
iresult = lst[i]->registerContact(result);
}
if (i==0 || result.getPort()<=0) {
result = iresult;
}
}
return result;
}
void appendEntry(yarp::os::Bottle& reply, const Contact& c) {
Bottle& info = reply.addList();
info.addString("registration");
info.addString("name");
info.addString(c.getName().c_str());
info.addString("ip");
info.addString(c.getHost().c_str());
info.addString("port");
info.addInt(c.getPort());
info.addString("type");
info.addString(c.getCarrier().c_str());
}
void requestTopic(NodeArgs& na) {
ConstString topic = na.args.get(0).asString();
Contact c = lookup(topic);
if (!c.isValid()) {
na.fail("Cannot find topic");
return;
}
na.reply.addString("TCPROS");
na.reply.addString(c.getHost());
na.reply.addInt(c.getPort());
na.success();
}
Contact NetworkBase::queryName(const ConstString& name) {
YARP_SPRINTF1(Logger::get(),debug,"query name %s",name.c_str());
if (getNameServerName()==name) {
YARP_SPRINTF1(Logger::get(),debug,"query recognized as name server: %s",name.c_str());
return getNameServerContact();
}
Contact c = c.fromString(name);
if (c.isValid()&&c.getPort()>0) {
return c;
}
return getNameSpace().queryName(name);
}
Contact RosNameSpace::unregisterContact(const Contact& contact) {
// Remainder of method is supporting older /name+#/foo syntax
Bottle cmd, reply;
cmd.addString("unregisterSubscriber");
cmd.addString(contact.getName());
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();
}
int SocketTwoWayStream::open(const Contact& address) {
if (address.getPort()==-1) {
return -1;
}
String host = address.getHost();
#ifdef YARP_HAS_ACE
ACE_SOCK_Connector connector;
if (address.getHost() == "localhost") {
// ACE does not like localhost. At all.
NameConfig config;
host = config.getHostName(true);
}
ACE_INET_Addr addr(address.getPort(),host.c_str());
ACE_Time_Value openTimeout;
ACE_Time_Value *timeout = NULL;
if (address.hasTimeout()) {
openTimeout.set(address.getTimeout());
timeout = &openTimeout;
}
int result = connector.connect(stream,addr,timeout,ACE_Addr::sap_any,1);
#else
TcpConnector connector;
int result = connector.connect(stream, address);
#endif
if (result>=0) {
happy = true;
} else {
YARP_SPRINTF2(Logger::get(),
debug,
"TCP connection to tcp://%s:%d failed to open",
host.c_str(),
address.getPort());
}
updateAddresses();
return result;
}
int yarp_link(const char *from, const char *to) {
//TODO: will it ever be possible to hard link ports?
// If possible, it might be an alias for yarp_simlink, as with YARP
// there isn't a sym/hard linking difference
//Create the new Contact
Contact src = Network::queryName(from);
printf("source [%s] is %s\n", from, src.toString().c_str());
Contact dest = Contact::byName(to).addSocket(src.getCarrier(),src.getHost(),src.getPort());
printf("dest [%s] should be %s\n", to, src.toString().c_str());
return 0;
}
bool Port::addOutput(const Contact& contact) {
PortCoreAdapter& core = HELPER(implementation);
if (core.isInterrupted()) return false;
core.alertOnWrite();
ConstString name;
if (contact.getPort()<=0) {
name = contact.toString();
} else {
name = contact.toURI();
}
if (!core.isListening()) {
return core.addOutput(name.c_str(),NULL,NULL,true);
}
Contact me = where();
return NetworkBase::connect(me.getName().c_str(),
name.c_str());
}
bool Port::addOutput(const Contact& contact)
{
PortCoreAdapter& core = IMPL();
if (core.commitToRead) return false;
if (core.isInterrupted()) return false;
core.alertOnWrite();
std::string name;
if (contact.getPort()<=0) {
name = contact.toString();
} else {
name = contact.toURI();
}
if (!core.isListening()) {
return core.addOutput(name, nullptr, nullptr, true);
}
Contact me = where();
return NetworkBase::connect(me.getName(), name);
}
Contact NameClient::queryName(const String& name) {
String np = getNamePart(name);
size_t i1 = np.find(":");
if (i1!=String::npos) {
Contact c = c.fromString(np.c_str());
if (c.isValid()&&c.getPort()>0) {
return c;
}
}
if (altStore!=NULL) {
Contact c = altStore->query(np.c_str());
return c;
}
String q("NAME_SERVER query ");
q += np;
return probe(q);
}
bool DgramTwoWayStream::openMcast(const Contact& group,
const Contact& ipLocal) {
#ifdef YARP_HAS_ACE
multiMode = true;
localAddress = ipLocal;
localHandle = ACE_INET_Addr((u_short)(localAddress.getPort()),
(ACE_UINT32)INADDR_ANY);
ACE_SOCK_Dgram_Mcast *dmcast = new ACE_SOCK_Dgram_Mcast;
dgram = dmcast;
mgram = dmcast;
yAssert(dgram!=NULL);
int result = -1;
ACE_INET_Addr addr(group.getPort(),group.getHost().c_str());
if (ipLocal.isValid()) {
result = dmcast->open(addr,NULL,1);
if (result==0) {
result = restrictMcast(dmcast,group,ipLocal,false);
}
} else {
result = dmcast->open(addr,NULL,1);
}
if (result!=0) {
YARP_ERROR(Logger::get(),"could not open multicast datagram socket");
return false;
}
configureSystemBuffers();
remoteAddress = group;
localHandle.set(localAddress.getPort(),localAddress.getHost().c_str());
remoteHandle.set(remoteAddress.getPort(),remoteAddress.getHost().c_str());
allocate();
return true;
#else
return false;
#endif
}
void checkTimeoutNetworkExists() {
ContactStyle style;
style.timeout = 2.0;
report(0,"checking Network::exists timeout");
Port p;
p.open("/tcp");
Contact c = p.where();
bool ok = Network::exists("/tcp",style);
checkTrue(ok,"a yarp port");
p.close();
TcpFace face;
Contact address(c.getHost(),c.getPort());
checkTrue(face.open(address),"open server socket, timeout check proceeds");
Network::registerContact(c);
ok = Network::exists("/tcp",style);
Network::unregisterContact(c);
checkFalse(ok,"not a yarp port");
face.close();
}
int yarp_rename(const char *from, const char *to) {
//TODO: the current code just renames ports, eg:
// /read can become /rd, but /read/rd1 cannot become /rd/rd1
// every subport/subdirectory should have to be renamed
YPath ypath(from);
if (!ypath.isPort()) { //Check that the path exists? Is it right?
return -ENOENT;
}
//Create the new Contact
Contact src = Network::queryName(from);
Network::unregisterContact(src);
Contact dest(to, src.getCarrier(), src.getHost(), src.getPort());
Network::registerContact(dest);
return 0;
}
/**
* Connect to server
*/
int TcpConnector::connect(TcpStream &new_stream, const Contact& address) {
// printf("TCP/IP start in client mode\n");
// sockets.set_as_client();
// sockets.set_client_sockfd(sockfd);
if (open (new_stream) == -1)
return -1;
// Write sockaddr struct with given address...
sockaddr_in servAddr;
servAddr.sin_addr.s_addr = INADDR_ANY;
servAddr.sin_family = AF_INET;
servAddr.sin_port = htons(address.getPort());
memset(servAddr.sin_zero, '\0', sizeof servAddr.sin_zero);
struct hostent *hostInfo = gethostbyname(address.getHost().c_str());
if (hostInfo) {
bcopy(hostInfo->h_addr,(char *)(&servAddr.sin_addr),hostInfo->h_length);
} else {
inet_aton(address.getHost().c_str(), &servAddr.sin_addr);
}
// Address servAddress,
// servAddress = Address(inet_ntoa(servAddr.sin_addr),servAddr.sin_port);
YARP_ASSERT (new_stream.get_handle() != -1);
int result = ::connect(new_stream.get_handle(), (sockaddr*) &servAddr, sizeof(servAddr));
// std::cout << "Connect [handle=" << new_stream.get_handle() << "] at " << inet_ntoa(servAddr.sin_addr) << ":" << servAddr.sin_port << std::endl;
if (result < 0) {
perror("TcpConnector::connect fail");
std::cerr << "Connect [handle=" << new_stream.get_handle() << "] at " << inet_ntoa(servAddr.sin_addr) << ":" << servAddr.sin_port << std::endl;
}
return result;
}
bool yarp::os::impl::McastCarrier::sendHeader(ConnectionState& proto) {
// need to do more than the default
bool ok = defaultSendHeader(proto);
if (!ok) return false;
YARP_DEBUG(Logger::get(),"Adding extra mcast header");
Contact addr;
Contact alt = proto.getStreams().getLocalAddress();
ConstString altKey =
proto.getRoute().getFromName() +
"/net=" + alt.getHost();
McastCarrier *elect = getCaster().getElect(altKey);
if (elect!=YARP_NULLPTR) {
YARP_DEBUG(Logger::get(),"picking up peer mcast name");
addr = elect->mcastAddress;
mcastName = elect->mcastName;
} else {
// fetch an mcast address
Contact target("...", "mcast", "...", 0);
addr = NetworkBase::registerContact(target);
mcastName = addr.getRegName();
if (addr.isValid()) {
// mark owner of mcast address
NetworkBase::setProperty(proto.getRoute().getFromName().c_str(),
"owns",
Value(mcastName.c_str()));
}
}
int ip[] = { 224, 3, 1, 1 };
int port = 11000;
if (addr.isValid()) {
SplitString ss(addr.getHost().c_str(),'.');
if (ss.size()!=4) {
addr = Contact();
} else {
yAssert(ss.size()==4);
for (int i=0; i<4; i++) {
ip[i] = NetType::toInt(ss.get(i));
}
port = addr.getPort();
}
}
if (!addr.isValid()) {
YARP_ERROR(Logger::get(), "Name server not responding helpfully, setting mcast name arbitrarily.");
YARP_ERROR(Logger::get(), "Only a single mcast address supported in this mode.");
addr = Contact("/tmp/mcast", "mcast", "224.3.1.1", 11000);
}
ManagedBytes block(6);
for (int i=0; i<4; i++) {
((unsigned char*)block.get())[i] = (unsigned char)ip[i];
}
block.get()[5] = (char)(port%256);
block.get()[4] = (char)(port/256);
proto.os().write(block.bytes());
mcastAddress = addr;
return true;
}
bool NameServiceOnTriples::cmdQuery(NameTripleState& act, bool nested) {
ConstString port = act.cmd.get(1).asString();
ParseName parser;
parser.apply(port.c_str());
port = parser.getPortName();
/*
// port names may be prefixed - sort that out
ConstString base = port;
ConstString pat = "";
if (base.find("/net=") == 0 || base.find("/NET=") == 0) {
int patStart = 5;
int patEnd = base.find('/',patStart);
if (patEnd>=patStart) {
pat = base.substr(patStart,patEnd-patStart);
base = base.substr(patEnd);
}
port = base;
}
*/
if (act.reply.size()==0 && !act.bottleMode) {
act.reply.addString("old");
}
Bottle& q=(act.bottleMode&&!act.nestedMode)?
act.reply :
act.reply.addList();
Contact c = query(port, act, parser.getNetworkChoice(), nested);
ConstString host = c.getHost();
ConstString carrier = c.getCarrier();
int sock = c.getPort();
if (c.isValid()) {
if (!act.bottleMode) {
q.addString("registration");
q.addString("name");
q.addString(port);
q.addString("ip");
q.addString(host);
q.addString("port");
q.addInt(sock);
q.addString("type");
q.addString(carrier);
} else {
Bottle bname;
bname.addString("name");
bname.addString(port);
Bottle bip;
bip.addString("ip");
bip.addString(host);
Bottle bnum;
bnum.addString("port_number");
bnum.addInt(sock);
Bottle bcarrier;
bcarrier.addString("carrier");
bcarrier.addString(carrier);
q.addString("port");
q.addList() = bname;
q.addList() = bip;
q.addList() = bnum;
q.addList() = bcarrier;
}
} else {
if (act.bottleMode) {
Bottle bstate;
bstate.addString("error");
bstate.addInt(-2);
bstate.addString("port not known");
q.addString("port");
q.addList() = bstate;
}
}
return true;
}
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;
}
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();
}
