Contact MultiNameSpace::unregisterContact(const Contact& contact) {
SpaceList lst = HELPER(this).getAll();
Contact result;
for (int i=0; i<(int)lst.size(); i++) {
Contact iresult = lst[i]->unregisterContact(contact);
if (i==0) result = iresult;
}
return result;
}
Contact MultiNameSpace::unregisterName(const ConstString& name) {
SpaceList lst = HELPER(this).getAll();
Contact result;
for (int i=0; i<(int)lst.size(); i++) {
// we unregister in *all* namespaces
Contact iresult = lst[i]->unregisterName(name);
if (i==0) result = iresult;
}
return result;
}
Contact MultiNameSpace::registerContact(const Contact& contact) {
SpaceList lst = HELPER(this).getAll();
Contact result;
for (int i=0; i<(int)lst.size(); i++) {
// we register in *all* namespaces (and query in *any*)
Contact iresult = lst[i]->registerContact(contact);
if (i==0) result = iresult;
}
return result;
}
bool activate(bool force = false) {
if (force) {
// wipe if forced
clear();
}
// return if namespaces already present
if (spaces.size()!=0) return true;
// read namespace list from config file
NameConfig conf;
if (!conf.fromFile()) {
double now = Time::now();
static double last_shown = now-10;
if (now-last_shown>3) {
last_shown = now;
fprintf(stderr,"warning: YARP name server(s) not configured, ports will be anonymous\n");
fprintf(stderr,"warning: check your namespace and settings with 'yarp detect'\n");
}
return false;
}
Bottle ns = conf.getNamespaces();
// loop through namespaces
for (int i=0; i<ns.size(); i++) {
ConstString n = ns.get(i).asString();
NameConfig conf2;
// read configuration of individual namespace
if (!conf2.fromFile(n.c_str())) {
fprintf(stderr, "Could not find namespace %s\n",
n.c_str());
continue;
}
String mode = conf2.getMode();
Contact address = conf2.getAddress().addName(n);
if (mode=="yarp"||mode=="//") {
// add a yarp namespace
NameSpace *ns = new YarpNameSpace(address);
spaces.push_back(ns);
} else if (mode=="ros") {
// add a ros namespace
NameSpace *ns = new RosNameSpace(address);
spaces.push_back(ns);
} else if (mode=="local") {
NameSpace *ns = new YarpDummyNameSpace;
spaces.push_back(ns);
} else {
// shrug
YARP_SPRINTF1(Logger::get(),error,
"cannot deal with namespace of type %s",
mode.c_str());
return false;
}
}
// cache flags
scan();
return true;
}
void clear() {
for (int i=0; i<(int)spaces.size(); i++) {
NameSpace *ns = spaces[i];
if (ns) {
delete ns;
ns = NULL;
}
}
spaces.clear();
_localOnly = true;
_usesCentralServer = false;
_serverAllocatesPortNumbers = false;
_connectionHasNameOfEndpoints = true;
}
NameSpace *getOne() {
activate();
if (spaces.size()==0) {
return NULL;
}
return spaces[0];
}
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;
}
void scan() {
// reset flags
_localOnly = true;
_usesCentralServer = false;
_serverAllocatesPortNumbers = true;
// now scan each namespace
for (int i=0; i<(int)spaces.size(); i++) {
NameSpace *ns = spaces[i];
if (!ns) continue;
// if any namespace is nonlocal, combination is nonlocal
if (!ns->localOnly()) _localOnly = false;
// if any namespace uses a central server, combination also does
if (ns->usesCentralServer()) _usesCentralServer = true;
// if any namespace doesn't allocate port numbers, combination
// cannot be relied on to do so either
if (!ns->serverAllocatesPortNumbers()) {
_serverAllocatesPortNumbers = false;
}
// if any namespace lacks informed connections, combination
// cannot be relied on to be informed either
if (!ns->connectionHasNameOfEndpoints()) {
_connectionHasNameOfEndpoints = false;
}
}
}
Contact getNameServerContact() {
activate();
if (spaces.size()>0) {
return spaces[0]->getNameServerContact();
}
return Contact();
}
Contact getNameServerContact() {
activate(); // make sure we've loaded namespace(s)
if (spaces.size()>0) {
// return first name server
return spaces[0]->getNameServerContact();
}
return Contact();
}
bool setLocalMode(bool flag) {
clear();
if (flag) {
NameSpace *ns = new YarpDummyNameSpace;
spaces.push_back(ns);
}
scan();
return true;
}
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;
}
bool setLocalMode(bool flag) {
// remove any existing namespaces
clear();
if (flag) {
// add a dummy local namespace
NameSpace *ns = new YarpDummyNameSpace;
spaces.push_back(ns);
}
// cache flags
scan();
return true;
}
Contact queryName(const ConstString& name) {
activate();
for (int i=0; i<(int)spaces.size(); i++) {
NameSpace *ns = spaces[i];
if (!ns) continue;
if (ns->getNameServerName()==name) {
return ns->getNameServerContact();
}
Contact result = ns->queryName(name);
if (result.isValid()) return result;
}
return Contact();
}
bool activate(bool force = false) {
if (force) {
clear();
}
if (spaces.size()!=0) return true;
NameConfig conf;
if (!conf.fromFile()) {
return false;
}
Bottle ns = conf.getNamespaces();
for (int i=0; i<ns.size(); i++) {
ConstString n = ns.get(i).asString();
//printf("NAMESPACE %s\n", n.c_str());
NameConfig conf2;
if (!conf2.fromFile(n.c_str())) {
fprintf(stderr, "Could not find namespace %s\n",
n.c_str());
continue;
}
String mode = conf2.getMode();
Contact address = conf2.getAddress().toContact().addName(n);
//printf("ADDRESS %s\n", address.toString().c_str());
if (mode=="yarp"||mode=="//") {
NameSpace *ns = new YarpNameSpace(address);
spaces.push_back(ns);
} else if (mode=="ros") {
NameSpace *ns = new RosNameSpace(address);
spaces.push_back(ns);
} else {
YARP_SPRINTF1(Logger::get(),error,
"cannot deal with namespace of type %s",
mode.c_str());
return false;
}
}
scan();
return true;
}
Contact queryName(const char *name) {
activate();
for (int i=0; i<(int)spaces.size(); i++) {
NameSpace *ns = spaces[i];
if (!ns) continue;
if (ns->getNameServerName()==name) {
return ns->getNameServerContact();
}
//printf("Query from %s\n", spaces[i]->getNameServerName().c_str());
Contact result = ns->queryName(name);
//printf("Got %s\n", result.toString().c_str());
if (result.isValid()) return result;
}
return Contact();
}
void scan() {
_localOnly = true;
_usesCentralServer = false;
_serverAllocatesPortNumbers = true;
for (int i=0; i<(int)spaces.size(); i++) {
NameSpace *ns = spaces[i];
if (!ns) continue;
if (!ns->localOnly()) _localOnly = false;
if (ns->usesCentralServer()) _usesCentralServer = true;
if (!ns->serverAllocatesPortNumbers()) {
_serverAllocatesPortNumbers = false;
}
if (!ns->connectionHasNameOfEndpoints()) {
_connectionHasNameOfEndpoints = false;
}
}
}
Contact queryName(const ConstString& name) {
activate();
// try query against each namespace in order
for (int i=0; i<(int)spaces.size(); i++) {
NameSpace *ns = spaces[i];
if (!ns) continue;
if (ns->getNameServerName()==name) {
// optimization: return cached server address for
// port names that match name of namespace
return ns->getNameServerContact();
}
Contact result = ns->queryName(name);
// return a result once we get one, skipping any remaining
// namespaces
if (result.isValid()) return result;
}
return Contact();
}
