bool RosLookup::lookupCore(const ConstString& name) {
Bottle req, reply;
req.addString("lookupNode");
req.addString("dummy_id");
req.addString(name);
rpc(getRosCoreAddress(), "xmlrpc", req, reply, verbose);
if (reply.get(0).asInt()!=1) {
fprintf(stderr, "Failure: %s\n", reply.toString().c_str());
return false;
}
ConstString url = reply.get(2).asString();
ConstString::size_type break1 = url.find("://",0);
if (break1==ConstString::npos) {
fprintf(stderr, "url not understood: %s\n", url.c_str());
return false;
}
ConstString::size_type break2 = url.find(":",break1+3);
if (break2==ConstString::npos) {
fprintf(stderr, "url not understood: %s\n", url.c_str());
return false;
}
ConstString::size_type break3 = url.find("/",break2+1);
if (break3==ConstString::npos) {
fprintf(stderr, "url not understood: %s\n", url.c_str());
return false;
}
hostname = url.substr(break1+3,break2-break1-3);
Value vportnum;
vportnum.fromString(url.substr(break2+1,break3-break2-1).c_str());
portnum = vportnum.asInt();
if (verbose) printf("%s\n", reply.toString().c_str());
valid = (portnum!=0);
rpc(getRosCoreAddress(), "xmlrpc", req, reply, verbose);
return valid;
}
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;
}
}
Contact NameServer::queryName(const ConstString& name) {
ConstString base = name;
ConstString pat = "";
if (name.find("/net=") == 0) {
size_t patStart = 5;
size_t patEnd = name.find('/',patStart);
if (patEnd>=patStart && patEnd!=ConstString::npos) {
pat = name.substr(patStart,patEnd-patStart);
base = name.substr(patEnd);
YARP_DEBUG(Logger::get(),ConstString("Special query form ") +
name + " (" + pat + "/" + base + ")");
}
}
NameRecord *rec = getNameRecord(base,false);
if (rec!=YARP_NULLPTR) {
if (pat!="") {
ConstString ip = rec->matchProp("ips",pat);
if (ip!="") {
SplitString sip(ip.c_str());
Contact c = rec->getAddress();
c.setHost(sip.get(0));
return c;
}
}
return rec->getAddress();
}
return Contact();
}
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);
}
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;
}
/**
* 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;
}
/**
* 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;
}
static void toDox(PolyDriver& dd, FILE *os) {
fprintf(os, "<table>\n");
fprintf(os, "<tr><td>PROPERTY</td><td>DESCRIPTION</td><td>DEFAULT</td></tr>\n");
Bottle order = dd.getOptions();
for (int i=0; i<order.size(); i++) {
ConstString name = order.get(i).toString().c_str();
if (name=="wrapped"||name.substr(0,10)=="subdevice.") {
continue;
}
ConstString desc = dd.getComment(name.c_str());
ConstString def = dd.getDefaultValue(name.c_str()).toString();
ConstString out = "";
out += "<tr><td>";
out += name.c_str();
out += "</td><td>";
out += desc.c_str();
out += "</td><td>";
out += def.c_str();
out += "</td></tr>";
fprintf(os,"%s\n",out.c_str());
}
fprintf(os, "</table>\n");
}
Contact RosNameSpace::registerAdvanced(const Contact& contact, NameStore *store) {
dbg_printf("ROSNameSpace registerContact(%s / %s)\n",
contact.toString().c_str(),
contact.toURI().c_str());
NestedContact nc = contact.getNested();
if (nc.getNestedName()=="") {
nc.fromString(contact.getName());
}
ConstString cat = nc.getCategory();
if (nc.getNestedName()!="") {
if (cat == "-1") {
Bottle cmd, reply;
cmd.clear();
cmd.addString("registerService");
cmd.addString(toRosNodeName(nc.getNodeName()));
cmd.addString(toRosName(nc.getNestedName()));
Contact rosrpc = contact;
rosrpc.setCarrier("rosrpc");
cmd.addString(rosrpc.toURI());
Contact c;
if (store) {
c = rosify(store->query(nc.getNodeName()));
} else {
Nodes& nodes = NameClient::getNameClient().getNodes();
c = rosify(nodes.getParent(contact.getName()));
}
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=="+")?"registerPublisher":"registerSubscriber");
cmd.addString(toRosNodeName(nc.getNodeName()));
cmd.addString(toRosName(nc.getNestedName()));
ConstString typ = nc.getTypeNameStar();
if (typ!="*"&&typ!="") {
// remap some basic native YARP types
if (typ=="yarp/image") {
typ = "sensor_msgs/Image";
}
if (typ.find('/')==ConstString::npos) {
typ = ConstString("yarp/") + typ;
}
}
cmd.addString(typ);
Contact c;
if (store) {
c = rosify(store->query(nc.getNodeName()));
} else {
Nodes& nodes = NameClient::getNameClient().getNodes();
c = rosify(nodes.getParent(contact.getName()));
}
//Contact c = rosify(contact);
cmd.addString(c.toURI());
bool ok = NetworkBase::write(getNameServerContact(),
cmd, reply);
if (!ok) {
fprintf(stderr, "ROS registration error: %s\n", reply.toString().c_str());
return Contact();
}
if (cat=="-") {
Bottle *publishers = reply.get(2).asList();
if (publishers && publishers->size()>=1) {
cmd.clear();
cmd.addString(contact.toURI());
cmd.addString("publisherUpdate");
cmd.addString("/yarp/RosNameSpace");
cmd.addString(toRosName(nc.getNestedName()));
cmd.addList() = *publishers;
mutex.wait();
bool need_start = false;
if (pending.size()==0) {
mutex.post();
stop();
need_start = true;
mutex.wait();
}
pending.addList() = cmd;
if (need_start) {
start();
}
mutex.post();
}
}
}
return contact;
}
// Remainder of method is supporting older /name+#/foo syntax
ConstString name = contact.getName();
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());
YARP_SPRINTF1(Logger::get(), debug, "Publish to %s", pub.c_str());
}
if (sub_idx!=ConstString::npos) {
node = name.substr(0, sub_idx);
sub = name.substr(sub_idx+2, name.length());
YARP_SPRINTF1(Logger::get(), debug, "Subscribe to %s", sub.c_str());
}
if (node=="") {
node = name;
}
YARP_SPRINTF4(Logger::get(), debug, "Name [%s] Node [%s] sub [%s] pub [%s]",
name.c_str(), node.c_str(), sub.c_str(), pub.c_str());
{
Bottle cmd, reply;
// for ROS, we fake port name registrations by
// registering them as nodes that publish to an arbitrary
// topic
cmd.clear();
cmd.addString("registerPublisher");
cmd.addString(toRosNodeName(node));
cmd.addString("/yarp/registration");
cmd.addString("*");
Contact c = rosify(contact);
cmd.addString(c.toString());
bool ok = NetworkBase::write(getNameServerContact(),
cmd, reply);
if (!ok) {
return Contact();
}
}
if (pub!="") {
NetworkBase::connect(node, ConstString("topic:/") + pub);
}
if (sub!="") {
NetworkBase::connect(ConstString("topic:/") + sub, node);
}
Contact c = contact;
c.setName(node);
return c;
}
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();
}
bool Port::open(const Contact& contact, bool registerName,
const char *fakeName) {
Contact contact2 = contact;
if (!NetworkBase::initialized()) {
YARP_ERROR(Logger::get(), "YARP not initialized; create a yarp::os::Network object before using ports");
return false;
}
ConstString n = contact2.getName();
bool local = false;
if (n == "" && contact2.getPort()<=0) {
local = true;
registerName = false;
n = "...";
}
NestedContact nc(n);
if (nc.getNestedName()!="") {
if (nc.getNodeName() == "") {
Nodes& nodes = NameClient::getNameClient().getNodes();
nodes.requireActiveName();
ConstString node_name = nodes.getActiveName();
if (node_name!="") {
n = n + node_name;
}
}
}
if (n!="" && n[0]!='/' && n[0]!='=' && n!="..." && n.substr(0,3)!="...") {
if (fakeName==NULL) {
Nodes& nodes = NameClient::getNameClient().getNodes();
ConstString node_name = nodes.getActiveName();
if (node_name!="") {
// n = node_name + "=/" + n;
n = "/" + n + "@" + node_name;
}
}
}
if (n!="" && n[0]!='/' && n[0]!='=' && n!="..." && n.substr(0,3)!="...") {
if (fakeName==NULL) {
YARP_SPRINTF1(Logger::get(),error,
"Port name '%s' needs to start with a '/' character",
n.c_str());
return false;
}
}
if (n!="" && n!="..." && n[0]!='=' && n.substr(0,3)!="...") {
if (fakeName==NULL) {
ConstString prefix = NetworkBase::getEnvironment("YARP_PORT_PREFIX");
if (prefix!="") {
n = prefix + n;
contact2 = contact2.addName(n);
}
}
}
PortCoreAdapter *currentCore = &(HELPER(implementation));
if (currentCore!=NULL) {
NestedContact nc;
nc.fromString(n);
if (nc.getNestedName()!="") {
if (nc.getCategory()=="") {
// we need to add in a category
ConstString cat = "";
if (currentCore->commitToRead) {
cat = "-";
} else if (currentCore->commitToWrite) {
cat = "+";
}
if (cat!="") {
if (currentCore->commitToRpc) {
cat += "1";
}
contact2 = contact2.addName(nc.getNestedName() +
cat +
"@" +
nc.getNodeName());
} else {
YARP_SPRINTF1(Logger::get(),error,
"Error: Port '%s' is not committed to being either an input or output port.",
n.c_str());
YARP_SPRINTF0(Logger::get(),error,
"YARP does not mind, but we are trying to register with a name server that does.");
YARP_SPRINTF0(Logger::get(),error,
"You can call Port::setWriteOnly() or Port::setReadOnly(), OR rename the port.");
NestedContact nc2 = nc;
nc2.setCategoryWrite();
YARP_SPRINTF1(Logger::get(),error,
"For an output port, call it: %s (+ adds data)",
nc2.toString().c_str());
nc2.setCategoryRead();
YARP_SPRINTF1(Logger::get(),error,
"For an input port, call it: %s (- takes data)",
nc2.toString().c_str());
return false;
}
}
}
}
// Allow for open() to be called safely many times on the same Port
if (currentCore->isOpened()) {
PortCoreAdapter *newCore = new PortCoreAdapter(*this);
YARP_ASSERT(newCore!=NULL);
// copy state that should survive in a new open()
if (currentCore->checkPortReader()!=NULL) {
newCore->configReader(*(currentCore->checkPortReader()));
}
if (currentCore->checkReadCreator()!=NULL) {
newCore->configReadCreator(*(currentCore->checkReadCreator()));
}
if (currentCore->checkWaitAfterSend()>=0) {
newCore->configWaitAfterSend(currentCore->checkWaitAfterSend());
}
close();
delete ((PortCoreAdapter*)implementation);
implementation = newCore;
}
PortCoreAdapter& core = HELPER(implementation);
core.openable();
if (NetworkBase::localNetworkAllocation()&&contact2.getPort()<=0) {
YARP_DEBUG(Logger::get(),"local network allocation needed");
local = true;
}
bool success = true;
Contact caddress = Contact::bySocket(contact2.getCarrier(),
contact2.getHost(),
contact2.getPort())
.addName(contact2.getName());
caddress.setNested(contact2.getNested());
Contact address = caddress;
core.setReadHandler(core);
if (contact2.getPort()>0 && contact2.getHost()!="") {
registerName = false;
}
ConstString typ = getType().getName();
if (typ!="") {
NestedContact nc;
nc.fromString(contact2.getName());
nc.setTypeName(typ);
contact2.setNested(nc);
}
if (registerName&&!local) {
address = NetworkBase::registerContact(contact2);
}
core.setControlRegistration(registerName);
success = (address.isValid()||local)&&(fakeName==NULL);
if (success) {
// create a node if needed
Nodes& nodes = NameClient::getNameClient().getNodes();
nodes.prepare(address.getRegName().c_str());
}
// If we are a service client, go ahead and connect
if (success) {
NestedContact nc;
nc.fromString(address.getName());
if (nc.getNestedName()!="") {
if (nc.getCategory() == "+1") {
addOutput(nc.getNestedName());
}
}
}
ConstString blame = "invalid address";
if (success) {
success = core.listen(address,registerName);
blame = "address conflict";
if (success) {
success = core.start();
blame = "manager did not start";
}
}
if (success) {
address = core.getAddress();
if (registerName&&local) {
contact2 = contact2.addSocket(address.getCarrier(),
address.getHost(),
address.getPort());
contact2 = contact2.addName(address.getRegName().c_str());
Contact newName = NetworkBase::registerContact(contact2);
core.resetPortName(newName.getName());
address = core.getAddress();
} else if (core.getAddress().getRegName()=="" && !registerName) {
core.resetPortName(core.getAddress().addCarrier("").toURI());
core.setName(core.getAddress().getRegName());
}
if (core.getVerbosity()>=1) {
if (address.getRegName()=="") {
YARP_INFO(Logger::get(),
String("Anonymous port active at ") +
address.toURI());
} else {
YARP_INFO(Logger::get(),
String("Port ") +
address.getRegName() +
" active at " +
address.toURI());
}
}
}
if (fakeName!=NULL) {
success = core.manualStart(fakeName);
blame = "unmanaged port failed to start";
}
if (!success) {
YARP_ERROR(Logger::get(),
String("Port ") +
(address.isValid()?(address.getRegName().c_str()):(contact2.getName().c_str())) +
" failed to activate" +
(address.isValid()?" at ":"") +
(address.isValid()?address.toURI():String("")) +
" (" +
blame.c_str() +
")");
}
if (success) {
// create a node if needed
Nodes& nodes = NameClient::getNameClient().getNodes();
nodes.add(*this);
}
return success;
}
void fromCommand(int argc, char *argv[],bool wipe=true) {
String tag = "";
Bottle accum;
Bottle total;
bool qualified = false;
for (int i=0; i<argc; i++) {
String work = argv[i];
bool isTag = false;
if (work.length()>=2) {
if (work[0]=='-'&&work[1]=='-') {
work = work.substr(2,work.length()-2);
isTag = true;
if (work.find("::")!=String::npos) {
qualified = true;
}
}
}
if (isTag) {
if (tag!="") {
total.addList().copy(accum);
}
tag = work;
accum.clear();
} else {
if (work.find("\\")!=String::npos) {
// Specifically when reading from the command
// line, we will allow windows-style paths.
// Hence we have to break the "\" character
String buf = "";
for (unsigned int i=0; i<work.length(); i++) {
buf += work[i];
if (work[i]=='\\') {
buf += work[i];
}
}
work = buf;
}
}
accum.add(Value::makeValue(work.c_str()));
}
if (tag!="") {
total.addList().copy(accum);
}
if (!qualified) {
fromBottle(total,wipe);
return;
}
if (wipe) {
clear();
}
Bottle *cursor = NULL;
for (int i=0; i<total.size(); i++) {
cursor = NULL;
Bottle *term = total.get(i).asList();
if (!term) continue;
ConstString key = term->get(0).asString();
ConstString base = key;
while (key.length()>0) {
int at = key.find("::");
base = key;
if (at>=0) {
base = key.substr(0,at);
key = key.substr(at+2);
} else {
key = "";
}
Bottle& result = (cursor!=NULL)? (cursor->findGroup(base.c_str())) : owner.findGroup(base.c_str());
if (result.isNull()) {
if (!cursor) {
cursor = &putBottle((base).c_str());
} else {
cursor = &cursor->addList();
}
cursor->addString(base);
} else {
cursor = &result;
}
}
if (cursor) {
cursor->copy(*term);
cursor->get(0) = Value(base);
}
}
}
int main(int argc, char *argv[]) {
Property p;
p.fromCommand(argc,argv);
// To make sure that the dev test are able to find all the devices
// compile by YARP, also the one compiled as dynamic plugins
// we add the build directory to the YARP_DATA_DIRS enviromental variable
// CMAKE_CURRENT_DIR is the define by the CMakeLists.txt tests file
ConstString dirs = CMAKE_BINARY_DIR +
yarp::os::Network::getDirectorySeparator() +
"share" +
yarp::os::Network::getDirectorySeparator() +
"yarp";
// Add TEST_DATA_DIR to YARP_DATA_DIRS in order to find the contexts used
// by the tests
dirs += yarp::os::Network::getPathSeparator() +
TEST_DATA_DIR;
// If set, append user YARP_DATA_DIRS
// FIXME check if this can be removed
Network::getEnvironment("YARP_DATA_DIRS");
if (!Network::getEnvironment("YARP_DATA_DIRS").empty()) {
dirs += yarp::os::Network::getPathSeparator() +
Network::getEnvironment("YARP_DATA_DIRS");
}
Network::setEnvironment("YARP_DATA_DIRS", dirs);
printf("YARP_DATA_DIRS=\"%s\"\n", Network::getEnvironment("YARP_DATA_DIRS").c_str());
// check where to put description of device
ConstString dest = "";
dest = p.check("doc",Value("")).toString();
ConstString fileName = p.check("file",Value("default.ini")).asString();
if (p.check("file")) {
p.fromConfigFile(fileName);
}
ConstString deviceName = p.check("device",Value("")).asString();
// if no device given, we should be operating a completely
// standard test harness like for libYARP_OS and libYARP_sig
if (deviceName=="") {
return harness_main(argc,argv);
}
// device name given - use special device testing procedure
#ifdef CHECK_FOR_LEAKS
mtrace();
#endif
int result = 0;
Network::init();
Network::setLocalMode(true);
ConstString seek = fileName.c_str();
ConstString exampleName = "";
int pos = seek.rfind('/');
if (pos==-1) {
pos = seek.rfind('\\');
}
if (pos==-1) {
pos = 0;
} else {
pos++;
}
int len = seek.find('.',pos);
if (len==-1) {
len = seek.length();
} else {
len -= pos;
}
exampleName = seek.substr(pos,len).c_str();
ConstString shortFileName = seek.substr(pos,seek.length()).c_str();
PolyDriver dd;
YARP_DEBUG(Logger::get(), "harness opening...");
bool ok = dd.open(p);
YARP_DEBUG(Logger::get(), "harness opened.");
result = ok?0:1;
ConstString wrapperName = "";
ConstString codeName = "";
DriverCreator *creator =
Drivers::factory().find(deviceName.c_str());
if (creator!=nullptr) {
wrapperName = creator->getWrapper();
codeName = creator->getCode();
}
if (dest!="") {
ConstString dest2 = dest.c_str();
if (result!=0) {
dest2 += ".fail";
}
FILE *fout = fopen(dest2.c_str(),"w");
if (fout==nullptr) {
printf("Problem writing to %s\n", dest2.c_str());
std::exit(1);
}
fprintf(fout,"/**\n");
fprintf(fout," * \\ingroup dev_examples\n");
fprintf(fout," *\n");
fprintf(fout," * \\defgroup %s Example for %s (%s)\n\n",
exampleName.c_str(),
deviceName.c_str(),
exampleName.c_str());
fprintf(fout, "Instantiates \\ref cmd_device_%s \"%s\" device implemented by %s.\n",
deviceName.c_str(), deviceName.c_str(), codeName.c_str());
fprintf(fout, "\\verbatim\n%s\\endverbatim\n",
getFile(fileName.c_str()).c_str());
fprintf(fout, "If this text is saved in a file called %s then the device can be created by doing:\n",
shortFileName.c_str());
fprintf(fout, "\\verbatim\nyarpdev --file %s\n\\endverbatim\n",
shortFileName.c_str());
fprintf(fout, "Of course, the configuration could be passed just as command line options, or as a yarp::os::Property object in a program:\n");
fprintf(fout, "\\code\n");
fprintf(fout, "Property p;\n");
fprintf(fout, "p.fromConfigFile(\"%s\");\n",
shortFileName.c_str());
fprintf(fout, "// of course you could construct the Property object on-the-fly\n");
fprintf(fout, "PolyDriver dev;\n");
fprintf(fout, "dev.open(p);\n");
fprintf(fout, "if (dev.isValid()) { /* use the device via view method */ }\n" );
fprintf(fout, "\\endcode\n");
fprintf(fout, "Here is a list of properties checked when starting up a device based on this configuration file. Note that which properties are checked can depend on whether other properties are present. In some cases properties can also vary between operating systems. So this is just an example\n\n");
toDox(dd,fout);
fprintf(fout, "\n\\sa %s\n\n",
codeName.c_str());
fprintf(fout, " */\n");
fclose(fout);
fout = nullptr;
}
if (ok) {
YARP_DEBUG(Logger::get(), "harness closing...");
dd.close();
YARP_DEBUG(Logger::get(), "harness closed.");
}
// just checking for crashes, not device creation
return result; //result;
}
int main(int argc, char *argv[]) {
Property p;
p.fromCommand(argc,argv);
// check where to put description of device
ConstString dest = "";
dest = p.check("doc",Value("")).toString();
ConstString fileName = p.check("file",Value("default.ini")).asString();
if (p.check("file")) {
p.fromConfigFile(fileName);
}
ConstString deviceName = p.check("device",Value("")).asString();
// if no device given, we should be operating a completely
// standard test harness like for libYARP_OS and libYARP_sig
if (deviceName=="") {
return harness_main(argc,argv);
}
// device name given - use special device testing procedure
#ifdef CHECK_FOR_LEAKS
mtrace();
#endif
int result = 0;
Network::init();
Network::setLocalMode(true);
ConstString seek = fileName.c_str();
ConstString exampleName = "";
int pos = seek.rfind('/');
if (pos==-1) {
pos = seek.rfind('\\');
}
if (pos==-1) {
pos = 0;
} else {
pos++;
}
int len = seek.find('.',pos);
if (len==-1) {
len = seek.length();
} else {
len -= pos;
}
exampleName = seek.substr(pos,len).c_str();
ConstString shortFileName = seek.substr(pos,seek.length()).c_str();
PolyDriver dd;
YARP_DEBUG(Logger::get(), "harness opening...");
bool ok = dd.open(p);
YARP_DEBUG(Logger::get(), "harness opened.");
result = ok?0:1;
ConstString wrapperName = "";
ConstString codeName = "";
DriverCreator *creator =
Drivers::factory().find(deviceName.c_str());
if (creator!=NULL) {
wrapperName = creator->getWrapper();
codeName = creator->getCode();
}
if (dest!="") {
ConstString dest2 = dest.c_str();
if (result!=0) {
dest2 += ".fail";
}
FILE *fout = fopen(dest2.c_str(),"w");
if (fout==NULL) {
printf("Problem writing to %s\n", dest2.c_str());
yarp::os::exit(1);
}
fprintf(fout,"/**\n");
fprintf(fout," * \\ingroup dev_examples\n");
fprintf(fout," *\n");
fprintf(fout," * \\defgroup %s Example for %s (%s)\n\n",
exampleName.c_str(),
deviceName.c_str(),
exampleName.c_str());
fprintf(fout, "Instantiates \\ref cmd_device_%s \"%s\" device implemented by %s.\n",
deviceName.c_str(), deviceName.c_str(), codeName.c_str());
fprintf(fout, "\\verbatim\n%s\\endverbatim\n",
getFile(fileName.c_str()).c_str());
fprintf(fout, "If this text is saved in a file called %s then the device can be created by doing:\n",
shortFileName.c_str());
fprintf(fout, "\\verbatim\nyarpdev --file %s\n\\endverbatim\n",
shortFileName.c_str());
fprintf(fout, "Of course, the configuration could be passed just as command line options, or as a yarp::os::Property object in a program:\n");
fprintf(fout, "\\code\n");
fprintf(fout, "Property p;\n");
fprintf(fout, "p.fromConfigFile(\"%s\");\n",
shortFileName.c_str());
fprintf(fout, "// of course you could construct the Property object on-the-fly\n");
fprintf(fout, "PolyDriver dev;\n");
fprintf(fout, "dev.open(p);\n");
fprintf(fout, "if (dev.isValid()) { /* use the device via view method */ }\n" );
fprintf(fout, "\\endcode\n");
fprintf(fout, "Here is a list of properties checked when starting up a device based on this configuration file. Note that which properties are checked can depend on whether other properties are present. In some cases properties can also vary between operating systems. So this is just an example\n\n");
toDox(dd,fout);
fprintf(fout, "\n\\sa %s\n\n",
codeName.c_str());
fprintf(fout, " */\n");
fclose(fout);
fout = NULL;
}
if (ok) {
YARP_DEBUG(Logger::get(), "harness closing...");
dd.close();
YARP_DEBUG(Logger::get(), "harness closed.");
}
// just checking for crashes, not device creation
return result; //result;
}