YarpNameSpace.h

Go to the documentation of this file.

/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_OS_YARPNAMESPACE_H
#define YARP_OS_YARPNAMESPACE_H
 
#include <yarp/os/NameSpace.h>
 
#include <cstdio>
 
namespace yarp {
namespace os {
 
class YARP_os_API YarpNameSpace : public NameSpace
{
public:
    YarpNameSpace(const Contact& contact);
 
    virtual ~YarpNameSpace();
 
    Contact getNameServerContact() const override
    {
        return contact;
    }
 
    Contact queryName(const std::string& name) override;
 
    Contact registerName(const std::string& name) override;
 
    Contact registerContact(const Contact& contact) override;
 
    Contact unregisterName(const std::string& name) override;
 
    Contact unregisterContact(const Contact& contact) override;
 
    virtual bool setProperty(const std::string& name,
                             const std::string& key,
                             const Value& value) override;
 
    virtual Value* getProperty(const std::string& name,
                               const std::string& key) override;
 
    virtual bool connectPortToTopic(const Contact& src,
                                    const Contact& dest,
                                    const ContactStyle& style) override
    {
        return connectTopic("subscribe", false, true, src, dest, style);
    }
 
    virtual bool connectTopicToPort(const Contact& src,
                                    const Contact& dest,
                                    const ContactStyle& style) override
    {
        return connectTopic("subscribe", true, false, src, dest, style);
    }
 
    virtual bool disconnectPortFromTopic(const Contact& src,
                                         const Contact& dest,
                                         const ContactStyle& style) override
    {
        return connectTopic("unsubscribe", false, true, src, dest, style);
    }
 
    virtual bool disconnectTopicFromPort(const Contact& src,
                                         const Contact& dest,
                                         const ContactStyle& style) override
    {
        return connectTopic("unsubscribe", true, false, src, dest, style);
    }
 
    virtual bool connectPortToPortPersistently(const Contact& src,
                                               const Contact& dest,
                                               const ContactStyle& style) override
    {
        return connectTopic("subscribe", false, false, src, dest, style);
    }
 
    virtual bool disconnectPortToPortPersistently(const Contact& src,
                                                  const Contact& dest,
                                                  const ContactStyle& style) override
    {
        return connectTopic("unsubscribe", false, false, src, dest, style);
    }
 
    virtual bool connectTopic(const std::string& dir,
                              bool srcIsTopic,
                              bool destIsTopic,
                              const Contact& src,
                              const Contact& dest,
                              const ContactStyle& style)
    {
        YARP_UNUSED(srcIsTopic);
        Contact dynamicSrc = src;
        Contact dynamicDest = dest;
        Bottle cmd, reply;
        cmd.addString(dir.c_str());
        if (style.carrier != "") {
            if (!destIsTopic) {
                dynamicDest.setCarrier(style.carrier);
            } else {
                dynamicSrc.setCarrier(style.carrier);
            }
        }
        cmd.addString(dynamicSrc.toString().c_str());
        cmd.addString(dynamicDest.toString().c_str());
        if (style.persistent) {
            switch (style.persistenceType) {
            case ContactStyle::END_WITH_FROM_PORT:
                cmd.addString("from");
                break;
            case ContactStyle::END_WITH_TO_PORT:
                cmd.addString("to");
                break;
            default:
                break;
            }
        }
        bool ok = false;
        if (!NetworkBase::getQueryBypass()) {
            ok = NetworkBase::write(getNameServerContact(), cmd, reply);
        } else {
            ContactStyle style;
            ok = NetworkBase::writeToNameServer(cmd, reply, style);
        }
        bool fail = (reply.get(0).toString() == "fail") || !ok;
        if (fail) {
            if (!style.quiet) {
                fprintf(stderr, "Failure: name server did not accept connection to topic.\n");
            }
        }
        return !fail;
    }
 
    bool localOnly() const override
    {
        return false;
    }
 
    bool usesCentralServer() const override
    {
        return true;
    }
 
    bool serverAllocatesPortNumbers() const override
    {
        return true;
    }
 
    bool connectionHasNameOfEndpoints() const override
    {
        return true;
    }
 
    virtual Contact detectNameServer(bool useDetectedServer,
                                     bool& scanNeeded,
                                     bool& serverUsed) override;
 
    virtual bool writeToNameServer(PortWriter& cmd,
                                   PortReader& reply,
                                   const ContactStyle& style) override;
 
private:
    void* system_resource;
    Contact contact;
};
 
class YarpDummyNameSpace : public YarpNameSpace
{
public:
    YarpDummyNameSpace() :
            YarpNameSpace(Contact())
    {
    }
 
    bool localOnly() const override
    {
        return true;
    }
 
    Contact getNameServerContact() const override
    {
        return Contact("/root");
    }
};
 
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_YARPNAMESPACE_H