YarpNameSpace.cpp

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/*
 * 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.
 */
 
#include <yarp/os/YarpNameSpace.h>
 
#include <yarp/os/DummyConnector.h>
#include <yarp/os/Log.h>
#include <yarp/os/impl/LogComponent.h>
#include <yarp/os/impl/NameClient.h>
#include <yarp/os/impl/NameConfig.h>
 
#include <cstdio>
 
using namespace yarp::os;
using namespace yarp::os::impl;
 
#define HELPER(x) (*((NameClient*)((x)->system_resource)))
 
namespace {
YARP_OS_LOG_COMPONENT(YARPNAMESPACE, "yarp.os.YarpNameSpace")
}
 
YarpNameSpace::YarpNameSpace(const Contact& contact)
{
    system_resource = NameClient::create();
    yAssert(system_resource != nullptr);
    HELPER(this).setContact(contact);
    this->contact = contact;
}
 
YarpNameSpace::~YarpNameSpace()
{
    if (system_resource != nullptr) {
        delete &HELPER(this);
        system_resource = nullptr;
    }
}
 
Contact YarpNameSpace::queryName(const std::string& name)
{
    NameClient& nic = HELPER(this);
    return nic.queryName(name);
}
 
 
Contact YarpNameSpace::registerName(const std::string& name)
{
    return registerContact(Contact(name));
}
 
Contact YarpNameSpace::registerContact(const Contact& contact)
{
    NameClient& nic = HELPER(this);
    yCDebug(YARPNAMESPACE, "Registering contact: %s", contact.toURI().c_str());
    Contact address = nic.registerName(contact.getName(), contact);
    yCDebug(YARPNAMESPACE, "Registered address: %s", address.toURI().c_str());
 
    if (address.isValid()) {
        NestedContact nc;
        nc.fromString(address.getRegName());
        std::string cat = nc.getCategory();
        if (!nc.getNestedName().empty()) {
            //bool service = (cat.find("1") != std::string::npos);
            bool publish = (cat.find('+') != std::string::npos);
            bool subscribe = (cat.find('-') != std::string::npos);
            ContactStyle style;
            Contact c1(nc.getFullName());
            Contact c2(std::string("topic:/") + nc.getNestedName());
            if (subscribe) {
                style.persistenceType = ContactStyle::END_WITH_TO_PORT;
                connectPortToTopic(c2, c1, style);
            }
            if (publish) {
                style.persistenceType = ContactStyle::END_WITH_FROM_PORT;
                connectPortToTopic(c1, c2, style);
            }
        }
    }
    return address;
}
 
Contact YarpNameSpace::unregisterName(const std::string& name)
{
    NestedContact nc;
    nc.fromString(name);
    std::string cat = nc.getCategory();
    if (!nc.getNestedName().empty()) {
        //bool service = (cat.find("1") != std::string::npos);
        bool publish = (cat.find('+') != std::string::npos);
        bool subscribe = (cat.find('-') != std::string::npos);
        ContactStyle style;
        Contact c1(nc.getFullName());
        Contact c2(std::string("topic:/") + nc.getNestedName());
        if (subscribe) {
            disconnectPortFromTopic(c2, c1, style);
        }
        if (publish) {
            disconnectPortFromTopic(c1, c2, style);
        }
    }
    NameClient& nic = HELPER(this);
    return nic.unregisterName(name);
}
 
Contact YarpNameSpace::unregisterContact(const Contact& contact)
{
    NameClient& nic = HELPER(this);
    return nic.unregisterName(contact.getName());
}
 
 
bool YarpNameSpace::setProperty(const std::string& name, const std::string& key, const Value& value)
{
    Bottle command;
    command.addString("bot");
    command.addString("set");
    command.addString(name);
    command.addString(key);
    command.add(value);
    Bottle reply;
    NameClient& nic = HELPER(this);
    nic.send(command, reply);
    return reply.size() > 0;
}
 
Value* YarpNameSpace::getProperty(const std::string& name, const std::string& key)
{
    Bottle command;
    command.addString("bot");
    command.addString("get");
    command.addString(name);
    command.addString(key);
    Bottle reply;
    NameClient& nic = HELPER(this);
    nic.send(command, reply);
    return Value::makeValue(reply.toString());
}
 
Contact YarpNameSpace::detectNameServer(bool useDetectedServer,
                                        bool& scanNeeded,
                                        bool& serverUsed)
{
    NameConfig nc;
    NameClient& nic = HELPER(this);
    nic.setFakeMode(false);
    nic.updateAddress();
    nic.setScan();
    if (useDetectedServer) {
        nic.setSave();
    }
    nic.send("ping", false);
    scanNeeded = nic.didScan();
    serverUsed = nic.didSave();
 
    Contact c = nic.getAddress();
    c.setName(nc.getNamespace());
    //Contact c = nic.getAddress().toContact();
    //    if (scanNeeded) {
    //        Address addr = nic.getAddress();
    //        c.setSocket("tcp", addr.getName().c_str(), addr.getPort());
    //c.setName(nc.getNamespace().c_str());
    return c;
}
 
 
bool YarpNameSpace::writeToNameServer(PortWriter& cmd,
                                      PortReader& reply,
                                      const ContactStyle& style)
{
    Contact srv = getNameServerContact();
    std::string cmd0 = "NAME_SERVER";
 
    DummyConnector con0;
    cmd.write(con0.getWriter());
    Bottle in;
    in.read(con0.getReader());
    for (size_t i = 0; i < in.size(); i++) {
        cmd0 += " ";
        cmd0 += in.get(i).toString();
    }
    NameClient& nic = HELPER(this);
    std::string result = nic.send(cmd0, true, style);
    Bottle reply2;
    reply2.addString(result.c_str());
    DummyConnector con;
    reply2.write(con.getWriter());
    reply.read(con.getReader());
    return !result.empty();
}