C++ Bottle::addList方法代码示例

void AwareTouch::sendOPC(const string &partTouch, int &typeTouch, const Vector& posTouch, double sizeTouched)
{
    Vector dimensions;
    dimensions.clear();
    dimensions.push_back(0.05);
    dimensions.push_back(0.05);
    dimensions.push_back(0.05);

    cout<<"Touch Pos:"<<posTouch.toString().c_str()<<endl;
    (touchLocation ->m_ego_position) = posTouch;
    (touchLocation ->m_dimensions) = dimensions;
    touchLocation->m_present = 1.0;
    world->commit(touchLocation);   // add position of touching
    world->addRelation(Relation("icub","is",gestureSet[typeTouch], "touchLocation"), recordingPeriod);  // add the relation with gesture

    Bottle outEvent;
    Bottle &what=outEvent.addList();
    what.addString(partTouch.c_str());
    what.addString(gestureSet[typeTouch].c_str());
    Bottle &where=outEvent.addList();
    where.read(const_cast<Vector&>(posTouch));
    eventsPort.write(outEvent);

    cout<<"icub is being "<< gestureSet[typeTouch]<<" at:"<< posTouch.toString().c_str() <<endl;
    lastAutoSnapshotTime = Time::now();
}

Bottle learnPrimitive::actionCommand(string sActionName, string sArg){

    Bottle bOutput;

    //1. check if primitive is known
    //   vPrimitiveActionBottle =
    //   open    (hand)     ( (unfold thumb) (unfold index) (unfold middle) (unfold ring) )
    //   close   (hand)     ( (fold thumb) (fold index) (fold middle) (fold ring) )
    //   b.get(1) b.get(2)  b.get(3)
    //   name     arg        list of proto-action
    Bottle bSubActionList;
    for(std::vector<yarp::os::Bottle>::iterator it = vActionBottle.begin(); it < vActionBottle.end(); it++){
        string currentName = it->get(0).toString();
        //yInfo() << "Current name of the knwon actions : " << currentName ;
        if(currentName == sActionName){
            yInfo() << "found " << currentName << "as a known complex action";
            string currentArg = it->get(1).toString();
            if(currentArg == sArg){
                yInfo() << "and we have a corresponding argument " << currentArg ;
                for(int i = 0; i < it->get(2).asList()->size(); i++){
                    bSubActionList.addList() = *it->get(2).asList()->get(i).asList() ;
                }
                break;
            } else {
                yInfo() << " BUT argument " << currentArg << " does NOT match" ;
            }

        }
    }

    if (bSubActionList.size() == 0){
        yError() << " error in learnPrimitive::actionCommand | action '" << sActionName << " " << sArg << "' is NOT known";
        bOutput.addString("error");
        bOutput.addString("action is NOT known");
        return bOutput ;
    }

    yInfo() << "Actions to do : " << bSubActionList.toString() ;

    for(int i = 0; i < bSubActionList.size(); i++){
        yInfo() << "action #" << i << " : "<< bSubActionList.get(i).asList()->get(0).toString() << " the " << bSubActionList.get(i).asList()->get(1).asList()->get(0).toString() ;

        //1. check if subaction is a proto 
        if ( mProtoActionEnd.find(bSubActionList.get(i).asList()->get(0).toString()) != mProtoActionEnd.end() ) {  //proto-action
            bOutput.addList() = protoCommand(bSubActionList.get(i).asList()->get(0).toString(), bSubActionList.get(i).asList()->get(1).asList()->get(0).toString());
        } else { //primitive
            bOutput.addList() = primitiveCommand(bSubActionList.get(i).asList()->get(0).toString(), bSubActionList.get(i).asList()->get(1).asList()->get(0).toString());
            yarp::os::Time::delay(2);
        } //else { //another action

        //}
    }

    bOutput.addString("ack");

    return bOutput;
}

bool SpringyFinger::getSensorsData(Value &data) const
{
    map<string,Sensor*>::const_iterator In_0=sensors.find("In_0");
    map<string,Sensor*>::const_iterator Out_0=sensors.find("Out_0");
    map<string,Sensor*>::const_iterator Out_1=sensors.find("Out_1");
    map<string,Sensor*>::const_iterator Out_2=sensors.find("Out_2");

    bool ok=true;
    ok&=In_0!=sensors.end();
    ok&=Out_0!=sensors.end();
    ok&=Out_1!=sensors.end();

    if (lssvm.getCoDomainSize()>2)
        ok&=Out_2!=sensors.end();

    if (!ok)
        return false;

    Value val_in, val_out[3];
    In_0->second->getOutput(val_in);
    Out_0->second->getOutput(val_out[0]);
    Out_1->second->getOutput(val_out[1]);

    Vector in(lssvm.getDomainSize());
    in[0]=val_in.asDouble();

    Vector out(lssvm.getCoDomainSize());
    out[0]=val_out[0].asDouble();
    out[1]=val_out[1].asDouble();

    if (lssvm.getCoDomainSize()>2)
    {
        Out_2->second->getOutput(val_out[2]);
        out[2]=val_out[2].asDouble();
    }

    Property prop;
    Bottle b;

    b.addList().read(in);
    prop.put("in",b.get(0));

    b.addList().read(out);
    prop.put("out",b.get(1));

    b.addList().read(prop);
    data=b.get(2);

    return true;
}

Bottle NameServer::ncmdList(int argc, char *argv[]) {
    Bottle response;

    ConstString prefix = "";

    if (argc==1) {
        prefix = STR(argv[0]);
    }

    response.addString("ports");
    for (PLATFORM_MAP(ConstString,NameRecord)::iterator it = nameMap.begin(); it!=nameMap.end(); it++) {
        NameRecord& rec = PLATFORM_MAP_ITERATOR_SECOND(it);
        ConstString iname = rec.getAddress().getRegName();
        if (iname.find(prefix)==0) {
            if (iname==prefix || iname[prefix.length()]=='/' ||
                prefix[prefix.length()-1]=='/') {
                if (rec.getAddress().isValid()) {
                    response.addList() = botify(rec.getAddress());
                }
            }
        }
    }

    return response;
}

Bottle NameServer::ncmdList(int argc, char *argv[]) {
    Bottle response;

    std::string prefix;

    if (argc==1) {
        prefix = STR(argv[0]);
    }

    response.addString("ports");
    for (auto& it : nameMap) {
        NameRecord& rec = it.second;
        std::string iname = rec.getAddress().getRegName();
        if (iname.find(prefix)==0) {
            if (iname==prefix || iname[prefix.length()]=='/' ||
                prefix[prefix.length()-1]=='/') {
                if (rec.getAddress().isValid()) {
                    response.addList() = botify(rec.getAddress());
                }
            }
        }
    }

    return response;
}

bool SpringyFingersModel::getOutput(Value &out) const
{
    if (configured)
    {
        Value val[5];
        fingers[0].getOutput(val[0]);
        fingers[1].getOutput(val[1]);
        fingers[2].getOutput(val[2]);
        fingers[3].getOutput(val[3]);
        fingers[4].getOutput(val[4]);
        
        Bottle bOut; Bottle &ins=bOut.addList();
        ins.addDouble(val[0].asDouble());
        ins.addDouble(val[1].asDouble());
        ins.addDouble(val[2].asDouble());
        ins.addDouble(val[3].asDouble());
        ins.addDouble(val[4].asDouble());

        out.fromString(bOut.toString().c_str());

        return true;
    }
    else
        return false;
}

Bottle learnPrimitive::primitiveCommand(string sActionName, string sArg){

    Bottle bOutput;

    //1. check if primitive is known
    //   vPrimitiveActionBottle =
    //   open    (hand)     ( (unfold thumb) (unfold index) (unfold middle) (unfold ring) )
    //   close   (hand)     ( (fold thumb) (fold index) (fold middle) (fold ring) )
    //   b.get(1) b.get(2)  b.get(3)
    //   name     arg        list of proto-action
    Bottle bProtoActionList; //primitive only composed by proto-action
    for(std::vector<yarp::os::Bottle>::iterator it = vPrimitiveActionBottle.begin(); it < vPrimitiveActionBottle.end(); it++){
        string currentName = it->get(0).toString();
        if(currentName == sActionName){
            yInfo() << "found " << currentName << "as a known primitive";
            string currentArg = it->get(1).toString();
            if(currentArg == sArg){
                yInfo() << "and we have a corresponding argument " << currentArg ;
                for(int i = 0; i < it->get(2).asList()->size(); i++){
                    bProtoActionList.addList() = *it->get(2).asList()->get(i).asList() ;
                }
                break;
            } else {
                yInfo() << " BUT argument " << currentArg << " does NOT match" ;
            }

        }
    }

    if (bProtoActionList.size() == 0){
        yError() << " error in learnPrimitive::primitiveCommand | action '" << sActionName << " " << sArg << "' is NOT known";
        bOutput.addString("error");
        bOutput.addString("action is NOT known");
        return bOutput ;
    }

    yInfo() << "Actions to do : " << bProtoActionList.toString() ;

    for(int i = 0; i < bProtoActionList.size(); i++){
        yInfo() << "action #" << i << " : "<< bProtoActionList.get(i).asList()->get(0).toString() << " the " << bProtoActionList.get(i).asList()->get(1).asList()->get(0).toString() ;
        bOutput.addList() = protoCommand(bProtoActionList.get(i).asList()->get(0).toString(), bProtoActionList.get(i).asList()->get(1).asList()->get(0).toString());
    }

    bOutput.addString("ack");

    return bOutput;
}

    void getBusInfo(NodeArgs& na)
    {
        unsigned int opaque_id = 1;
        ROSReport report;
        Value v;
        Bottle* connections = v.asList();

        mutex.lock();
        for (std::multimap<std::string, NodeItem>::iterator it = by_part_name.begin(); it != by_part_name.end(); ++it) {
            NodeItem& item = it->second;
            if (!(item.isSubscriber() || item.isPublisher())) {
                continue;
            }
            item.update();
            item.contactable->getReport(report);
        }
        mutex.unlock();

        for (std::multimap<std::string, std::string>::const_iterator it = report.outgoingURIs.begin(); it != report.outgoingURIs.end(); ++it) {
            Bottle& lst = connections->addList();
            lst.addInt32(opaque_id); // connectionId
            lst.addString(it->second);
            lst.addString("o");
            lst.addString("TCPROS");
            NestedContact nc(it->first);
            lst.addString(toRosName(nc.getNestedName()));
            opaque_id++;
        }

        for (std::multimap<std::string, std::string>::const_iterator it = report.incomingURIs.begin(); it != report.incomingURIs.end(); ++it) {
            Bottle& lst = connections->addList();
            lst.addInt32(opaque_id); // connectionId
            lst.addString(it->second);
            lst.addString("i");
            lst.addString("TCPROS");
            NestedContact nc(it->first);
            lst.addString(toRosName(nc.getNestedName()));
            opaque_id++;
        }

        if (connections->size() == 0) {
            connections->addList(); // add empty list
        }

        na.reply = v;
        na.success();
    }

void helperPID::addVectorToOption(Bottle &option, const char *key, const Vector &val)
{
    Bottle &bKey=option.addList();
    bKey.addString(key);
    Bottle &bKeyContent=bKey.addList();
    for (size_t i=0; i<val.length(); i++)
        bKeyContent.addDouble(val[i]);
}

void ff2LayNN::setItem(Property &options, const string &tag, const Vector &item) const
{
    Bottle b; Bottle &v=b.addList();
    for (size_t i=0; i<item.length(); i++)
        v.addDouble(item[i]);

    options.put(tag.c_str(),b.get(0));
}

Bottle Adjective::asBottle()
{
    //Get the Object bottle
    Bottle b = this->Entity::asBottle();
    Bottle bSub;
    bSub.addString("qualityType");
    bSub.addString(m_quality.c_str());
    b.addList() = bSub;
    return b;
}

 ConstString toString() {
     Bottle bot;
     for (PLATFORM_MAP(String,PropertyItem)::iterator
              it = data.begin(); it!=data.end(); it++) {
         PropertyItem& rec = PLATFORM_MAP_ITERATOR_SECOND(it);
         Bottle& sub = bot.addList();
         sub.copy(rec.bot);
     }
     return bot.toString();
 }

    void setStraightness(const double straightness)
    {
        ICartesianControl *icart;
        action->getCartesianIF(icart);

        Bottle options;
        Bottle &straightOpt=options.addList();
        straightOpt.addString("straightness");
        straightOpt.addDouble(straightness);
        icart->tweakSet(options);
    }

void Localizer::getPidOptions(Bottle &options)
{
    mutex.lock();

    pid->getOptions(options);
    Bottle &bDominantEye=options.addList();
    bDominantEye.addString("dominantEye");
    bDominantEye.addString(dominantEye.c_str());

    mutex.unlock();
}

bool LSSVMCalibrator::toProperty(Property &info) const
{
    Bottle data;
    Bottle &values=data.addList();
    values.addString(impl->toString().c_str());

    info.clear();
    info.put("type",type.c_str());
    info.put("calibration_data",data.get(0));
    return Calibrator::toProperty(info);
}