C++ Bottle::toString方法代码示例

/*
* create the vAugmentedTime for the current used Instance : sql to obtain the foreign key for the feedback table
*
*/
bool abmInteraction::insertFeedback(int feedback, int feedbackInstance)
{
    Bottle bResult;
    ostringstream osRequest;
    //take info from visualdata to put in feedback. In particular  the time of original memories is the smallest one from augmented
    osRequest << "SELECT DISTINCT instance, augmented_time, img_provider_port, min(\"time\") FROM visualdata WHERE instance = " << rememberedInstance << " AND augmented IS NOT NULL AND augmented_time = '" << *it_augmentedTime << "' AND img_provider_port = '" << img_provider_port << "' GROUP BY instance, augmented_time, img_provider_port;";
    bResult = iCub->getABMClient()->requestFromString(osRequest.str());
    yInfo() << bResult.toString();

    if (bResult.toString() != "NULL") {
        //we should only have one line, because instance,augmented_time,img_provider_port is primary key
        Bottle bResInsert;
        ostringstream osInsertFeedback;



        osInsertFeedback << "INSERT INTO feedback VALUES (" << feedbackInstance << ", '" << bResult.get(0).asList()->get(1).toString() << "', '" << bResult.get(0).asList()->get(2).toString() << "', '" << bResult.get(0).asList()->get(3).toString() << "', '" << agentName << "', " << feedback << ", 'none');";
        bResInsert = iCub->getABMClient()->requestFromString(osInsertFeedback.str().c_str());

        yInfo() << " Request sent : " << osInsertFeedback.str();
    }
    else {
        yError() << "Request to obtain augmented from instance " << rememberedInstance << " with augmented_time = " << *it_augmentedTime << " is NULL";
        return false;
    }

    return true;
}

void RosNameSpace::run() {
    int pct = 0;
    do {
        mutex.wait();
        pct = pending.size();
        mutex.post();
        if (pct>0) {
            mutex.wait();
            Bottle *bot = pending.get(0).asList();
            Bottle curr = *bot;
            mutex.post();

            dbg_printf("ROS connection begins: %s\n", curr.toString().c_str());
            ContactStyle style;
            style.admin = true;
            style.carrier = "tcp";
            Bottle cmd = curr.tail();
            Contact contact = Contact::fromString(curr.get(0).asString());
            contact.setName("");
            Bottle reply;
            NetworkBase::write(contact, cmd, reply, style);
            dbg_printf("ROS connection ends: %s\n", curr.toString().c_str());

            mutex.wait();
            pending = pending.tail();
            pct = pending.size();
            mutex.post();
        }
    } while (pct>0);
}

bool TouchingOrder::handleSearch(string type, string target)
{
    // look if the object (from human order) exist and if not, trigger proactivetagging

    iCub->opc->checkout();
    yInfo() << " [handleSearch] : opc checkout";

    Object *o = dynamic_cast<Object*>(iCub->opc->getEntity(target));
    if(o!=NULL) {
        yInfo() << "I found the entity in the opc: " << target << " and thus I'll leave handleSearch";
        return true;
    }

    yInfo() << "I need to call proactiveTagging!";// << endl;

    //If there is an unknown object (to see with agents and rtobjects), add it to the rpc_command bottle, and return true
    Bottle cmd;
    Bottle rply;

    cmd.addString("searchingEntity");
    cmd.addString(type);
    cmd.addString(target);
    yDebug() << "Send to proactiveTagging: " << cmd.toString();
    rpc_out_port.write(cmd,rply);
    yDebug() << rply.toString(); //<< endl;

    return true;
}

    void checkAccept() {
        report(0, "checking direct object accept...");

        PortReaderBuffer<Bottle> buffer;
        Bottle dummy;
        Bottle data("hello");
        Bottle data2("there");

        buffer.acceptObject(&data, &dummy);
        
        Bottle *bot = buffer.read();
        checkTrue(bot!=NULL,"Inserted message received");
        if (bot!=NULL) {
            checkEqual(bot->toString().c_str(),"hello","value ok");
        }

        buffer.acceptObject(&data2, NULL);

        bot = buffer.read();
        checkTrue(bot!=NULL,"Inserted message received");
        if (bot!=NULL) {
            checkEqual(bot->toString().c_str(),"there","value ok");
        }
        
        buffer.read(false);
    }

int main(int argc, char *argv[]) {
    if (argc<3) {
        fprintf(stderr, "Please supply (1) a port name for the client\n");
        fprintf(stderr, "              (2) a port name for the server\n");
        return 1;
    }

    Network yarp;
    const char *client_name = argv[1];
    const char *server_name = argv[2];

    RpcClient port;
    port.open(client_name);

    int ct = 0;
    while (true) {
	if (port.getOutputCount()==0) {
	  printf("Trying to connect to %s\n", server_name);
	  yarp.connect(client_name,server_name);
	} else {
	  Bottle cmd;
	  cmd.addString("COUNT");
	  cmd.addInt32(ct);
	  ct++;
	  printf("Sending message... %s\n", cmd.toString().c_str());
	  Bottle response;
	  port.write(cmd,response);
	  printf("Got response: %s\n", response.toString().c_str());
	}
	Time::delay(1);
    }
}

//*************************************************************************************************************************
MotorFrictionExcitationThread::MotorFrictionExcitationThread(string _name, string _robotName, int _period, ParamHelperServer *_ph,
    wholeBodyInterface *_wbi, ResourceFinder &rf, ParamHelperClient *_identificationModule)
    :  RateThread(_period), name(_name), robotName(_robotName), paramHelper(_ph), robot(_wbi), identificationModule(_identificationModule)
{
    status = EXCITATION_OFF;
    sendCmdToMotors = SEND_COMMANDS_TO_MOTORS;
    printCountdown = 0;
    freeExcCounter = 0;
    contactExcCounter = 0;
    fricStdDevThrMonitor = 0.0;
    ktStdDevThrMonitor = 0.0;
    _n = robot->getDoFs();
    isFrictionStdDevBelowThreshold = false;

    Bottle reply;
    if(!contactExc.readFromConfigFile(rf, reply))
        printf("Error while reading contact excitation from config file: \n%s\n", reply.toString().c_str());
    printf("Results of contact excitation reading: %s\n", reply.toString().c_str());
    printf("Contact excitation value read:\n%s\n", contactExc.toString().c_str());
    reply.clear();
    if(!freeMotionExc.readFromConfigFile(rf, reply))
        printf("Error while reading free motion excitation from config file: \n%s\n", reply.toString().c_str());
    printf("Results of free motion excitation reading: %s\n", reply.toString().c_str());
    printf("Free motion excitation value read:\n%s\n", freeMotionExc.toString().c_str());
}

    void testSequence(char *seq,
                      size_t len,
                      const char *fmt,
                      Bottle ref,
                      bool testWrite = true)
    {
        char err[1024];
        printf("\n");
        printf("================================================\n");
        printf(" READ %s\n", fmt);
        Bytes b1(seq, len);
        WireTwiddler tt;
        tt.configure(fmt, fmt);
        printf(">>> %s\n", tt.toString().c_str());
        Bottle bot;

        checkTrue(tt.read(bot, b1), "Read failed");
        snprintf(err, 1024, "%s: read %s, expected %s", fmt, bot.toString().c_str(), ref.toString().c_str());
        checkTrue(bot == ref, err);
        printf("[1] %s: read %s as expected\n", fmt, bot.toString().c_str());

        StringInputStream sis;
        sis.add(b1);
        sis.add(b1);
        WireTwiddlerReader twiddled_input(sis, tt);
        Route route;
        bot.clear();
        twiddled_input.reset();
        ConnectionReader::readFromStream(bot, twiddled_input);

        snprintf(err, 1024, "%s: read %s, expected %s", fmt, bot.toString().c_str(), ref.toString().c_str());
        checkTrue(bot == ref, err);
        printf("[2] %s: read %s as expected\n", fmt, bot.toString().c_str());

        bot.clear();
        twiddled_input.reset();
        ConnectionReader::readFromStream(bot, twiddled_input);

        snprintf(err, 1024, "%s: read %s, expected %s", fmt, bot.toString().c_str(), ref.toString().c_str());
        checkTrue(bot == ref, err);
        printf("[3] %s: read %s as expected\n", fmt, bot.toString().c_str());

        if (testWrite) {

            printf("\n");
            printf("================================================\n");
            printf(" WRITE %s\n", fmt);
            ManagedBytes output;
            checkTrue(tt.write(ref, output), "WRITE FAILED");
            snprintf(err, 1024, "WRITE MISMATCH, length %zd, expected %zd", output.length(), len);
            checkTrue(output.length() == len, err);

            for (size_t i = 0; i < output.length(); i++) {
                snprintf(err, 1024, "WRITE MISMATCH, at %zd, have [%d:%c] expected [%d:%c]\n", i, output.get()[i], output.get()[i], seq[i], seq[i]);
                checkTrue(output.get()[i] == seq[i], err);
            }
            printf("[4] %s: wrote %s as expected\n", fmt, bot.toString().c_str());
        }
    }

bool MotorFrictionIdentificationModule::respond(const Bottle& cmd, Bottle& reply)
{
    paramHelper->lock();
    if(!paramHelper->processRpcCommand(cmd, reply))
        reply.addString( (string("Command ")+cmd.toString().c_str()+" not recognized.").c_str());
    paramHelper->unlock();

    // if reply is empty put something into it, otherwise the rpc communication gets stuck
    if(reply.size()==0)
        reply.addString( (string("Command ")+cmd.toString().c_str()+" received.").c_str());
	return true;
}

bool MainWindow::step()
{
    Bottle reply;
    emit internalStep(&reply);
    if (reply.toString() == "error"){
        return false;
    }
    if (reply.toString() == "ok"){
        return true;
    }
    return false;
}

/*
* create the vAugmentedTime for the current used Instance : sql to obtain the foreign key for the feedback table
*
*/
bool abmInteraction::createAugmentedTimeVector(pair<string,int> & bestTimeAndRank)
{
    Bottle bResult;
    ostringstream osRequest;

    //only augmented_time is needed but better clarity for the print
    osRequest << "SELECT DISTINCT instance, augmented_time, img_provider_port FROM visualdata WHERE instance = " << rememberedInstance << " AND augmented IS NOT NULL AND img_provider_port = '" << img_provider_port << "' " ;
    if(resume == "agent"){
        // not proposing instance with feedback from the agent already. 
        osRequest << "AND augmented_time NOT IN (SELECT DISTINCT augmented_time FROM feedback WHERE instance = '" << rememberedInstance << "' AND agent = '" << agentName << "') " ;
        createBestAugmentedTime(bestTimeAndRank) ;
    } else if (resume == "yes") {
        osRequest << "AND augmented_time NOT IN (SELECT DISTINCT augmented_time FROM feedback WHERE instance = '" << rememberedInstance << "') " ;
        createBestAugmentedTime(bestTimeAndRank);
    } else if (resume == "no") {
        //come back to default value for best rank/time
        bestTimeAndRank.first = "";
        bestTimeAndRank.second = 0;
    }

    osRequest << " ORDER BY augmented_time ASC ;";

    osRequest << " ;";
    bResult = iCub->getABMClient()->requestFromString(osRequest.str());
    yInfo() << "[createAugmentedTimeVector] SQL request bReply : " << bResult.toString();
    vAugmentedTime.clear();

    if (bResult.toString() != "NULL") {
        for (int i = 0; i < bResult.size(); i++){
            //get(1) because augmented is in second column of the result
            vAugmentedTime.push_back(bResult.get(i).asList()->get(1).toString());
        }
    }
    else {
        yError() << "Request to obtain augmented from instance " << rememberedInstance << " is NULL : are you sure there are some augmented images?";
        bestTimeAndRank.first = "";
        bestTimeAndRank.second = -1;
        return false;
    }

    ostringstream osAugmentedTime;
    const char* const delim = ", ";

    copy(vAugmentedTime.begin(), vAugmentedTime.end(), std::ostream_iterator<std::string>(osAugmentedTime, delim));
    yInfo() << " vAugmentedTime = " << osAugmentedTime.str();

    it_augmentedTime = vAugmentedTime.begin();

    return true;
}

 virtual void run() {
     printf("Listening to terminal (type \"quit\" to stop module)\n");
     bool isEof = false;
     while (!(isEof||isStopping()||owner.isStopping())) {
         ConstString str = NetworkBase::readString(&isEof);
         if (!isEof) {
             Bottle cmd(str.c_str());
             Bottle reply;
             bool ok = owner.safeRespond(cmd,reply);
             if (ok) {
                 //printf("ALL: %s\n", reply.toString().c_str());
                 //printf("ITEM 1: %s\n", reply.get(0).toString().c_str());
                 if (reply.get(0).toString()=="help") {
                     for (int i=0; i<reply.size(); i++) {
                         ACE_OS::printf("%s\n",
                                        reply.get(i).toString().c_str());
                     }
                 } else {
                     ACE_OS::printf("%s\n", reply.toString().c_str());
                 }
             } else {
                 ACE_OS::printf("Command not understood -- %s\n", str.c_str());
             }
         }
     }
     //printf("terminal shutting down\n");
     //owner.interruptModule();
 }

    /*
    * Message handler. Just echo all received messages.
    */
    bool respond(const Bottle& command, Bottle& reply) 
    {
        cout<<"Got "<<command.toString().c_str()<<endl;

        if(command.size() < 3) {
            reply.addString("Command error! example: 'sum 3 4'");
            return true;
        }
        int a = command.get(1).asInt();
        int b = command.get(2).asInt();

        if( command.get(0).asString() == "sum") {
           int c = sum(a, b);
            reply.addInt(c);
            return true;
        }

        if( command.get(0).asString() == "sub") {
            int c = sub(a, b);
            reply.addInt(c);
            return true;
        }

        reply.addString("Unknown command");
        reply.addString(command.get(0).asString().c_str());
        return true;
    }

    void testStringWithNull() {
        report(0,"test string with null");
        char buf1[] = "hello world";
        char buf2[] = "hello world";
        buf2[5] = '\0';
        ConstString str1(buf1,12);
        ConstString str2(buf2,12);
        checkEqual(str1.length(),12,"unmodified string length ok");
        checkEqual(str2.length(),12,"modified string length ok");
        ConstString str3(str2);
        checkEqual(str3.length(),12,"copied string length ok");
        Bottle bot;
        bot.addString(str2);
        checkEqual(bot.get(0).asString().length(),12,"bottled string asString() length ok");
        checkEqual(bot.get(0).toString().length(),12,"bottled string toString() length ok");
        Bottle bot2 = bot;
        checkEqual(bot2.get(0).asString().length(),12,"bottled, copied string length ok");

        Bottle bot3;
        bot.write(bot3);
        checkEqual(bot3.get(0).asString().length(),12,"bottled, serialized string length ok");

        Bottle bot4;
        bot4.fromString(bot.toString());
        checkEqual(bot4.get(0).asString().length(),12,"bottled, text-serialized string length ok");
    }

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;
}

bool test_surface_mesh() {
    printf("\n*** test_surface_mesh()\n");
    SurfaceMesh mesh;
    Box3D bb;
    mesh.meshName = "testing";
    bb.corners.push_back(PointXYZ(1,2,3));
    SurfaceMeshWithBoundingBox obj(mesh,bb);

    Bottle bot;
    bot.read(obj);

    SurfaceMeshWithBoundingBox obj2;
    bot.write(obj2);
    Bottle bot2;
    bot2.read(obj2);

    printf("mesh copy: %s -> %s\n", bot.toString().c_str(),
           bot2.toString().c_str());

    if (obj2.mesh.meshName!=obj.mesh.meshName) {
        printf("mesh name not copied correctly\n");
        return false;
    }
    if (obj2.boundingBox.corners.size()!=obj.boundingBox.corners.size()) {
        printf("corners not copied correctly\n");
        return false;
    }
    if (bot!=bot2) {
        printf("not copied correctly\n");
        return false;
    }

    return true;
}