C++ Bottle::write方法代码示例

bool DeviceResponder::read(ConnectionReader& connection) {
    Bottle cmd, response;
    if (!cmd.read(connection)) { return false; }
    //printf("command received: %s\n", cmd.toString().c_str());
    respond(cmd,response);
    if (response.size()>=1) {
        ConnectionWriter *writer = connection.getWriter();
        if (writer!=NULL) {
            if (response.get(0).toString()=="many"&&writer->isTextMode()) {
                for (int i=1; i<response.size(); i++) {
                    Value& v = response.get(i);
                    if (v.isList()) {
                        v.asList()->write(*writer);
                    } else {
                        Bottle b;
                        b.add(v);
                        b.write(*writer);
                    }
                }
            } else {
                response.write(*writer);
            }

            //printf("response sent: %s\n", response.toString().c_str());
        }
    } else {
        ConnectionWriter *writer = connection.getWriter();
        if (writer!=NULL) {
            response.clear();
            response.addVocab(Vocab::encode("nak"));
            response.write(*writer);
        }
    }
    return true;
}

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;
}

bool RFModuleHelper::read(ConnectionReader& connection) {
    Bottle cmd, response;
    if (!cmd.read(connection)) { return false; }
    printf("command received: %s\n", cmd.toString().c_str());

    bool result = owner.safeRespond(cmd,response);
    if (response.size()>=1) {
        ConnectionWriter *writer = connection.getWriter();
        if (writer!=0) {
            if (response.get(0).toString()=="many" && writer->isTextMode()) {
                for (int i=1; i<response.size(); i++) {
                    Value& v = response.get(i);
                    if (v.isList()) {
                        v.asList()->write(*writer);
                    } else {
                        Bottle b;
                        b.add(v);
                        b.write(*writer);
                    }
                }
            } else {
                response.write(*writer);
            }

            //printf("response sent: %s\n", response.toString().c_str());
        }
    }
    return result;
}

    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");
    }

    void testEmptyList() {
        // based on a case submitted by Stephane Lallee; doesn't appear to
        // fail here as he sees going from TCL to C++
        report(0,"test empty list");
        Bottle b;
        b.fromString("appp plan-clean (\"<Plan>\" \"<Names>\" cover \"</Names>\" \"<isAtomic>\" 1 \"</isAtomic>\" \"<motorCommand>\" () \"</motorCommand>\" \"<Primitive>\" (cover 28988.470168 \"<args>\" \"7106\" \"7103\" \"</args>\" \"<argsRole>\" object1 arg2 object2 arg1 subject \"7107\" \"</argsRole>\" \"<preReqRelations>\" \"</preReqRelations>\" \"<preForRelations>\" \"</preForRelations>\" \"<postAddRelations>\" \"</postAddRelations>\" \"<postRemRelations>\" \"</postRemRelations>\" \"<addRelations>\" \"</addRelations>\" \"<remRelations>\" visible null arg2 \"</remRelations>\") \"</Primitive>\" \"<SubPlans>\" \"</SubPlans>\" \"</Plan>\")");
        Bottle b2 = b;
        checkEqual(b2.size(),3,"copy ok level 1");
        Bottle *sub = b2.get(2).asList();
        checkTrue(sub!=NULL,"list where list expected");
        if (sub!=NULL) {
            checkEqual(sub->size(),16,"copy ok level 2");
        }

        DummyConnector con;
        con.setTextMode(false);
        b.write(con.getWriter());
        Bottle b3;
        b3.read(con.getReader());
        checkEqual(b3.size(),b.size(),"binary read/write ok");
        sub = b3.get(2).asList();
        checkTrue(sub!=NULL,"list where list expected");
        if (sub!=NULL) {
            checkEqual(sub->size(),16,"copy ok level 2");
        }
    }

void StatePort::onRead(Bottle &state)
{
    if (client!=NULL)
    {
        LockGuard lg(client->mutex);
        state.write(client->state);
        getEnvelope(client->stamp);
    }
}

 virtual bool read(ConnectionReader& connection) {
     Bottle receive;
     receive.read(connection);
     receive.addInt(5);
     ConnectionWriter *writer = connection.getWriter();
     if (writer!=NULL) {
         receive.write(*writer);
     }
     return true;
 }

 void testSerialCopy() {
     report(0,"test serialization by copy");
     Value v(3.14);
     Bottle b;
     b.read(v);
     checkEqualish(b.get(0).asDouble(),3.14,"copy to bottle succeeded");
     Bottle b2;
     b.write(b2);
     checkEqualish(b2.get(0).asDouble(),3.14,"copy from bottle succeeded");
 }

 void checkReadWrite() {
     report(0,"check read/write");
     Value v(4.2);
     Bottle b;
     b.read(v);
     checkTrue(b.get(0).isFloat64(),"structure ok");
     checkEqualish(b.get(0).asFloat64(),4.2,"value ok");
     Value v2;
     b.write(v2);
     checkEqualish(v2.asFloat64(),4.2,"value reread ok");
 }

bool yarp::os::Node::Helper::read(ConnectionReader& reader)
{
    if (!reader.isValid()) {
        return false;
    }
    NodeArgs na;
    na.request.read(reader);
    //printf("NODE API for %s received %s\n",
    //name.c_str(),
    //na.request.toString().c_str());
    std::string key = na.request.get(0).asString();
    na.args = na.request.tail().tail();
    if (key=="getBusStats") {
        getBusStats(na);
    } else if (key=="getBusInfo") {
        getBusInfo(na);
    } else if (key=="getMasterUri") {
        getMasterUri(na);
    } else if (key=="shutdown") {
        shutdown(na);
    } else if (key=="getPid") {
        getPid(na);
    } else if (key=="getSubscriptions") {
        getSubscriptions(na);
    } else if (key=="getPublications") {
        getPublications(na);
    } else if (key=="paramUpdate") {
        paramUpdate(na);
    } else if (key=="publisherUpdate") {
        publisherUpdate(na);
    } else if (key=="requestTopic") {
        requestTopic(na);
    } else {
        na.error("I have no idea what you are talking about");
    }
    if (na.should_drop) {
        reader.requestDrop(); // ROS likes to close down.
    }
    if (reader.getWriter()) {
        Bottle full;
        full.addInt32(na.code);
        full.addString(na.msg);
        full.add(na.reply);
        //printf("NODE %s <<< %s\n",
        //name.c_str(),
        //full.toString().c_str());
        full.write(*reader.getWriter());
    }
    return true;
}

 bool process() {
     produce.wait();
     if (!active) return false;
     mutex.wait();
     Bottle b = msgs.front();
     msgs.pop_front();
     mutex.post();
     DummyConnector con;
     b.write(con.getWriter());
     owner.read(con.getReader());
     mutex.wait();
     available_threads++;
     mutex.post();
     return active;
 }

bool StreamConnectionReader::convertTextMode() {
    if (isTextMode()) {
        if (!convertedTextMode) {
            Bottle bot;
            bot.read(*this);
            BufferedConnectionWriter writer;
            bot.write(writer);
            String s = writer.toString();
            altStream.reset(s);
            in = &altStream;
            convertedTextMode = true;
        }
    }

    return true;
}

bool RosNameSpace::writeToNameServer(PortWriter& cmd,
                                     PortReader& reply,
                                     const ContactStyle& style) {
    DummyConnector con0;
    cmd.write(con0.getWriter());
    Bottle in;
    in.read(con0.getReader());
    ConstString key = in.get(0).asString();
    ConstString arg1 = in.get(1).asString();

    Bottle cmd2, cache;
    if (key=="query") {
        Contact c = queryName(arg1.c_str());
        c.setName("");
        Bottle reply2;
        reply2.addString(arg1.c_str());
        reply2.addString(c.toString().c_str());
        DummyConnector con;
        reply2.write(con.getWriter());
        reply.read(con.getReader());
        return true;
    } else if (key=="list") {
        cmd2.addString("getSystemState");
        cmd2.addString("dummy_id");

        if (!NetworkBase::write(getNameServerContact(), cmd2, cache, style)) {
            fprintf(stderr, "Failed to contact ROS server\n");
            return false;
        }

        Bottle out;
        out.addVocab(Vocab::encode("many"));
        Bottle *parts = cache.get(2).asList();
        Property nodes;
        Property topics;
        Property services;
        if (parts) {
            for (int i=0; i<3; i++) {
                Bottle *part = parts->get(i).asList();
                if (!part) continue;
                for (int j=0; j<part->size(); j++) {
                    Bottle *unit = part->get(j).asList();
                    if (!unit) continue;
                    ConstString stem = unit->get(0).asString();
                    Bottle *links = unit->get(1).asList();
                    if (!links) continue;
                    if (i<2) {
                        topics.put(stem, 1);
                    } else {
                        services.put(stem, 1);
                    }
                    for (int j=0; j<links->size(); j++) {
                        nodes.put(links->get(j).asString(), 1);
                    }
                }
            }
            Property *props[3] = {&nodes, &topics, &services};
            const char *title[3] = {"node", "topic", "service"};
            for (int p=0; p<3; p++) {
                Bottle blist;
                blist.read(*props[p]);
                for (int i=0; i<blist.size(); i++) {
                    ConstString name = blist.get(i).asList()->get(0).asString();
                    Bottle& info = out.addList();
                    info.addString(title[p]);
                    info.addString(name);
                }
            }
        }
        out.write(reply);
        return true;
    } else {
        return false;
    }

}

 virtual bool write(ConnectionWriter& connection) {
     ct = 0;
     send.write(connection);
     connection.setReplyHandler(*this);
     return true;
 }

bool HapticDeviceWrapper::read(ConnectionReader &connection)
{
    Bottle cmd;
    if (!cmd.read(connection))
        return false;
    int tag=cmd.get(0).asVocab();

    Bottle rep;
    if (device!=NULL)
    {
        LockGuard lg(mutex);

        if (tag==hapticdevice::set_transformation)
        {
            if (cmd.size()>=2)
            {
                if (Bottle *payload=cmd.get(1).asList())
                {
                    Matrix T(payload->get(0).asInt(),
                             payload->get(1).asInt());

                    if (Bottle *vals=payload->get(2).asList())
                    {
                        for (int r=0; r<T.rows(); r++)
                            for (int c=0; c<T.cols(); c++)
                                T(r,c)=vals->get(T.rows()*r+c).asDouble();

                        if (device->setTransformation(T))
                            rep.addVocab(hapticdevice::ack);
                        else
                            rep.addVocab(hapticdevice::nack);
                    }
                }
            }
        }
        else if (tag==hapticdevice::get_transformation)
        {
            Matrix T;
            if (device->getTransformation(T))
            {
                rep.addVocab(hapticdevice::ack);
                rep.addList().read(T);
            }
            else
                rep.addVocab(hapticdevice::nack);
        }
        else if (tag==hapticdevice::stop_feedback)
        {
            fdbck=0.0;
            device->stopFeedback();
            applyFdbck=false;
            rep.addVocab(hapticdevice::ack);
        }
        else if (tag==hapticdevice::is_cartesian)
        {
            bool ret;
            if (device->isCartesianForceModeEnabled(ret))
            {
                rep.addVocab(hapticdevice::ack);
                rep.addInt(ret?1:0);
            }
            else
                rep.addVocab(hapticdevice::nack);
        }
        else if (tag==hapticdevice::set_cartesian)
        {
            rep.addVocab(device->setCartesianForceMode()?
                         hapticdevice::ack:hapticdevice::nack);
        }
        else if (tag==hapticdevice::set_joint)
        {
            rep.addVocab(device->setJointTorqueMode()?
                         hapticdevice::ack:hapticdevice::nack);
        }
        else if (tag==hapticdevice::get_max)
        {
            Vector max;
            if (device->getMaxFeedback(max))
            {
                rep.addVocab(hapticdevice::ack);
                rep.addList().read(max);
            }
            else
                rep.addVocab(hapticdevice::nack);
        }
    }

    if (rep.size()==0)
        rep.addVocab(hapticdevice::nack);

    ConnectionWriter *writer=connection.getWriter();
    if (writer!=NULL)
        rep.write(*writer);

    return true;
}