C++ DummyConnector类代码示例

bool Bottle::write(PortReader& reader, bool textMode)
{
    DummyConnector con;
    con.setTextMode(textMode);
    write(con.getWriter());
    return reader.read(con.getReader());
}

bool add_one() {
    printf("\n*** add_one()\n");
    ClientPeek client_peek;
    Demo client;
    client.yarp().attachAsClient(client_peek);
    client.add_one(14);

    Server server;
    Bottle bot("[add] [one] 14");
    DummyConnector con;
    bot.write(con.getWriter());
    server.read(con.getReader());
    bot.read(con.getReader());
    printf("Result is %s\n", bot.toString().c_str());

    if (bot.get(0).asInt() != 15) return false;

    bot.fromString("[add] [one] 15");
    DummyConnector con2;
    bot.write(con2.getWriter());
    server.read(con2.getReader());
    bot.read(con2.getReader());
    printf("Result is %s\n", bot.toString().c_str());

    if (bot.get(0).asInt() != 16) return false;

    return true;
}

    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");
        }
    }

bool BufferedConnectionWriter::write(PortReader& obj)
{
    DummyConnector con;
    con.setTextMode(isTextMode());
    if (!write(con.getWriter()))
        return false;
    return obj.read(con.getReader());
}

bool Bottle::read(const PortWriter& writer, bool textMode)
{
    implementation->edit();
    DummyConnector con;
    con.setTextMode(textMode);
    writer.write(con.getWriter());
    return read(con.getReader());
}

 void checkBottle() {
     report(0,"check bottle compatibility...");
     Bottle b("2 3 (0.0 1.1 2.2 3.3 4.4 5.5)");
     Matrix m(6,1);
     DummyConnector con;
     b.write(con.getWriter());
     m.read(con.getReader());
     checkEqual(m.rows(),(size_t) 2,"row size correct");
     checkEqual(m.cols(),(size_t) 3,"col size correct");
     checkTrue(m[1][2]>5 && m[1][2]<6, "content is sane");
 }

    void testText() {
        report(0,"checking text mode");
        DummyConnector con;
        
        BinPortable<BinPortableTarget> t1, t2;
        t1.content().x = 10;
        t1.content().y = 20;
        
        t1.write(con.getWriter());
        t2.read(con.getReader());

        checkEqual(t2.content().x, 10, "x value");
        checkEqual(t2.content().y, 20, "y value");
    }

 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 test_void() {
    printf("\n*** test_void()\n");

    ClientPeek client_peek;
    Demo client;
    client.yarp().attachAsClient(client_peek);
    client.test_void(14);
    client.test_1way(14);

    Server server;
    Bottle bot("[test] [void] 14");
    DummyConnector con;
    bot.write(con.getWriter());
    server.read(con.getReader());
    bot.read(con.getReader());
    printf("Result is %s (should be blank)\n", bot.toString().c_str());

    return bot.size()==0 && !bot.isNull();
}

bool yarp::os::impl::HttpCarrier::write(Protocol& proto, SizedWriter& writer) {
    DummyConnector con;
    con.setTextMode(true);
    for (size_t i=writer.headerLength(); i<writer.length(); i++) {
        con.getWriter().appendBlock(writer.data(i),writer.length(i));
    }
    Bottle b;
    b.read(con.getReader());

    ConstString body = b.find("web").toString();
    if (body.length()!=0) {
        ConstString header;
        header += NetType::toHexString(body.length()).c_str();
        header += "\r\n";

        Bytes b2((char*)header.c_str(),header.length());
        proto.os().write(b2);

        Bytes b3((char*)body.c_str(),body.length());
        proto.os().write(b3);

        proto.os().write('\r');
        proto.os().write('\n');

    } else {
        ConstString txt = b.toString() + "\r\n";
        ConstString header;
        header += NetType::toHexString(txt.length()).c_str();
        header += "\r\n";
        Bytes b2((char*)header.c_str(),header.length());
        proto.os().write(b2);
        Bytes b3((char*)txt.c_str(),txt.length());
        proto.os().write(b3);
        proto.os().write('\r');
        proto.os().write('\n');
    }
    proto.os().flush();
    return proto.os().isOk();
}

bool YarpNameSpace::writeToNameServer(PortWriter& cmd,
                                      PortReader& reply,
                                      const ContactStyle& style) {
    Contact srv = getNameServerContact();
    String cmd0 = "NAME_SERVER";

    DummyConnector con0;
    cmd.write(con0.getWriter());
    Bottle in;
    in.read(con0.getReader());
    for (int i=0; i<in.size(); i++) {
        cmd0 += " ";
        cmd0 += in.get(i).toString().c_str();
    }
    NameClient& nic = HELPER(this);
    String result = nic.send(cmd0);
    Bottle reply2;
    reply2.addString(result.c_str());
    DummyConnector con;
    reply2.write(con.getWriter());
    reply.read(con.getReader());
    return result!="";
}

    void checkPair() {
        report(0,"checking portable-pair serialization...");
        // potential problem reported by Miguel Sarabia Del Castillo

        Matrix m;
        size_t rr = 10;
        size_t cc = 5;
        makeTestMatrix(m,rr,cc);

        double value = 3.14;

        yarp::os::PortablePair<yarp::sig::Matrix, yarp::os::Value> msg, msg2;
        msg.head = m;
        msg.body = yarp::os::Value(value);

        DummyConnector con;
        msg.write(con.getWriter());
        ConnectionReader& reader = con.getReader();
        msg2.read(reader);
        checkEqual(msg.head.rows(),msg2.head.rows(),"matrix row match");
        checkEqual(msg.head.cols(),msg2.head.cols(),"matrix col match");
        checkEqualish(msg.body.asFloat64(),msg2.body.asFloat64(),"value match");

        Bottle bot;
        bot.read(msg);
        Bottle *bot1 = bot.get(0).asList();
        Bottle *bot2 = bot.get(1).asList();
        checkTrue(bot1!=nullptr&&bot2!=nullptr,"got head/body");
        if (bot1==nullptr || bot2==nullptr) return;
        checkEqual((size_t) bot1->get(0).asInt32(),rr,"row count matches");
        checkEqual((size_t) bot1->get(1).asInt32(),cc,"column count matches");
        Bottle *lst = bot1->get(2).asList();
        checkTrue(lst!=nullptr,"have data");
        if (!lst) return;
        checkEqual(lst->size(),(rr*cc),"data length matches");
        checkEqualish(bot2->get(0).asFloat64(),value,"value match");
    }

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;
    }

}

bool yarp::os::impl::HttpCarrier::reply(Protocol& proto, SizedWriter& writer) {
    DummyConnector con;
    con.setTextMode(true);
    for (size_t i=writer.headerLength(); i<writer.length(); i++) {
        con.getWriter().appendBlock(writer.data(i),writer.length(i));
    }
    Bottle b;
    b.read(con.getReader());

    ConstString mime = b.check("mime",Value("text/html")).asString();

    ConstString body;

    bool using_json = false;
    if (stream!=NULL) {
        if (stream->useJson()) {
            mime = "text/json";
            asJson(body,&b,stream->typeHint());
            using_json = true;
        }
    }

    if (b.check("web")&&!using_json) {
        body = b.find("web").toString();
    }

    if (b.check("stream")&&!using_json) {
        String header("HTTP/1.1 200 OK\r\nContent-Type: ");
        header += mime;
        header += "\r\n";
        header += "Transfer-Encoding: chunked\r\n";
        header += "\r\n";
        int N = 2*1024;
        header += NetType::toHexString(body.length()+N);
        header += "\r\n";

        Bytes b2((char*)header.c_str(),header.length());
        proto.os().write(b2);

        // chrome etc won't render until enough chars are received.
        for (int i=0; i<N; i++) {
            proto.os().write(' ');
        }

        Bytes b3((char*)body.c_str(),body.length());
        proto.os().write(b3);

        proto.os().write('\r');
        proto.os().write('\n');


        if (stream!=NULL) {
            stream->flip();
        }
        return true;
    }

    if (stream!=NULL) {
        stream->finish();
    }

    // Could check response codes, mime types here.

    if (body.length()!=0 || using_json) {
        ConstString mime = b.check("mime",Value("text/html")).asString();
        String header("HTTP/1.1 200 OK\nContent-Type: ");
        header += mime;
        header += "\n";
        header += "Access-Control-Allow-Origin: *\n";
        header += "\n";
        Bytes b2((char*)header.c_str(),header.length());
        proto.os().write(b2);

        //body = b.toString();
        Bytes b3((char*)body.c_str(),body.length());
        proto.os().write(b3);
    } else {
        writer.write(proto.os());
    }
    proto.os().flush();
    return proto.os().isOk();
}