C++ Bottle::addInt方法代码示例

/* Respond function */
bool babbler::respond(const yarp::os::Bottle& bCommand, yarp::os::Bottle& bReply)
{

    std::string helpMessage = std::string(getName().c_str()) +
        " commands are: \n" +
        "help \n" +
        "F + (int)Frequency\n" +
        "RF \n" +
        "quit \n";

    bReply.clear();
    std::string keyWord = bCommand.get(0).asString().c_str();

    if (keyWord == "quit") {
        bReply.addString("quitting");
        return false;
    }
    else if (keyWord == "help") {
        cout << helpMessage;
        bReply.addString("ok");
    }
    else if (keyWord == "F") {
        if (bCommand.size() == 2)
        {
            if (bCommand.get(1).isInt())
            {
                setNewFrequency(bCommand.get(1).asInt());
                bReply.addInt(f);
            }
        }
    }
    else if (keyWord == "RF") {    
                bReply.addInt(newRandomFrequency());
    }

    return true;
}

bool Implement_DepthVisualParams_Parser::respond(const yarp::os::Bottle& cmd, yarp::os::Bottle& response)
{
    bool ret = false;
    response.clear();
    if(!iDepthVisual)
    {
        yError() << "Depth Visual parameter Parser has not been correctly configured. IDepthVisualParams interface is not valid";
        response.addVocab(VOCAB_FAILED);
        return false;
    }

    int code = cmd.get(0).asVocab();
    if(code != VOCAB_DEPTH_VISUAL_PARAMS)
    {
        yError() << "Depth Visual Params Parser received a command not belonging to this interface. Required interface was " << yarp::os::Vocab::decode(code);
        response.addVocab(VOCAB_FAILED);
        return false;
    }

    switch (cmd.get(1).asVocab())
    {
        case VOCAB_GET:
        {
            switch(cmd.get(2).asVocab())
            {
                case VOCAB_HEIGHT:
                {
                    response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
                    response.addVocab(VOCAB_HEIGHT);
                    response.addVocab(VOCAB_IS);
                    response.addInt(iDepthVisual->getDepthHeight());
                }
                break;

                case VOCAB_WIDTH:
                {
                    response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
                    response.addVocab(VOCAB_WIDTH);
                    response.addVocab(VOCAB_IS);
                    response.addInt(iDepthVisual->getDepthWidth());
                }
                break;

                case VOCAB_FOV:
                {
                    double hFov, vFov;
                    ret = iDepthVisual->getDepthFOV(hFov, vFov);
                    if(ret)
                    {
                        response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
                        response.addVocab(VOCAB_FOV);
                        response.addVocab(VOCAB_IS);
                        response.addDouble(hFov);
                        response.addDouble(vFov);
                    }
                    else
                        response.addVocab(VOCAB_FAILED);
                }
                break;

                case VOCAB_INTRINSIC_PARAM:
                {
                    yarp::os::Property params;
                    ret = iDepthVisual->getDepthIntrinsicParam(params);
                    if(ret)
                    {
                        yarp::os::Bottle params_b;
                        response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
                        response.addVocab(VOCAB_INTRINSIC_PARAM);
                        response.addVocab(VOCAB_IS);
                        Property::copyPortable(params, params_b);  // will it really work??
                        response.append(params_b);
                    }
                    else
                    {
                        response.addVocab(VOCAB_FAILED);
                    }
                }
                break;

                case VOCAB_ACCURACY:
                {
                    response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
                    response.addVocab(VOCAB_ACCURACY);
                    response.addVocab(VOCAB_IS);
                    response.addDouble(iDepthVisual->getDepthAccuracy());
                }
                break;

                case VOCAB_CLIP_PLANES:
                {
                    double nearPlane, farPlane;
                    iDepthVisual->getDepthClipPlanes(nearPlane, farPlane);
                    response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
                    response.addVocab(VOCAB_CLIP_PLANES);
                    response.addVocab(VOCAB_IS);
                    response.addDouble(nearPlane);
                    response.addDouble(farPlane);
                }
                break;
//.........这里部分代码省略.........

bool ServerFrameGrabber::respond(const yarp::os::Bottle& cmd,
                                 yarp::os::Bottle& response) {
    int code = cmd.get(0).asVocab();

    IFrameGrabberControlsDC1394* fgCtrlDC1394=dynamic_cast<IFrameGrabberControlsDC1394*>(fgCtrl);

    //printf("%s\n",cmd.toString().c_str());

    switch (code)
    {
    case VOCAB_SET:
        printf("set command received\n");

        switch(cmd.get(1).asVocab())
        {
        case VOCAB_BRIGHTNESS:
            response.addInt(int(setBrightness(cmd.get(2).asDouble())));
            return true;
        case VOCAB_EXPOSURE:
            response.addInt(int(setExposure(cmd.get(2).asDouble())));
            return true;
        case VOCAB_SHARPNESS:
            response.addInt(int(setSharpness(cmd.get(2).asDouble())));
            return true;
        case VOCAB_WHITE:
            response.addInt(int(setWhiteBalance(cmd.get(2).asDouble(),cmd.get(3).asDouble())));
            return true;
        case VOCAB_HUE:
            response.addInt(int(setHue(cmd.get(2).asDouble())));
            return true;
        case VOCAB_SATURATION:
            response.addInt(int(setSaturation(cmd.get(2).asDouble())));
            return true;
        case VOCAB_GAMMA:
            response.addInt(int(setGamma(cmd.get(2).asDouble())));
            return true;
        case VOCAB_SHUTTER:
            response.addInt(int(setShutter(cmd.get(2).asDouble())));
            return true;
        case VOCAB_GAIN:
            response.addInt(int(setGain(cmd.get(2).asDouble())));
            return true;
        case VOCAB_IRIS:
            response.addInt(int(setIris(cmd.get(2).asDouble())));
            return true;
        /*
        case VOCAB_TEMPERATURE:
            response.addInt(int(setTemperature(cmd.get(2).asDouble())));
            return true;
        case VOCAB_WHITE_SHADING:
            response.addInt(int(setWhiteShading(cmd.get(2).asDouble(),cmd.get(3).asDouble(),cmd.get(4).asDouble())));
            return true;
        case VOCAB_OPTICAL_FILTER:
            response.addInt(int(setOpticalFilter(cmd.get(2).asDouble())));
            return true;
        case VOCAB_CAPTURE_QUALITY:
            response.addInt(int(setCaptureQuality(cmd.get(2).asDouble())));
            return true;
        */
        }

        return DeviceResponder::respond(cmd,response);

    case VOCAB_GET:
        printf("get command received\n");

        response.addVocab(VOCAB_IS);
        response.add(cmd.get(1));

        switch(cmd.get(1).asVocab())
        {
        case VOCAB_BRIGHTNESS:
            response.addDouble(getBrightness());
            return true;
        case VOCAB_EXPOSURE:
            response.addDouble(getExposure());
            return true;
        case VOCAB_SHARPNESS:
            response.addDouble(getSharpness());
            return true;
        case VOCAB_WHITE:
            {
                double b=0.0;
                double r=0.0;

                getWhiteBalance(b,r);
                response.addDouble(b);
                response.addDouble(r);
            }
            return true;
        case VOCAB_HUE:
            response.addDouble(getHue());
            return true;
        case VOCAB_SATURATION:
            response.addDouble(getSaturation());
            return true;
        case VOCAB_GAMMA:
            response.addDouble(getGamma());
            return true;
        case VOCAB_SHUTTER:
//.........这里部分代码省略.........

void handleInteractionModeMsg(IInteractionMode *iInteract, const yarp::os::Bottle& cmd,
                          yarp::os::Bottle& response, bool *rec, bool *ok)
{
    fprintf(stderr, "Handling IInteractionMode message %s\n", cmd.toString().c_str());
    if (!iInteract)
    {
        fprintf(stderr, "Error I do not have a valid interface\n");
        *ok=false;
        return;
    }

    int code = cmd.get(1).asVocab();
    *ok=true;

    switch(code)
    {
        case VOCAB_SET:
        {
            int axis = cmd.get(3).asInt();
            yarp::dev::InteractionModeEnum mode = (yarp::dev::InteractionModeEnum) cmd.get(2).asVocab();
            *ok = iInteract->setInteractionMode(axis, mode);
            *rec=true; //or false
        }
        break;

        case VOCAB_GET:
        {
            int which = cmd.get(2).asVocab();
            switch(which)
            {
                case VOCAB_INTERACTION_MODE:
                {
                    int axis = cmd.get(3).asInt();
                    yarp::dev::InteractionModeEnum mode;
                    *ok = iInteract->getInteractionMode(axis, &mode);
                    // create response
                    if(*ok)
                    {
                        response.addVocab(VOCAB_IS);
                        response.addInt(axis);
                        response.addVocab(VOCAB_INTERACTION_MODE);
                        response.addVocab(mode);
                        *rec=true;
                    }
                    else
                    {
                        response.addVocab(VOCAB_FAILED);
                        *rec = false;
                    }
                }
                break;

                case VOCAB_INTERACTION_MODES:
                {
                    int axis = cmd.get(3).asInt();
                    yarp::dev::InteractionModeEnum *modes;
                    modes = new yarp::dev::InteractionModeEnum[jnts];

                    *ok = iInteract->getInteractionMode(axis, modes);
                    // create response
                    if(*ok)
                    {
                        response.addVocab(VOCAB_IS);
                        response.addVocab(VOCAB_INTERACTION_MODES);
                        for(int i=0; i<jnts; i++)
                            response.addVocab(modes[i]);
                        *rec=true;
                    }
                    else
                    {
                        response.addVocab(VOCAB_FAILED);
                        *rec = false;
                    }
                }
                break;

                default:
                {
                    fprintf(stderr, "get command not understood");
                    *rec=false;
                    break;
                }
                break;
            }
        }
        break;
        default:
        {
            fprintf(stderr, "type of command not understood");
            *rec=false;
        }
        break;
    }
}

//.........这里部分代码省略.........
                        break;

					case VOCAB_ENABLE: 
						{
							*ok = torque->enableTorquePid (cmd.get(3).asInt());                   
						}
                        break;

					case VOCAB_TORQUE_MODE: 
                        {
                            *ok = torque->setTorqueMode();
						}
                        break;

                    }
			}
            break;

		case VOCAB_GET:
			{
				*rec = true;

				int tmp = 0;
				double dtmp = 0.0;
				response.addVocab(VOCAB_IS);
				response.add(cmd.get(1));

				switch(cmd.get(2).asVocab()) 
                    {
					case VOCAB_AXES:
						{
							int tmp;
							*ok = torque->getAxes(&tmp);
							response.addInt(tmp);
						}
                        break;

					case VOCAB_TRQ:
						{
							*ok = torque->getTorque(cmd.get(3).asInt(), &dtmp);
							response.addDouble(dtmp);
						}
                        break;

					case VOCAB_TRQS:
						{
							double *p = new double[controlledJoints];
							*ok = torque->getTorques(p);
							Bottle& b = response.addList();
							int i;
							for (i = 0; i < controlledJoints; i++)
								b.addDouble(p[i]);
							delete[] p;
						}
                        break;

				    case VOCAB_ERR: 
						{
							*ok = torque->getTorqueError(cmd.get(3).asInt(), &dtmp);
							response.addDouble(dtmp);
						}
						break;

					case VOCAB_ERRS: 
						{
							double *p = new double[controlledJoints];

/*! @brief Fill a bottle with the contents of an object.
 @param[in] jct The %JavaScript engine context.
 @param[in,out] aBottle The bottle to be filled.
 @param[in] theData The value to be sent.
 @param[in] topLevel @c true if this is the outermost list of an object. */
static void
fillBottleFromValue(JSContext *        jct,
                    yarp::os::Bottle & aBottle,
                    JS::Value          theData,
                    const bool         topLevel)
{
    ODL_ENTER(); //####
    ODL_P2("jct = ", jct, "aBottle = ", &aBottle); //####
    ODL_B1("topLevel = ", topLevel); //####
    JS::RootedValue asRootedValue(jct);

    asRootedValue = theData;
    if (theData.isBoolean())
    {
        aBottle.addInt(JS::ToBoolean(asRootedValue) ? 1 : 0);
    }
    else if (theData.isDouble())
    {
        double aValue;

        if (JS::ToNumber(jct, asRootedValue, &aValue))
        {
            aBottle.addDouble(aValue);
        }
    }
    else if (theData.isInt32())
    {
        int32_t aValue;

        if (JS::ToInt32(jct, asRootedValue, &aValue))
        {
            aBottle.addInt(aValue);
        }
    }
    else if (theData.isString())
    {
        JSString * asString = theData.toString();
        char *     asChars = JS_EncodeString(jct, asString);

        aBottle.addString(asChars);
        JS_free(jct, asChars);
    }
    else if (theData.isObject())
    {
        JS::RootedObject asObject(jct);

        if (JS_ValueToObject(jct, asRootedValue, &asObject))
        {
            bool processed = false;
#if (47 <= MOZJS_MAJOR_VERSION)
            bool isArray;
#endif // 47 <= MOZJS_MAJOR_VERSION

#if (47 <= MOZJS_MAJOR_VERSION)
            if (JS_IsArrayObject(jct, asObject, &isArray))
#else // 47 > MOZJS_MAJOR_VERSION
            if (JS_IsArrayObject(jct, asObject))
#endif // 47 > MOZJS_MAJOR_VERSION
            {
                uint32_t arrayLength;

                if (JS_GetArrayLength(jct, asObject, &arrayLength))
                {
                    // Treat as a list
                    if (topLevel)
                    {
                        for (uint32_t ii = 0; arrayLength > ii; ++ii)
                        {
                            JS::RootedValue anElement(jct);

                            if (JS_GetElement(jct, asObject, ii, &anElement))
                            {
                                fillBottleFromValue(jct, aBottle, anElement, false);
                            }
                        }
                    }
                    else
                    {
                        yarp::os::Bottle & innerList(aBottle.addList());

                        for (uint32_t ii = 0; arrayLength > ii; ++ii)
                        {
                            JS::RootedValue anElement(jct);

                            if (JS_GetElement(jct, asObject, ii, &anElement))
                            {
                                fillBottleFromValue(jct, innerList, anElement, false);
                            }
                        }

                    }
                    processed = true;
                }
            }
            if (! processed)
//.........这里部分代码省略.........

void handleControlModeMsg(IControlMode2 *iMode, const yarp::os::Bottle& cmd,
                          yarp::os::Bottle& response, bool *rec, bool *ok)
{
    fprintf(stderr, "Handling IControlMode message %s\n", cmd.toString().c_str());
    if (!iMode)
        {
            fprintf(stderr, "Error I do not have a valid interface\n");
            *ok=false;
            return;
        }

    int code = cmd.get(1).asVocab();
    *ok=true;

    switch(code)
        {
        case VOCAB_SET:
            {
				int axis = cmd.get(3).asInt();
                int mode=cmd.get(2).asVocab();
				switch (mode)
					{
                    case VOCAB_CM_POSITION:
                        *ok = iMode->setPositionMode(axis);
						break;
                    case VOCAB_CM_POSITION_DIRECT:
                        *ok = iMode->setControlMode(axis, VOCAB_CM_POSITION_DIRECT);
						break;
                    case VOCAB_CM_VELOCITY:
                        *ok = iMode->setVelocityMode(axis);
						break;
                    case VOCAB_CM_MIXED:
                        *ok = iMode->setControlMode(axis, VOCAB_CM_MIXED);
                        break;
                    case VOCAB_CM_TORQUE:
                        *ok = iMode->setTorqueMode(axis);
                        break;
                    case VOCAB_CM_OPENLOOP:
                        *ok = iMode->setOpenLoopMode(axis);
                        break;
                    case VOCAB_CM_IDLE:
                        *ok = iMode->setControlMode(axis, VOCAB_CM_IDLE);
                        break;
                    case VOCAB_CM_FORCE_IDLE:
                        *ok = iMode->setControlMode(axis, VOCAB_CM_FORCE_IDLE);
                        break;
                    case VOCAB_CM_IMPEDANCE_POS:
                        *ok = iMode->setControlMode(axis, VOCAB_CM_IMPEDANCE_POS);
                        break;
                    case VOCAB_CM_IMPEDANCE_VEL:
                        *ok = iMode->setControlMode(axis, VOCAB_CM_IMPEDANCE_VEL);
                        break;
                    default:
                        *ok = false;
						break;
					}
                *rec=true; //or false
            }
            break;
        case VOCAB_GET:
            {
                if (cmd.get(2).asVocab()==VOCAB_CM_CONTROL_MODE)
                    {
                        int p=-1;
                        int axis = cmd.get(3).asInt();
                        fprintf(stderr, "Calling getControlMode\n");
                        *ok = iMode->getControlMode(axis, &p);

                        response.addVocab(VOCAB_IS);
                        response.addInt(axis);
                        response.addVocab(VOCAB_CM_CONTROL_MODE);       
                        response.addVocab(p);
			
                        //fprintf(stderr, "Returning %d\n", p);
                        *rec=true;
                    }
            }
            break;
        default:
            {
                *rec=false;
            }
            break;
        }
}

 virtual bool respond(const yarp::os::Bottle& command, 
                      yarp::os::Bottle& reply) {
     mutex.wait();
     switch (command.get(0).asVocab()) {
     case VOCAB3('a','d','d'):
         {
             string name = command.get(1).asString().c_str();
             if (name!="") {
                 removeName(name.c_str());
                 Entry entry;
                 entry.name = name;
                 q.push_back(entry);
                 reply.clear();
                 reply.add(Value::makeVocab("add"));
                 reply.addString(name.c_str());
                 addQueue(reply);
             }
         }
         break;
     case VOCAB3('d','e','l'):
         {
             if (command.get(1).isInt()) {
                 int idx = command.get(1).asInt();
                 bool acted = removeName(idx);
                 if (acted) {
                     reply.clear();
                     reply.add(Value::makeVocab("del"));
                     reply.addInt(idx);
                 } else {
                     reply.clear();
                     reply.add(Value::makeVocab("no"));
                     reply.addInt(idx);
                 }
                 addQueue(reply);
             } else {
                 string name = command.get(1).asString().c_str();
                 if (name!="") {
                     bool acted = removeName(name.c_str());
                     if (acted) {
                         reply.clear();
                         reply.add(Value::makeVocab("del"));
                         reply.addString(name.c_str());
                     } else {
                         reply.clear();
                         reply.add(Value::makeVocab("no"));
                         reply.addString(name.c_str());
                     }
                     addQueue(reply);
                 }
             } 
         }
         break;
     case VOCAB4('l','i','s','t'):
         {
             reply.clear();
             addQueue(reply);
         }
         break;
     default:
         updateHelp();
         mutex.post();
         return DeviceResponder::respond(command,reply);
     }
     mutex.post();
     printf("%s\n", reply.toString().c_str());
     return true;
 }

// Callback handler for RPC commands (?)
bool RpcMsgHandler::respond(const yarp::os::Bottle& cmd, yarp::os::Bottle& reply)
{
    bool ok = true;
    bool commandUnderstood = true; // is the command recognized?

    if (caller->verbose())
        printf("command received: %s\n", cmd.toString().c_str());

    int code = cmd.get(0).asVocab();

    switch (code)
    {
        case VOCAB_GET:
        {
            double dtmp  = 0.0;
            double dtmp2 = 0.0;
            reply.addVocab(VOCAB_IS);
            reply.add(cmd.get(1));

            switch(cmd.get(1).asVocab())
            {
                case VOCAB_AXES:
                {
                    int axes;
                    caller->getAxes(axes);
                    reply.addInt(axes);
                }
                break;

                case VOCAB_DEBUG_PARAMETER:
                {
                    int j     = cmd.get(2).asInt();
                    int index = cmd.get(3).asInt();
                    ok = caller->getDebugParameter(j, index, &dtmp);
                    reply.addInt(j);
                    reply.addInt(index);
                    reply.addDouble(dtmp);
                }
                break;

                case VOCAB_GENERIC_PARAMETER:
                {
                    int j     = cmd.get(2).asInt();
                    int param = cmd.get(3).asInt();
                    ok = caller->getParameter(j, param, &dtmp);
                    reply.addInt(j);
                    reply.addInt(param);
                    reply.addDouble(dtmp);
                }
                break;

                default:
                {
                    commandUnderstood = false;
                    std::cout << "Debug Interface 1: command not understood! received " << cmd.toString().c_str() << std::endl;
                }
                break;
            }
        }
        break;      // case VOCAB_GET

        case VOCAB_SET:
        {
            switch(cmd.get(1).asVocab())
            {
                case VOCAB_GENERIC_PARAMETER:
                {
                    int j     = cmd.get(2).asInt();
                    int param = cmd.get(3).asInt();
                    double val   = cmd.get(4).asDouble();
                    ok = caller->setParameter(j, param, val);
                }
                break;

                case VOCAB_DEBUG_PARAMETER:
                {
                    int j     = cmd.get(2).asInt();
                    int index = cmd.get(3).asInt();
                    double val   = cmd.get(4).asDouble();
                    ok = caller->setDebugParameter(j, index, val);
                }
                break;

                default:
                {
                    commandUnderstood = false;
                    std::cout << "Debug Interface 2: command not understood! received " << cmd.toString().c_str() << std::endl;
                }
                break;
            }
        }
        break;      // case VOCAB_SET

        default:
        {
            commandUnderstood = false;
            std::cout << "Debug Interface 3: command not understood! received " << cmd.toString().c_str() << std::endl;
        }
        break;
//.........这里部分代码省略.........

void TaskYarpInterface::parseIncomingMessage(yarp::os::Bottle& input, yarp::os::Bottle& reply)
{
    int btlSize = input.size();
    for (auto i=0; i<btlSize; ++i) {
        int msg;
        int testInt = input.get(0).asInt();
        std::string testStr = input.get(0).asString();
        if ((testStr=="") && (testInt!=0)) {
            msg = TASK_MESSAGE(testInt);
        } else {
            msg = TaskMessageHandler::stringToTaskManagerMessageTag(testStr);
        }
        switch (msg) {

            case GET_TASK_STATE:
            {
                if (logMessages) {
                    yLog.info() << " ["<< this->task->getName() <<"]: " << "Processing request: GET_TASK_STATE";
                }
                TaskState state = this->task->getTaskState();
                state.putIntoBottle(reply);
            }break;

            case GET_STIFFNESS:
            {
                if (logMessages) {
                    yLog.info() << " ["<< this->task->getName() <<"]: " << "Processing request: GET_STIFFNESS";
                }
                util::pourEigenMatrixIntoBottle(this->getStiffnessMatrix(), reply);
            }break;

            case GET_DAMPING:
            {
                if (logMessages) {
                    yLog.info() << " ["<< this->task->getName() <<"]: " << "Processing request: GET_DAMPING";
                }
                util::pourEigenMatrixIntoBottle(this->getDampingMatrix(), reply);
            }break;

            case GET_WEIGHTS:
            {
                if (logMessages) {
                    yLog.info() << " ["<< this->task->getName() <<"]: " << "Processing request: GET_WEIGHTS";
                }
                util::pourEigenVectorIntoBottle(this->getWeight(), reply);
            }break;

            case GET_DESIRED_TASK_STATE:
            {
                if (logMessages) {
                    yLog.info() << " ["<< this->task->getName() <<"]: " << "Processing request: GET_DESIRED_TASK_STATE";
                }
                TaskState state = this->task->getDesiredTaskState();
                state.putIntoBottle(reply);
            }break;

            case GET_TASK_POSITION:
            {
                if (logMessages) {
                    yLog.info() << " ["<< this->task->getName() <<"]: " << "Processing request: GET_TASK_POSITION";
                }
                if ((this->task->getMetaTaskType()==Task::META_TASK_TYPE::POSITION) || (this->task->getMetaTaskType()==Task::META_TASK_TYPE::COM)) {
                    Eigen::Vector3d pos = this->task->getTaskState().getPosition().getTranslation();
                    util::pourEigenVectorIntoBottle(pos, reply);
                }
            }break;

            case GET_DESIRED_TASK_POSITION:
            {
                if (logMessages) {
                    yLog.info() << " ["<< this->task->getName() <<"]: " << "Processing request: GET_DESIRED_TASK_POSITION";
                }
                if ((this->task->getMetaTaskType()==Task::META_TASK_TYPE::POSITION) || (this->task->getMetaTaskType()==Task::META_TASK_TYPE::COM)) {
                    Eigen::Vector3d pos = this->task->getDesiredTaskState().getPosition().getTranslation();
                    util::pourEigenVectorIntoBottle(pos, reply);
                }
            }break;

            case GET_ACTIVITY_STATUS:
            {
                if (logMessages) {
                    yLog.info() << " ["<< this->task->getName() <<"]: " << "Processing request: GET_ACTIVITY_STATUS";
                }
                if (this->isActivated()) {
                    reply.addInt(TASK_IS_ACTIVATED);
                } else {
                    reply.addInt(TASK_IS_DEACTIVATED);
                }

            }break;

            case GET_DIMENSION:
            {
                if (logMessages) {
                    yLog.info() << " ["<< this->task->getName() <<"]: " << "Processing request: GET_DIMENSION";
                }
                OCRA_WARNING("this->task->getWeight() " << this->task->getWeight().size())
                reply.addInt(this->task->getWeight().size());
            }break;

//.........这里部分代码省略.........

bool FrameGrabberControls2_Parser::respond(const yarp::os::Bottle& cmd, yarp::os::Bottle& response)
{
    bool ok = false;
    int action = cmd.get(1).asVocab();
    int param  = cmd.get(2).asVocab();

//     yTrace() << "cmd received\n\t" << cmd.toString().c_str();


    if(!fgCtrl2)
    {
        yError() << " Selected camera device has no IFrameGrabberControl2 interface";
        return false;
    }

    response.clear();

    switch (action)
    {
        case VOCAB_HAS:
        {
            response.addVocab(VOCAB_FRAMEGRABBER_CONTROL2);
            response.addVocab(VOCAB_HAS);
            response.addVocab(VOCAB_FEATURE);
            response.addInt(param);

            switch (param)
            {
                case VOCAB_FEATURE:
                {
                    bool _hasFeat;
                    ok = fgCtrl2->hasFeature(cmd.get(3).asInt(), &_hasFeat);
                    response.addInt(_hasFeat);
                } break;

                case VOCAB_ONOFF:
                {
                    bool _hasOnOff;
                    ok = fgCtrl2->hasOnOff(cmd.get(3).asInt(), &_hasOnOff);
                    response.addInt(_hasOnOff);
                } break;

                case VOCAB_AUTO:
                {
                    bool _hasAuto;
                    ok = fgCtrl2->hasAuto(cmd.get(3).asInt(), &_hasAuto);
                    response.addInt(_hasAuto);
                } break;

                case VOCAB_MANUAL:
                {
                    bool _hasManual;
                    ok = fgCtrl2->hasManual(cmd.get(3).asInt(), &_hasManual);
                    response.addInt(_hasManual);
                } break;

                case VOCAB_ONEPUSH:
                {
                    bool _hasOnePush;
                    ok = fgCtrl2->hasOnePush(cmd.get(3).asInt(), &_hasOnePush);
                    response.addInt(_hasOnePush);
                } break;

                default:
                {
                    yError() << "Unknown command 'HAS " << Vocab::decode(param) << "' received on IFrameGrabber2 interface";
                    response.clear();
                    ok = false;
                } break;
            } break; // end switch (param)

        } break; // end VOCAB_HAS

        case VOCAB_SET:
        {
            switch (param)
            {
                case VOCAB_FEATURE:
                {
                    ok = fgCtrl2->setFeature(cmd.get(3).asInt(), cmd.get(4).asDouble());
                } break;

                case VOCAB_FEATURE2:
                {
                    ok = fgCtrl2->setFeature(cmd.get(3).asInt(), cmd.get(4).asDouble(), cmd.get(5).asDouble());
                } break;

                case VOCAB_ACTIVE:
                {
                    ok = fgCtrl2->setActive(cmd.get(3).asInt(), cmd.get(4).asInt());
                } break;

                case VOCAB_MODE:
                {
                    ok = fgCtrl2->setMode(cmd.get(3).asInt(), (FeatureMode) cmd.get(4).asInt());
                } break;

                case VOCAB_ONEPUSH:
                {
                    ok = fgCtrl2->setOnePush(cmd.get(3).asInt());
//.........这里部分代码省略.........

void IFixedSizeMatrixInputLearner::writeBottle(yarp::os::Bottle& bot) {
    bot.addInt(this->getDomainRows());
    bot.addInt(this->getDomainCols());
    bot.addInt(this->getCoDomainSize());
}

/*! @brief Fill a bottle with the contents of an object.
 @param[in,out] aBottle The bottle to be filled.
 @param[in] theData The value to be sent.
 @param[in] hashMapFunction The function to be applied to hash tables to get values that can be
 placed in a bottle.
 @param[in] topLevel @c true if this is the outermost list of an object. */
static void
fillBottleFromValue(yarp::os::Bottle & aBottle,
                    cl_object          theData,
                    cl_object          hashMapFunction,
                    const bool         topLevel)
{
    ODL_ENTER(); //####
    ODL_P3("aBottle = ", &aBottle, "theData = ", theData, "hashMapFunction = ", //####
           hashMapFunction); //####
    ODL_B1("topLevel = ", topLevel); //####
    if (ECL_NIL != cl_integerp(theData))
    {
        ODL_LOG("(ECL_NIL != cl_integerp(theData))"); //####
        aBottle.addInt(ecl_to_fixnum(theData));
    }
    else if (ECL_NIL != cl_realp(theData))
    {
        ODL_LOG("(ECL_NIL != cl_realp(theData))"); //####
        aBottle.addDouble(ecl_to_double(theData));
    }
    else if (ECL_NIL != cl_stringp(theData))
    {
        ODL_LOG("(ECL_NIL != cl_stringp(theData))"); //####
        cl_object aValue = si_coerce_to_base_string(theData);

        if (ECL_NIL == aValue)
        {
            ODL_LOG("(ECL_NIL == aValue)"); //####
            aBottle.addString("<unconvertible string>");
        }
        else
        {
            ODL_LOG("! (ECL_NIL == aValue)"); //####
            aBottle.addString(reinterpret_cast<char *>(aValue->base_string.self));
        }
    }
    else if (ECL_NIL != cl_symbolp(theData))
    {
        ODL_LOG("(ECL_NIL != cl_symbolp(theData))"); //####
        cl_object aName = cl_symbol_name(theData);

        if (ECL_NIL == aName)
        {
            ODL_LOG("(ECL_NIL == aName)"); //####
            aBottle.addString("<problematic symbol>");
        }
        else
        {
            ODL_LOG("! (ECL_NIL == aName)"); //####
            if (ECL_NIL == cl_stringp(aName))
            {
                ODL_LOG("(ECL_NIL == cl_stringp(aName))"); //####
                aName = cl_string(aName);
            }
            aName = si_coerce_to_base_string(aName);
            if (ECL_NIL == aName)
            {
                ODL_LOG("(ECL_NIL == aName)"); //####
                aBottle.addString("<unconvertible symbol>");
            }
            else
            {
                ODL_LOG("! (ECL_NIL == aName)"); //####
                aBottle.addString(reinterpret_cast<char *>(aName->base_string.self));
            }
        }
    }
    else if (ECL_NIL != cl_characterp(theData))
    {
        ODL_LOG("(ECL_NIL != cl_characterp(theData))"); //####
        cl_object asString = cl_string(theData);

        if (ECL_NIL == asString)
        {
            ODL_LOG("(ECL_NIL == asString)"); //####
            aBottle.addString("<unconvertible character>");
        }
        else
        {
            ODL_LOG("! (ECL_NIL == asString)"); //####
            aBottle.addString(reinterpret_cast<char *>(asString->base_string.self));
        }
    }
    else if (ECL_NIL != cl_hash_table_p(theData))
    {
        ODL_LOG("(ECL_NIL != cl_hash_table_p(theData))"); //####
        cl_env_ptr env = ecl_process_env();
        cl_object  aList;
        cl_object  errorSymbol = ecl_make_symbol("ERROR", "CL");

        ECL_RESTART_CASE_BEGIN(env, ecl_list1(errorSymbol))
        {
            /* This form is evaluated with bound handlers. */
            aList = cl_funcall(1, hashMapFunction, theData);
//.........这里部分代码省略.........

/*
* Message handler. RPC and from the terminal
*/
bool CoreModule::respond(const yarp::os::Bottle& command, yarp::os::Bottle& reply)
{
	printDebug("Message Received: (echo is on)");
	
	// debug
	printf("GOT MESSAGE: %s\n", command.toString().c_str());
	
	
	// QUIT
	if( command.get(0).asString() == "quit" ||
	    command.get(0).asString() == "exit" || 
	    command.get(0).asString() == "stop" )
	{
		isRunning = false;
		return false;
	}
	
	reply.clear();
	reply.addString("The command is not valid! Try: quit|list|add|del");	

	// nothing there
	if( command.size() < 1 ) return true;
	if( command.size() == 1 && command.get(0).asString() == "") return true;


	// LIST
	if( command.get(0).asString() == "list" || command.get(0).asString() == "ls" ){
		
		reply.clear();
		reply.addString("list");
		
		std::vector<ModuleInfo>::iterator itr;
		for ( itr = listOfModules.begin(); itr != listOfModules.end(); ++itr ) {
			std::cout << (*itr).toStdString() << std::endl;

			Bottle b;
			(*itr).toBottle(b);
			
			reply.addList() = b;
		}
		
	}
	
	// ADDING A MODULE
	if( command.get(0).asString() == "add" || command.get(0).asString() == "launch" ){
		reply.clear();		
		
		if( command.size() < 2 ) {
			reply.addString("ERROR: The syntax should be:");
			reply.addString("add <name>");	
			return true;
		} 
		
		int thisModuleID = nextModuleID++;
		
		ModuleInfo i;
		i.set(thisModuleID, command);
		listOfModules.push_back(i);
		
		reply.addString("OK");
		reply.addInt(thisModuleID);
	}

	// DELETING A MODULE
	if(command.get(0).asString() == "del" ||
	   command.get(0).asString() == "rm"  ||
	   command.get(0).asString() == "delete") {
		reply.clear();		
		
		if( command.size() < 2 ) {
			reply.addString("ERROR: The syntax should be:");
			reply.addString("del <moduleID>");	
			return true;
		} 
		
	    if( command.get(1).isInt() ) {
		   int thisModuleID = command.get(1).asInt();
		   reply.addString("OK");
		   // delete from vector
		   std::vector<ModuleInfo>::iterator itr;
		   for ( itr = listOfModules.begin(); itr != listOfModules.end(); ++itr ) {
			   if(thisModuleID == (*itr).ID) {
				   listOfModules.erase(itr);
				   break;
			   }
		   }
	    } else {
			reply.addString("ERROR: Could not parse integer! the syntax should be: del <moduleID as integer>");
		}
		
	}
	
//	if( command.get(0).asString() == "set"){
//		
//		if( command.get(1).asString() == "tgt" || command.get(1).asString() == "target" ) {
//			userSetTargetName = command.get(2).asString();
//			reply.clear();	
//.........这里部分代码省略.........