C++ Bottle::size方法代码示例

int merge(yarp::os::Bottle& mergeArg, folderType fType, bool verbose)
{
    ConstString contextName;
    if (mergeArg.size() >1 )
        contextName=mergeArg.get(1).asString().c_str();
    if (contextName=="")
    {
        printf("No %s name provided\n", fType==CONTEXTS ? "context" : "robot");
        return 0;
    }
    yarp::os::ResourceFinder rf;
    rf.setVerbose(verbose);

    if (mergeArg.size() >2 )
    {
        for (int i=2; i<mergeArg.size(); ++i)
        {
            ConstString fileName=mergeArg.get(i).asString();
            if(fileName != "")
            {
                ResourceFinderOptions opts;
                opts.searchLocations=ResourceFinderOptions::User;
                ConstString userFileName=rf.findPath((getFolderStringName(fType) + PATH_SEPARATOR +contextName + PATH_SEPARATOR + fileName).c_str(), opts);

                ConstString hiddenFileName=rf.findPath((getFolderStringNameHidden(fType) + PATH_SEPARATOR +contextName+ PATH_SEPARATOR + fileName).c_str(), opts);

                opts.searchLocations=ResourceFinderOptions::Installed;
                ConstString installedFileName=rf.findPath((getFolderStringName(fType) + PATH_SEPARATOR +contextName+ PATH_SEPARATOR + fileName).c_str(), opts);

                if (userFileName!="" && hiddenFileName != "" && installedFileName !="")
                    fileMerge(installedFileName, userFileName, hiddenFileName);
                else if (userFileName!=""  && installedFileName !="")
                    printf("Need to use mergetool\n");
                else
                    printf("Could not merge file %s\n", fileName.c_str());
            }
        }
    }
    else
    {
        ResourceFinderOptions opts;
        opts.searchLocations=ResourceFinderOptions::User;
        ConstString userPath=rf.findPath((getFolderStringName(fType) + PATH_SEPARATOR +contextName).c_str(), opts);

        ConstString hiddenUserPath=rf.findPath((getFolderStringNameHidden(fType) + PATH_SEPARATOR +contextName).c_str(), opts);

        opts.searchLocations=ResourceFinderOptions::Installed;
        ConstString installedPath=rf.findPath((getFolderStringName(fType) + PATH_SEPARATOR +contextName).c_str(), opts);

        recursiveMerge(installedPath, userPath, hiddenUserPath);
    }
    return 0;
}

/*! @brief Convert a YARP list into a %JavaScript object.
 @param[in] jct The %JavaScript engine context.
 @param[in,out] theData The output object.
 @param[in] inputValue The value to be processed. */
static void
convertList(JSContext *              jct,
            JS::MutableHandleValue   theData,
            const yarp::os::Bottle & inputValue)
{
    ODL_ENTER(); //####
    ODL_P2("jct = ", jct, "inputValue = ", &inputValue); //####
    JSObject * valueArray = JS_NewArrayObject(jct, 0);

    if (valueArray)
    {
        JS::RootedObject arrayRooted(jct);
        JS::RootedValue  anElement(jct);
        JS::RootedId     aRootedId(jct);

        arrayRooted = valueArray;
        for (int ii = 0, mm = inputValue.size(); mm > ii; ++ii)
        {
            yarp::os::Value aValue(inputValue.get(ii));

            convertValue(jct, &anElement, aValue);
            if (JS_IndexToId(jct, ii, &aRootedId))
            {
                JS_SetPropertyById(jct, arrayRooted, aRootedId, anElement);
            }
        }
        theData.setObject(*valueArray);
    }
    ODL_EXIT(); //####
} // convertList

bool
RandomRequestHandler::processRequest(const YarpString &           request,
                                     const yarp::os::Bottle &     restOfInput,
                                     const YarpString &           senderChannel,
                                     yarp::os::ConnectionWriter * replyMechanism)
{
#if (! defined(ODL_ENABLE_LOGGING_))
# if MAC_OR_LINUX_
#  pragma unused(request,senderChannel)
# endif // MAC_OR_LINUX_
#endif // ! defined(ODL_ENABLE_LOGGING_)
    ODL_OBJENTER(); //####
    ODL_S3s("request = ", request, "restOfInput = ", restOfInput.toString(), //####
            "senderChannel = ", senderChannel); //####
    ODL_P1("replyMechanism = ", replyMechanism); //####
    bool result = true;

    try
    {
        int count;

        _response.clear();
        if (0 < restOfInput.size())
        {
            yarp::os::Value number(restOfInput.get(0));

            if (number.isInt())
            {
                count = number.asInt();
            }
            else
            {
                count = -1;
            }
        }
        else
        {
            count = 1;
        }
        if (count > 0)
        {
            for (int ii = 0; ii < count; ++ii)
            {
                _response.addDouble(yarp::os::Random::uniform());
            }
        }
        else
        {
            ODL_LOG("! (count > 0)"); //####
        }
        sendResponse(replyMechanism);
    }
    catch (...)
    {
        ODL_LOG("Exception caught"); //####
        throw;
    }
    ODL_OBJEXIT_B(result); //####
    return result;
} // RandomRequestHandler::processRequest

void WorldRpcInterface::setRot( const yarp::os::Bottle& command, yarp::os::Bottle& reply, int& n  )
{
	KinematicModel::CompositeObject* object = getObject( command, reply, n );
	
	if ( object )
	{
		if ((command.size() - n) == 3) {
			double x = command.get(n).asDouble()*M_PI/180.; n++;  //std::cout << x << std::endl; // x position
			double y = command.get(n).asDouble()*M_PI/180.; n++;  //std::cout << y << std::endl; // y position  
			double z = command.get(n).asDouble()*M_PI/180.; n++;  //std::cout << z << std::endl; // z position
			object->setCartesianOrientation( QVector3D(x,y,z) );
			reply.addString("Set rotation (about x,y,z in degrees).");
		} else {
			// replace rotation part of object's T matrix
			QMatrix4x4 rt = object->getT();
			for (int i = 0; i<3; i++) {
				for (int j = 0; j<3; j++) {
					rt(i, j) = command.get(n).asDouble(); n++;
				}
			}
			object->setT(rt);
			reply.addString("Set full rotation matrix.");
		}

	}
}

bool skinManager::bottleToVector(const yarp::os::Bottle& b, yarp::sig::Vector& v){
    for(int i=0; i<b.size(); i++)
        if(b.get(i).isDouble() || b.get(i).isInt())
            v.push_back(b.get(i).asDouble());
        else
            return false;
    return true;
}

void wysiwyd::wrdac::SubSystem_Reactable::SendOSC(yarp::os::Bottle &oscMsg)
{
    yarp::os::Bottle cmd;
    cmd.addString("osc");
    for(int i=0; i<oscMsg.size(); i++)
        cmd.add(oscMsg.get(i));
    std::cout<<"OSC>>"<<cmd.toString().c_str()<<std::endl;
    portRTrpc.write(cmd);
}

    void findFileBase(Property& config, const char *name,
                      bool isDir,
                      Bottle& output, bool justTop) {

        ConstString cap =
            config.check("capability_directory",Value("app")).asString();
        Bottle defCaps =
            config.findGroup("default_capability").tail();

        // check current directory
		if (ConstString(name)==""&&isDir) {
            output.addString(getPwd());
            if (justTop) return;
        }
        ConstString str = check(getPwd(),"","",name,isDir);
        if (str!="") {
            output.addString(str);
            if (justTop) return;
        }

        if (configFilePath!="") {
            ConstString str = check(configFilePath.c_str(),"","",name,isDir);
            if (str!="") {
                output.addString(str);
                if (justTop) return;
            }
        }

        // check app dirs
        for (int i=0; i<apps.size(); i++) {
            str = check(root.c_str(),cap,apps.get(i).asString().c_str(),
                        name,isDir);
            if (str!="") {
                output.addString(str);
                if (justTop) return;
            }
        }

        // check ROOT/app/default/
        for (int i=0; i<defCaps.size(); i++) {
            str = check(root.c_str(),cap,defCaps.get(i).asString().c_str(),
                        name,isDir);
            if (str!="") {
                output.addString(str);
                if (justTop) return;
            }
        }

        if (justTop) {
            if (!quiet) {
                fprintf(RTARGET,"||| did not find %s\n", name);
            }
        }
    }

bool
TruncateFloatFilterInputHandler::handleInput(const yarp::os::Bottle &     input,
                                             const YarpString &           senderChannel,
                                             yarp::os::ConnectionWriter * replyMechanism,
                                             const size_t                 numBytes)
{
#if (! defined(ODL_ENABLE_LOGGING_))
# if MAC_OR_LINUX_
#  pragma unused(senderChannel,replyMechanism,numBytes)
# endif // MAC_OR_LINUX_
#endif // ! defined(ODL_ENABLE_LOGGING_)
    ODL_OBJENTER(); //####
    ODL_S2s("senderChannel = ", senderChannel, "got ", input.toString()); //####
    ODL_P1("replyMechanism = ", replyMechanism); //####
    ODL_I1("numBytes = ", numBytes); //####
    bool result = true;

    try
    {
        yarp::os::Bottle outBottle;

        for (int ii = 0, mm = input.size(); mm > ii; ++ii)
        {
            yarp::os::Value aValue(input.get(ii));

            if (aValue.isInt())
            {
                outBottle.addInt(aValue.asInt());
            }
            else if (aValue.isDouble())
            {
                outBottle.addInt(static_cast<int>(aValue.asDouble()));
            }
        }
        if ((0 < outBottle.size()) && _outChannel)
        {
            if (! _outChannel->write(outBottle))
            {
                ODL_LOG("(! _outChannel->write(message))"); //####
#if defined(MpM_StallOnSendProblem)
                Stall();
#endif // defined(MpM_StallOnSendProblem)
            }
        }
    }
    catch (...)
    {
        ODL_LOG("Exception caught"); //####
        throw;
    }
    ODL_OBJEXIT_B(result); //####
    return result;
} // TruncateFloatFilterInputHandler::handleInput

/* Respond function */
bool opcManager::respond(const yarp::os::Bottle& bCommand, yarp::os::Bottle& bReply)
{
    string helpMessage = string(getName().c_str()) +
        " commands are: \n" +
        "help \n" +
        "connect + name\n" +
        "quit \n";

    bReply.clear();
    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 == "connect") {
        bReply = connect(bCommand);
    }
    else if (keyWord == "updateBeliefs") {
        bReply.addString("nack");
        if (bCommand.size() == 2)
        {
            if (bCommand.get(1).isString())
            {
                bReply.addList() = updateBelief(bCommand.get(1).toString().c_str());
            }
        }
    }

    else if (keyWord == "synchronise")
    {
        bReply.addString("ack");
        bReply.addList() = synchoniseOPCs();
    }

    else if (keyWord == "executeActivity")
    {
        bReply.addString("ack");
        bReply.addList() = simulateActivity(bCommand);
    }

    else if (keyWord == "diffOPC")
    {
        bReply.addString("ack");
        bReply.addList() = diffOPC();
    }

    return true;
}

bool GaussianAE::decode(const yarp::os::Bottle &packet, size_t &pos)
{
    if (LabelledAE::decode(packet, pos) && pos + 3 <= packet.size())
    {

        _gaei[0] = packet.get(pos++).asInt();
        _gaei[1] = packet.get(pos++).asInt();
        _gaei[2] = packet.get(pos++).asInt();
        return true;
    }
    return false;
}

void WorldRpcInterface::startSimSyncer(const yarp::os::Bottle& command, yarp::os::Bottle& reply, int& n) {
	if ((command.size() - n) != 1) {
		reply.addString("Please provide the refresh period for the synchronization thread in seconds");
		return;
	}
	double period = command.get(n).asDouble(); n++;
	if (model->getSimSyncer().isRunning()) {
		model->getSimSyncer().stop();
	}
	model->getSimSyncer().setRefreshPeriod(period);
	model->getSimSyncer().start();
	reply.addString("ok");
}

bool FTCalibrationDataset::fromBottle(const yarp::os::Bottle &bot)
{
    if( bot.size() != 2
        || !(bot.get(0).isString())
        || !(bot.get(1).isList())
        || !(bot.get(1).asList()->size() == 2)
        || !(bot.get(1).asList()->get(0).isString())
        || !(bot.get(1).asList()->get(0).asString() == "mass")
        || !(bot.get(1).asList()->get(1).isDouble())
    )
    {
        return false;
    }

    dataset_name = bot.get(0).asString();
    added_mass   = bot.get(1).asList()->get(1).asDouble();
    return true;
}

bool WorldRpcInterface::parseSimRTBottle(const std::string name, const yarp::os::Bottle& command, int& n, QMatrix4x4 &rt) {
	if ( (command.size()-n) != 6) {
		return false;
	}

	//position
	double px = command.get(n).asDouble(); n++;
	double py = command.get(n).asDouble(); n++;
	double pz = command.get(n).asDouble(); n++;
		
	// rotation
	double rx = command.get(n).asDouble(); n++;
	double ry = command.get(n).asDouble(); n++;
	double rz = command.get(n).asDouble(); n++;
		
	// special simulator rotation:
	QQuaternion qrx = QQuaternion::fromAxisAndAngle( QVector3D(1, 0, 0), -rz);
	QQuaternion qry = QQuaternion::fromAxisAndAngle( QVector3D(0, 1, 0), -rx);
	QQuaternion qrz = QQuaternion::fromAxisAndAngle( QVector3D(0, 0, 1), ry);
	rt.setToIdentity();
	rt.rotate(qry * (qrz*qrx));

	// cylinders are rotated 90 degrees on the z-axis with respect to iCubSIM:
	QRegExp rxtype("([^\\d]+)(?:\\s*\\d+)"); // check for: {[one or more non-numeric characters]: return as part 1} {[zero or more whitespace characters followed by one or more numeric characters]: do not return}
	int pos = rxtype.indexIn(QString(name.c_str()));
	if (pos > -1) {
		yarp::os::Value type(rxtype.cap(1).toStdString().c_str());
		int vtype = type.asVocab();
		if (vtype == VOCAB_CYL || vtype == VOCAB_SCYL) {
			rt.rotate( QQuaternion::fromAxisAndAngle( QVector3D(0, 0, 1), 90));
		}
	}
	
	// position translation
	rt(0, 3) = -(pz + 0.026);
	rt(1, 3) = -px;
	rt(2, 3) = py-0.5976;

	return true;
}

bool AnalogServerHandler::_handleIAnalog(yarp::os::Bottle &cmd, yarp::os::Bottle &reply)
{
    yTrace();
    if (is==0)
      return false;

    int msgsize=cmd.size();

    int code=cmd.get(1).asVocab();
    switch (code)
    {
    case VOCAB_CALIBRATE:
      if (msgsize==2)
        is->calibrateSensor();
      else
      {
        //read Vector of values and pass to is->calibrate();
      }
      return true;
      break;
    case VOCAB_CALIBRATE_CHANNEL:
      if (msgsize==3)
      {
        int ch=cmd.get(2).asInt();
        is->calibrateChannel(ch);
      }
      if (msgsize==4)
      {
        int ch=cmd.get(2).asInt();
        double v=cmd.get(3).asDouble();
        is->calibrateChannel(ch, v);
      }

      return true;
      break;
    default:
      return false;
    }
}

std::string WireTwiddler::fromTemplate(const yarp::os::Bottle& msg) {
    string result = "";

    // assume we want to remove any meta-information

    int len = msg.size();

    int code = -1;
    for (int i=0; i<len; i++) {
        Value&v = msg.get(i);
        int icode = v.getCode();
        if (i==0) code = icode;
        if (icode!=code) code = -1;
    }
    string codeName = nameThatCode(code);
    if (code == -1) {
        result += "list ";
    } else {
        result += "vector ";
        result += codeName;
        result += " ";
    }
    result += NetType::toString(len).c_str();
    result += " ";
    for (int i=0; i<len; i++) {
        Value&v = msg.get(i);
        if (!v.isList()) {
            if (code == -1) {
                result += nameThatCode(v.getCode());
                result += " ";
            }
            result += "* ";
        } else {
            result += fromTemplate(*v.asList());
        }
    }
    return result;
}