C++ ConnectionReader::expectBlock方法代码示例

bool Matrix::read(yarp::os::ConnectionReader& connection) {
    // auto-convert text mode interaction
    connection.convertTextMode();
    MatrixPortContentHeader header;
    bool ok = connection.expectBlock((char*)&header, sizeof(header));
    if (!ok) return false;
    int r=rows();
    int c=cols();
    if (header.listLen > 0)
    {
        if ( r != (int)(header.rows) || c!=(int)(header.cols))
        {
            resize(header.rows, header.cols);
        }

        int l=0;
        double *tmp=data();
        for(l=0;l<header.listLen;l++)
            tmp[l]=connection.expectDouble();
    }
    else
        return false;

    return true;
}

bool MapGrid2D::read(yarp::os::ConnectionReader& connection)
{
    // auto-convert text mode interaction
    connection.convertTextMode();

    connection.expectInt();
    connection.expectInt();

    connection.expectInt();
    m_width = connection.expectInt();
    connection.expectInt();
    m_height = connection.expectInt();
    connection.expectInt();
    m_origin.x = connection.expectDouble();
    connection.expectInt();
    m_origin.y = connection.expectDouble();
    connection.expectInt();
    m_origin.theta = connection.expectDouble();
    connection.expectInt();
    m_resolution = connection.expectDouble();
    connection.expectInt();
    int siz = connection.expectInt();
    char buff[255]; memset(buff, 0, 255);
    connection.expectBlock((char*)buff, siz);
    m_map_name = buff;
    m_map_occupancy.resize(m_width, m_height);
    m_map_flags.resize(m_width, m_height);
    bool ok = true;
    unsigned char *mem = nullptr;
    int            memsize = 0;
    connection.expectInt();
    memsize = connection.expectInt();
    if (memsize != m_map_occupancy.getRawImageSize()) { return false; }
    mem = m_map_occupancy.getRawImage();
    ok &= connection.expectBlock((char*)mem, memsize);
    connection.expectInt();
    memsize = connection.expectInt();
    if (memsize != m_map_flags.getRawImageSize()) { return false; }
    mem = m_map_flags.getRawImage();
    ok &= connection.expectBlock((char*)mem, memsize);
    if (!ok) return false;

    return !connection.isError();
        return true;
}

bool PortCoreInputUnit::skipIncomingData(yarp::os::ConnectionReader& reader) {
    size_t pending = reader.getSize();
    if (pending>0) {
        while (pending>0) {
            char buf[10000];
            size_t next = (pending<sizeof(buf))?pending:sizeof(buf);
            reader.expectBlock(&buf[0],next);
            pending -= next;
        }
        return true;
    }
    return false;
}

bool C_sendingBuffer::read(yarp::os::ConnectionReader& connection)
{
	connection.convertTextMode(); // if connection is text-mode, convert!
	int tag = connection.expectInt();
	if (tag!=BOTTLE_TAG_LIST+BOTTLE_TAG_BLOB+BOTTLE_TAG_INT)
		return false;
	int ct = connection.expectInt();
	if (ct!=2)
		return false;
	size_of_the_packet = connection.expectInt();
	connection.expectBlock(packet, SIZE_OF_DATA);
	return true;
}

YARP_END_PACK

bool VectorBase::read(yarp::os::ConnectionReader& connection) {
    // auto-convert text mode interaction
    connection.convertTextMode();
    VectorPortContentHeader header;
    bool ok = connection.expectBlock((char*)&header, sizeof(header));
    if (!ok) return false;
    if (header.listLen > 0 && 
        header.listTag == BOTTLE_TAG_LIST + BOTTLE_TAG_DOUBLE) {
        if ((size_t)getListSize() != (size_t)(header.listLen))
            resize(header.listLen);
        const char *ptr = getMemoryBlock();
        yAssert(ptr != 0);
        int elemSize=getElementSize();
        ok = connection.expectBlock(ptr, elemSize*header.listLen);
        if (!ok) return false;
    } else {
        return false;
    }

    return !connection.isError();
}

bool eventBuffer::read(yarp::os::ConnectionReader& connection)
{
    connection.convertTextMode();   // if connection is text-mode, convert!
    int tag = connection.expectInt();
    if (tag != BOTTLE_TAG_LIST+BOTTLE_TAG_BLOB+BOTTLE_TAG_INT)
        return false;
    int ct = connection.expectInt();
    if (ct!=2)
        return false;
    size_of_the_packet = connection.expectInt();
    int ceilSizeOfPacket = (size_of_the_packet+7)/8*8; // the nearest multiple of 8 greater or equal to size_of_the_packet
    memset(packet, 0, SIZE_OF_DATA);
    connection.expectBlock(packet, ceilSizeOfPacket);
    return true;
}

bool eventBottle::read(yarp::os::ConnectionReader& connection) {
    connection.convertTextMode();   // if connection is text-mode, convert!
    int tag = connection.expectInt();
    if (tag != BOTTLE_TAG_LIST + BOTTLE_TAG_BLOB + BOTTLE_TAG_INT) {
       return false;
    }
    int ct = connection.expectInt();
    if (ct!=2) {
        return false;
    }
    bytes_of_the_packet = connection.expectInt();
    size_of_the_packet = bytes_of_the_packet / wordDimension;      // number of 32 bit word times 4bytes
    connection.expectBlock(packetPointer,bytes_of_the_packet);

    //printf(" eventBottle::read:size_of_the_packet %d bytes_of_the_packet %d \n", size_of_the_packet, bytes_of_the_packet);


    // ---------------------------------------------------------------------------------------------------------
    // ------------------------ deserialisation of the bottle -------------------------------------
    //printf("bytes of the packet %d \n",bytes_of_the_packet );
    int word;
    char* i_data  = packetPointer;
    packet->clear(); // clear the bottle before any other adding

    unsigned char tmpChar;
    for(int i = 0 ; i < bytes_of_the_packet;) {
        word = 0;
        for (int j = 0 ; j < 4 ; j++){
            tmpChar = (unsigned char) *i_data;
            //printf("%02x ", *i_data );
            int value =  tmpChar << (8 * j);
            word = word | value;
            i_data++;
            i++;
        }
        packet->addInt(word);
        //printf("= %08x \n", word);

    }

    //----------------------------------------------------------------------------------------------------------

    //packet->fromBinary(packetPointer,bytes_of_the_packet);
    size_of_the_bottle = packet->size();
    return true;
}

bool Quaternion::read(yarp::os::ConnectionReader& connection)
{
    // auto-convert text mode interaction
    connection.convertTextMode();
    QuaternionPortContentHeader header;
    bool ok = connection.expectBlock((char*)&header, sizeof(header));
    if (!ok) return false;

    if (header.listLen == 4 &&  header.listTag == (BOTTLE_TAG_LIST | BOTTLE_TAG_DOUBLE))
    {
        this->internal_data[0] = connection.expectDouble();
        this->internal_data[1] = connection.expectDouble();
        this->internal_data[2] = connection.expectDouble();
        this->internal_data[3] = connection.expectDouble();
    }
    else
    {
        return false;
    }

    return !connection.isError();
}

bool Image::read(yarp::os::ConnectionReader& connection) {

    // auto-convert text mode interaction
    connection.convertTextMode();

    ImageNetworkHeader header;

    bool ok = connection.expectBlock((char*)&header,sizeof(header));
    if (!ok) return false;

    //first check that the received image size is reasonable
    if (header.width == 0 || header.height == 0)
    {
        // I maintain the prevous logic, although we should probably return false
        return !connection.isError(); 
    }

    imgPixelCode = header.id;

    int q = getQuantum();
    if (q==0) {
        //q = YARP_IMAGE_ALIGN;
        setQuantum(header.quantum);
        q = getQuantum();
    }
    if (q!=header.quantum) {
        if ((header.depth*header.width)%header.quantum==0 &&
            (header.depth*header.width)%q==0) {
            header.quantum = q;
        }
    }

    // handle easy case, received and current image are compatible, no conversion needed
    if (getPixelCode() == header.id && q == header.quantum)
    {
        return readFromConnection(*this, header, connection);
    }

    // image is bayer 8 bits, current image is MONO, copy as is (keep raw format)
    if (getPixelCode() == VOCAB_PIXEL_MONO && isBayer8(header.id))
    {
        return readFromConnection(*this, header, connection);
    }
    // image is bayer 16 bits, current image is MONO16, copy as is (keep raw format)
    if (getPixelCode() == VOCAB_PIXEL_MONO16 && isBayer16(header.id))
    {
        return readFromConnection(*this, header, connection);
    }

    ////////////////////
    // Received and current images are binary incompatible do our best to convert
    //

    // handle here all bayer encoding 8 bits
    if (isBayer8(header.id))
    {
        FlexImage flex;
        flex.setPixelCode(VOCAB_PIXEL_MONO);
        flex.setQuantum(header.quantum);

        bool ok = readFromConnection(flex, header, connection);
        if (!ok)
            return false;

        if (getPixelCode() == VOCAB_PIXEL_BGR && header.id==VOCAB_PIXEL_ENCODING_BAYER_GRBG8)
            return deBayer_GRBG8_TO_BGR(flex, *this, 3);
        else if (getPixelCode() == VOCAB_PIXEL_BGRA && header.id == VOCAB_PIXEL_ENCODING_BAYER_GRBG8)
            return deBayer_GRBG8_TO_BGR(flex, *this, 4);
        if (getPixelCode() == VOCAB_PIXEL_RGB && header.id==VOCAB_PIXEL_ENCODING_BAYER_GRBG8)
            return deBayer_GRBG8_TO_RGB(flex, *this, 3);
        if (getPixelCode() == VOCAB_PIXEL_RGBA && header.id == VOCAB_PIXEL_ENCODING_BAYER_GRBG8)
            return deBayer_GRBG8_TO_RGB(flex, *this, 4);
        else
        {
            YARP_FIXME_NOTIMPLEMENTED("Conversion from bayer encoding not yet implemented\n");
            return false;
        }
    }

    // handle here all bayer encodings 16 bits
    if (isBayer16(header.id))
    {
        // as bayer16 seems unlikely we defer implementation for later
        YARP_FIXME_NOTIMPLEMENTED("Conversion from bayer encoding 16 bits not yet implemented\n");
        return false;
    }

    // Received image has valid YARP pixels and can be converted using Image primitives
    // prepare a FlexImage, set it to be compatible with the received image
    // read new image into FlexImage then copy from it.
    FlexImage flex;
    flex.setPixelCode(header.id);
    flex.setQuantum(header.quantum);
    ok = readFromConnection(flex, header, connection);
    if (ok)
        copy(flex);

    return ok;
}

bool Image::read(yarp::os::ConnectionReader& connection) {

    // auto-convert text mode interaction
    connection.convertTextMode();
    
    ImageNetworkHeader header;
    
    bool ok = connection.expectBlock((char*)&header,sizeof(header));
    if (!ok) return false;
        
    imgPixelCode = header.id;
    
    int q = getQuantum();
    if (q==0) {
        //q = YARP_IMAGE_ALIGN;
        setQuantum(header.quantum);
        q = getQuantum();
    }
    if (q!=header.quantum) {
        if ((header.depth*header.width)%header.quantum==0 &&
            (header.depth*header.width)%q==0) {
            header.quantum = q;
        }
    }
        
    if (getPixelCode()!=header.id||q!=header.quantum) {
        // we're trying to read an incompatible image type
        // rather than just fail, we'll read it (inefficiently)
        FlexImage flex;
        flex.setPixelCode(header.id);
        flex.setQuantum(header.quantum);
        flex.resize(header.width,header.height);
        if (header.width!=0&&header.height!=0) {
            unsigned char *mem = flex.getRawImage();
            yAssert(mem!=NULL);
            if (flex.getRawImageSize()!=header.imgSize) {
                printf("There is a problem reading an image\n");
                printf("incoming: width %d, height %d, code %d, quantum %d, size %d\n",
                       (int)header.width, (int)header.height, 
                       (int)header.id,
                       (int)header.quantum, (int)header.imgSize);
                printf("my space: width %d, height %d, code %d, quantum %d, size %d\n",
                       flex.width(), flex.height(), flex.getPixelCode(),
                       flex.getQuantum(), 
                       flex.getRawImageSize());
            }
            yAssert(flex.getRawImageSize()==header.imgSize);
            ok = connection.expectBlock((char *)flex.getRawImage(),
                                        flex.getRawImageSize());
            if (!ok) return false;
        }
        copy(flex);
    } else {
        yAssert(getPixelCode()==header.id);
        resize(header.width,header.height);
        unsigned char *mem = getRawImage();
        if (header.width!=0&&header.height!=0) {
            yAssert(mem!=NULL);
            if (getRawImageSize()!=header.imgSize) {
                printf("There is a problem reading an image\n");
                printf("incoming: width %d, height %d, code %d, quantum %d, size %d\n",
                       (int)header.width, (int)header.height, 
                       (int)header.id,
                       (int)header.quantum, (int)header.imgSize);
                printf("my space: width %d, height %d, code %d, quantum %d, size %d\n",
                       width(), height(), getPixelCode(), getQuantum(), getRawImageSize());
            }
            yAssert(getRawImageSize()==header.imgSize);
            ok = connection.expectBlock((char *)getRawImage(),
                                        getRawImageSize());
            if (!ok) return false;
        }
    }
    
    return !connection.isError();
}