C++ ConnectionReader::isError方法代码示例

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 Vector::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() != (size_t)(header.listLen))
            resize(header.listLen);
        
        int k=0;
        for (k=0;k<header.listLen;k++)
            (*this)[k]=connection.expectDouble();
    } else {
        return false;
    }

    return !connection.isError();
}

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();
}