char *GetAttributesRequest::encode(int seq, int &sz)
{
int n;
char *p = m_buf;
{
char *h = getHeader(seq, n);
memcpy(p, h, n);
p += n;
}
unsigned short attrNum = m_attrNames.size();
BINARY_SET_DATA_S_INCR(p, unsigned short, attrNum);
for (C::iterator i=m_attrNames.begin(); i!=m_attrNames.end(); i++) {
const char *str = i->c_str();
BINARY_SET_STRING_INCR(p, str);
}
{
char *f = getFooter(n);
memcpy(p, f, n);
p += n;
}
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char * NSQueryResult::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
unsigned short found = m_service? 1: 0;
BINARY_SET_DATA_S_INCR(p, unsigned short, found);
if (found) {
const char *n = m_service->name();
BINARY_SET_STRING_INCR(p, n);
unsigned short k = m_service->kind();
BINARY_SET_DATA_S_INCR(p, unsigned short, k);
const char *h = m_service->hostname();
BINARY_SET_STRING_INCR(p, h);
int port = m_service->port();
BINARY_SET_DATA_L_INCR(p, int, port);
}
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *NSPingerRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
BINARY_SET_DATA_L_INCR(p, Service::Kind, m_kind);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *GetGravityModeRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
BINARY_SET_STRING_INCR(p, m_name);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char * NSPingerResult::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
unsigned short v = m_active? 1: 0;
BINARY_SET_DATA_S_INCR(p, unsigned short, v);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *SetDynamicsModeRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
BINARY_SET_STRING_INCR(p, m_name);
BINARY_SET_BOOL_INCR(p, m_dynamics);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *NSQueryRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
unsigned short k = m_kind;
BINARY_SET_DATA_S_INCR(p, unsigned short, k);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *GetAngularVelocityRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
{
BINARY_SET_STRING_INCR(p, m_name);
}
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *SetMassRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
{
BINARY_SET_STRING_INCR(p, m_name);
}
BINARY_SET_DOUBLE_INCR(p, m_mass);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *GetLinearVelocityResult::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
BINARY_SET_STRING_INCR(p, m_name);
BINARY_SET_DOUBLE_INCR(p, m_x);
BINARY_SET_DOUBLE_INCR(p, m_y);
BINARY_SET_DOUBLE_INCR(p, m_z);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *RawDataEncoder::encode(int seq, int &sz)
{
char *p = m_buf;
{
int n;
char *h = getHeader(seq, n);
memcpy(p, h, n);
p += n;
}
if (seq == 0) {
int n;
char *pp = getDataHeader(n);
memcpy(p, pp, n);
p += n;
} else {
// Image data
int N = packetNum();
int datalen = 0;
if (seq + 1 < N) {
datalen = UNIT_DATA_SIZE;
} else { // last packet
int datasize = getDataLen();
int left = datasize % UNIT_DATA_SIZE;
datalen = left != 0? left: UNIT_DATA_SIZE;
}
BINARY_SET_DATA_S_INCR(p, unsigned short, datalen);
char *data = getData();
char *pp = data + UNIT_DATA_SIZE*(seq-1);
memcpy(p, pp, datalen);
p += datalen;
}
{
int n;
char *f = getFooter(n);
memcpy(p, f, n);
p += n;
}
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *NoDataEncoder::encode(int seq, int &sz)
{
int n;
char *p = m_buf;
char *h = getHeader(seq, n);
memcpy(p, h, n);
p += n;
char *f = getFooter(n);
memcpy(p, f, n);
p += n;
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *AddForceToPartsRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
BINARY_SET_STRING_INCR(p, m_name);
BINARY_SET_STRING_INCR(p, m_parts);
BINARY_SET_DOUBLE_INCR(p, m_x);
BINARY_SET_DOUBLE_INCR(p, m_y);
BINARY_SET_DOUBLE_INCR(p, m_z);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *AddTorqueRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
{
BINARY_SET_STRING_INCR(p, m_name);
}
BINARY_SET_DOUBLE_INCR(p, m_x);
BINARY_SET_DOUBLE_INCR(p, m_y);
BINARY_SET_DOUBLE_INCR(p, m_z);
BINARY_SET_BOOL_INCR(p, m_relf);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *DisplayText::encode(int seq, int &sz)
{
int n;
char *p = m_buf;
{
char *h = getHeader(seq, n);
memcpy(p, h, n);
p += n;
}
{
BINARY_SET_DATA_S_INCR(p, short, m_fs);
BINARY_SET_DATA_S_INCR(p, short, m_color);
BINARY_SET_STRING_INCR(p, m_msg.c_str());
}
{
char *f = getFooter(n);
memcpy(p, f, n);
p += n;
}
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
void config(char baud, char recon, char timeo, int packetSize)
{
int baudrate = -1;
switch (baud) {
case 'a':
baudrate = B0; break;
case 'b':
baudrate = B50; break;
case 'c':
baudrate = B75; break;
case 'd':
baudrate = B110; break;
case 'e':
baudrate = B134; break;
case 'f':
baudrate = B150; break;
case 'g':
baudrate = B200; break;
case 'h':
baudrate = B300; break;
case 'i':
baudrate = B600; break;
case 'j':
baudrate = B1200; break;
case 'k':
baudrate = B1800; break;
case 'l':
baudrate = B2400; break;
case 'm':
baudrate = B4800; break;
case 'n':
baudrate = B9600; break;
case 'o':
baudrate = B19200; break;
case 'p':
baudrate = B38400; break;
case 'q':
baudrate = B57600; break;
case 'r':
baudrate = B115200; break;
case 's':
baudrate = B230400; break;
case 't':
baudrate = B460800; break;
default: break;
}
int reconect_tries = -1;
switch (recon) {
case 'a':
reconect_tries = 1; break;
case 'b':
reconect_tries = 3; break;
case 'c':
reconect_tries = 5; break;
case 'd':
reconect_tries = 7; break;
default: break;
}
/*
int timeout = -1;
switch (timeo) {
case 'a':
timeout = 2; break;
case 'b':
timeout = 3; break;
case 'c':
timeout = 5; break;
case 'd':
timeout = 8; break;
default: break;
}
*/
set_basic_definitions(/*timeout,*/ reconect_tries, 0, baudrate, packetSize);
setPacketSize(packetSize);
}