void RobotReader::Publish(struct toasterList_t& list_msg)
{
if(activated_)
{
for (std::map<std::string, Robot *>::iterator it = lastConfig_.begin();
it != lastConfig_.end(); ++it) {
toaster_msgs::Fact fact_msg = DefaultFactMsg(it->first, it->second->getTime());
list_msg.fact_msg.factList.push_back(fact_msg);
//Robot
toaster_msgs::Robot robot_msg;
robot_msg.meAgent.mobility = 0;
fillEntity(lastConfig_[it->first], robot_msg.meAgent.meEntity);
if (fullRobot_)
{
for (std::map<std::string, Joint *>::iterator itJoint = lastConfig_[it->first]->skeleton_.begin();
itJoint != lastConfig_[it->first]->skeleton_.end(); ++itJoint)
{
toaster_msgs::Joint joint_msg;
robot_msg.meAgent.skeletonNames.push_back(itJoint->first);
fillEntity((itJoint->second), joint_msg.meEntity);
joint_msg.jointOwner = it->first;
joint_msg.position = itJoint->second->position;
robot_msg.meAgent.skeletonJoint.push_back(joint_msg);
}
}
list_msg.robot_msg.robotList.push_back(robot_msg);
}
}
}
void fillSearchResponse(const aminer::EntitySearchRequest& request, aminer::EntitySearchResponse& response, const indexing::SearchResult& result) {
int offset = request.has_offset() ? request.offset() : 0;
int count = request.has_count() ? request.count() : 50;
auto vi = ig->g->Vertices();
for (int ri = offset; ri < result.size() && ri - offset < count; ri++) {
vi->MoveTo(result[ri].docId);
fillEntity(response.add_entity(), vi.get());
}
response.set_query(request.query());
response.set_total_count(result.size());
}
