bool GeneticSpawnBodypartAction::execute() {
Bodypart* bp = new Bodypart(childBodypartType,parentBodypart->getGeneticCode()->copy(),parentBodypart->getParentOrganism(),parentBodypart);
if(parentBodypart->spawnBodypart(bp)) {
return true;
}
else {
bp->destroy();
delete bp;
return false;
}
};
class Bodypart * Message::bodypart( const EString & s, bool create )
{
uint b = 0;
Bodypart * bp = 0;
while ( b < s.length() ) {
uint e = b;
while ( s[e] >= '0' && s[e] <= '9' )
e++;
if ( e < s.length() && s[e] != '.' )
return 0;
bool inrange = false;
uint n = s.mid( b, e-b ).number( &inrange );
b = e + 1;
if ( !inrange || n == 0 )
return 0;
List<Bodypart> * c = children();
if ( bp )
c = bp->children();
List<Bodypart>::Iterator i( c );
while ( i && i->number() < n )
++i;
if ( i && i->number() == n ) {
if ( n == 1 && !i->header() ) {
// it's possible that i doesn't have a header of its
// own, and that the parent message's header functions
// as such. link it in if that's the case.
Header * h = header();
if ( bp && bp->message() )
h = bp->message()->header();
if ( h && ( !h->contentType() ||
h->contentType()->type() != "multipart" ) )
i->setHeader( h );
}
bp = i;
}
else if ( create ) {
Bodypart * child = 0;
if ( bp )
child = new Bodypart( n, bp );
else
child = new Bodypart( n, this );
c->insert( i, child );
bp = child;
}
else {
return 0;
}
}
return bp;
}
EString Message::body() const
{
EString r;
ContentType *ct = header()->contentType();
if ( ct && ct->type() == "multipart" ) {
appendMultipart( r );
}
else {
// XXX: Is this the right place to restore this linkage?
Bodypart * firstChild = children()->first();
if ( firstChild ) {
firstChild->setHeader( header() );
appendAnyPart( r, firstChild, ct );
}
}
return r;
}
ContentType * Bodypart::contentType() const
{
ContentType * ct = header()->contentType();
if ( ct )
return ct;
if ( !parent() )
return 0;
ct = parent()->header()->contentType();
if ( ct ) {
if ( ct->type() == "multipart" ) {
ct = 0;
}
else if ( ct->type() == "message" && ct->subtype() == "rfc822" ) {
Bodypart * bp = parent()->children()->firstElement();
ct = bp->header()->contentType();
}
}
return ct;
}
void Multipart::appendMultipart( EString &r, bool avoidUtf8 ) const
{
ContentType * ct = header()->contentType();
EString delim = ct->parameter( "boundary" );
if ( ! this )
::log( "Fetch::bodyStructure - FATAL, cannnot determine message", Log::Error );
else {
if ( this->parent() && this->parent()->isMessage() ) {
Message *msg = (Message *)this->parent();
if ( msg->hasPGPsignedPart() ) {
appendAnyPart( r, children()->first(), ct, avoidUtf8 );
return;
}
} else if ( this->isMessage() ) {
Message *msg = (Message *)this;
if ( msg->hasPGPsignedPart() ) {
appendAnyPart( r, children()->first(), ct, avoidUtf8 );
return;
}
}
}
List<Bodypart>::Iterator it( children() );
r.append( "--" + delim );
while ( it ) {
r.append( crlf );
Bodypart * bp = it;
++it;
r.append( bp->header()->asText( avoidUtf8 ) );
r.append( crlf );
appendAnyPart( r, bp, ct, avoidUtf8 );
r.append( crlf );
r.append( "--" );
r.append( delim );
}
r.append( "--" );
r.append( crlf );
}
bool GeneticSpawnParentAction::execute() {
Bodypart* parent = bp->getParentBodypart();
if(parent != 0) {
SpawnpointInformation* spawnpoint = bp->getSpawnpointInformationForBodypart(parent);
SpawnpointInformation* parentSpawnpoint = parent->getSpawnpointInformationForBodypart(bp);
parent->unregisterChildBodypart(bp);
RuntimeManager* runtime = 0;
Organism* org = bp->getParentOrganism();
if(org != 0) {
//remove storage link, but not the processor
org->unregisterBodypart(bp);
runtime = org->getRuntimeManager();
runtime->unregisterBodypart(bp);
}
Bodypart* newParent = new Bodypart(typeToSpawn,parent->getGeneticCode()->copy());
if(newParent->spawnPointAvailable(bp->getBodypartType()) && parent->spawnBodypart(newParent,parentSpawnpoint)) {
newParent->spawnBodypart(bp,0,spawnpoint); //prevent spawn from registering processor at organism, but register new storage links
return true;
}
else {
newParent->destroy();
if(runtime) {
runtime->addDelete(newParent);
}
else {
delete newParent;
}
parent->spawnBodypart(bp,parentSpawnpoint,spawnpoint); //prevent spawn from registering processor
return false;
}
}
else {
return false;
}
};
bool GeneticProcessor::executeRelevantClauses() {
BodypartState state = bodypart->getBodypartState();
if(state != BSP_dead) {
GeneticClauseList nextRelevantClauses;
if(state == BSP_seed) {
bodypart->setBodypartState(BSP_creation);
executeRelevantClauses();
bodypart->resetSpawnpoints();
Bodypart* bp = new Bodypart(BPT_Stick,bodypart->getGeneticCode()->copy(),bodypart->getParentOrganism());
SpawnpointInformation* sp = new SpawnpointInformation();
sp->position = 1;
sp->addSupportedType(BPT_Stick);
sp->ang2d = 0.0f;
bodypart->addSpawnpoint(sp);
SpawnpointInformationList* spi = bp->getSpawnpoints();
sp = 0;
for(SpawnpointInformationListIterator it = spi->begin(); it != spi->end(); it++) {
if((*it)->position == 0) {
sp = (*it);
if(!sp->isSupportedType(bodypart->getBodypartType())) {
sp->addSupportedType(bodypart->getBodypartType());
}
sp->ang2d = 180.0f;
}
else {
(*it)->occupied = true;
};
}
if(sp == 0) {
sp = new SpawnpointInformation();
sp->position = 0;
sp->addSupportedType(bodypart->getBodypartType());
sp->ang2d = 180.0f;
bp->addSpawnpoint(sp);
}
if(!bodypart->spawnBodypart(bp)) {
delete bp;
}
else {
spi = bp->getSpawnpoints();
for(SpawnpointInformationListIterator it = spi->begin(); it != spi->end(); it++) {
if((*it)->position != 0) {
(*it)->occupied = false;
}
}
}
bodypart->setBodypartState(BSP_alive);
};
static int bla = 0; //debug
while(!relevantClauses.empty()) {
GeneticClause* clause = relevantClauses.back();
//if(clause->description == "Spawn Seed")
// bla += 1;
clause->run();
//deleteMe is not used at the moment
//if(!relevantClauses.back()->deleteMe)
//if(clause == relevantClauses.back()) {
nextRelevantClauses.push_front(clause);
relevantClauses.pop_back();
//}
}
relevantClauses.clear();
relevantClauses.swap(nextRelevantClauses);
//if(stepcount % 100 == 0) {
// list_softShuffle(relevantClauses);
//}
//stepcount++;
return true;
}
else { // BP is dead :_(
if(bodypart->getChildBodyparts().empty())
bodypart->getParentOrganism()->deleteBodypart(bodypart);
return false;
}
};
Bodypart * Bodypart::parseBodypart( uint start, uint end,
const EString & rfc2822,
Header * h, Multipart * parent )
{
if ( rfc2822[start] == 13 )
start++;
if ( rfc2822[start] == 10 )
start++;
Bodypart * bp = new Bodypart;
bp->setParent( parent );
bp->setHeader( h );
EString body;
if ( end > start )
body = rfc2822.mid( start, end-start );
if ( !body.contains( '=' ) ) {
// sometimes people send c-t-e: q-p _and_ c-t-e: 7bit or 8bit.
// if they are equivalent we can accept it.
uint i = 0;
bool any = false;
HeaderField * f = 0;
while ( (f=h->field(HeaderField::ContentTransferEncoding,i)) != 0 ) {
if ( ((ContentTransferEncoding*)f)->encoding() == EString::QP )
any = true;
i++;
}
if ( any && i > 1 )
h->removeField( HeaderField::ContentTransferEncoding );
}
EString::Encoding e = EString::Binary;
ContentTransferEncoding * cte = h->contentTransferEncoding();
if ( cte )
e = cte->encoding();
if ( !body.isEmpty() ) {
if ( e == EString::Base64 || e == EString::Uuencode )
body = body.decoded( e );
else
body = body.crlf().decoded( e );
}
ContentType * ct = h->contentType();
if ( !ct ) {
switch ( h->defaultType() ) {
case Header::TextPlain:
h->add( "Content-Type", "text/plain" );
break;
case Header::MessageRfc822:
h->add( "Content-Type", "message/rfc822" );
break;
}
ct = h->contentType();
}
if ( ct->type() == "text" ) {
bool specified = false;
bool unknown = false;
Codec * c = 0;
if ( ct ) {
EString csn = ct->parameter( "charset" );
if ( csn.lower() == "default" )
csn = "";
if ( !csn.isEmpty() )
specified = true;
c = Codec::byName( csn );
if ( !c )
unknown = true;
if ( c && c->name().lower() == "us-ascii" ) {
// Some MTAs appear to say this in case there is no
// Content-Type field - without checking whether the
// body actually is ASCII. If it isn't, we'd better
// call our charset guesser.
(void)c->toUnicode( body );
if ( !c->valid() )
specified = false;
// Not pretty.
}
}
if ( !c )
c = new AsciiCodec;
bp->d->hasText = true;
bp->d->text = c->toUnicode( body.crlf() );
if ( c->name() == "GB2312" || c->name() == "ISO-2022-JP" ||
c->name() == "KS_C_5601-1987" ) {
// undefined code point usage in GB2312 spam is much too
// common. (GB2312 spam is much too common, but that's
// another matter.) Gb2312Codec turns all undefined code
// points into U+FFFD, so here, we can take the unicode
// form and say it's the canonical form. when a client
// later reads the message, it gets the text in unicode,
// including U+FFFD.
bool bad = !c->valid();
// the header may contain some unencoded gb2312. we bang
// it by hand, ignoring errors.
List<HeaderField>::Iterator hf( h->fields() );
while ( hf ) {
if ( !hf->valid() &&
hf->type() == HeaderField::Subject ) {
// is it right to bang only Subject?
c->reset();
hf->setValue( c->toUnicode( hf->unparsedValue() ) );
}
++hf;
}
// if the body was bad, we prefer the (unicode) in
// bp->d->text and pretend it arrived as UTF-8:
if ( bad ) {
c = new Utf8Codec;
body = c->fromUnicode( bp->d->text );
}
}
if ( ( !specified && ( !c->wellformed() ||
ct->subtype() == "html" ) ) ||
( specified && ( !c->valid() ) ) ) {
Codec * g = 0;
if ( ct->subtype() == "html" )
g = guessHtmlCodec( body );
else
g = guessTextCodec( body );
UString guessed;
if ( g )
guessed = g->toUnicode( body.crlf() );
if ( !g ) {
// if we couldn't guess anything, keep what we had if
// it's valid or explicitly specified, else use
// unknown-8bit.
if ( !specified && !c->valid() ) {
c = new Unknown8BitCodec;
bp->d->text = c->toUnicode( body.crlf() );
}
}
else {
// if we could guess something, is our guess better
// than what we had?
if ( g->wellformed() && !c->wellformed() ) {
c = g;
bp->d->text = guessed;
}
}
}
if ( specified && c->state() == Codec::Invalid ) {
// the codec was specified, and the specified codec
// resulted in an error, but did not abort conversion. we
// respond by forgetting the error, using the conversion
// result (probably including one or more U+FFFD) and
// labelling the message as UTF-8.
c = new Utf8Codec;
body = c->fromUnicode( bp->d->text );
}
else if ( !specified && c->state() == Codec::Invalid ) {
// the codec was not specified, and we couldn't find
// anything. we call it unknown-8bit.
c = new Unknown8BitCodec;
bp->d->text = c->toUnicode( body );
}
// if we ended up using a 16-bit codec and were using q-p, we
// need to reevaluate without any trailing CRLF
if ( e == EString::QP && c->name().startsWith( "UTF-16" ) )
bp->d->text = c->toUnicode( body.stripCRLF() );
if ( !c->valid() && bp->d->error.isEmpty() ) {
bp->d->error = "Could not convert body to Unicode";
if ( specified ) {
EString cs;
if ( ct )
cs = ct->parameter( "charset" );
if ( cs.isEmpty() )
cs = c->name();
bp->d->error.append( " from " + cs );
}
if ( specified && unknown )
bp->d->error.append( ": Character set not implemented" );
else if ( !c->error().isEmpty() )
bp->d->error.append( ": " + c->error() );
}
if ( c->name().lower() != "us-ascii" )
ct->addParameter( "charset", c->name().lower() );
else if ( ct )
ct->removeParameter( "charset" );
body = c->fromUnicode( bp->d->text );
bool qp = body.needsQP();
if ( cte ) {
if ( !qp ) {
h->removeField( HeaderField::ContentTransferEncoding );
cte = 0;
}
else if ( cte->encoding() != EString::QP ) {
cte->setEncoding( EString::QP );
}
}
else if ( qp ) {
h->add( "Content-Transfer-Encoding", "quoted-printable" );
cte = h->contentTransferEncoding();
}
}
else {
bp->d->data = body;
if ( ct->type() != "multipart" && ct->type() != "message" ) {
e = EString::Base64;
// there may be exceptions. cases where some format really
// needs another content-transfer-encoding:
if ( ct->type() == "application" &&
ct->subtype().startsWith( "pgp-" ) &&
!body.needsQP() ) {
// seems some PGP things need "Version: 1" unencoded
e = EString::Binary;
}
else if ( ct->type() == "application" &&
ct->subtype() == "octet-stream" &&
body.contains( "BEGIN PGP MESSAGE" ) ) {
// mutt cannot handle PGP in base64 (what a crock)
e = EString::Binary;
}
// change c-t-e to match the encoding decided above
if ( e == EString::Binary ) {
h->removeField( HeaderField::ContentTransferEncoding );
cte = 0;
}
else if ( cte ) {
cte->setEncoding( e );
}
else {
h->add( "Content-Transfer-Encoding", "base64" );
cte = h->contentTransferEncoding();
}
}
}
if ( ct->type() == "multipart" ) {
parseMultipart( start, end, rfc2822,
ct->parameter( "boundary" ),
ct->subtype() == "digest",
bp->children(), bp, false );
}
else if ( ct->type() == "message" && ct->subtype() == "rfc822" ) {
// There are sometimes blank lines before the message.
while ( rfc2822[start] == 13 || rfc2822[start] == 10 )
start++;
Message * m = new Message;
m->setParent( bp );
m->parse( rfc2822.mid( start, end-start ) );
List<Bodypart>::Iterator it( m->children() );
while ( it ) {
bp->children()->append( it );
it->setParent( bp );
++it;
}
bp->setMessage( m );
body = m->rfc822( false );
}
bp->d->numBytes = body.length();
if ( cte )
body = body.encoded( cte->encoding(), 72 );
bp->d->numEncodedBytes = body.length();
if ( bp->d->hasText ||
( ct->type() == "message" && ct->subtype() == "rfc822" ) ) {
uint n = 0;
uint i = 0;
uint l = body.length();
while ( i < l ) {
if ( body[i] == '\n' )
n++;
i++;
}
if ( l && body[l-1] != '\n' )
n++;
bp->setNumEncodedLines( n );
}
h->simplify();
return bp;
}
void Bodypart::parseMultipart( uint i, uint end,
const EString & rfc2822,
const EString & divider,
bool digest,
List< Bodypart > * children,
Multipart * parent,
bool pgpSigned )
{
bool isPgpSigned = pgpSigned;
uint start = 0;
bool last = false;
uint pn = 1;
while ( !last && i <= end ) {
if ( i >= end ||
( rfc2822[i] == '-' && rfc2822[i+1] == '-' &&
( i == 0 || rfc2822[i-1] == 13 || rfc2822[i-1] == 10 ) &&
rfc2822[i+2] == divider[0] &&
rfc2822.mid( i+2, divider.length() ) == divider ) )
{
uint j = i;
bool l = false;
if ( i >= end ) {
l = true;
}
else {
j = i + 2 + divider.length();
if ( rfc2822[j] == '-' && rfc2822[j+1] == '-' ) {
j += 2;
l = true;
}
}
while ( rfc2822[j] == ' ' || rfc2822[j] == '\t' )
j++;
if ( rfc2822[j] == 13 || rfc2822[j] == 10 ||
j >= rfc2822.length() ) {
// finally. we accept that as a boundary line.
if ( rfc2822[j] == 13 )
j++;
if ( rfc2822[j] == 10 )
j++;
if ( start > 0 ) {
uint sigstart = start; // remember original start
Header * h = Message::parseHeader( start, j,
rfc2822,
Header::Mime );
if ( digest )
h->setDefaultType( Header::MessageRfc822 );
h->repair();
// Strip the [CR]LF that belongs to the boundary.
if ( rfc2822[i-1] == 10 ) {
i--;
if ( rfc2822[i-1] == 13 )
i--;
}
if ( isPgpSigned ) {
// store the complete to-be-signed part, incl. header(s), to keep the unchanged version
Bodypart * bpt = new Bodypart( 0, parent );
bpt->setData( rfc2822.mid(sigstart, i - sigstart) );
bpt->setNumBytes( i - sigstart );
children->append( bpt );
isPgpSigned = false;
}
Bodypart * bp =
parseBodypart( start, i, rfc2822, h, parent );
bp->d->number = pn;
children->append( bp );
pn++;
h->repair( bp, "" );
}
last = l;
start = j;
i = j;
}
}
while ( i < end && rfc2822[i] != 13 && rfc2822[i] != 10 )
i++;
while ( i < end && ( rfc2822[i] == 13 || rfc2822[i] == 10 ) )
i++;
}
}
void SieveCommand::parse( const EString & previous )
{
if ( identifier().isEmpty() )
setError( "Command name is empty" );
bool test = false;
bool blk = false;
EString i = identifier();
if ( i == "if" || i == "elsif" ) {
test = true;
blk = true;
if ( i == "elsif" && previous != "if" && previous != "elsif" )
setError( "elsif is only permitted after if/elsif" );
}
else if ( i == "else" ) {
blk = true;
if ( previous != "if" && previous != "elsif" )
setError( "else is only permitted after if/elsif" );
}
else if ( i == "require" ) {
arguments()->numberRemainingArguments();
UStringList::Iterator i( arguments()->takeStringList( 1 ) );
EStringList a;
EStringList e;
while ( i ) {
if ( supportedExtensions()->contains( i->ascii() ) )
a.append( i->ascii().quoted() );
else
e.append( i->ascii().quoted() );
++i;
}
if ( !e.isEmpty() )
setError( "Each string must be a supported "
"sieve extension. "
"These are not: " + e.join( ", " ) );
if ( !d->require )
setError( "require is only permitted as the first command." );
else if ( parent() )
parent()->addExtensions( &a );
}
else if ( i == "stop" ) {
// nothing needed
}
else if ( i == "reject" ) {
require( "reject" );
if ( arguments()->arguments()->isEmpty() ) {
// we accept reject without reason
}
else {
// if there is an argument, it must be a string
arguments()->numberRemainingArguments();
(void)arguments()->takeString( 1 );
}
}
else if ( i == "ereject" ) {
require( "reject" );
arguments()->numberRemainingArguments();
(void)arguments()->takeString( 1 );
}
else if ( i == "fileinto" ) {
require( "fileinto" );
if ( arguments()->findTag( ":copy" ) )
require( "copy" );
if ( arguments()->findTag( ":flags" ) ) {
require( "imap4flags" );
(void)arguments()->takeTaggedStringList( ":copy" );
}
arguments()->numberRemainingArguments();
UString mailbox = arguments()->takeString( 1 );
UString p;
p.append( "/" );
p.append( mailbox );
if ( !Mailbox::validName( mailbox ) && !Mailbox::validName( p ) ) {
setError( "Expected mailbox name, but got: " + mailbox.utf8() );
}
else if ( mailbox.startsWith( "INBOX." ) ) {
// a sieve script which wants to reference a
// mailbox called INBOX.X must use lower case
// (inbox.x).
UString aox =
UStringList::split( '.', mailbox.mid( 6 ) )->join( "/" );
setError( mailbox.utf8().quoted() +
" is Cyrus syntax. Archiveopteryx uses " +
aox.utf8().quoted() );
}
}
else if ( i == "redirect" ) {
(void)arguments()->findTag( ":copy" );
arguments()->numberRemainingArguments();
EString s = arguments()->takeString( 1 ).utf8();
AddressParser ap( s );
ap.assertSingleAddress();
if ( !ap.error().isEmpty() )
setError( "Expected one normal address (local@domain), but got: "
+ s );
}
else if ( i == "keep" ) {
// nothing needed
}
else if ( i == "discard" ) {
// nothing needed
}
else if ( i == "vacation" ) {
// vacation [":days" number] [":subject" string]
// [":from" string] [":addresses" string-list]
// [":mime"] [":handle" string] <reason: string>
require( "vacation" );
// :days
uint days = 7;
if ( arguments()->findTag( ":days" ) )
days = arguments()->takeTaggedNumber( ":days" );
if ( days < 1 || days > 365 )
arguments()->tagError( ":days", "Number must be 1..365" );
// :subject
(void)arguments()->takeTaggedString( ":subject" );
// anything is acceptable, right?
// :from
if ( arguments()->findTag( ":from" ) ) {
parseAsAddress( arguments()->takeTaggedString( ":from" ),
":from" );
// XXX we don't enforce its being a local address.
}
// :addresses
if ( arguments()->findTag( ":addresses" ) ) {
UStringList * addresses
= arguments()->takeTaggedStringList( ":addresses" );
UStringList::Iterator i( addresses );
while ( i ) {
parseAsAddress( *i, ":addresses" );
++i;
}
}
// :mime
bool mime = false;
if ( arguments()->findTag( ":mime" ) )
mime = true;
// :handle
(void)arguments()->takeTaggedString( ":handle" );
// reason
arguments()->numberRemainingArguments();
UString reason = arguments()->takeString( 1 );
if ( mime ) {
if ( !reason.isAscii() )
setError( ":mime bodies must be all-ASCII, "
"8-bit text is not permitted" ); // so says the RFC
EString x = reason.utf8();
uint i = 0;
Header * h = Message::parseHeader( i, x.length(),
x, Header::Mime );
Bodypart * bp = Bodypart::parseBodypart( i, x.length(),
x, h, 0 );
if ( !h->error().isEmpty() )
setError( "While parsing MIME header: " + h->error() );
else if ( !bp->error().isEmpty() )
setError( "While parsing MIME bodypart: " + bp->error() );
List<HeaderField>::Iterator f( h->fields() );
while ( f ) {
if ( !f->name().startsWith( "Content-" ) )
setError( "Header field not permitted: " + f->name() );
++f;
}
if ( bp->children()->isEmpty() && bp->text().isEmpty() )
setError( "Vacation reply does not contain any text" );
}
else {
if ( reason.isEmpty() )
setError( "Empty vacation text does not make sense" );
}
}
else if ( i == "setflag" ||
i == "addflags" ||
i == "removeflag" ) {
arguments()->numberRemainingArguments();
(void)arguments()->takeStringList( 1 );
}
else if ( i == "notify" ) {
require( "enotify" );
UString from;
if ( arguments()->findTag( ":from" ))
from = arguments()->takeTaggedString( ":from" );
UString importance;
importance.append( "2" );
if ( arguments()->findTag( ":importance" ) )
importance = arguments()->takeTaggedString( ":from" );
uint c = importance[0];
if ( c < '1' || c > '3' )
arguments()->tagError( ":importance",
"Importance must be 1, 2 or 3" );
UStringList * options;
if ( arguments()->findTag( ":options" ) )
options = arguments()->takeTaggedStringList( ":options" );
UString message;
if ( arguments()->findTag( ":message" ) )
message = arguments()->takeTaggedString( ":message" );
arguments()->numberRemainingArguments();
UString method = arguments()->takeString( 1 );
SieveNotifyMethod * m
= new SieveNotifyMethod( method,
arguments()->takeArgument( 1 ),
this );
if ( m->valid() ) {
if ( arguments()->findTag( ":from" ) )
m->setFrom( from, arguments()->findTag( ":from" ) );
if ( arguments()->findTag( ":message" ) )
m->setMessage( message, arguments()->findTag( ":message" ) );
}
}
else {
setError( "Command unknown: " + identifier() );
}
arguments()->flagUnparsedAsBad();
if ( test ) {
// we must have a test
if ( !arguments() || arguments()->tests()->count() != 1 )
setError( "Command " + identifier() + " requires one test" );
if ( arguments() ) {
List<SieveTest>::Iterator i( arguments()->tests() );
while ( i ) {
i->parse();
if ( blk && block() ) {
if ( i->ihaveFailed() )
block()->setIhaveFailed();
else
block()->addExtensions( i->addedExtensions() );
}
++i;
}
}
}
else {
// we cannot have a test
if ( arguments() && arguments()->tests()->isEmpty() ) {
List<SieveTest>::Iterator i( arguments()->tests() );
while ( i ) {
i->setError( "Command " + identifier() +
" does not use tests" );
++i;
}
}
}
if ( blk ) {
// we must have a subsidiary block
if ( !block() ) {
setError( "Command " + identifier() +
" requires a subsidiary {..} block" );
}
else {
EString prev;
List<SieveCommand>::Iterator i( block()->commands() );
while ( i ) {
i->parse( prev );
prev = i->identifier();
++i;
}
}
}
else {
// we cannot have a subsidiary block
if ( block() )
block()->setError( "Command " + identifier() +
" does not use a subsidiary command block" );
// in this case we don't even bother syntax-checking the test
// or block
}
}
/*
* Send a rpc command to ABM to obtain the kinematicStructure of part of the body (using the joint info)
* Send a rpc command to kinematicStructure if no kinematicStructure were provided
* input: joint of the bodypart to be moved (e.g. m_joint_number) + body part type (e.g. left_arm, right_arm, ...)
*/
Bottle proactiveTagging::assignKinematicStructureByJoint(int BPjoint, std::string sBodyPartType, bool forcingKS) {
//1. extract instance from singleJointAction for joint BPjoint, from ABM
Bottle bResult, bOutput;
ostringstream osRequest;
osRequest << "SELECT max(main.instance) FROM main, contentarg WHERE main.instance = contentarg.instance AND activityname = 'singleJointBabbling' AND main.begin = TRUE AND contentarg.role = 'limb' AND contentarg.argument = '" << BPjoint << "' ;";
yInfo() << "assignKinematicStructureByJoint request: " << osRequest.str();
bResult = iCub->getABMClient()->requestFromString(osRequest.str().c_str());
if (bResult.toString() == "NULL") {
yError() << " error in proactiveTagging::assignKinematicStructureByJoint | for joint " << BPjoint << " | No instance corresponding to singleJointBabbling for this part" ;
bOutput.addString("error");
bOutput.addString("No instance corresponding to singleJointBabbling for this part");
return bOutput;
}
int ksInstance = atoi(bResult.get(0).asList()->get(0).asString().c_str());
Bottle bResultCheckKS = checkForKinematicStructure(ksInstance, forcingKS);
if(bResultCheckKS.get(0).asString() == "error") {
return bResultCheckKS;
}
yInfo() << " [assignKinematicStructureByJoint] | for joint " << BPjoint << " | instance found : " << ksInstance;
//WRITE IN OPC
iCub->opc->checkout();
list<Entity*> lEntities = iCub->opc->EntitiesCache();
Bottle bListEntChanged;
for (auto& entity: lEntities) //go through all entity
{
yInfo() << "Checking if entity " << entity->name() << " has entitytype = bodypart : ----> " << entity->entity_type() ;
if (entity->entity_type() == "bodypart") //check bodypart entity
{
//pb with the casting: BPtemp is empty
Bodypart* BPtemp = dynamic_cast<Bodypart*>(entity);
if(!BPtemp) {
yDebug() << "Could not cast " << entity->name() << " to Bodypart";
continue;
}
if(BPtemp->m_joint_number == BPjoint) { //if corresponding joint : change it
//BPtemp->m_kinStruct_instance = ksInstance;
bListEntChanged.addString(BPtemp->name());
yInfo() << "Change" << BPtemp->name() << "to kinematic instance" << ksInstance;
iCub->opc->commit(BPtemp);
break;
}
}
}
yInfo() << "Out of the loop for checking entity in OPC, number of entityChanged : " << bListEntChanged.size() ;
if(bListEntChanged.isNull()){
yWarning() << "assignKinematicStructureByJoint | for joint " << BPjoint << " | no bodypart has been found with this joint!";
bOutput.addString("warning");
bOutput.addString("no bodypart has been found with this joint!");
return bOutput;
}
bOutput.addString("ack");
bOutput.addInt(ksInstance);
bOutput.addList() = bListEntChanged;
return bOutput;
}
/*
* Explore an unknown tactile entity (e.g. fingertips), when knowing the name
* @param: Bottle with (exploreTactileUnknownEntity entityType entityName) (eg: exploreUnknownEntity agent unknown_25)
* @return Bottle with the result (error or ack?)
*/
yarp::os::Bottle proactiveTagging::exploreTactileEntityWithName(Bottle bInput) {
Bottle bOutput;
if (bInput.size() != 3)
{
yInfo() << " proactiveTagging::exploreTactileEntityWithName | Problem in input size.";
bOutput.addString("Problem in input size");
iCub->say("Error in input size explore tactile with name");
return bOutput;
}
string sBodyPart = bInput.get(1).toString();
string sName = bInput.get(2).toString();
yInfo() << " EntityType : " << sBodyPart;
//1. search through opc for the bodypart entity
iCub->opc->checkout();
Bodypart* BPentity = dynamic_cast<Bodypart*>(iCub->opc->getEntity(sName, true));
if(!BPentity) {
iCub->say("Could not cast to bodypart in tactile");
yError() << "Could not cast to bodypart in tactile";
bOutput.addString("nack");
return bOutput;
}
//2.Ask human to touch
string sAsking = "I know how to move my " + sName + ", but how does it feel when I touch something? Can you touch my " + sName + " when I move it, please?";
yInfo() << " sAsking: " << sAsking;
iCub->lookAtPartner();
iCub->say(sAsking, false);
portFromTouchDetector.read(false); // clear buffer from previous readings
//2.b Move also the bodypart to show it has been learnt.
yInfo() << "Cast okay : name BP = " << BPentity->name();
int joint = BPentity->m_joint_number;
//send rpc command to bodySchema to move the corresponding part
yInfo() << "Start bodySchema";
double babbling_duration = 3.0;
iCub->babbling(joint, babblingArm, babbling_duration);
//3. Read until some tactile value are detected
//TODO: Here, instead we should check the saliency given by pasar!
bool gotTouch = false;
Bottle *bTactile;
int timeout = 0;
while(!gotTouch && timeout<10) {
bTactile = portFromTouchDetector.read(false);
if(bTactile != NULL) {
gotTouch = true;
break;
} else {
yarp::os::Time::delay(0.5);
timeout++;
}
}
if(!gotTouch) {
yError() << " error in proactiveTagging::exploreTactileEntityWithName | for " << sName << " | Touch not detected!" ;
bOutput.addString("error");
bOutput.addString("I did not feel any touch.");
iCub->say("I did not feel any touch.");
iCub->home();
return bOutput;
}
//4. Assign m_tactile_number
BPentity->m_tactile_number = bTactile->get(0).asInt();
bOutput.addString("ack");
bOutput.addInt(bTactile->get(0).asInt());
yDebug() << "Assigned" << BPentity->name() << "(id)" << BPentity->opc_id() << "tactile_number to" << bTactile->get(0).asInt();
iCub->opc->commit(BPentity);
//4.Ask human to touch
string sThank = " Thank you, now I know when I am touching object with my " + sName;
yInfo() << " sThank: " << sThank;
iCub->lookAtPartner();
iCub->say(sThank);
iCub->home();
return bOutput;
}
Injectee * DSN::result() const
{
Injectee * r = new Injectee;
Bodypart * plainText = new Bodypart( 1, r );
Bodypart * dsn = new Bodypart( 2, r );
Bodypart * original = new Bodypart( 3, r );
plainText->setParent( r );
dsn->setParent( r );
original->setParent( r );
r->children()->append( plainText );
r->children()->append( dsn );
r->children()->append( original );
// set up the original message, either full or header-only
if ( fullReport() ) {
original->header()->add( "Content-Type", "text/rfc822-headers" );
original->setData( message()->header()->asText() );
// this is what we _should_ do, except that we don't. the body
// of the message is lost, probably because original-> has a
// null parent.
//original->header()->add( "Content-Type", "message/rfc822" );
//original->setMessage( message() );
// and maybe we shouldn't anyway. sending a potentially big
// body in a bounce is not necessarily a good idea.
}
else {
// nasty mime name there
original->header()->add( "Content-Type", "text/rfc822-headers" );
original->setData( message()->header()->asText() );
}
// the from field has to contain... what? let's try this for now.
Address * from = new Address( Configuration::hostname(),
"postmaster",
Configuration::hostname() );
// set up the top-level header
Header * h = r->header();
if ( resultDate() ) {
h->add( "Date", resultDate()->rfc822() );
}
else {
Date * now = new Date;
now->setCurrentTime();
h->add( "Date", now->rfc822() );
}
h->add( "From", from->toString() );
if ( sender() )
h->add( "To", sender()->toString() );
if ( allOk() )
h->add( "Subject", "Message delivered" );
else if ( allFailed() )
h->add( "Subject", "Message delivery failed" );
else
h->add( "Subject", "Message delivery reports" );
h->add( "Mime-Version", "1.0" );
h->add( "Content-Type", "multipart/report; boundary=" +
Message::acceptableBoundary( message()->rfc822() ) );
// set up the plaintext and DSN parts
// what charset should we use for plainText?
plainText->header()->add( "Content-Type", "text/plain; format=flowed" );
dsn->header()->add( "Content-Type", "message/delivery-status" );
plainText->setData( plainBody() );
dsn->setData( dsnBody() );
r->addMessageId();
return r;
}
