RobotConfiguration* readLog(std::vector<BaseSensorData*>& sensorDatas, Deserializer& des){
RobotConfiguration* conf = 0;
Serializable *o;
int numObjects=0;
while( (! conf && (o=des.readObject())) ){
cerr << o->className() << endl;
numObjects++;
if (! conf) {
conf = dynamic_cast<RobotConfiguration*>(o);
if (conf) {
cerr << "got config" << endl;
if (! conf->isReady()){
cerr << "conf failure" << endl;
return 0;
}
}
continue;
}
}
if (!conf) {
cerr << "unable to read robot configuration, aborting" << endl;
return 0;
}
while( (o=des.readObject()) ){
BaseSensorData* sensorData=dynamic_cast<BaseSensorData*>(o);
if(sensorData)
sensorDatas.push_back(sensorData);
}
return conf;
}
bool Serializer::writeObject(Serializable& instance) {
ObjectData* data=new ObjectData();
instance.serialize(*data,*this);
processDataForWrite(data,*this);
if (!_datastream) {
string str=_dataFileName;
replaceEnvTags(str,_envMap);
create_directories(path(str).parent_path());
_datastream=new ofstream(str.c_str());
}
if (*_datastream) {
_objectWriter->writeObject(*_datastream,instance.className(),*data);
//TODO Change writer to get status flag
return true;
}
return false;
}
