bool MapGrid2D::write(yarp::os::ConnectionWriter& connection)
{
connection.appendInt(BOTTLE_TAG_LIST);
connection.appendInt(9);
connection.appendInt(BOTTLE_TAG_INT);
connection.appendInt(m_width);
connection.appendInt(BOTTLE_TAG_INT);
connection.appendInt(m_height);
connection.appendInt(BOTTLE_TAG_DOUBLE);
connection.appendDouble(m_origin.x);
connection.appendInt(BOTTLE_TAG_DOUBLE);
connection.appendDouble(m_origin.y);
connection.appendInt(BOTTLE_TAG_DOUBLE);
connection.appendDouble(m_origin.theta);
connection.appendInt(BOTTLE_TAG_DOUBLE);
connection.appendDouble(m_resolution);
connection.appendInt(BOTTLE_TAG_STRING);
connection.appendRawString(m_map_name.c_str());
unsigned char *mem = nullptr;
int memsize = 0;
mem = m_map_occupancy.getRawImage();
memsize = m_map_occupancy.getRawImageSize();
connection.appendInt(BOTTLE_TAG_BLOB);
connection.appendInt(memsize);
connection.appendExternalBlock((char*)mem, memsize);
mem = m_map_flags.getRawImage();
memsize = m_map_flags.getRawImageSize();
connection.appendInt(BOTTLE_TAG_BLOB);
connection.appendInt(memsize);
connection.appendExternalBlock((char*)mem, memsize);
connection.convertTextMode();
return !connection.isError();
}
bool SystemInfoSerializer::write(yarp::os::ConnectionWriter& connection)
{
// updating system info
memory = SystemInfo::getMemoryInfo();
storage = SystemInfo::getStorageInfo();
//network = SystemInfo::getNetworkInfo();
processor = SystemInfo::getProcessorInfo();
platform = SystemInfo::getPlatformInfo();
load = SystemInfo::getLoadInfo();
user = SystemInfo::getUserInfo();
// serializing memory
connection.appendInt(memory.totalSpace);
connection.appendInt(memory.freeSpace);
// serializing storage
connection.appendInt(storage.totalSpace);
connection.appendInt(storage.freeSpace);
// serializing network
//connection.appendString(network.mac.c_str());
//connection.appendString(network.ip4.c_str());
//connection.appendString(network.ip6.c_str());
// serializing processor
connection.appendString(processor.architecture.c_str());
connection.appendString(processor.model.c_str());
connection.appendString(processor.vendor.c_str());
connection.appendInt(processor.family);
connection.appendInt(processor.modelNumber);
connection.appendInt(processor.cores);
connection.appendInt(processor.siblings);
connection.appendDouble(processor.frequency);
// serializing load
connection.appendDouble(load.cpuLoad1);
connection.appendDouble(load.cpuLoad5);
connection.appendDouble(load.cpuLoad15);
connection.appendInt(load.cpuLoadInstant);
// serializing platform
connection.appendString(platform.name.c_str());
connection.appendString(platform.distribution.c_str());
connection.appendString(platform.release.c_str());
connection.appendString(platform.codename.c_str());
connection.appendString(platform.kernel.c_str());
connection.appendString(platform.environmentVars.toString().c_str());
// serializing user
connection.appendString(user.userName.c_str());
connection.appendString(user.realName.c_str());
connection.appendString(user.homeDir.c_str());
connection.appendInt(user.userID);
return !connection.isError();
}
bool Matrix::write(yarp::os::ConnectionWriter& connection) {
MatrixPortContentHeader header;
//header.totalLen = sizeof(header)+sizeof(double)*this->size();
header.outerListTag = BOTTLE_TAG_LIST;
header.outerListLen = 3;
header.rowsTag = BOTTLE_TAG_INT;
header.colsTag = BOTTLE_TAG_INT;
header.listTag = BOTTLE_TAG_LIST + BOTTLE_TAG_DOUBLE;
header.rows=rows();
header.cols=cols();
header.listLen = header.rows*header.cols;
connection.appendBlock((char*)&header, sizeof(header));
int l=0;
const double *tmp=data();
for(l=0;l<header.listLen;l++)
connection.appendDouble(tmp[l]);
// if someone is foolish enough to connect in text mode,
// let them see something readable.
connection.convertTextMode();
return true;
}
bool Quaternion::write(yarp::os::ConnectionWriter& connection)
{
QuaternionPortContentHeader header;
header.listTag = (BOTTLE_TAG_LIST | BOTTLE_TAG_DOUBLE);
header.listLen = 4;
connection.appendBlock((char*)&header, sizeof(header));
connection.appendDouble(this->internal_data[0]);
connection.appendDouble(this->internal_data[1]);
connection.appendDouble(this->internal_data[2]);
connection.appendDouble(this->internal_data[3]);
// if someone is foolish enough to connect in text mode,
// let them see something readable.
connection.convertTextMode();
return !connection.isError();
}
bool Vector::write(yarp::os::ConnectionWriter& connection) {
VectorPortContentHeader header;
header.listTag = (BOTTLE_TAG_LIST | BOTTLE_TAG_DOUBLE);
header.listLen = (int)size();
connection.appendBlock((char*)&header, sizeof(header));
int k=0;
for (k=0;k<header.listLen;k++)
connection.appendDouble((*this)[k]);
// if someone is foolish enough to connect in text mode,
// let them see something readable.
connection.convertTextMode();
return !connection.isError();
}