/*!
* private function, DO NOT CALL DIRECTLY
*/
void SamgarModule::SendData(DataType type,string port,void* data) {
DataPort* MyTempPort;
list<DataPort*>::iterator ItPort;
string TempName;
bool FoundPort;
TempName="/Port_" + MyName + "_" + port.c_str();
FoundPort=false;
for ( ItPort=PortList.begin() ; ItPort != PortList.end(); ItPort++ ) {
MyTempPort=*ItPort;
if(MyTempPort->getName() == TempName.c_str()) {
FoundPort=true;
break; // we have the port so break the loop
}
}
if(FoundPort==true) {
Bottle& MyBottle = MyTempPort-> prepare();
MyBottle.clear();
switch (type){
case TypeInt: MyBottle.addInt( *((int*) data) ); break;
case TypeDouble: MyBottle.addDouble( *((double*) data) ); break;
case TypeString: MyBottle.addString( ((string*) data)->c_str()); break;
case TypeBottle: MyBottle = *((Bottle*)data); break;
}
MyTempPort->write();
}
}
/*!
* DO NOT CALL DIRECTLY
*/
bool SamgarModule::GetDataFromPort(string NameOfPort,int TypeOfData, void* data) {
list<DataPort*>::iterator ItPort;
DataPort *MyTempPort;
bool HaveIfoundPort;
NameOfPort = "/Port_" + MyName + "_" + NameOfPort.c_str();
HaveIfoundPort = false;
for ( ItPort=PortList.begin(); ItPort != PortList.end(); ItPort++ ) {// find the right port loop
MyTempPort=*ItPort;
if(MyTempPort->getName() == NameOfPort.c_str()){
HaveIfoundPort = true;
break;
}// have the data we need so break the loop
}
if ( !HaveIfoundPort )
return false;
if (MyTempPort->isClosed())
return false;
if(MyTempPort->getInputCount() == 0)
return false; // if nothings connected to it
// gets Bottle from the DataPort storage
Bottle MyBottle=MyTempPort->getBottle();
if(MyBottle.isNull())
return false;
if (TypeOfData == TypeInt && MyBottle.get(0).isInt() != false) {
*((int*)data) = MyBottle.get(0).asInt();
return true;
}
else if (TypeOfData == TypeString && MyBottle.get(0).isString() != false) {
*((string*)data) = MyBottle.get(0).asString();
return true;
}
else if(TypeOfData == TypeDouble && MyBottle.get(0).isDouble() != false) {
*((double*)data) = MyBottle.get(0).asDouble();
return true;
}
else if(TypeOfData == TypeBottle) {
*((Bottle*)data) = MyBottle;
return true;
}
return false;
}
