예제 #1
0
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();
}
예제 #2
0
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();
}
예제 #3
0
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;
}
예제 #4
0
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();
}
예제 #5
0
파일: Vector.cpp 프로젝트: jgvictores/yarp
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();
}