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 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 eventBottle::write(yarp::os::ConnectionWriter& connection) {
connection.appendInt(BOTTLE_TAG_LIST + BOTTLE_TAG_BLOB + BOTTLE_TAG_INT);
connection.appendInt(2); // four elements
size_t binaryDim;
size_of_the_bottle = packet->size();
size_of_the_packet = size_of_the_bottle;
bytes_of_the_packet = size_of_the_packet * 4;
//packetPointer = (char*) packet->toBinary(&binaryDim);
//bytes_of_the_packet = binaryDim;
//size_of_the_packet = bytes_of_the_packet >> 2;
connection.appendInt(bytes_of_the_packet);
//connection.appendInt(size_of_the_packet);
//bytes_of_the_packet = size_of_the_packet * wordDimension; // number of 32bit word times 4bytes
//--------------------------------------------------------------------------------------------
// -------- serialisation of the bottle ---------------------------
unsigned char tmpChar;
char *p = packetPointer;
for(int i = 0 ; i < size_of_the_packet ; i++) {
int value = packet->get(i).asInt();
for (int j = 0 ; j < wordDimension ; j++){
int tmpInt = (value & 0x000000FF) ;
tmpChar = (unsigned char) tmpInt;
//printf("%02x %02x ",tmpInt,tmpChar);
value = value >> 8;
*p = tmpChar;
p++;
}
}
//----------------------------------------------------------------------------------------------
#if VERBOSE
int word;
printf("packet %d %d \n %s \n", size_of_the_packet, binaryDim, packet->toString().c_str());
char* i_data = packetPointer;
for(int i = 0 ; i < binaryDim ;) {
word = 0;
for (int j = 0 ; j < wordDimension ; j++){
int value = (char) *i_data << (8 * j);
word = word | value;
i_data++;
i++;
}
printf(">%08X ", word);
}
printf("\n");
#endif
//-----------------------------------------------------------------------------------------------
connection.appendBlock(packetPointer,bytes_of_the_packet); //serializing bottle into char*
//printf("packet \n %s \n", packet->toString().c_str());
connection.convertTextMode(); // if connection is text-mode, convert!
return true;
}
bool C_sendingBuffer::write(yarp::os::ConnectionWriter& connection)
{
connection.appendInt(BOTTLE_TAG_LIST+BOTTLE_TAG_BLOB+BOTTLE_TAG_INT);
connection.appendInt(2); // four elements
connection.appendInt(size_of_the_packet);
connection.appendBlock (packet, SIZE_OF_DATA);
connection.convertTextMode(); // if connection is text-mode, convert!
return true;
}
bool eventBuffer::write(yarp::os::ConnectionWriter& connection)
{
connection.appendInt(BOTTLE_TAG_LIST + BOTTLE_TAG_BLOB + BOTTLE_TAG_INT);
connection.appendInt(2); // four elements
connection.appendInt(size_of_the_packet);
int ceilSizeOfPacket = (size_of_the_packet+7)/8*8; // the nearest multiple of 8 greater or equal to size_of_the_packet
connection.appendBlock(packet,ceilSizeOfPacket);
connection.convertTextMode(); // if connection is text-mode, convert!
return true;
}
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();
}
bool VectorBase::write(yarp::os::ConnectionWriter& connection) {
VectorPortContentHeader header;
//header.totalLen = sizeof(header)+sizeof(double)*this->size();
header.listTag = (BOTTLE_TAG_LIST | getBottleTag());
header.listLen = (int)getListSize();
connection.appendBlock((char*)&header, sizeof(header));
const char *ptr = getMemoryBlock();
int elemSize=getElementSize();
yAssert(ptr != nullptr);
connection.appendExternalBlock(ptr, elemSize*header.listLen);
// if someone is foolish enough to connect in text mode,
// let them see something readable.
connection.convertTextMode();
return !connection.isError();
}
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 Image::write(yarp::os::ConnectionWriter& connection) {
ImageNetworkHeader header;
header.setFromImage(*this);
/*
header.listTag = BOTTLE_TAG_LIST;
header.listLen = 4;
header.paramNameTag = BOTTLE_TAG_VOCAB;
header.paramName = VOCAB3('m','a','t');
header.paramIdTag = BOTTLE_TAG_VOCAB;
header.id = getPixelCode();
header.paramListTag = BOTTLE_TAG_LIST + BOTTLE_TAG_INT;
header.paramListLen = 5;
header.depth = getPixelSize();
header.imgSize = getRawImageSize();
header.quantum = getQuantum();
header.width = width();
header.height = height();
header.paramBlobTag = BOTTLE_TAG_BLOB;
header.paramBlobLen = getRawImageSize();
*/
connection.appendBlock((char*)&header,sizeof(header));
unsigned char *mem = getRawImage();
if (header.width!=0&&header.height!=0) {
yAssert(mem!=NULL);
// Note use of external block.
// Implies care needed about ownership.
connection.appendExternalBlock((char *)mem,header.imgSize);
}
// if someone is foolish enough to connect in text mode,
// let them see something readable.
connection.convertTextMode();
return !connection.isError();
}