unsigned int World::add_robot(int x, int y, std::string json_text, std::vector<unsigned int> ancestors){
unsigned int uuid;
Robot *robot;
uuid = add_robot(x, y, json_text);
robot = get_robot(uuid);
robot->set_ancestors(ancestors);
}
bool yarprobotinterfaceRpc::read(yarp::os::ConnectionReader& connection) {
yarp::os::idl::WireReader reader(connection);
reader.expectAccept();
if (!reader.readListHeader()) { reader.fail(); return false; }
yarp::os::ConstString tag = reader.readTag();
bool direct = (tag=="__direct__");
if (direct) tag = reader.readTag();
while (!reader.isError()) {
// TODO: use quick lookup, this is just a test
if (tag == "get_phase") {
std::string _return;
_return = get_phase();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "get_level") {
int32_t _return;
_return = get_level();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeI32(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "get_robot") {
std::string _return;
_return = get_robot();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "is_ready") {
bool _return;
_return = is_ready();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeBool(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "quit") {
std::string _return;
_return = quit();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "bye") {
std::string _return;
_return = bye();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "exit") {
std::string _return;
_return = exit();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "help") {
std::string functionName;
if (!reader.readString(functionName)) {
functionName = "--all";
}
std::vector<std::string> _return=help(functionName);
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(2)) return false;
if (!writer.writeTag("many",1, 0)) return false;
if (!writer.writeListBegin(BOTTLE_TAG_INT, static_cast<uint32_t>(_return.size()))) return false;
std::vector<std::string> ::iterator _iterHelp;
for (_iterHelp = _return.begin(); _iterHelp != _return.end(); ++_iterHelp)
{
if (!writer.writeString(*_iterHelp)) return false;
}
if (!writer.writeListEnd()) return false;
}
reader.accept();
return true;
}
if (reader.noMore()) { reader.fail(); return false; }
yarp::os::ConstString next_tag = reader.readTag();
if (next_tag=="") break;
tag = tag + "_" + next_tag;
}
return false;
}