bool wholeBodyDynamicsSettings::Editor::read(yarp::os::ConnectionReader& connection) {
if (!isValid()) return false;
yarp::os::idl::WireReader reader(connection);
reader.expectAccept();
if (!reader.readListHeader()) return false;
int len = reader.getLength();
if (len==0) {
yarp::os::idl::WireWriter writer(reader);
if (writer.isNull()) return true;
if (!writer.writeListHeader(1)) return false;
writer.writeString("send: 'help' or 'patch (param1 val1) (param2 val2)'");
return true;
}
yarp::os::ConstString tag;
if (!reader.readString(tag)) return false;
if (tag=="help") {
yarp::os::idl::WireWriter writer(reader);
if (writer.isNull()) return true;
if (!writer.writeListHeader(2)) return false;
if (!writer.writeTag("many",1, 0)) return false;
if (reader.getLength()>0) {
yarp::os::ConstString field;
if (!reader.readString(field)) return false;
if (field=="kinematicSource") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("KinematicSourceType kinematicSource")) return false;
}
if (field=="fixedFrameName") {
if (!writer.writeListHeader(2)) return false;
if (!writer.writeString("std::string fixedFrameName")) return false;
if (!writer.writeString("Specify the source of the kinematic information for one link, see KinematicSourceType information for more info.")) return false;
}
if (field=="fixedFrameGravity") {
if (!writer.writeListHeader(2)) return false;
if (!writer.writeString("Gravity fixedFrameGravity")) return false;
if (!writer.writeString("If kinematicSource is FIXED_LINK, specify the frame of the robot that we know to be fixed (i.e. not moving with respect to an inertial frame)")) return false;
}
if (field=="imuFrameName") {
if (!writer.writeListHeader(2)) return false;
if (!writer.writeString("std::string imuFrameName")) return false;
if (!writer.writeString("If kinematicSource is FIXED_LINK, specify the gravity vector (in m/s^2) in the fixedFrame")) return false;
}
if (field=="imuFilterCutoffInHz") {
if (!writer.writeListHeader(2)) return false;
if (!writer.writeString("double imuFilterCutoffInHz")) return false;
if (!writer.writeString("If kinematicSource is IMU, specify the frame name of the imu")) return false;
}
if (field=="forceTorqueFilterCutoffInHz") {
if (!writer.writeListHeader(2)) return false;
if (!writer.writeString("double forceTorqueFilterCutoffInHz")) return false;
if (!writer.writeString("Cutoff frequency (in Hz) of the first order filter of the IMU")) return false;
}
if (field=="jointVelFilterCutoffInHz") {
if (!writer.writeListHeader(2)) return false;
if (!writer.writeString("double jointVelFilterCutoffInHz")) return false;
if (!writer.writeString("Cutoff frequency(in Hz) of the first order filter of the F/T sensors")) return false;
}
if (field=="jointAccFilterCutoffInHz") {
if (!writer.writeListHeader(2)) return false;
if (!writer.writeString("double jointAccFilterCutoffInHz")) return false;
if (!writer.writeString("Cutoff frequency(in Hz) of the first order filter of the joint velocities")) return false;
}
if (field=="useJointVelocity") {
if (!writer.writeListHeader(2)) return false;
if (!writer.writeString("bool useJointVelocity")) return false;
if (!writer.writeString("Cutoff frequency(in Hz) of the first order filter of the joint accelerations")) return false;
}
if (field=="useJointAcceleration") {
if (!writer.writeListHeader(2)) return false;
if (!writer.writeString("bool useJointAcceleration")) return false;
if (!writer.writeString("Use the joint velocity measurement if this is true, assume they are zero otherwise.")) return false;
}
}
if (!writer.writeListHeader(11)) return false;
writer.writeString("*** Available fields:");
writer.writeString("kinematicSource");
writer.writeString("fixedFrameName");
writer.writeString("fixedFrameGravity");
writer.writeString("imuFrameName");
writer.writeString("imuFilterCutoffInHz");
writer.writeString("forceTorqueFilterCutoffInHz");
writer.writeString("jointVelFilterCutoffInHz");
writer.writeString("jointAccFilterCutoffInHz");
writer.writeString("useJointVelocity");
writer.writeString("useJointAcceleration");
return true;
}
bool nested = true;
bool have_act = false;
if (tag!="patch") {
if ((len-1)%2 != 0) return false;
len = 1 + ((len-1)/2);
nested = false;
have_act = true;
}
for (int i=1; i<len; i++) {
if (nested && !reader.readListHeader(3)) return false;
yarp::os::ConstString act;
yarp::os::ConstString key;
if (have_act) {
act = tag;
} else {
if (!reader.readString(act)) return false;
}
if (!reader.readString(key)) return false;
// inefficient code follows, bug paulfitz to improve it
if (key == "kinematicSource") {
will_set_kinematicSource();
if (!obj->nested_read_kinematicSource(reader)) return false;
did_set_kinematicSource();
} else if (key == "fixedFrameName") {
will_set_fixedFrameName();
if (!obj->nested_read_fixedFrameName(reader)) return false;
did_set_fixedFrameName();
} else if (key == "fixedFrameGravity") {
will_set_fixedFrameGravity();
if (!obj->nested_read_fixedFrameGravity(reader)) return false;
did_set_fixedFrameGravity();
} else if (key == "imuFrameName") {
will_set_imuFrameName();
if (!obj->nested_read_imuFrameName(reader)) return false;
did_set_imuFrameName();
} else if (key == "imuFilterCutoffInHz") {
will_set_imuFilterCutoffInHz();
if (!obj->nested_read_imuFilterCutoffInHz(reader)) return false;
did_set_imuFilterCutoffInHz();
} else if (key == "forceTorqueFilterCutoffInHz") {
will_set_forceTorqueFilterCutoffInHz();
if (!obj->nested_read_forceTorqueFilterCutoffInHz(reader)) return false;
did_set_forceTorqueFilterCutoffInHz();
} else if (key == "jointVelFilterCutoffInHz") {
will_set_jointVelFilterCutoffInHz();
if (!obj->nested_read_jointVelFilterCutoffInHz(reader)) return false;
did_set_jointVelFilterCutoffInHz();
} else if (key == "jointAccFilterCutoffInHz") {
will_set_jointAccFilterCutoffInHz();
if (!obj->nested_read_jointAccFilterCutoffInHz(reader)) return false;
did_set_jointAccFilterCutoffInHz();
} else if (key == "useJointVelocity") {
will_set_useJointVelocity();
if (!obj->nested_read_useJointVelocity(reader)) return false;
did_set_useJointVelocity();
} else if (key == "useJointAcceleration") {
will_set_useJointAcceleration();
if (!obj->nested_read_useJointAcceleration(reader)) return false;
did_set_useJointAcceleration();
} else {
// would be useful to have a fallback here
}
}
reader.accept();
yarp::os::idl::WireWriter writer(reader);
if (writer.isNull()) return true;
writer.writeListHeader(1);
writer.writeVocab(VOCAB2('o','k'));
return true;
}
bool ContactPoint::Editor::read(yarp::os::ConnectionReader& connection) {
if (!isValid()) return false;
yarp::os::idl::WireReader reader(connection);
reader.expectAccept();
if (!reader.readListHeader()) return false;
int len = reader.getLength();
if (len==0) {
yarp::os::idl::WireWriter writer(reader);
if (writer.isNull()) return true;
if (!writer.writeListHeader(1)) return false;
writer.writeString("send: 'help' or 'patch (param1 val1) (param2 val2)'");
return true;
}
yarp::os::ConstString tag;
if (!reader.readString(tag)) return false;
if (tag=="help") {
yarp::os::idl::WireWriter writer(reader);
if (writer.isNull()) return true;
if (!writer.writeListHeader(2)) return false;
if (!writer.writeTag("many",1, 0)) return false;
if (reader.getLength()>0) {
yarp::os::ConstString field;
if (!reader.readString(field)) return false;
if (field=="x") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("double x")) return false;
}
if (field=="y") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("double y")) return false;
}
if (field=="z") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("double z")) return false;
}
}
if (!writer.writeListHeader(4)) return false;
writer.writeString("*** Available fields:");
writer.writeString("x");
writer.writeString("y");
writer.writeString("z");
return true;
}
bool nested = true;
bool have_act = false;
if (tag!="patch") {
if ((len-1)%2 != 0) return false;
len = 1 + ((len-1)/2);
nested = false;
have_act = true;
}
for (int i=1; i<len; i++) {
if (nested && !reader.readListHeader(3)) return false;
yarp::os::ConstString act;
yarp::os::ConstString key;
if (have_act) {
act = tag;
} else {
if (!reader.readString(act)) return false;
}
if (!reader.readString(key)) return false;
// inefficient code follows, bug paulfitz to improve it
if (key == "x") {
will_set_x();
if (!obj->nested_read_x(reader)) return false;
did_set_x();
} else if (key == "y") {
will_set_y();
if (!obj->nested_read_y(reader)) return false;
did_set_y();
} else if (key == "z") {
will_set_z();
if (!obj->nested_read_z(reader)) return false;
did_set_z();
} else {
// would be useful to have a fallback here
}
}
reader.accept();
yarp::os::idl::WireWriter writer(reader);
if (writer.isNull()) return true;
writer.writeListHeader(1);
writer.writeVocab(VOCAB2('o','k'));
return true;
}
bool SensorStreamingData::Editor::read(yarp::os::ConnectionReader& connection) {
if (!isValid()) return false;
yarp::os::idl::WireReader reader(connection);
reader.expectAccept();
if (!reader.readListHeader()) return false;
int len = reader.getLength();
if (len==0) {
yarp::os::idl::WireWriter writer(reader);
if (writer.isNull()) return true;
if (!writer.writeListHeader(1)) return false;
writer.writeString("send: 'help' or 'patch (param1 val1) (param2 val2)'");
return true;
}
std::string tag;
if (!reader.readString(tag)) return false;
if (tag=="help") {
yarp::os::idl::WireWriter writer(reader);
if (writer.isNull()) return true;
if (!writer.writeListHeader(2)) return false;
if (!writer.writeTag("many",1, 0)) return false;
if (reader.getLength()>0) {
std::string field;
if (!reader.readString(field)) return false;
if (field=="ThreeAxisGyroscopes") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("SensorMeasurements ThreeAxisGyroscopes")) return false;
}
if (field=="ThreeAxisLinearAccelerometers") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("SensorMeasurements ThreeAxisLinearAccelerometers")) return false;
}
if (field=="ThreeAxisMagnetometers") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("SensorMeasurements ThreeAxisMagnetometers")) return false;
}
if (field=="OrientationSensors") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("SensorMeasurements OrientationSensors")) return false;
}
if (field=="TemperatureSensors") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("SensorMeasurements TemperatureSensors")) return false;
}
if (field=="SixAxisForceTorqueSensors") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("SensorMeasurements SixAxisForceTorqueSensors")) return false;
}
if (field=="ContactLoadCellArrays") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("SensorMeasurements ContactLoadCellArrays")) return false;
}
if (field=="EncoderArrays") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("SensorMeasurements EncoderArrays")) return false;
}
if (field=="SkinPatches") {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeString("SensorMeasurements SkinPatches")) return false;
}
}
if (!writer.writeListHeader(10)) return false;
writer.writeString("*** Available fields:");
writer.writeString("ThreeAxisGyroscopes");
writer.writeString("ThreeAxisLinearAccelerometers");
writer.writeString("ThreeAxisMagnetometers");
writer.writeString("OrientationSensors");
writer.writeString("TemperatureSensors");
writer.writeString("SixAxisForceTorqueSensors");
writer.writeString("ContactLoadCellArrays");
writer.writeString("EncoderArrays");
writer.writeString("SkinPatches");
return true;
}
bool nested = true;
bool have_act = false;
if (tag!="patch") {
if ((len-1)%2 != 0) return false;
len = 1 + ((len-1)/2);
nested = false;
have_act = true;
}
for (int i=1; i<len; i++) {
if (nested && !reader.readListHeader(3)) return false;
std::string act;
std::string key;
if (have_act) {
act = tag;
} else {
if (!reader.readString(act)) return false;
}
if (!reader.readString(key)) return false;
// inefficient code follows, bug paulfitz to improve it
if (key == "ThreeAxisGyroscopes") {
will_set_ThreeAxisGyroscopes();
if (!obj->nested_read_ThreeAxisGyroscopes(reader)) return false;
did_set_ThreeAxisGyroscopes();
} else if (key == "ThreeAxisLinearAccelerometers") {
will_set_ThreeAxisLinearAccelerometers();
if (!obj->nested_read_ThreeAxisLinearAccelerometers(reader)) return false;
did_set_ThreeAxisLinearAccelerometers();
} else if (key == "ThreeAxisMagnetometers") {
will_set_ThreeAxisMagnetometers();
if (!obj->nested_read_ThreeAxisMagnetometers(reader)) return false;
did_set_ThreeAxisMagnetometers();
} else if (key == "OrientationSensors") {
will_set_OrientationSensors();
if (!obj->nested_read_OrientationSensors(reader)) return false;
did_set_OrientationSensors();
} else if (key == "TemperatureSensors") {
will_set_TemperatureSensors();
if (!obj->nested_read_TemperatureSensors(reader)) return false;
did_set_TemperatureSensors();
} else if (key == "SixAxisForceTorqueSensors") {
will_set_SixAxisForceTorqueSensors();
if (!obj->nested_read_SixAxisForceTorqueSensors(reader)) return false;
did_set_SixAxisForceTorqueSensors();
} else if (key == "ContactLoadCellArrays") {
will_set_ContactLoadCellArrays();
if (!obj->nested_read_ContactLoadCellArrays(reader)) return false;
did_set_ContactLoadCellArrays();
} else if (key == "EncoderArrays") {
will_set_EncoderArrays();
if (!obj->nested_read_EncoderArrays(reader)) return false;
did_set_EncoderArrays();
} else if (key == "SkinPatches") {
will_set_SkinPatches();
if (!obj->nested_read_SkinPatches(reader)) return false;
did_set_SkinPatches();
} else {
// would be useful to have a fallback here
}
}
reader.accept();
yarp::os::idl::WireWriter writer(reader);
if (writer.isNull()) return true;
writer.writeListHeader(1);
writer.writeVocab(VOCAB2('o','k'));
return true;
}
