bool dmpExecutorInterface::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();
while (!reader.isError()) {
// TODO: use quick lookup, this is just a test
if (tag == "run") {
bool _return;
_return = run();
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 == "is_running") {
bool _return;
_return = is_running();
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 == "stop") {
bool _return;
_return = stop();
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 == "s") {
bool _return;
_return = s();
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 == "execute_OPC") {
int32_t id;
if (!reader.readI32(id)) {
reader.fail();
return false;
}
bool _return;
_return = execute_OPC(id);
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 == "waitMotionDone") {
double period;
double timeout;
if (!reader.readDouble(period)) {
period = 0.5;
}
if (!reader.readDouble(timeout)) {
timeout = 0;
}
bool _return;
_return = waitMotionDone(period,timeout);
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 == "set_hand") {
Hand newHand;
int32_t ecast2;
HandVocab cvrt3;
if (!reader.readEnum(ecast2,cvrt3)) {
reader.fail();
return false;
} else {
newHand = (Hand)ecast2;
}
bool _return;
_return = set_hand(newHand);
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 == "get_hand") {
Hand _return;
_return = get_hand();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeI32((int32_t)_return)) return false;
}
reader.accept();
return true;
}
if (tag == "teach_start") {
std::string actionName;
Hand handToUse;
if (!reader.readString(actionName)) {
reader.fail();
return false;
}
int32_t ecast4;
HandVocab cvrt5;
if (!reader.readEnum(ecast4,cvrt5)) {
handToUse = RIGHT;
} else {
handToUse = (Hand)ecast4;
}
bool _return;
_return = teach_start(actionName,handToUse);
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") {
quit();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeOnewayResponse()) 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;
}
void hmhands_update_proc(Layer *me, GContext *ctx)
{
(void)me;
set_hand(&hourhand_container, (pebble_time.tm_hour % 12)*30 + pebble_time.tm_min/2);
set_hand(&minutehand_container, pebble_time.tm_min*6);
}
