void Header::write(const M_string& key_vals, boost::shared_array<uint8_t>& buffer, uint32_t& size)
{
// Calculate the necessary size
size = 0;
{
M_string::const_iterator it = key_vals.begin();
M_string::const_iterator end = key_vals.end();
for (; it != end; ++it)
{
const std::string& key = it->first;
const std::string& value = it->second;
size += key.length();
size += value.length();
size += 1; // = sign
size += 4; // 4-byte length
}
}
if (size == 0)
{
return;
}
buffer.reset(new uint8_t[size]);
char* ptr = (char*)buffer.get();
// Write the data
{
M_string::const_iterator it = key_vals.begin();
M_string::const_iterator end = key_vals.end();
for (; it != end; ++it)
{
const std::string& key = it->first;
const std::string& value = it->second;
uint32_t len = key.length() + value.length() + 1;
SROS_SERIALIZE_PRIMITIVE(ptr, len);
SROS_SERIALIZE_BUFFER(ptr, key.data(), key.length());
static const char equals = '=';
SROS_SERIALIZE_PRIMITIVE(ptr, equals);
SROS_SERIALIZE_BUFFER(ptr, value.data(), value.length());
}
}
ROS_ASSERT(ptr == (char*)buffer.get() + size);
}
void init(const M_string& remappings)
{
M_string::const_iterator it = remappings.begin();
M_string::const_iterator end = remappings.end();
for (; it != end; ++it)
{
const std::string& left = it->first;
const std::string& right = it->second;
if (!left.empty() && left[0] != '_' && left != this_node::getName())
{
std::string resolved_left = resolve(left, false);
std::string resolved_right = resolve(right, false);
g_remappings[resolved_left] = resolved_right;
g_unresolved_remappings[left] = right;
}
}
}
void init(const M_string& remappings)
{
M_string::const_iterator it = remappings.begin();
M_string::const_iterator end = remappings.end();
for (; it != end; ++it)
{
const std::string& name = it->first;
const std::string& param = it->second;
if (name.size() < 2)
{
continue;
}
if (name[0] == '_' && name[1] != '_')
{
std::string local_name = "~" + name.substr(1);
bool success = false;
try
{
int32_t i = boost::lexical_cast<int32_t>(param);
param::set(names::resolve(local_name), i);
success = true;
}
catch (boost::bad_lexical_cast&)
{
}
if (success)
{
continue;
}
try
{
double d = boost::lexical_cast<double>(param);
param::set(names::resolve(local_name), d);
success = true;
}
catch (boost::bad_lexical_cast&)
{
}
if (success)
{
continue;
}
if (param == "true" || param == "True" || param == "TRUE")
{
param::set(names::resolve(local_name), true);
}
else if (param == "false" || param == "False" || param == "FALSE")
{
param::set(names::resolve(local_name), false);
}
else
{
param::set(names::resolve(local_name), param);
}
}
}
XMLRPCManager::instance()->bind("paramUpdate", paramUpdateCallback);
}