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 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 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();
}