char * NSQueryResult::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
unsigned short found = m_service? 1: 0;
BINARY_SET_DATA_S_INCR(p, unsigned short, found);
if (found) {
const char *n = m_service->name();
BINARY_SET_STRING_INCR(p, n);
unsigned short k = m_service->kind();
BINARY_SET_DATA_S_INCR(p, unsigned short, k);
const char *h = m_service->hostname();
BINARY_SET_STRING_INCR(p, h);
int port = m_service->port();
BINARY_SET_DATA_L_INCR(p, int, port);
}
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *GetAttributesRequest::encode(int seq, int &sz)
{
int n;
char *p = m_buf;
{
char *h = getHeader(seq, n);
memcpy(p, h, n);
p += n;
}
unsigned short attrNum = m_attrNames.size();
BINARY_SET_DATA_S_INCR(p, unsigned short, attrNum);
for (C::iterator i=m_attrNames.begin(); i!=m_attrNames.end(); i++) {
const char *str = i->c_str();
BINARY_SET_STRING_INCR(p, str);
}
{
char *f = getFooter(n);
memcpy(p, f, n);
p += n;
}
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *AddForceToPartsRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
BINARY_SET_STRING_INCR(p, m_name);
BINARY_SET_STRING_INCR(p, m_parts);
BINARY_SET_DOUBLE_INCR(p, m_x);
BINARY_SET_DOUBLE_INCR(p, m_y);
BINARY_SET_DOUBLE_INCR(p, m_z);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *GetGravityModeRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
BINARY_SET_STRING_INCR(p, m_name);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *SetDynamicsModeRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
BINARY_SET_STRING_INCR(p, m_name);
BINARY_SET_BOOL_INCR(p, m_dynamics);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *GetAngularVelocityRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
{
BINARY_SET_STRING_INCR(p, m_name);
}
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char * InvokeOnRecvSound::getDataHeader(int &sz)
{
char *p = m_dataHeaderBuf;
BINARY_SET_DOUBLE_INCR(p, m_time);
BINARY_SET_STRING_INCR(p, m_caller.c_str());
RawSoundHeader & h = m_sound.getHeader();
BINARY_SET_DATA_S_INCR(p, short, h.getChannelNum());
BINARY_SET_DATA_S_INCR(p, unsigned short, h.getSamplingRate());
BINARY_SET_DATA_S_INCR(p, unsigned short, h.getBitPerSample());
BINARY_SET_DATA_S_INCR(p, RawSoundEndian, h.getEndian());
BINARY_SET_DATA_L_INCR(p, unsigned, getDataLen());
sz = p - m_dataHeaderBuf;
assert(sz < DATA_HEADER_BUFSIZE);
return m_dataHeaderBuf;
}
char *MoveCommand::toBinary(int &n)
{
static char buf[1024];
char *p = buf;
BINARY_SET_DATA_S_INCR(p, CommandType, m_type);
BINARY_SET_STRING_INCR(p, target());
BINARY_SET_DOUBLE_INCR(p, m_dest.x());
BINARY_SET_DOUBLE_INCR(p, m_dest.y());
BINARY_SET_DOUBLE_INCR(p, m_dest.z());
BINARY_SET_DOUBLE_INCR(p, m_vel);
n = p - buf;
return buf;
}
char *SetMassRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
{
BINARY_SET_STRING_INCR(p, m_name);
}
BINARY_SET_DOUBLE_INCR(p, m_mass);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *GetLinearVelocityResult::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
BINARY_SET_STRING_INCR(p, m_name);
BINARY_SET_DOUBLE_INCR(p, m_x);
BINARY_SET_DOUBLE_INCR(p, m_y);
BINARY_SET_DOUBLE_INCR(p, m_z);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *CommDataEncoder::getHeader(int seq, int &n)
{
static char buf[COMM_DATA_HEADER_MAX_SIZE];
char *p = buf;
BINARY_SET_DATA_S_INCR(p, unsigned short, COMM_DATA_PACKET_START_TOKEN);
BINARY_SET_DATA_S_INCR(p, unsigned short, 0); // packet size
BINARY_SET_DATA_S_INCR(p, unsigned short, m_type);
BINARY_SET_DATA_S_INCR(p, unsigned short, packetNum());
BINARY_SET_DATA_S_INCR(p, unsigned short, seq);
BINARY_SET_DATA_S_INCR(p, unsigned short, m_forwardFlags);
BINARY_SET_STRING_INCR(p, m_forwardTo.c_str());
BINARY_SET_DOUBLE_INCR(p, m_forwardReachRadius);
n = p - buf;
return buf;
}
char *AddTorqueRequest::encode(int seq, int &sz)
{
char *p = m_buf;
p = setHeader(p, seq);
{
BINARY_SET_STRING_INCR(p, m_name);
}
BINARY_SET_DOUBLE_INCR(p, m_x);
BINARY_SET_DOUBLE_INCR(p, m_y);
BINARY_SET_DOUBLE_INCR(p, m_z);
BINARY_SET_BOOL_INCR(p, m_relf);
p = setFooter(p);
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
char *DisplayText::encode(int seq, int &sz)
{
int n;
char *p = m_buf;
{
char *h = getHeader(seq, n);
memcpy(p, h, n);
p += n;
}
{
BINARY_SET_DATA_S_INCR(p, short, m_fs);
BINARY_SET_DATA_S_INCR(p, short, m_color);
BINARY_SET_STRING_INCR(p, m_msg.c_str());
}
{
char *f = getFooter(n);
memcpy(p, f, n);
p += n;
}
sz = p - m_buf;
setPacketSize(m_buf, sz);
return m_buf;
}
/**
* @brief Binalize of the entity
* @param Size of binalized data
* @return Binalized data
*/
char *SimObjBase::toBinary(int &n)
{
const int RESIZE = 1000;
static int bufsize = RESIZE;
static char *buf = new char[bufsize];
char *p = buf;
p += sizeof(DataLengthType); // skip datalen
BINARY_SET_DATA_L_INCR(p, Id, id());
BINARY_SET_STRING_INCR(p, name());
BINARY_SET_STRING_INCR(p, classname());
short attached = isAttached();
BINARY_SET_DATA_S_INCR(p, short, attached);
BINARY_SET_DATA_L_INCR(p, Operation, m_ops);
DataOffsetType ao_offset = p - buf;
BINARY_SET_DATA_S_INCR(p, DataOffsetType, 0); // skip attr offset
DataOffsetType bo_offset = p - buf;
BINARY_SET_DATA_S_INCR(p, DataOffsetType, 0); // skip body offset
// attrs
{
DataOffsetType attrs_offset = p - buf;
BINARY_SET_DATA_S(buf + ao_offset, DataOffsetType, attrs_offset);
BINARY_SET_DATA_S_INCR(p, DataLengthType, 0); // skip attrs size
DataLengthType attrssize = sizeof(DataLengthType);
for (AttrM::iterator i=m_attrs.begin(); i!=m_attrs.end(); i++) {
int head = p - buf;
Attribute *attr = i->second;
int nn;
char *pp = attr->toBinary(nn);
if (head + nn >= bufsize) {
int newsize = bufsize + RESIZE;
char *newbuf = new char[newsize];
memcpy(newbuf, buf, head);
delete buf;
buf = newbuf;
bufsize = newsize;
p = buf + head;
}
memcpy(p, pp, nn);
p += nn;
attrssize += nn;
}
BINARY_SET_DATA_S(buf + attrs_offset, DataLengthType, attrssize);
}
// set body offset value
{
DataOffsetType body_offset = p - buf;
BINARY_SET_DATA_S(buf + bo_offset, DataOffsetType, body_offset);
// body
BINARY_SET_DATA_S_INCR(p, DataLengthType, 0); // skip body size
DataLengthType bodysize = sizeof(DataLengthType);
//for (PartsM::iterator i=m_parts.begin(); i!=m_parts.end(); i++) {
PartsIterator *itr = getPartsIterator();
Parts *parts = NULL;
while (itr && (parts = itr->next()) != NULL) {
if (parts->isBlind()) { continue; }
int head = p - buf;
//Parts *parts = i->second;
// added by sekikawa (2007/12/4)
#ifdef TAKU_TEST
parts->calcAbsPos(this);
#endif
int nn;
char *pp = parts->toBinary(nn);
if (head + nn >= bufsize) {
int newsize = bufsize + RESIZE;
char *newbuf = new char[newsize];
memcpy(newbuf, buf, head);
delete buf;
buf = newbuf;
bufsize = newsize;
p = buf + head;
}
memcpy(p, pp, nn);
p += nn;
bodysize += nn;
}
BINARY_SET_DATA_S(buf + body_offset, DataLengthType, bodysize);
delete itr;
}
n = p-buf;
// set datalen value
BINARY_SET_DATA_S(buf, DataLengthType, n);
return buf;
}
