bool test_surface_mesh() {
printf("\n*** test_surface_mesh()\n");
SurfaceMesh mesh;
Box3D bb;
mesh.meshName = "testing";
bb.corners.push_back(PointXYZ(1,2,3));
SurfaceMeshWithBoundingBox obj(mesh,bb);
Bottle bot;
bot.read(obj);
SurfaceMeshWithBoundingBox obj2;
bot.write(obj2);
Bottle bot2;
bot2.read(obj2);
printf("mesh copy: %s -> %s\n", bot.toString().c_str(),
bot2.toString().c_str());
if (obj2.mesh.meshName!=obj.mesh.meshName) {
printf("mesh name not copied correctly\n");
return false;
}
if (obj2.boundingBox.corners.size()!=obj.boundingBox.corners.size()) {
printf("corners not copied correctly\n");
return false;
}
if (bot!=bot2) {
printf("not copied correctly\n");
return false;
}
return true;
}
//********************************************
bool read(ConnectionReader &connection)
{
Bottle input;
input.read(connection);
if (input.size()>=7)
{
string arm=input.get(0).asString().c_str();
transform(arm.begin(),arm.end(),arm.begin(),::tolower);
mutex.lock();
map<string,Data>::iterator it=data.find(arm);
if (it!=data.end())
{
Data &d=it->second;
d.point[0]=input.get(1).asDouble();
d.point[1]=input.get(2).asDouble();
d.point[2]=input.get(3).asDouble();
d.dir[0]=input.get(4).asDouble();
d.dir[1]=input.get(5).asDouble();
d.dir[2]=input.get(6).asDouble();
d.persistence=PPS_AVOIDANCE_PERSISTENCE;
d.timeout=PPS_AVOIDANCE_TIMEOUT;
}
mutex.unlock();
}
return true;
}
virtual bool read(ConnectionReader& connection) {
Bottle b;
b.read(connection);
// process data in b
printf("Got %s\n", b.toString().c_str());
if(waitForFirst) {
xKeep = b.get(0).asInt();
yKeep = b.get(1).asInt();
waitForFirst = false;
} else {
if((b.get(0).asInt()<xKeep)||(b.get(1).asInt()<yKeep)){
x = 0;
y = 0;
w = 0;
h = 0;
} else {
x = xKeep;
y = yKeep;
w = b.get(0).asInt() - x;
h = b.get(1).asInt() - y;
}
waitForFirst = true;
}
return true;
}
virtual bool read(ConnectionReader& reader) override {
go.wait();
mutex.lock();
bool ok = last.read(reader);
mutex.unlock();
gone.post();
return ok;
}
virtual bool read(ConnectionReader& reader) {
go.wait();
mutex.wait();
bool ok = last.read(reader);
mutex.post();
gone.post();
return ok;
}
virtual bool read(ConnectionReader& connection) {
Bottle receive;
receive.read(connection);
receive.addInt(5);
ConnectionWriter *writer = connection.getWriter();
if (writer!=NULL) {
receive.write(*writer);
}
return true;
}
void testSerialCopy() {
report(0,"test serialization by copy");
Value v(3.14);
Bottle b;
b.read(v);
checkEqualish(b.get(0).asDouble(),3.14,"copy to bottle succeeded");
Bottle b2;
b.write(b2);
checkEqualish(b2.get(0).asDouble(),3.14,"copy from bottle succeeded");
}
void checkReadWrite() {
report(0,"check read/write");
Value v(4.2);
Bottle b;
b.read(v);
checkTrue(b.get(0).isFloat64(),"structure ok");
checkEqualish(b.get(0).asFloat64(),4.2,"value ok");
Value v2;
b.write(v2);
checkEqualish(v2.asFloat64(),4.2,"value reread ok");
}
bool read(ConnectionReader &connection)
{
Bottle data; data.read(connection);
if (data.size()>=2)
{
LockGuard lg(mutex);
cv::Point point(data.get(0).asInt(),data.get(1).asInt());
contour.push_back(point);
}
return true;
}
bool read(ConnectionReader &connection)
{
Bottle data;
data.read(connection);
if ((data.size()>=2) && enabled)
{
Vector xa,oa;
iarm->getPose(xa,oa);
Vector xe,oe;
if (eye=="left")
igaze->getLeftEyePose(xe,oe);
else
igaze->getRightEyePose(xe,oe);
Matrix Ha=axis2dcm(oa);
Ha.setSubcol(xa,0,3);
Matrix He=axis2dcm(oe);
He.setSubcol(xe,0,3);
Matrix H=Prj*SE3inv(He)*Ha;
Vector p(2);
p[0]=data.get(0).asDouble();
p[1]=data.get(1).asDouble();
if (logPort.getOutputCount()>0)
{
Vector &log=logPort.prepare();
log=p;
for (int i=0; i<H.rows(); i++)
log=cat(log,H.getRow(i));
for (int i=0; i<Prj.rows(); i++)
log=cat(log,Prj.getRow(i));
for (int i=0; i<Ha.rows(); i++)
log=cat(log,Ha.getRow(i));
for (int i=0; i<He.rows(); i++)
log=cat(log,He.getRow(i));
logPort.write();
}
mutex.wait();
solver.addItem(p,H);
mutex.post();
}
return true;
}
virtual bool read(ConnectionReader& con) {
Bottle b;
if (!b.read(con)) {
return false;
}
ConstString src = con.getRemoteContact().getName();
ConstString txt = b.get(0).asString();
printf("Reading [%s] from [%s]\n", txt.c_str(), src.c_str());
if (src!=txt) {
printf("YIKES!!!\n");
exit(1);
}
return true;
}
virtual bool read(ConnectionReader& connection) {
Bottle receive;
//printf("service provider reading data\n");
receive.read(connection);
//printf("service provider read data\n");
receive.addInt(5);
ConnectionWriter *writer = connection.getWriter();
if (writer!=NULL) {
//printf("service provider replying\n");
receive.write(*writer);
//printf("service provider replied\n");
}
return true;
}
bool StreamConnectionReader::convertTextMode() {
if (isTextMode()) {
if (!convertedTextMode) {
Bottle bot;
bot.read(*this);
BufferedConnectionWriter writer;
bot.write(writer);
String s = writer.toString();
altStream.reset(s);
in = &altStream;
convertedTextMode = true;
}
}
return true;
}
//********************************************
bool read(ConnectionReader &connection)
{
Bottle in;
in.read(connection);
if (in.size()>=1)
{
Bottle input;
input=*(in.get(0).asList());
if (input.size()>=7)
{
yDebug("[demoAvoidance] got command (%s)",input.toString().c_str());
string arm=iCub::skinDynLib::SkinPart_s[input.get(0).asInt()];
if (arm == "r_hand" || arm == "r_forearm")
{
arm = "right";
}
else if (arm == "l_hand" || arm == "l_forearm")
{
arm = "left";
}
transform(arm.begin(),arm.end(),arm.begin(),::tolower);
mutex.lock();
map<string,Data>::iterator it=data.find(arm);
if (it!=data.end())
{
Data &d=it->second;
d.point[0]=input.get(7).asDouble();
d.point[1]=input.get(8).asDouble();
d.point[2]=input.get(9).asDouble();
d.dir[0]=input.get(10).asDouble();
d.dir[1]=input.get(11).asDouble();
d.dir[2]=input.get(12).asDouble();
d.persistence=PPS_AVOIDANCE_PERSISTENCE;
d.timeout=PPS_AVOIDANCE_TIMEOUT;
}
mutex.unlock();
}
}
return true;
}
bool NetworkClock::read(ConnectionReader& reader) {
Bottle bot;
bool ok = bot.read(reader);
if(closing)
{
_time = -1;
return false;
}
if (!ok && !closing)
{
YARP_ERROR(Logger::get(), "Error reading clock port");
return false;
}
timeMutex.lock();
sec = bot.get(0).asInt32();
nsec = bot.get(1).asInt32();
_time = sec + (nsec*1e-9);
initted = true;
timeMutex.unlock();
listMutex.lock();
Waiters* waiters = static_cast<Waiters*>(pwaiters);
Waiters::iterator waiter_i;
waiter_i = waiters->begin();
while (waiter_i != waiters->end())
{
if (waiter_i->first - _time < 1E-12 )
{
Semaphore *waiterSemaphore = waiter_i->second;
waiter_i = waiters->erase(waiter_i);
if (waiterSemaphore)
waiterSemaphore->post();
}
else
++waiter_i;
}
listMutex.unlock();
return true;
}
bool CalibModule::load()
{
string fileName=rf->findFile("calibrationFile").c_str();
if (fileName.empty())
{
yWarning("calibration file not found");
return false;
}
Property data; data.fromConfigFile(fileName.c_str());
Bottle b; b.read(data);
mutex.lock();
yInfo("loading experts from file: %s",fileName.c_str());
for (int i=0; i<b.size(); i++)
factory(b.get(i));
mutex.unlock();
return true;
}
virtual bool read(ConnectionReader& connection) {
double now = Time::now();
Bottle b;
bool ok = b.read(connection);
if (ok) {
mutex.wait();
ct++;
if (ct>1) {
double dt = now - lastTime;
period.add(dt);
}
lastTime = now;
printf("Period is %g +/- %g (%d)\n",
period.mean(),
period.deviation(),
ct);
mutex.post();
}
return ok;
}
bool yarp::os::impl::HttpCarrier::write(Protocol& proto, SizedWriter& writer) {
DummyConnector con;
con.setTextMode(true);
for (size_t i=writer.headerLength(); i<writer.length(); i++) {
con.getWriter().appendBlock(writer.data(i),writer.length(i));
}
Bottle b;
b.read(con.getReader());
ConstString body = b.find("web").toString();
if (body.length()!=0) {
ConstString header;
header += NetType::toHexString(body.length()).c_str();
header += "\r\n";
Bytes b2((char*)header.c_str(),header.length());
proto.os().write(b2);
Bytes b3((char*)body.c_str(),body.length());
proto.os().write(b3);
proto.os().write('\r');
proto.os().write('\n');
} else {
ConstString txt = b.toString() + "\r\n";
ConstString header;
header += NetType::toHexString(txt.length()).c_str();
header += "\r\n";
Bytes b2((char*)header.c_str(),header.length());
proto.os().write(b2);
Bytes b3((char*)txt.c_str(),txt.length());
proto.os().write(b3);
proto.os().write('\r');
proto.os().write('\n');
}
proto.os().flush();
return proto.os().isOk();
}
bool YarpNameSpace::writeToNameServer(PortWriter& cmd,
PortReader& reply,
const ContactStyle& style) {
Contact srv = getNameServerContact();
String cmd0 = "NAME_SERVER";
DummyConnector con0;
cmd.write(con0.getWriter());
Bottle in;
in.read(con0.getReader());
for (int i=0; i<in.size(); i++) {
cmd0 += " ";
cmd0 += in.get(i).toString().c_str();
}
NameClient& nic = HELPER(this);
String result = nic.send(cmd0);
Bottle reply2;
reply2.addString(result.c_str());
DummyConnector con;
reply2.write(con.getWriter());
reply.read(con.getReader());
return result!="";
}
void checkPair() {
report(0,"checking portable-pair serialization...");
// potential problem reported by Miguel Sarabia Del Castillo
Matrix m;
size_t rr = 10;
size_t cc = 5;
makeTestMatrix(m,rr,cc);
double value = 3.14;
yarp::os::PortablePair<yarp::sig::Matrix, yarp::os::Value> msg, msg2;
msg.head = m;
msg.body = yarp::os::Value(value);
DummyConnector con;
msg.write(con.getWriter());
ConnectionReader& reader = con.getReader();
msg2.read(reader);
checkEqual(msg.head.rows(),msg2.head.rows(),"matrix row match");
checkEqual(msg.head.cols(),msg2.head.cols(),"matrix col match");
checkEqualish(msg.body.asFloat64(),msg2.body.asFloat64(),"value match");
Bottle bot;
bot.read(msg);
Bottle *bot1 = bot.get(0).asList();
Bottle *bot2 = bot.get(1).asList();
checkTrue(bot1!=nullptr&&bot2!=nullptr,"got head/body");
if (bot1==nullptr || bot2==nullptr) return;
checkEqual((size_t) bot1->get(0).asInt32(),rr,"row count matches");
checkEqual((size_t) bot1->get(1).asInt32(),cc,"column count matches");
Bottle *lst = bot1->get(2).asList();
checkTrue(lst!=nullptr,"have data");
if (!lst) return;
checkEqual(lst->size(),(rr*cc),"data length matches");
checkEqualish(bot2->get(0).asFloat64(),value,"value match");
}
void stack(PortWriter& msg, const ConstString& tag) {
mutex.wait();
msgs.push_back(Bottle());
if (tag!="") {
Bottle b;
b.read(msg);
Bottle& back = msgs.back();
back.clear();
back.addString(tag);
back.append(b);
} else {
msgs.back().read(msg);
}
if (available_threads==0) {
if (threads.size()<max_threads || max_threads == 0) {
available_threads++;
threads.push_back(new MessageStackThread(*this));
threads.back()->start();
}
}
available_threads--;
mutex.post();
produce.post();
}
virtual bool read(ConnectionReader& reader) {
YTRACE("NameServer::read start");
ConstString ref = "NAME_SERVER ";
bool ok = true;
ConstString msg = "?";
bool haveMessage = false;
if (ok) {
if (reader.isTextMode()) {
msg = reader.expectText().c_str();
} else {
// migrate to binary mode support, eventually optimize
Bottle b;
b.read(reader);
msg = b.toString().c_str();
}
haveMessage = (msg!="");
msg = ref + msg;
}
if (reader.isActive()&&haveMessage) {
YARP_DEBUG(Logger::get(),ConstString("name server got message ") + msg);
size_t index = msg.find("NAME_SERVER");
if (index==0) {
Contact remote = reader.getRemoteContact();
YARP_DEBUG(Logger::get(),
ConstString("name server receiving from ") +
remote.toURI());
YARP_DEBUG(Logger::get(),
ConstString("name server request is ") + msg);
ConstString result = server->apply(msg,remote);
ConnectionWriter *os = reader.getWriter();
if (os!=YARP_NULLPTR) {
if (result=="") {
result = ns_terminate(ConstString("unknown command ") +
msg + "\n");
}
// This change is just to make Microsoft Telnet happy
ConstString tmp;
for (unsigned int i=0; i<result.length(); i++) {
if (result[i]=='\n') {
tmp += '\r';
}
tmp += result[i];
}
tmp += '\r';
os->appendString(tmp.c_str(),'\n');
YARP_DEBUG(Logger::get(),
ConstString("name server reply is ") + result);
ConstString resultSparse = result;
size_t end = resultSparse.find("\n*** end of message");
if (end!=ConstString::npos) {
resultSparse[end] = '\0';
}
YARP_INFO(Logger::get(),resultSparse);
}
} else {
YARP_INFO(Logger::get(),
ConstString("Name server ignoring unknown command: ")+msg);
ConnectionWriter *os = reader.getWriter();
if (os!=YARP_NULLPTR) {
// this result is necessary for YARP1 support
os->appendString("???????????????????????????????????????",'\n');
//os->flush();
//os->close();
}
}
}
YTRACE("NameServer::read stop");
return true;
}
bool RosNameSpace::writeToNameServer(PortWriter& cmd,
PortReader& reply,
const ContactStyle& style) {
DummyConnector con0;
cmd.write(con0.getWriter());
Bottle in;
in.read(con0.getReader());
ConstString key = in.get(0).asString();
ConstString arg1 = in.get(1).asString();
Bottle cmd2, cache;
if (key=="query") {
Contact c = queryName(arg1.c_str());
c.setName("");
Bottle reply2;
reply2.addString(arg1.c_str());
reply2.addString(c.toString().c_str());
DummyConnector con;
reply2.write(con.getWriter());
reply.read(con.getReader());
return true;
} else if (key=="list") {
cmd2.addString("getSystemState");
cmd2.addString("dummy_id");
if (!NetworkBase::write(getNameServerContact(), cmd2, cache, style)) {
fprintf(stderr, "Failed to contact ROS server\n");
return false;
}
Bottle out;
out.addVocab(Vocab::encode("many"));
Bottle *parts = cache.get(2).asList();
Property nodes;
Property topics;
Property services;
if (parts) {
for (int i=0; i<3; i++) {
Bottle *part = parts->get(i).asList();
if (!part) continue;
for (int j=0; j<part->size(); j++) {
Bottle *unit = part->get(j).asList();
if (!unit) continue;
ConstString stem = unit->get(0).asString();
Bottle *links = unit->get(1).asList();
if (!links) continue;
if (i<2) {
topics.put(stem, 1);
} else {
services.put(stem, 1);
}
for (int j=0; j<links->size(); j++) {
nodes.put(links->get(j).asString(), 1);
}
}
}
Property *props[3] = {&nodes, &topics, &services};
const char *title[3] = {"node", "topic", "service"};
for (int p=0; p<3; p++) {
Bottle blist;
blist.read(*props[p]);
for (int i=0; i<blist.size(); i++) {
ConstString name = blist.get(i).asList()->get(0).asString();
Bottle& info = out.addList();
info.addString(title[p]);
info.addString(name);
}
}
}
out.write(reply);
return true;
} else {
return false;
}
}
virtual bool read(ConnectionReader& connection) {
receive.read(connection);
ct++;
return true;
}
virtual bool read(ConnectionReader& reader) {
// called by comms code
readBlock.wait();
if (!reader.isValid()) {
// termination
stateMutex.wait();
if (readDelegate!=NULL) {
readResult = readDelegate->read(reader);
}
stateMutex.post();
produce.post();
readBlock.post();
return false;
}
// wait for happy consumer - don't want to miss a packet
if (!readBackground) {
consume.wait();
}
if (closed) {
YARP_DEBUG(Logger::get(),"Port::read shutting down");
readBlock.post();
return false;
}
stateMutex.wait();
readResult = false;
if (readDelegate!=NULL) {
readResult = readDelegate->read(reader);
} else {
// read and ignore
YARP_DEBUG(Logger::get(),"data received in Port, no reader for it");
Bottle b;
b.read(reader);
}
if (!readBackground) {
readDelegate = NULL;
writeDelegate = NULL;
}
bool result = readResult;
stateMutex.post();
if (!readBackground) {
produce.post();
}
if (result&&willReply) {
consume.wait();
if (closed) {
YARP_DEBUG(Logger::get(),"Port::read shutting down");
readBlock.post();
return false;
}
if (writeDelegate!=NULL) {
stateMutex.wait();
ConnectionWriter *writer = reader.getWriter();
if (writer!=NULL) {
result = readResult = writeDelegate->write(*writer);
}
stateMutex.post();
}
if (dropDue) {
reader.requestDrop();
}
produce.post();
}
readBlock.post();
return result;
}
bool testSequence(char *seq, int len, const char *fmt, Bottle ref,
bool testWrite = true) {
printf("\n");
printf("================================================\n");
printf(" READ %s\n", fmt);
Bytes b1(seq,len);
WireTwiddler tt;
tt.configure(fmt);
printf(">>> %s\n", tt.toString().c_str());
Bottle bot;
if (!tt.read(bot,b1)) {
fprintf(stderr,"Read failed\n");
return 1;
}
if (bot!=ref) {
printf("%s: read %s, expected %s\n", fmt,
bot.toString().c_str(),
ref.toString().c_str());
printf("MISMATCH\n");
exit(1);
return false;
}
printf("[1] %s: read %s as expected\n", fmt, bot.toString().c_str());
StringInputStream sis;
sis.add(b1);
sis.add(b1);
WireTwiddlerReader twiddled_input(sis,tt);
Route route;
StreamConnectionReader reader2;
reader2.reset(twiddled_input,NULL,route,0,false);
bot.clear();
twiddled_input.reset();
bot.read(reader2);
if (bot!=ref) {
printf("%s: read %s, expected %s\n", fmt,
bot.toString().c_str(),
ref.toString().c_str());
printf("MISMATCH\n");
exit(1);
return false;
}
printf("[2] %s: read %s as expected\n", fmt, bot.toString().c_str());
StreamConnectionReader reader3;
reader3.reset(twiddled_input,NULL,route,0,false);
bot.clear();
twiddled_input.reset();
bot.read(reader3);
if (bot!=ref) {
printf("%s: read %s, expected %s\n", fmt,
bot.toString().c_str(),
ref.toString().c_str());
printf("MISMATCH\n");
exit(1);
return false;
}
printf("[3] %s: read %s as expected\n", fmt, bot.toString().c_str());
if (testWrite) {
printf("\n");
printf("================================================\n");
printf(" WRITE %s\n", fmt);
ManagedBytes output;
tt.write(ref,output);
if (output.length()!=(size_t)len) {
fprintf(stderr,"WRITE MISMATCH, length %d, expected %d\n",
(int)output.length(), len);
exit(1);
return false;
}
for (size_t i=0; i<output.length(); i++) {
if (output.get()[i] != seq[i]) {
fprintf(stderr,"WRITE MISMATCH, at %d, have [%d:%c] expected [%d:%c]\n",
(int)i, output.get()[i], output.get()[i], seq[i], seq[i]);
exit(1);
return false;
}
}
printf("[4] %s: wrote %s as expected\n", fmt, bot.toString().c_str());
}
return true;
}
virtual bool read(ConnectionReader& con) {
Bottle bot;
bot.read(con);
printf("Got %s\n", bot.toString().c_str());
return true;
}
bool HapticDeviceWrapper::read(ConnectionReader &connection)
{
Bottle cmd;
if (!cmd.read(connection))
return false;
int tag=cmd.get(0).asVocab();
Bottle rep;
if (device!=NULL)
{
LockGuard lg(mutex);
if (tag==hapticdevice::set_transformation)
{
if (cmd.size()>=2)
{
if (Bottle *payload=cmd.get(1).asList())
{
Matrix T(payload->get(0).asInt(),
payload->get(1).asInt());
if (Bottle *vals=payload->get(2).asList())
{
for (int r=0; r<T.rows(); r++)
for (int c=0; c<T.cols(); c++)
T(r,c)=vals->get(T.rows()*r+c).asDouble();
if (device->setTransformation(T))
rep.addVocab(hapticdevice::ack);
else
rep.addVocab(hapticdevice::nack);
}
}
}
}
else if (tag==hapticdevice::get_transformation)
{
Matrix T;
if (device->getTransformation(T))
{
rep.addVocab(hapticdevice::ack);
rep.addList().read(T);
}
else
rep.addVocab(hapticdevice::nack);
}
else if (tag==hapticdevice::stop_feedback)
{
fdbck=0.0;
device->stopFeedback();
applyFdbck=false;
rep.addVocab(hapticdevice::ack);
}
else if (tag==hapticdevice::is_cartesian)
{
bool ret;
if (device->isCartesianForceModeEnabled(ret))
{
rep.addVocab(hapticdevice::ack);
rep.addInt(ret?1:0);
}
else
rep.addVocab(hapticdevice::nack);
}
else if (tag==hapticdevice::set_cartesian)
{
rep.addVocab(device->setCartesianForceMode()?
hapticdevice::ack:hapticdevice::nack);
}
else if (tag==hapticdevice::set_joint)
{
rep.addVocab(device->setJointTorqueMode()?
hapticdevice::ack:hapticdevice::nack);
}
else if (tag==hapticdevice::get_max)
{
Vector max;
if (device->getMaxFeedback(max))
{
rep.addVocab(hapticdevice::ack);
rep.addList().read(max);
}
else
rep.addVocab(hapticdevice::nack);
}
}
if (rep.size()==0)
rep.addVocab(hapticdevice::nack);
ConnectionWriter *writer=connection.getWriter();
if (writer!=NULL)
rep.write(*writer);
return true;
}
bool yarp::os::impl::HttpCarrier::reply(Protocol& proto, SizedWriter& writer) {
DummyConnector con;
con.setTextMode(true);
for (size_t i=writer.headerLength(); i<writer.length(); i++) {
con.getWriter().appendBlock(writer.data(i),writer.length(i));
}
Bottle b;
b.read(con.getReader());
ConstString mime = b.check("mime",Value("text/html")).asString();
ConstString body;
bool using_json = false;
if (stream!=NULL) {
if (stream->useJson()) {
mime = "text/json";
asJson(body,&b,stream->typeHint());
using_json = true;
}
}
if (b.check("web")&&!using_json) {
body = b.find("web").toString();
}
if (b.check("stream")&&!using_json) {
String header("HTTP/1.1 200 OK\r\nContent-Type: ");
header += mime;
header += "\r\n";
header += "Transfer-Encoding: chunked\r\n";
header += "\r\n";
int N = 2*1024;
header += NetType::toHexString(body.length()+N);
header += "\r\n";
Bytes b2((char*)header.c_str(),header.length());
proto.os().write(b2);
// chrome etc won't render until enough chars are received.
for (int i=0; i<N; i++) {
proto.os().write(' ');
}
Bytes b3((char*)body.c_str(),body.length());
proto.os().write(b3);
proto.os().write('\r');
proto.os().write('\n');
if (stream!=NULL) {
stream->flip();
}
return true;
}
if (stream!=NULL) {
stream->finish();
}
// Could check response codes, mime types here.
if (body.length()!=0 || using_json) {
ConstString mime = b.check("mime",Value("text/html")).asString();
String header("HTTP/1.1 200 OK\nContent-Type: ");
header += mime;
header += "\n";
header += "Access-Control-Allow-Origin: *\n";
header += "\n";
Bytes b2((char*)header.c_str(),header.length());
proto.os().write(b2);
//body = b.toString();
Bytes b3((char*)body.c_str(),body.length());
proto.os().write(b3);
} else {
writer.write(proto.os());
}
proto.os().flush();
return proto.os().isOk();
}