bool PortCommand::write(ConnectionWriter& writer) {
//ACE_DEBUG((LM_DEBUG,"PortCommand::writeBlock"));
//ACE_OS::printf("Writing port command, text mode %d\n", writer.isTextMode());
if (!writer.isTextMode()) {
int len = 0;
if (ch=='\0') {
len = (int)str.length()+1;
}
yAssert(header.length()==8);
char *base = header.get();
Bytes b(base,4);
NetType::netInt(len,b);
base[4] = '~';
base[5] = ch;
base[6] = 0;
base[7] = 1;
writer.appendBlock(header.bytes().get(),header.bytes().length());
if (ch=='\0') {
writer.appendBlock(str.c_str(),str.length()+1);
}
} else {
if (ch!='\0') {
char buf[] = "X";
buf[0] = ch;
writer.appendString(ConstString(buf).c_str(),'\n');
} else {
writer.appendString(str.c_str(),'\n');
}
}
return !writer.isError();
}
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~
// SERIALIZATION methods
//~~~~~~~~~~~~~~~~~~~~~~
bool dynContact::write(ConnectionWriter& connection) const{
// represent a dynContact as a list of 4 elements that are:
// - a list of 3 int, i.e. contactId, bodyPart, linkNumber
// - a list of 3 double, i.e. the CoP
// - a list of 3 double, i.e. the force
// - a list of 3 double, i.e. the moment
connection.appendInt(BOTTLE_TAG_LIST);
connection.appendInt(4);
// list of 3 int, i.e. contactId, bodyPart, linkNumber
connection.appendInt(BOTTLE_TAG_LIST + BOTTLE_TAG_INT);
connection.appendInt(3);
connection.appendInt(contactId);
connection.appendInt(bodyPart); // left_arm, right_arm, ...
connection.appendInt(linkNumber);
// list of 3 double, i.e. the CoP
connection.appendInt(BOTTLE_TAG_LIST + BOTTLE_TAG_DOUBLE);
connection.appendInt(3);
for(int i=0;i<3;i++) connection.appendDouble(CoP[i]);
// list of 3 double, i.e. the force
connection.appendInt(BOTTLE_TAG_LIST + BOTTLE_TAG_DOUBLE);
connection.appendInt(3);
for(int i=0;i<3;i++) connection.appendDouble(F[i]);
// list of 3 double, i.e. the moment
connection.appendInt(BOTTLE_TAG_LIST + BOTTLE_TAG_DOUBLE);
connection.appendInt(3);
for(int i=0;i<3;i++) connection.appendDouble(Mu[i]);
// if someone is foolish enough to connect in text mode,
// let them see something readable.
connection.convertTextMode();
return !connection.isError();
}
bool BottleImpl::write(ConnectionWriter& writer) {
// could simplify this if knew lengths of blocks up front
if (writer.isTextMode()) {
//writer.appendLine(toString());
writer.appendString(toString().c_str(),'\n');
} else {
#ifdef USE_YARP1_PREFIX
if (!nested) {
String name = "YARP2";
writer.appendInt(name.length()+1);
writer.appendString(name.c_str(),'\0');
}
#endif
synch();
/*
if (!nested) {
// No byte count any more, to facilitate nesting
//YMSG(("bottle byte count %d\n",byteCount()));
//writer.appendInt(byteCount()+sizeof(NetInt32));
writer.appendInt(StoreList::code + speciality);
}
*/
//writer.appendBlockCopy(Bytes((char*)getBytes(),byteCount()));
writer.appendBlock((char*)getBytes(),byteCount());
}
return !writer.isError();
}
bool Value::write(ConnectionWriter& connection) {
if (!proxy) {
connection.appendInt(BOTTLE_TAG_LIST);
connection.appendInt(0);
return !connection.isError();
}
connection.appendInt(BOTTLE_TAG_LIST);
connection.appendInt(1);
return proxy->write(connection);
}
virtual bool write(ConnectionWriter& connection)
{
connection.appendBlock((char*)&datum, sizeof(double));
connection.appendBlock((char*)&payloadSize, sizeof(int));
if (payloadSize>0)
connection.appendBlock((char *)payload, payloadSize);
return !connection.isError();
}
bool Stamp::write(ConnectionWriter& connection) {
connection.appendInt(BOTTLE_TAG_LIST); // nested structure
connection.appendInt(2); // with two elements
connection.appendInt(BOTTLE_TAG_INT);
connection.appendInt(sequenceNumber);
connection.appendInt(BOTTLE_TAG_DOUBLE);
connection.appendDouble(timeStamp);
connection.convertTextMode();
return !connection.isError();
}
bool BufferedConnectionWriter::write(ConnectionWriter& connection) const
{
stopWrite();
size_t i;
for (i = 0; i < header_used; i++) {
yarp::os::ManagedBytes& b = *(header[i]);
connection.appendBlock(b.get(), b.used());
}
for (i = 0; i < lst_used; i++) {
yarp::os::ManagedBytes& b = *(lst[i]);
connection.appendBlock(b.get(), b.used());
}
return !connection.isError();
}
