the command yarp read ... /port envelope now displays the envelope …

…inline with the data, while the command `yarp read ... /port envelope2` displays the envelope and the data on two different lines
robotology · Dec 3, 2024 · 1d07ba9 · 1d07ba9
1 parent 3636677
commit 1d07ba9
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Showing 4 changed files with 62 additions and 18 deletions.
diff --git a/src/libYARP_companion/src/yarp/companion/impl/BottleReader.h b/src/libYARP_companion/src/yarp/companion/impl/BottleReader.h
@@ -17,6 +17,9 @@
 #include <yarp/os/Semaphore.h>
 #include <yarp/os/impl/BottleImpl.h>
 
+#include <sstream>
+#include <iomanip>
+
 using yarp::os::Bottle;
 using yarp::os::Contact;
 using yarp::os::ConnectionReader;
@@ -36,7 +39,7 @@ class BottleReader :
 private:
     yarp::os::Semaphore done;
     bool raw;
-    bool env;
+    Companion::showEnvelopeEnum eShowEnvelope;
     std::string::size_type trim;
     bool justOnce;
     Contact address;
@@ -45,15 +48,15 @@ class BottleReader :
 
     BottleReader() : done(0) {
         raw = false;
-        env = false;
+        eShowEnvelope = Companion::showEnvelopeEnum::do_not_show;
         trim = std::string::npos;
         justOnce = false;
         core.setReader(*this);
         core.setReadOnly();
     }
 
-    void open(const char *name, bool showEnvelope, bool _justonce, int trim_at = -1) {
-        env = showEnvelope;
+    void open(const char *name, Companion::showEnvelopeEnum _showEnvelope, bool _justonce, int trim_at = -1) {
+        eShowEnvelope = _showEnvelope;
         justOnce = _justonce;
         trim = (trim_at > 0 ? static_cast<std::string::size_type>(trim_at) : std::string::npos);
         if (core.open(name)) {
@@ -70,14 +73,20 @@ class BottleReader :
         Companion::setActivePort(nullptr);
     }
 
-    void showEnvelope() {
-        if (env) {
+    std::string showEnvelope() {
+        if (eShowEnvelope != Companion::showEnvelopeEnum::do_not_show) {
             Bottle envelope;
             core.getEnvelope(envelope);
-            if (envelope.size()>0) {
-                yCInfo(COMPANION, "%s ", envelope.toString().c_str());
+            if (envelope.size()>0)
+            {
+                std::ostringstream stream;
+                stream << std::fixed << std::setprecision(4) << envelope.get(1).asFloat64();
+                std::string formattedValue = stream.str();
+
+                return envelope.get(0).toString() + " " + formattedValue;
             }
         }
+        return "";
     }
 
     bool read(ConnectionReader& reader) override {
@@ -90,17 +99,43 @@ class BottleReader :
             if (bot.size()==2 && bot.isInt32(0) && bot.isString(1) && !raw) {
                 int code = bot.get(0).asInt32();
                 if (code!=1) {
-                    showEnvelope();
-                    yCInfo(COMPANION, "%s", bot.get(1).asString().substr(0, trim).c_str());
+                    if (eShowEnvelope == Companion::showEnvelopeEnum::do_not_show)
+                    {
+                        yCInfo(COMPANION, "%s", bot.get(1).asString().substr(0, trim).c_str());
+                    }
+                    else if (eShowEnvelope == Companion::showEnvelopeEnum::show_inline)
+                    {
+                        std::string envstring = showEnvelope();
+                        yCInfo(COMPANION, "%s     %s", envstring.c_str(), bot.get(1).asString().substr(0, trim).c_str());
+                    }
+                    else if (eShowEnvelope == Companion::showEnvelopeEnum::show_two_lines)
+                    {
+                        std::string envstring = showEnvelope();
+                        yCInfo(COMPANION, "%s", envstring.c_str());
+                        yCInfo(COMPANION, "%s", bot.get(1).asString().substr(0, trim).c_str());
+                    }
                     fflush(stdout);
                 }
                 if (code==1) {
                     done.post();
                 }
             } else {
                 // raw = true; // don't make raw mode "sticky"
-                showEnvelope();
-                yCInfo(COMPANION, "%s", bot.toString().substr(0, trim).c_str());
+                if (eShowEnvelope == Companion::showEnvelopeEnum::do_not_show)
+                {
+                    yCInfo(COMPANION, "%s", bot.toString().substr(0, trim).c_str());
+                }
+                if (eShowEnvelope == Companion::showEnvelopeEnum::show_inline)
+                {
+                    std::string envstring = showEnvelope();
+                    yCInfo(COMPANION, "%s     %s", envstring.c_str(), bot.toString().substr(0, trim).c_str());
+                }
+                else if (eShowEnvelope == Companion::showEnvelopeEnum::show_two_lines)
+                {
+                    std::string envstring = showEnvelope();
+                    yCInfo(COMPANION, "%s", envstring.c_str());
+                    yCInfo(COMPANION, "%s", bot.toString().substr(0, trim).c_str());
+                }
                 fflush(stdout);
             }
             if (justOnce) {

diff --git a/src/libYARP_companion/src/yarp/companion/impl/Companion.cmdRead.cpp b/src/libYARP_companion/src/yarp/companion/impl/Companion.cmdRead.cpp
@@ -29,7 +29,7 @@ using yarp::os::NetworkBase;
  * @param trim number of characters of the string that should be printed
  * @return 0 on success, non-zero on failure
  */
-int Companion::read(const char *name, const char *src, bool showEnvelope, bool justOnce, int trim)
+int Companion::read(const char *name, const char *src, Companion::showEnvelopeEnum showEnvelope, bool justOnce, int trim)
 {
     Companion::installHandler();
     BottleReader reader;
@@ -58,12 +58,15 @@ int Companion::cmdRead(int argc, char *argv[])
 
     const char *name = argv[0];
     const char *src = nullptr;
-    bool showEnvelope = false;
+    showEnvelopeEnum showEnvelope = showEnvelopeEnum::do_not_show;
     size_t trim = -1;
     bool justOnce = false;
+    bool envelopeInline = true;
     while (argc>1) {
-        if (strcmp(argv[1], "envelope")==0) {
-            showEnvelope = true;
+        if (strcmp(argv[1], "envelope") == 0) {
+            showEnvelope = showEnvelopeEnum::show_inline;
+        } else if (strcmp(argv[1], "envelope2") == 0) {
+            showEnvelope = showEnvelopeEnum::show_two_lines;
         } else if (strcmp(argv[1], "trim") == 0) {
             argc--;
             argv++;

diff --git a/src/libYARP_companion/src/yarp/companion/impl/Companion.cmdReadWrite.cpp b/src/libYARP_companion/src/yarp/companion/impl/Companion.cmdReadWrite.cpp
@@ -25,7 +25,7 @@ int Companion::cmdReadWrite(int argc, char *argv[])
 
     Companion::installHandler();
     BottleReader reader;
-    reader.open(read_port_name, false, false);
+    reader.open(read_port_name, Companion::showEnvelopeEnum::do_not_show, false);
 
     int ret = write(write_port_name, 1, (char**)&verbatim);
 

diff --git a/src/libYARP_companion/src/yarp/companion/impl/Companion.h b/src/libYARP_companion/src/yarp/companion/impl/Companion.h
@@ -34,6 +34,12 @@ class YARP_companion_API Companion
 
     int dispatch(const char *name, int argc, char *argv[]);
 
+    enum showEnvelopeEnum
+    {
+        do_not_show = 0,
+        show_inline = 1,
+        show_two_lines = 2
+    };
 
     // Defined in Companion.cmdCheck.cpp
     int cmdCheck(int argc, char *argv[]);
@@ -102,7 +108,7 @@ class YARP_companion_API Companion
     int cmdPrioritySched(int argc, char *argv[]);
 
     // Defined in Companion.cmdRead.cpp
-    int read(const char *name, const char *src = nullptr, bool showEnvelope = false, bool justOnce = false, int trim = -1);
+    int read(const char *name, const char *src = nullptr, showEnvelopeEnum showEnvelope = showEnvelopeEnum::do_not_show, bool justOnce = false, int trim = -1);
     int cmdRead(int argc, char *argv[]);
 
     // Defined in Companion.cmdReadWrite.cpp