rcrssprotocol.java

2004年robotcup世界冠军源代码

// Copyright (C) 2002 Takeshi Morimoto <[e-mail]>
// All rights reserved.
package yab.io;

import java.io.*;
import java.util.*;

public class RCRSSProtocol implements ProtocolConstants {
    public static final byte[] body(Object[] elements) throws IOException {
        ByteArrayOutputStream baos = new ByteArrayOutputStream();
        DataOutputStream dos = new DataOutputStream(baos);
        for (int i = 0;  i < elements.length;  i ++) {
            Object e = elements[i];
            if      (e instanceof Integer) writeIntElement(dos, e);
            else if (e instanceof int[])   writeIDsElement(dos, e);
            else if (e instanceof String)  writeStringElement(dos, e);
            else if (e instanceof byte[])  writeByteArray (dos, e);
            else throw new Error("illegal element type:" + e);
        }
        byte[] body = baos.toByteArray();
        dos.close();
        baos.close();
        return body;
    }

    public static final void writeIntElement(DataOutputStream dos, Object e)
        throws IOException {
        int integer = ((Integer) e).intValue();
        dos.writeInt(integer);
    }

    public static final void writeIDsElement(DataOutputStream dos, Object e)
        throws IOException {
        int[] ids = (int[]) e;
        for (int i = 0;  i < ids.length;  i ++)
            dos.writeInt(ids[i]);
        dos.writeInt(0);
    }

    public static final void writeStringElement(DataOutputStream dos, Object e)
        throws IOException {
        byte[] str = ((String) e).getBytes();
        dos.writeInt(str.length);
        dos.write(str, 0, str.length);
        int size = (str.length + 3) & ~3;
        for (int i = str.length;  i <= size;  i ++)
            dos.write(0);
    }    

    public static final void writeByteArray (DataOutputStream dos, Object e) throws IOException
    {
        byte[] b = (byte[]) e;
        dos.writeInt (b.length);
        dos.write (b);
        int size = (b.length + 3) & ~3;
        for (int i = b.length; i < size; i++)
            dos.write (0);
    }
	//49---------------------------------------------
	public static final ObjectElement[] readObjectsElement(DataInputStream dis)
		throws IOException {
		List objs = new ArrayList();
		int type = dis.readInt();
		while (type != TYPE_NULL) {
			int length = dis.readInt();
			int id = dis.readInt();
			objs.add(new ObjectElement(type, length, id, readPropertiesElement(dis)));
			type = dis.readInt();
		}
		return (ObjectElement[]) objs.toArray(new ObjectElement[0]);
	}

	//49-----------------------------------------------
	public static final ObjectElement readObjectElement(DataInputStream dis)
		throws IOException {

		ObjectElement result = null;
		int type = dis.readInt();
		int length = dis.readInt();
		int id = dis.readInt();
		result = new ObjectElement(type, length, id, readPropertiesElement(dis));
		return result;
	}
//49---------------------------------------------------
public static final PropertyElement[]
	readPropertiesElement(DataInputStream dis) throws IOException {
	List properties = new ArrayList();
	int type = dis.readInt();
	int length;
	while (type != PROPERTY_NULL) {
		length = dis.readInt();
		properties.add(new PropertyElement(type, length, propertyValue(type,length,dis)));
		type = dis.readInt();
	}
	return (PropertyElement[]) properties.toArray(new PropertyElement[0]);
}


//49---------------------------------------------------
private static final int[] propertyValue(int type, int length, DataInputStream dis)
	throws IOException {
	if (length == 4)                 // 4: sizeof(int)
		return new int[] { readIntElement(dis) };

	else if (length > 4)
		return readListElement(dis);

	return readIDsElement(dis);
}

//49---------------------------------------------------
private static final int readIntElement(DataInputStream dis)
	throws IOException {
		int el = dis.readInt();

	return el;
}

//49---------------------------------------------------
private static final int[] readListElement(DataInputStream dis)
	throws IOException {
	int size = dis.readInt();
	int[] result = new int[size];  // 4: sizeof(int)

	for (int i = 0; i < result.length; i ++)
	{
		result[i] = dis.readInt();
	}
	return result;
}
//
//    public static final ObjectElement[] readObjectsElement(DataInputStream dis)
//        throws IOException {
//        List objs = new ArrayList();
//        int type = dis.readInt();
//        while (type != TYPE_NULL) {
//            int id = dis.readInt();
//            objs.add(new ObjectElement(type, id, readPropertiesElement(dis)));
//            type = dis.readInt();
//        }
//        return (ObjectElement[]) objs.toArray(new ObjectElement[0]);
//    }
//
//    public static final PropertyElement[]
//        readPropertiesElement(DataInputStream dis) throws IOException {
//        List properties = new ArrayList();
//        int type = dis.readInt();
//        while (type != PROPERTY_NULL) {
//            properties.add(new PropertyElement(type, propertyValue(type,dis)));
//            type = dis.readInt();
//        }
//        return (PropertyElement[]) properties.toArray(new PropertyElement[0]);
//    }
//
//    private static final int[] propertyValue(int type, DataInputStream dis)
//        throws IOException {
//        if (type < 0x80)
//            return new int[] { readIntElement(dis) };
//        if (type < 0xc0)
//            return readListElement(dis);
//        return readIDsElement(dis);
//    }
//
//    private static final int readIntElement(DataInputStream dis)
//        throws IOException {
//        return dis.readInt();
//    }
//
//    private static final int[] readListElement(DataInputStream dis)
//        throws IOException {
//        int[] result = new int[dis.readInt() / 4];  // 4: sizeof(int)
//        for (int i = 0; i < result.length; i ++)
//            result[i] = dis.readInt();
//        return result;
//    }

    private static final int[] m_buf = new int[1024];
    private static final int[] readIDsElement(DataInputStream dis)
        throws IOException {
        int i = -1;
        do {
            m_buf[++ i] = dis.readInt();
        } while (m_buf[i] != 0);
        int[] result = new int[i];
        System.arraycopy(m_buf, 0, result, 0, i);
        return result;
    }

    public static final String readStringElement(DataInputStream dis)
        throws IOException {
        byte[] buf = new byte[dis.readInt()];
        dis.read(buf, 0, buf.length);
        int size = (buf.length + 3) & ~3;
        //dis.skip(size - buf.length); // See also the writeStringElement method
        return new String(buf);
    }

    public static final byte[] readByteElement (DataInputStream dis)
            throws IOException
    {
        byte[] buf = new byte[dis.readInt ()];
        dis.read (buf, 0, buf.length);
        int size = (buf.length + 3) & ~3;
        //dis.skip (size - buf.length); // See also the writeStringElement method
        return buf;
    }
}