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Simulator.cc Go to the documentation of this file. #include "Simulator.h" #include "Main.h" #include "Motion.h" #include "sim.h" #include "Shared/string_util.h" #include "Shared/RobotInfo.h" #include "SimConfig.h" #include "Shared/debuget.h" #include "Shared/MarkScope.h" #include "IPC/MessageReceiver.h" #include "IPC/RegionRegistry.h" #include "local/DataSources/FileSystemDataSource.h" #include "local/DataSources/FileSystemImageSource.h" #include "local/CommPort.h" #include "local/DeviceDriver.h" #include <iostream> #include <libxml/tree.h> #ifndef DISABLE_READLINE # include <readline/readline.h> # include <readline/history.h> #endif using namespace std; const float Simulator::avgSpeedupGamma=.99; Simulator* Simulator::theSim=NULL; std::set<MotionHook*> Simulator::motionHooks; Simulator::Simulator() : Process(getID(),getClassName()), plist::PrimitiveListener(), plist::CollectionListener(), MessageQueueStatusThread::StatusListener(), frameCounter(), cmdThread(), cameraQueue(ipc_setup->registerRegion(Simulator::getCameraQueueID(),sizeof(sim::CameraQueue_t))), sensorQueue(ipc_setup->registerRegion(Simulator::getSensorQueueID(),sizeof(sim::SensorQueue_t))), timerWakeup(ipc_setup->registerRegion(Simulator::getTimerWakeupID(),sizeof(sim::TimerWakeup_t))), motionWakeup(ipc_setup->registerRegion(Simulator::getMotionWakeupID(),sizeof(sim::MotionWakeup_t))), statusRequest(ipc_setup->registerRegion(Simulator::getStatusRequestID(),sizeof(sim::StatusRequest_t))), events(ipc_setup->registerRegion(Main::getEventsID(),sizeof(sim::EventQueue_t))), motionout(ipc_setup->registerRegion(Motion::getMotionOutputID(),sizeof(sim::MotionOutput_t))), commandQueue(ipc_setup->registerRegion(Simulator::getCommandQueueID(),sizeof(CommandQueue_t))), cameraStatus(*cameraQueue), sensorStatus(*sensorQueue), timerStatus(*timerWakeup), motionStatus(*motionWakeup), eventsStatus(), commandrecv(NULL), motionrecv(NULL), vision(&DeviceDriver::getImageSources,30, *cameraQueue), sensors(&DeviceDriver::getSensorSources,1000.f/NumFrames/FrameTime, *sensorQueue), frameTimes(), runSpeed(1), lastTimeScale(0), step(STEP_NONE), waitingSteps(0), curLevel(SharedGlobals::CONSTRUCTING), fullspeedWallStart(), fullspeedSimStart(), lastFrameWallStart(), avgWallTime(), avgSimTime(), simLock() { theSim=this; new (&(*cameraQueue)) sim::CameraQueue_t; new (&(*sensorQueue)) sim::SensorQueue_t; new (&(*timerWakeup)) sim::TimerWakeup_t; new (&(*motionWakeup)) sim::MotionWakeup_t; new (&(*statusRequest)) sim::StatusRequest_t; new (&(*commandQueue)) CommandQueue_t; statusRequest->setOverflowPolicy(MessageQueueBase::WAIT); commandQueue->setOverflowPolicy(MessageQueueBase::WAIT); DeviceDriver::getRegistry().addCollectionListener(this); /* Since we do a two stage loading (some stuff in sim.cc launcher, then some command line * stuff, then the rest of it now that we're loaded), this is a little tricker than it normally would be. */ // don't remove entries from parse tree, we're going to be adding more and want their values... sim::config.setSavePolicy(plist::Collection::UNION); // write out the current values for entries we do have, which may have been modified since originally loaded sim::config.writeParseTree(); // now add the rest of our entries (could just get away with addEntry()'s, but this function is a little more robust) replaceEntry("CommPorts",CommPort::getRegistry(),"Communication portals for use by device drivers"); replaceEntry("Drivers",DeviceDriver::getRegistry(),"Settings for device drivers"); replaceEntry("Sensors",sensors,"Settings for the loading of sensor values"); replaceEntry("Vision",vision,"Settings for the loading of camera frames"); // now we're done adding entries, so if there's anything extra in the file, make note of it sim::config.setUnusedWarning(true); // reload from parse tree to get values for these new entries sim::config.readParseTree(); // any future saves should be strict and remove those unused values (...maybe?) sim::config.setSavePolicy(plist::Collection::SYNC); motionWakeup->setOverflowPolicy(MessageQueueBase::DROP_OLDEST); timerWakeup->setOverflowPolicy(MessageQueueBase::DROP_OLDEST); cameraQueue->setOverflowPolicy(MessageQueueBase::DROP_OLDEST); sensorQueue->setOverflowPolicy(MessageQueueBase::DROP_OLDEST); sensorQueue->addMessageFilter(frameCounter); //handle arguments passed from command line vector<vector<string> > delayed; // will delay setting data queue sources until after other arguments for(unsigned int i=0; i<sim::cmdlineArgs.size(); i++) { if(sim::cmdlineArgs[i].find(".Source=")==string::npos) { if(!processCommand(sim::cmdlineArgs[i],false)) cerr << "Occurred while processing " << sim::cmdlineArgs[i] << endl; } else { vector<string> setarg; setarg.push_back("set"); setarg.push_back(sim::cmdlineArgs[i]); delayed.push_back(setarg); // delay setting of source until after options like Frozen or Speed have been set } } for(unsigned int i=0; i<delayed.size(); i++) { //this avoids dropping initial frame(s) //if we had set the source before freezing or pausing, might've dropped something between them if(!cmdSet(delayed[i])) cerr << "Occurred while processing " << delayed[i][1] << endl; } // if we were supposed to start up paused, reset clock now that we've set the speed if(globals->timeScale<=0) globals->resetBootTime(); globals->timeScale.addPrimitiveListener(this); globals->motion.verbose.addPrimitiveListener(this); cmdThread.start(); if(sim::config.tgtRunlevel>SharedGlobals::RUNNING) globals->signalShutdown(); processRunlevel(SharedGlobals::CONSTRUCTING); } Simulator::~Simulator() { DeviceDriver::getRegistry().clear(); CommPort::getRegistry().clear(); DeviceDriver::getRegistry().removeCollectionListener(this); globals->timeScale.removePrimitiveListener(this); globals->motion.verbose.removePrimitiveListener(this); processRunlevel(SharedGlobals::DESTRUCTING); //::close(STDIN_FILENO); // seems to prevent proper terminal reset on exit... } void Simulator::DoStart() { Process::DoStart(); eventsStatus.setMessageQueue(*events); commandrecv = new MessageReceiver(*commandQueue, gotCommand); class : public Thread { public: virtual void* run() { Simulator::setMotionStarting(); return NULL; } } doStartThread; cmdThread.runInitThread(doStartThread); processRunlevel(SharedGlobals::STARTING); } void Simulator::run() { for(unsigned int i=0; i<ProcessID::NumProcesses; ++i) cout << globals->processNames[i] << " pid=" << globals->pids[i] << "; "; cout << endl; if(globals->timeScale!=0) runSpeed=globals->timeScale; motionrecv = new MessageReceiver(*motionout, gotMotion); DataSource::setNeedsSensor(globals->waitForSensors); resetSpeedMode(); if(globals->timeScale<0) incrementTime(); if(globals->waitForSensors) { if(sensors.source.size()==0) { cout << "Ignoring WaitForSensors flag because Sensors has no source" << endl; } else { if(DeviceDriver::getRegistry().getInstance(sensors.source)==NULL) { cout << "Ignoring WaitForSensors flag because Sensors source is invalid" << endl; } else { class : public Thread { public: virtual void* run() { globals->waitSensors(); return NULL; } } waitSensorsThread; cmdThread.runInitThread(waitSensorsThread); } } } DataSource::setNeedsSensor(false); if(sim::config.tgtRunlevel==SharedGlobals::RUNNING) Process::run(); sensors.source=""; vision.source=""; if(sensors.isStarted()) sensors.stop(); if(vision.isStarted()) vision.stop(); if(globals->timeScale<0) { motionStatus.removeStatusListener(this); timerStatus.removeStatusListener(this); sensorStatus.removeStatusListener(this); cameraStatus.removeStatusListener(this); } globals->signalShutdown(); } void Simulator::plistValueChanged(const plist::PrimitiveBase& pl) { MarkScope l(simLock); if(&pl==&globals->timeScale) { get_time(); // force SharedGlobals to notice the change and update its state resetSpeedMode(); if(globals->timeScale<0) incrementTime(); timerWakeup->sendMessage(NULL); motionWakeup->sendMessage(NULL); } else if(&pl==&globals->motion.verbose) { for(std::set<MotionHook*>::iterator it=motionHooks.begin(); it!=motionHooks.end(); ++it) (*it)->setMotionHookVerbose(globals->motion.verbose); } else { cerr << "WARNING: Simulator got a plistValueChanged for an unknown plist primitive"; } } void Simulator::plistCollectionEntryAdded(plist::Collection& col, plist::ObjectBase& primitive) { MarkScope l(simLock); if(&col==&DeviceDriver::getRegistry()) { if(DeviceDriver * d=dynamic_cast<DeviceDriver*>(&primitive)) { if(MotionHook * mh = d->getMotionSink()) { mh->setMotionHookVerbose(globals->motion.verbose); motionHooks.insert(mh); if(curLevel==SharedGlobals::RUNNING) { mh->motionStarting(); if(globals->timeScale>0) mh->enteringRealtime(); } } } else { cerr << "WARNING: Simulator got a plistCollectionEntryAdded for an unknown primitive type"; } } else { cerr << "WARNING: Simulator got a plistCollectionEntryAdded for an unknown plist collection"; } } void Simulator::plistCollectionEntryRemoved(plist::Collection& col, plist::ObjectBase& primitive) { MarkScope l(simLock); if(&col==&DeviceDriver::getRegistry()) { if(DeviceDriver * d=dynamic_cast<DeviceDriver*>(&primitive)) { motionHooks.erase(d->getMotionSink()); } else { cerr << "WARNING: Simulator got a plistCollectionEntryRemoved for an unknown primitive type"; } } else { cerr << "WARNING: Simulator got a plistCollectionEntryRemoved for an unknown plist collection"; } } void Simulator::plistCollectionEntriesChanged(plist::Collection& col) { MarkScope l(simLock); if(&col==&DeviceDriver::getRegistry()) { std::set<MotionHook*> oldmh; motionHooks.swap(oldmh); for(DeviceDriver::registry_t::const_iterator it=DeviceDriver::getRegistry().begin(); it!=DeviceDriver::getRegistry().end(); ++it) { if(DeviceDriver * d=DeviceDriver::getRegistry().getInstance(it->first)) { if(MotionHook * mh = d->getMotionSink()) { mh->setMotionHookVerbose(globals->motion.verbose); motionHooks.insert(mh); if(oldmh.find(mh)==oldmh.end() && curLevel==SharedGlobals::RUNNING) { mh->motionStarting(); if(globals->timeScale>0) mh->enteringRealtime(); } } } else { cerr << "WARNING: In Simulator::plistCollectionEntriesChanged, driver " << it->first << " does not correspond to a known instance" << endl; } } } else { cerr << "WARNING: Simulator got a plistCollectionEntriesChanged for an unknown plist collection"; } } void Simulator::messagesRead(MessageQueueBase& mq, unsigned int /*n*/) { MarkScope l(simLock); if(globals->timeScale<0) { //clear corresponding bit in waitingSteps if(&mq==&(*cameraQueue)) { //cout << "Camera read, "; waitingSteps&=~(1<<STEP_CAMERA); } else if(&mq==&(*sensorQueue)) { //cout << "Sensor read, "; waitingSteps&=~(1<<STEP_SENSOR); } else if(&mq==&(*timerWakeup)) { //cout << "Timer read, "; waitingSteps&=~(1<<STEP_TIMER); } else if(&mq==&(*motionWakeup)) { //cout << "Motion read, "; waitingSteps&=~(1<<STEP_MOTION); } else if(&mq==&(*events)) { //cout << "Main read event queue (" << events->getMessagesUnread() << "remain), "; // nothing to do, just waiting for main to catch up before incrementing } else { cout << "Unknown message base read (either you meant to add some code to Simulator::messagesRead, or why did you bother to register a listener?)" << endl; } //cout << " waiting " << waitingSteps << " events " << events->getMessagesUnread() << endl; if(waitingSteps==0 && events->getMessagesUnread()==0) //if that was the last one we were waiting for -- go for the next! incrementTime(); } } void Simulator::sendCommand(const std::string& cmd) { static unsigned int cmdSN=0; char msgname[30]; snprintf(msgname,30,"SimCommand.%d.%d",ProcessID::getID(),cmdSN++); RCRegion * msg = new RCRegion(msgname,cmd.size()); strcpy(msg->Base(),cmd.c_str()); SharedObject<CommandQueue_t> commandQ(ipc_setup->registerRegion(Simulator::getCommandQueueID(),sizeof(CommandQueue_t))); commandQ->sendMessage(msg,true); } void Simulator::setMotionStarting() { // don't need lock, this is only called during single-threaded operation (DoStart()) //MarkScope l(theSim ? dynamic_cast<Resource&>(theSim->simLock) : ::emptyResource); for(std::set<MotionHook*>::iterator it=theSim->motionHooks.begin(); it!=theSim->motionHooks.end(); ++it) (*it)->motionStarting(); } void Simulator::setMotionStopping() { // don't need lock, this is only called during single-threaded operation (DoStop()) //MarkScope l(theSim ? dynamic_cast<Resource&>(theSim->simLock) : ::emptyResource); for(std::set<MotionHook*>::iterator it=theSim->motionHooks.begin(); it!=theSim->motionHooks.end(); ++it) (*it)->motionStopping(); } void Simulator::updateMotion(const float outputs[][NumOutputs]) { MarkScope l(theSim ? dynamic_cast<Resource&>(theSim->simLock) : ::emptyResource); for(std::set<MotionHook*>::iterator it=theSim->motionHooks.begin(); it!=theSim->motionHooks.end(); ++it) (*it)->motionCheck(outputs); } void Simulator::setMotionLeavingRealtime(bool isFullSpeed) { MarkScope l(theSim ? dynamic_cast<Resource&>(theSim->simLock) : ::emptyResource); for(std::set<MotionHook*>::iterator it=theSim->motionHooks.begin(); it!=theSim->motionHooks.end(); ++it) (*it)->leavingRealtime(isFullSpeed); } void Simulator::setMotionEnteringRealtime() { MarkScope l(theSim ? dynamic_cast<Resource&>(theSim->simLock) : ::emptyResource); for(std::set<MotionHook*>::iterator it=theSim->motionHooks.begin(); it!=theSim->motionHooks.end(); ++it) (*it)->enteringRealtime(); } void Simulator::DoStop() { if(sensors.isStarted() || vision.isStarted()) sleep(1); if(sensors.isStarted() || vision.isStarted()) sleep(1); if(sensors.isStarted()) sensors.kill(); if(vision.isStarted()) vision.kill(); commandrecv->finish(); delete commandrecv; commandrecv=NULL; motionrecv->finish(); delete motionrecv; motionrecv=NULL; setMotionStopping(); processRunlevel(SharedGlobals::STOPPING); Process::DoStop(); } void* Simulator::CommandThread::run() { Simulator * simp=dynamic_cast<Simulator*>(Process::getCurrent()); ASSERTRETVAL(simp!=NULL,"CommandThread not in Simulator!",NULL); string prompt; // initially prompt is empty because it will be buried in startup text anyway // we'll display another prompt at the end of launch (or if user hits enter) while(true) { testCancel(); string line; #ifndef DISABLE_READLINE char* readin=readline(prompt.c_str()); if(readin==NULL) { cout << endl; simp->cmdQuit(vector<string>()); break; } line=readin; free(readin); #else cout << prompt << flush; getline(cin,line); if(!cin) { cout << endl; simp->cmdQuit(vector<string>()); break; } #endif simp->processCommand(line,true); prompt = sim::config.cmdPrompt; } return NULL; } void Simulator::CommandThread::cancelled() { #ifndef DISABLE_READLINE rl_reset_terminal(NULL); #endif } void Simulator::CommandThread::runInitThread(Thread& th) { initThread=&th; th.start(); th.join(); initThread=NULL; } void Simulator::resetSpeedMode() { if(globals->timeScale<=0) { if(vision.isStarted()) { vision.stop(); //vision.join(); // can't join because runfor/runto pause might be triggered within LoadFileThread's get_time() call } if(sensors.isStarted()) { sensors.stop(); //sensors.join(); // can't join because runfor/runto pause might be triggered within LoadFileThread's get_time() call } } else { if(sim::config.tgtRunlevel==SharedGlobals::RUNNING) { vision.start(); sensors.start(); } } if(lastTimeScale>0 && globals->timeScale<=0) { setMotionLeavingRealtime(globals->timeScale<0); } else if(lastTimeScale<=0 && globals->timeScale>0) { setMotionEnteringRealtime(); } if(globals->timeScale<0) { cameraQueue->setOverflowPolicy(MessageQueueBase::WAIT); sensorQueue->setOverflowPolicy(MessageQueueBase::WAIT); // these status listener calls check to prevent duplicate listeners cameraStatus.addStatusListener(this); sensorStatus.addStatusListener(this); timerStatus.addStatusListener(this); motionStatus.addStatusListener(this); eventsStatus.addStatusListener(this); fullspeedWallStart.Set(); fullspeedSimStart=globals->simulatorTime; lastFrameWallStart.Set(); avgWallTime=avgSimTime=0; } else { cameraQueue->setOverflowPolicy(MessageQueueBase::DROP_OLDEST); sensorQueue->setOverflowPolicy(MessageQueueBase::DROP_OLDEST); eventsStatus.removeStatusListener(this); motionStatus.removeStatusListener(this); timerStatus.removeStatusListener(this); sensorStatus.removeStatusListener(this); cameraStatus.removeStatusListener(this); } if(globals->timeScale==0) globals->setAutoPauseTime(-1U); lastTimeScale=globals->timeScale; } void Simulator::replaceEntry(const std::string& name, plist::Dictionary& d, const std::string& comment) { plist::Dictionary::const_iterator it = sim::config.findEntry(name); if(it==sim::config.end()) { sim::config.addEntry(name,d,comment); } else { d.set(*it->second); sim::config.setEntry(name,d); sim::config.setComment(name,comment); } } void Simulator::incrementTime() { MarkScope l(simLock); waitingSteps=getNextFrame(); if(waitingSteps==0) return; unsigned int next=*frameTimes.begin(); if(next>globals->simulatorTime) { unsigned int adv=next-globals->simulatorTime; avgWallTime=avgWallTime*avgSpeedupGamma + lastFrameWallStart.Age().Value()*(1-avgSpeedupGamma); avgSimTime=avgSimTime*avgSpeedupGamma + adv*(1-avgSpeedupGamma); lastFrameWallStart.Set(); //cout << "inc " << (avgSimTime/avgWallTime/1000) << " " << waitingSteps << endl; globals->simulatorTime=next; } if(waitingSteps & (1<<STEP_CAMERA)) vision.advanceFrame(false); if(waitingSteps & (1<<STEP_SENSOR)) sensors.advanceFrame(false); if(waitingSteps & (1<<STEP_TIMER)) timerWakeup->sendMessage(NULL); if(waitingSteps & (1<<STEP_MOTION)) motionWakeup->sendMessage(NULL); if(globals->getAutoPauseTime()<=globals->simulatorTime || (1<<step) & waitingSteps) { //that was the step we were waiting for, pause sim globals->timeScale=0; step=STEP_NONE; globals->setAutoPauseTime(-1U); } } unsigned int Simulator::getNextFrame() { frameTimes.clear(); /*set<unsigned int>::iterator past=frameTimes.begin(); while(past!=frameTimes.end() && *past<=globals->simulatorTime) past++; frameTimes.erase(frameTimes.begin(),past);*/ unsigned int vis = vision.frozen && !vision.heartbeat ? -1U : vision.nextTimestamp(); frameTimes.insert(vis); unsigned int sen = sensors.frozen && !sensors.heartbeat ? -1U : sensors.nextTimestamp(); frameTimes.insert(sen); unsigned int tim=globals->getNextTimer(); frameTimes.insert(tim); unsigned int mot=globals->getNextMotion(); frameTimes.insert(mot); unsigned int next=*frameTimes.begin(); //cout << "Testing: " << globals->simulatorTime << " => next camera: "<< vis << " next sensor: " << sen << " next timer: " << tim << " next motion: " << mot << " => " << next << endl; unsigned int steps=0; if(next!=-1U) { if(next==vis) { steps |= 1<<STEP_CAMERA; } if(next==sen) { steps |= 1<<STEP_SENSOR; } if(next==tim) { steps |= 1<<STEP_TIMER; } if(next==mot) { steps |= 1<<STEP_MOTION; } } return steps; } void Simulator::processRunlevel(SharedGlobals::runlevel_t curRunLevel) { curLevel=curRunLevel; if(sim::config.tgtRunlevel==curLevel && (!globals->isShutdown() || curLevel>SharedGlobals::RUNNING)) cout << sim::config.cmdPrompt << flush; while(sim::config.tgtRunlevel==curLevel && (!globals->isShutdown() || curLevel>SharedGlobals::RUNNING)) { usleep(500000); // recheck status every half second } } bool Simulator::processCommand(const std::string& line, bool addToHistory) { vector<string> args; vector<unsigned int> offs; if(!string_util::parseArgs(line,args,offs)) { cerr << "Mismatched quotes" << endl; return false; } if(args.size()==0) return true; #ifndef DISABLE_READLINE /* if(current_history()==NULL) cout << "current_history()==NULL" << endl; else if(current_history()->line==NULL) cout << "line == NULL" << endl; else if(line!=current_history()->line) cout << "line is different" << endl; else { cout << "not added" << endl; cout << "new line: " << line << endl; cout << "old line: " << current_history()->line << endl; } if(history_get(-1)==NULL) cout << "history_get(0)==NULL" << endl; else if(history_get(-1)->line==NULL) cout << "line 0 == NULL" << endl; else { cout << "line 0: " << history_get(-1)->line << endl; if(line!=history_get(-1)->line) cout << "line 0 is different" << endl; else cout << "0 not added" << endl; } */ if(addToHistory && (current_history()==NULL || current_history()->line==NULL || line!=current_history()->line)) add_history(line.c_str()); #endif if(args[0]=="shutdown" || args[0]=="quit" || args[0]=="exit") { cmdQuit(args); } else if(args[0]=="load") { cmdLoad(args); } else if(args[0]=="save") { cmdSave(args); } else if(args[0]=="runlevel") { cmdRunlevel(args); } else if(args[0]=="get_time") { cout << "Current time is " << get_time() << endl; } else if(args[0]=="set") { cmdSet(args); } else if(args[0]=="runto") { cmdRun(args,false); } else if(args[0]=="runfor") { cmdRun(args,true); } else if(args[0]=="run" || args[0]=="r") { cmdRun(args); } else if(args[0]=="pause" || args[0]=="p") { cmdPause(args); } else if(args[0]=="help") { cmdHelp(args); } else if(args[0]=="step") { cmdStep(args); } else if(args[0]=="status") { cmdStatus(args); } else if(args[0]=="advance") { cmdAdvance(args); } else if(args[0]=="freeze") { cmdFreeze(true,args); } else if(args[0]=="unfreeze") { cmdFreeze(false,args); } else if(args[0]=="reset") { cmdReset(args); } else if(args[0]=="new") { cmdNew(args); } else if(args[0]=="delete") { cmdDelete(args); } else { unsigned int i; for(i=0; i<args.size(); ++i) { if(args[i].find("=")!=string::npos) { cmdSet(args); break; } } if(i==args.size()) { cout << "Unknown command '" << args[0] << "'" << endl; return false; } } return true; } bool Simulator::gotCommand(RCRegion* msg) { Simulator * simp=dynamic_cast<Simulator*>(Process::getCurrent()); ASSERTRETVAL(simp!=NULL,"gotCommand, but not within Simulator process!",true); simp->processCommand(msg->Base(),false); return true; } bool Simulator::gotMotion(RCRegion* msg) { #ifdef DEBUG Simulator * simp=dynamic_cast<Simulator*>(Process::getCurrent()); ASSERTRETVAL(simp!=NULL,"gotMotion, but not within Simulator process!",true); #endif updateMotion(reinterpret_cast<float(*)[NumOutputs]>(msg->Base())); return true; } void Simulator::cmdQuit(const std::vector<std::string>& /*args*/) { sim::config.tgtRunlevel=SharedGlobals::DESTRUCTED; globals->signalShutdown(); cmdThread.abortInitThread(); } void Simulator::cmdLoad(const std::vector<std::string>& args) { if(args.size()>1) for(unsigned int i=1; i<args.size(); i++) { cout << "Loading from " << args[i] << "... " << flush; size_t res=sim::config.loadFile(args[i].c_str()); cout << (res>0 ? "done." : "load failed.") << endl; }