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Config.cc Go to the documentation of this file. #include "Shared/Config.h" #include "Shared/ProjectInterface.h" #include "Behaviors/Mon/RawCamBehavior.h" #include "Vision/RawCameraGenerator.h" #include "Vision/SegmentedColorGenerator.h" #include <stdio.h> #include <string> #include <cstring> #include <ctype.h> #include "Wireless/Socket.h" #ifdef PLATFORM_APERIOS # include <OPENR/OPrimitiveControl.h> # include <OPENR/OPENRAPI.h> #else #include <sys/param.h> #include <unistd.h> typedef unsigned int OSpeakerVolume; const OSpeakerVolume ospkvolinfdB = 0x8000; const OSpeakerVolume ospkvol25dB = 0xe700; const OSpeakerVolume ospkvol18dB = 0xee00; const OSpeakerVolume ospkvol10dB = 0xf600; #endif using namespace std; Config* config=NULL; void Config::setFileSystemRoot(const std::string& fsr) { #ifdef PLATFORM_APERIOS if(fsr[0]=='/') fsRoot="/ms"+fsr; else fsRoot="/ms/"+fsr; #else char buf[MAXPATHLEN+2]; if(getcwd(buf,MAXPATHLEN+2)==NULL) perror("Config::setFileSystemRoot(): getcwd"); buf[MAXPATHLEN+1]='\0'; std::string sbuf(buf); if(sbuf[sbuf.size()-1]!='/' && fsr[0]!='/') fsRoot=sbuf+'/'+fsr; else if(sbuf[sbuf.size()-1]=='/' && fsr[0]=='/') fsRoot=sbuf+fsr.substr(1); else fsRoot=sbuf+fsr; #endif } std::string Config::portPath(const std::string& path) const { if(fsRoot.size()==0) return path; if(path.size()==0) return fsRoot; if(path.substr(0,fsRoot.size())==fsRoot) return path; else if(fsRoot[fsRoot.size()-1]=='/') { if(path[0]!='/') return fsRoot+path; else return fsRoot+path.substr(1); } else { if(path[0]!='/') return fsRoot+'/'+path; else return fsRoot+path; } } void* Config::setValue(section_t section, const char *key, const char *value, bool /*updated*/) { switch (section) { case sec_wireless: if (strncasecmp(key,"id",29)==0) { wireless.id=atoi(value); return &wireless.id; } break; case sec_vision: if (strncasecmp(key,"white_balance",29)==0) { if (strncasecmp(value,"indoor",49)==0) { vision.white_balance=1; } else if (strncasecmp(value,"flourescent",49)==0) { std::cout << "Your tekkotsu.cfg file uses deprecated 'flourescent' (misspelled) -- use 'fluorescent' instead" << std::endl; vision.white_balance=3; } else if (strncasecmp(value,"fluorescent",49)==0) { vision.white_balance=3; } else if (strncasecmp(value,"outdoor",49)==0) { vision.white_balance=2; } #ifdef PLATFORM_APERIOS //this will actually send the new setting to the system OPrimitiveID fbkID = 0; if(OPENR::OpenPrimitive(CameraLocator, &fbkID) != oSUCCESS){ std::cout << "Open FbkImageSensor failure." << std::endl; } else { OPrimitiveControl_CameraParam owb(vision.white_balance); if(OPENR::ControlPrimitive(fbkID, oprmreqCAM_SET_WHITE_BALANCE, &owb, sizeof(owb), 0, 0) != oSUCCESS){ std::cout << "CAM_SET_WHITE_BALANCE : Failed!" << std::endl; } OPENR::ClosePrimitive(fbkID); } #endif return &vision.white_balance; } else if (strncasecmp(key,"gain",29)==0) { if (strncasecmp(value,"low",49)==0) { vision.gain=1; } else if (strncasecmp(value,"mid",49)==0) { vision.gain=2; } else if (strncasecmp(value,"high",49)==0) { vision.gain=3; } #ifdef PLATFORM_APERIOS //this will actually send the new setting to the system OPrimitiveID fbkID = 0; if(OPENR::OpenPrimitive(CameraLocator, &fbkID) != oSUCCESS){ std::cout << "Open FbkImageSensor failure." << std::endl; } else { OPrimitiveControl_CameraParam ogain(vision.gain); if(OPENR::ControlPrimitive(fbkID, oprmreqCAM_SET_GAIN, &ogain, sizeof(ogain), 0, 0) != oSUCCESS) std::cout << "CAM_SET_GAIN : Failed!" << std::endl; OPENR::ClosePrimitive(fbkID); } #endif return &vision.gain; } else if (strncasecmp(key,"shutter_speed",29)==0) { if (strncasecmp(value,"slow",49)==0) { vision.shutter_speed=1; } else if (strncasecmp(value,"mid",49)==0) { vision.shutter_speed=2; } else if (strncasecmp(value,"fast",49)==0) { vision.shutter_speed=3; } #ifdef PLATFORM_APERIOS //this will actually send the new setting to the system OPrimitiveID fbkID = 0; if(OPENR::OpenPrimitive(CameraLocator, &fbkID) != oSUCCESS){ std::cout << "Open FbkImageSensor failure." << std::endl; } else { OPrimitiveControl_CameraParam oshutter(vision.shutter_speed); if(OPENR::ControlPrimitive(fbkID,oprmreqCAM_SET_SHUTTER_SPEED, &oshutter, sizeof(oshutter), 0, 0) != oSUCCESS) std::cout << "CAM_SET_SHUTTER_SPEED : Failed!" << std::endl; OPENR::ClosePrimitive(fbkID); } #endif return &vision.shutter_speed; } else if (strncasecmp(key,"resolution",29)==0) { if (strncasecmp(value,"full",49)==0) { vision.resolution=1; } else if (strncasecmp(value,"half",49)==0) { vision.resolution=2; } else if (strncasecmp(value,"quarter",49)==0) { vision.resolution=3; } return &vision.resolution; } else if (strncasecmp(key,"thresh",29)==0) { vision.thresh.push_back(value); return &vision.thresh; } else if (strncasecmp(key,"colors",29)==0) { strncpy(vision.colors,value,49); return &vision.colors; } else if (strncasecmp(key,"rawcam_port",29)==0 || strncasecmp(key,"raw_port",29)==0) { if(strncasecmp(key,"raw_port",29)==0) std::cout << "Your tekkotsu.cfg file uses deprecated raw_port -- use rawcam_port instead" << std::endl; vision.rawcam_port=atoi(value); return &vision.rawcam_port; } else if (strncasecmp(key,"rawcam_transport",29)==0 || strncasecmp(key,"raw_transport",29)==0) { if(strncasecmp(key,"raw_transport",29)==0) std::cout << "Your tekkotsu.cfg file uses deprecated raw_transport -- use rawcam_transport instead" << std::endl; if (strncasecmp(value,"udp",49)==0) vision.rawcam_transport=0; else if (strncasecmp(value,"tcp",49)==0) vision.rawcam_transport=1; return &vision.rawcam_transport; } else if (strncasecmp(key,"rawcam_interval",29)==0) { vision.rawcam_interval=(unsigned int)atoi(value); return &vision.rawcam_interval; } else if (strncasecmp(key,"segcam_port",29)==0 || strncasecmp(key,"rle_port",29)==0) { if(strncasecmp(key,"rle_port",29)==0) std::cout << "Your tekkotsu.cfg file uses deprecated rle_port -- use segcam_port instead" << std::endl; vision.segcam_port=atoi(value); return &vision.segcam_port; } else if (strncasecmp(key,"segcam_transport",29)==0 || strncasecmp(key,"rle_transport",29)==0) { if(strncasecmp(key,"rle_transport",29)==0) std::cout << "Your tekkotsu.cfg file uses deprecated rle_transport -- use segcam_transport instead" << std::endl; if (strncasecmp(value,"udp",49)==0) vision.segcam_transport=0; else if (strncasecmp(value,"tcp",49)==0) vision.segcam_transport=1; return &vision.segcam_transport; } else if (strncasecmp(key,"segcam_interval",29)==0 || strncasecmp(key,"rle_interval",29)==0) { if(strncasecmp(key,"rle_interval",29)==0) std::cout << "Your tekkotsu.cfg file uses deprecated rle_interval -- use segcam_interval instead" << std::endl; vision.segcam_interval=(unsigned int)atoi(value); return &vision.segcam_interval; } else if (strncasecmp(key,"region_port",29)==0) { vision.region_port=atoi(value); return &vision.region_port; } else if (strncasecmp(key,"region_transport",29)==0) { if (strncasecmp(value,"udp",49)==0) vision.region_transport=0; else if (strncasecmp(value,"tcp",49)==0) vision.region_transport=1; return &vision.region_transport; } else if (strncasecmp(key,"obj_port",29)==0) { vision.obj_port=atoi(value); return &vision.obj_port; } else if (strncasecmp(key,"restore_image",29)==0) { vision.restore_image=atoi(value); return &vision.restore_image; } else if (strncasecmp(key,"region_calc_total",29)==0) { vision.region_calc_total=atoi(value); return &vision.region_calc_total; } else if (strncasecmp(key,"jpeg_dct_method",29)==0) { if (strncasecmp(value,"islow",49)==0) { vision.jpeg_dct_method=JDCT_ISLOW; } else if (strncasecmp(value,"ifast",49)==0) { vision.jpeg_dct_method=JDCT_IFAST; } else if (strncasecmp(value,"float",49)==0) { vision.jpeg_dct_method=JDCT_FLOAT; } return &vision.jpeg_dct_method; } else if (strncasecmp(key,"rawcam_encoding",29)==0) { if (strncasecmp(value,"color",49)==0) { vision.rawcam_encoding=vision_config::ENCODE_COLOR; vision.rawcam_channel=RawCameraGenerator::CHAN_Y; } else if (strncasecmp(value,"y_only",49)==0) { vision.rawcam_encoding=vision_config::ENCODE_SINGLE_CHANNEL; vision.rawcam_channel=RawCameraGenerator::CHAN_Y; } else if (strncasecmp(value,"uv_only",49)==0) { vision.rawcam_encoding=vision_config::ENCODE_COLOR; vision.rawcam_channel=-1; } else if (strncasecmp(value,"u_only",49)==0) { vision.rawcam_encoding=vision_config::ENCODE_SINGLE_CHANNEL; vision.rawcam_channel=RawCameraGenerator::CHAN_U; } else if (strncasecmp(value,"v_only",49)==0) { vision.rawcam_encoding=vision_config::ENCODE_SINGLE_CHANNEL; vision.rawcam_channel=RawCameraGenerator::CHAN_V; } else if (strncasecmp(value,"y_dx_only",49)==0) { vision.rawcam_encoding=vision_config::ENCODE_SINGLE_CHANNEL; vision.rawcam_channel=RawCameraGenerator::CHAN_Y_DX; } else if (strncasecmp(value,"y_dy_only",49)==0) { vision.rawcam_encoding=vision_config::ENCODE_SINGLE_CHANNEL; vision.rawcam_channel=RawCameraGenerator::CHAN_Y_DY; } else if (strncasecmp(value,"y_dxdy_only",49)==0) { vision.rawcam_encoding=vision_config::ENCODE_SINGLE_CHANNEL; vision.rawcam_channel=RawCameraGenerator::CHAN_Y_DXDY; } return &vision.rawcam_encoding; } else if (strncasecmp(key,"rawcam_compression",29)==0) { if (strncasecmp(value,"none",49)==0) { vision.rawcam_compression=vision_config::COMPRESS_NONE; } else if (strncasecmp(value,"jpeg",49)==0) { vision.rawcam_compression=vision_config::COMPRESS_JPEG; } else if (strncasecmp(value,"png",49)==0) { vision.rawcam_compression=vision_config::COMPRESS_PNG; } return &vision.rawcam_compression; } else if (strncasecmp(key,"rawcam_compress_quality",29)==0) { vision.rawcam_compress_quality=atoi(value); return &vision.rawcam_compress_quality; } else if (strncasecmp(key,"rawcam_y_skip",29)==0) { vision.rawcam_y_skip=atoi(value); if(ProjectInterface::defRawCameraGenerator!=NULL && vision.rawcam_y_skip>(int)ProjectInterface::defRawCameraGenerator->getNumLayers()-1) vision.rawcam_y_skip=ProjectInterface::defRawCameraGenerator->getNumLayers()-1; return &vision.rawcam_y_skip; } else if (strncasecmp(key,"rawcam_uv_skip",29)==0) { vision.rawcam_uv_skip=atoi(value); if(ProjectInterface::defRawCameraGenerator!=NULL && vision.rawcam_uv_skip>(int)ProjectInterface::defRawCameraGenerator->getNumLayers()-1) vision.rawcam_uv_skip=ProjectInterface::defRawCameraGenerator->getNumLayers()-1; return &vision.rawcam_uv_skip; } else if (strncasecmp(key,"segcam_skip",29)==0 || strncasecmp(key,"rlecam_skip",29)==0) { if(strncasecmp(key,"rlecam_skip",29)==0) std::cout << "Your tekkotsu.cfg file uses deprecated rlecam_skip -- use segcam_skip instead" << std::endl; vision.segcam_skip=atoi(value); if(ProjectInterface::defSegmentedColorGenerator!=NULL && vision.segcam_skip>(int)ProjectInterface::defSegmentedColorGenerator->getNumLayers()-1) vision.segcam_skip=ProjectInterface::defSegmentedColorGenerator->getNumLayers()-1; return &vision.segcam_skip; } else if (strncasecmp(key,"segcam_channel",29)==0 || strncasecmp(key,"rlecam_channel",29)==0) { if(strncasecmp(key,"rlecam_channel",29)==0) std::cout << "Your tekkotsu.cfg file uses deprecated rlecam_channel -- use segcam_channel instead" << std::endl; vision.segcam_channel=atoi(value); return &vision.segcam_channel; } else if (strncasecmp(key,"segcam_compression",29)==0 || strncasecmp(key,"rlecam_compression",29)==0) { if(strncasecmp(key,"rlecam_compression",29)==0) std::cout << "Your tekkotsu.cfg file uses deprecated rlecam_compression -- use segcam_compression instead" << std::endl; if (strncasecmp(value,"none",49)==0) { vision.segcam_compression=vision_config::COMPRESS_NONE; } else if (strncasecmp(value,"rle",49)==0) { vision.segcam_compression=vision_config::COMPRESS_RLE; } else if (strncasecmp(value,"png",49)==0) { vision.segcam_compression=vision_config::COMPRESS_PNG; } return &vision.segcam_compression; } else if (strncasecmp(key,"regioncam_skip",29)==0) { vision.regioncam_skip=atoi(value); return &vision.regioncam_skip; } else if (strncasecmp(key,"focal_len_x",29)==0) { vision.focal_len_x=atof(value); return &vision.focal_len_x; } else if (strncasecmp(key,"focal_len_y",29)==0) { vision.focal_len_y=atof(value); return &vision.focal_len_y; } else if (strncasecmp(key,"principle_point_x",29)==0) { vision.principle_point_x=atof(value); return &vision.principle_point_x; } else if (strncasecmp(key,"principle_point_y",29)==0) { vision.principle_point_y=atof(value); return &vision.principle_point_y; } else if (strncasecmp(key,"skew",29)==0) { vision.skew=atof(value); return &vision.skew; } else if (strncasecmp(key,"kc1_r2",29)==0) { vision.kc1_r2=atof(value); return &vision.kc1_r2; } else if (strncasecmp(key,"kc2_r4",29)==0) { vision.kc2_r4=atof(value); return &vision.kc2_r4; } else if (strncasecmp(key,"kc5_r6",29)==0) { vision.kc5_r6=atof(value); return &vision.kc5_r6; } else if (strncasecmp(key,"kc3_tan1",29)==0) { vision.kc3_tan1=atof(value); return &vision.kc3_tan1; } else if (strncasecmp(key,"kc4_tan2",29)==0) { vision.kc4_tan2=atof(value); return &vision.kc4_tan2; } else if (strncasecmp(key,"calibration_res_x",29)==0) { vision.calibration_res_x=atoi(value); return &vision.kc4_tan2; } else if (strncasecmp(key,"calibration_res_y",29)==0) { vision.calibration_res_y=atoi(value); return &vision.calibration_res_y; } break; case sec_main: if (strncasecmp(key,"seed_rng",29)==0) { main.seed_rng=atoi(value); return &main.console_port; } else if (strncasecmp(key,"console_port",29)==0) { main.console_port=atoi(value); return &main.console_port; } else if (strncasecmp(key,"consoleMode",29)==0) { if (strncasecmp(value,"controller",49)==0) { main.consoleMode=main_config::CONTROLLER; } else if (strncasecmp(value,"textmsg",49)==0) { main.consoleMode=main_config::TEXTMSG; } else if (strncasecmp(value,"auto",49)==0) { main.consoleMode=main_config::AUTO; } return &main.consoleMode; } else if (strncasecmp(key,"stderr_port",29)==0) { main.stderr_port=atoi(value); return &main.stderr_port; } else if (strncasecmp(key,"error_level",29)==0) { main.error_level=atoi(value); return &main.error_level; } else if (strncasecmp(key,"debug_level",29)==0) { main.debug_level=atoi(value); return &main.debug_level; } else if (strncasecmp(key,"verbose_level",29)==0) { main.verbose_level=atoi(value); return &main.verbose_level; } else if (strncasecmp(key,"wsjoints_port",29)==0) { main.wsjoints_port=atoi(value); return &main.wsjoints_port; } else if (strncasecmp(key,"wspids_port",29)==0) { main.wspids_port=atoi(value); return &main.wspids_port; } else if (strncasecmp(key,"headControl_port",29)==0) { main.headControl_port=atoi(value); return &main.headControl_port; } else if (strncasecmp(key,"walkControl_port",29)==0) { main.walkControl_port=atoi(value); return &main.walkControl_port; } else if (strncasecmp(key,"estopControl_port",29)==0) { main.estopControl_port=atoi(value); return &main.estopControl_port; } else if (strncasecmp(key,"aibo3d_port",29)==0) { main.aibo3d_port=atoi(value); return &main.aibo3d_port; } else if (strncasecmp(key,"wmmonitor_port",29)==0) { main.wmmonitor_port=atoi(value); return &main.wmmonitor_port; } else if (strncasecmp(key,"use_VT100",29)==0) { main.use_VT100=extractBool(value); return &main.use_VT100; } break; case sec_behaviors: if (strncasecmp(key,"flash_bytes",29)==0) { behaviors.flash_bytes = atoi(value); return &behaviors.flash_bytes; } else if (strncasecmp(key,"flash_on_start",29)==0) { behaviors.flash_on_start = atoi(value); return &behaviors.flash_on_start; } break; case sec_controller: if (strncasecmp(key,"gui_port",29)==0) { controller.gui_port = atoi(value); return &controller.gui_port ; } else if (strncasecmp(key,"select_snd",29)==0) { strncpy(controller.select_snd,value,49); return &controller.select_snd; } else if (strncasecmp(key,"next_snd",29)==0) { strncpy(controller.next_snd,value,49); return &controller.next_snd; } else if (strncasecmp(key,"prev_snd",29)==0) { strncpy(controller.prev_snd,value,49); return &controller.prev_snd; } else if (strncasecmp(key,"read_snd",29)==0) { strncpy(controller.read_snd,value,49); return &controller.read_snd; } else if (strncasecmp(key,"cancel_snd",29)==0) { strncpy(controller.cancel_snd,value,49); return &controller.cancel_snd; } else if (strncasecmp(key,"error_snd",29)==0) { strncpy(controller.error_snd,value,49); return &controller.error_snd; } break; case sec_motion: if (strncasecmp(key,"root",29)==0) { motion.root=value; return &motion.root; } else if (strncasecmp(key,"walk",29)==0) { motion.walk=value; return &motion.walk; } else if (strncasecmp(key,"kinematics",29)==0) { motion.kinematics=value; return &motion.walk; } else if (strncasecmp(key,"kinematic_chains",29)==0) { motion.kinematic_chains.push_back(value); return &motion.kinematic_chains; } else if (strncasecmp(key,"calibrate:",10)==0) { for(unsigned int i=PIDJointOffset; i<PIDJointOffset+NumPIDJoints; i++) if(strncasecmp(&key[10],outputNames[i],outputNameLen+1)==0) { //+1 to ensure full match motion.calibration[i-PIDJointOffset] = atof(value); return &motion.calibration[i]; } std::cout << "WARNING: Could not match '" << (strlen(key)>10?&key[10]:key) << "' as calibration parameter" << std::endl; return NULL; } else if (strncasecmp(key,"estop_on_snd",29)==0) { strncpy(motion.estop_on_snd,value,49); return &motion.estop_on_snd; } else if (strncasecmp(key,"estop_off_snd",29)==0) { strncpy(motion.estop_off_snd,value,49); return &motion.estop_off_snd; } else if (strncasecmp(key,"max_head_tilt_speed",29)==0) { motion.max_head_tilt_speed=atof(value); return &motion.max_head_tilt_speed; } else if (strncasecmp(key,"max_head_pan_speed",29)==0) { motion.max_head_pan_speed=atof(value); return &motion.max_head_pan_speed; } else if (strncasecmp(key,"max_head_roll_speed",29)==0) { motion.max_head_roll_speed=atof(value); return &motion.max_head_roll_speed; } else if (strncasecmp(key,"inf_walk_accel",29)==0) { motion.inf_walk_accel = atoi(value); return &motion.inf_walk_accel; } else if (strncasecmp(key,"console_port",29)==0) { motion.console_port = atoi(value); return &motion.console_port; } else if (strncasecmp(key,"stderr_port",29)==0) { motion.stderr_port = atoi(value); return &motion.stderr_port ; } break; case sec_sound: if (strncasecmp(key,"root",29)==0) { sound.root=value; return &sound.root; } else if (strncasecmp(key,"volume",29)==0) { if(strncasecmp(value,"mute",49)==0) sound.volume=ospkvolinfdB; else if(strncasecmp(value,"level_1",49)==0) sound.volume=ospkvol25dB; else if(strncasecmp(value,"level_2",49)==0) sound.volume=ospkvol18dB; else if(strncasecmp(value,"level_3",49)==0) sound.volume=ospkvol10dB; else return NULL; return &sound.volume; } else if (strncasecmp(key,"sample_rate",29)==0) { sound.sample_rate = atoi(value); return &sound.sample_rate ; } else if (strncasecmp(key,"sample_bits",29)==0) { sound.sample_bits = atoi(value); return &sound.sample_bits ; } else if (strncasecmp(key,"preload",29)==0) { sound.preload.push_back(value); return &sound.preload ; } else if (strncasecmp(key,"pitchConfidenceThreshold",29)==0) { sound.pitchConfidenceThreshold=atof(value); return &sound.pitchConfidenceThreshold ; } else if (strncasecmp(key,"streaming.mic_port",29)==0) { sound.streaming.mic_port = atoi(value); return &sound.streaming.mic_port; } else if (strncasecmp(key,"streaming.mic_sample_rate",29)==0) { sound.streaming.mic_sample_rate = atoi(value); return &sound.streaming.mic_sample_rate; } else if (strncasecmp(key,"streaming.mic_bits",29)==0) { sound.streaming.mic_sample_bits = atoi(value); return &sound.streaming.mic_sample_bits; } else if (strncasecmp(key,"streaming.mic_stereo",29)==0) { sound.streaming.mic_stereo = extractBool(value); return &sound.streaming.mic_stereo; } else if (strncasecmp(key,"streaming.speaker_port",29)==0) { sound.streaming.speaker_port = atoi(value); return &sound.streaming.speaker_port; } else if (strncasecmp(key,"streaming.speaker_frame_len",29)==0) { sound.streaming.speaker_frame_length = atoi(value); return &sound.streaming.speaker_frame_length; } else if (strncasecmp(key,"streaming.speaker_max_delay",29)==0) { sound.streaming.speaker_max_delay = atoi(value); return &sound.streaming.speaker_max_delay; } break; case sec_invalid: break; } return NULL; } Config::section_t Config::parseSection(const char* key) { if (strncasecmp(key,"wireless",29)==0) { return sec_wireless; } else if (strncasecmp(key,"vision",29)==0) { return sec_vision; } else if (strncasecmp(key,"main",29)==0) { return sec_main; } else if (strncasecmp(key,"behaviors",29)==0) { return sec_behaviors; } else if (strncasecmp(key,"controller",29)==0) { return sec_controller; } else if (strncasecmp(key,"motion",29)==0) { return sec_motion; } else if (strncasecmp(key,"sound",29)==0) { return sec_sound; } else { return sec_invalid; } } void Config::readConfig(const std::string& filename) { FILE* fp = fopen(portPath(filename).c_str(), "r"); if (fp==NULL) return; char buf[256], key[30], value[50]; section_t section=sec_invalid; bool ignoring=false; std::vector<std::string> curmodel; #ifdef PLATFORM_APERIOS char rdStr[orobotdesignNAME_MAX + 1]; memset(rdStr, 0, sizeof(rdStr)); if (OPENR::GetRobotDesign(rdStr) != oSUCCESS) { printf("OPENR::GetRobotDesign() failed.\n"); rdStr[0]='\0'; } #else # if TGT_ERS7 char rdStr[]="ERS-7"; # elif TGT_ERS210 char rdStr[]="ERS-210"; # elif TGT_ERS220 char rdStr[]="ERS-220"; # elif TGT_ERS2xx # warning "TGT_2xx is not specific for simulation purposes - defaulting to ERS210" char rdStr[]="ERS-210"; # else # warning "TGT_<model> undefined - defaulting to ERS7" char rdStr[]="ERS-7"; # endif #endif unsigned int lineno=0; while (fgets(buf,256,fp)!=NULL) { lineno++; char * p=buf; while(*p!='\0' && isspace(*p)) p++; if(*p=='\0' || *p=='#') continue; //empty line or comment if (sscanf(buf,"<%29[^>]>",key)>0) { if(key[0]=='/') { if(curmodel.size()==0) { printf("WARNING: not in a model specific section, line %d\n",lineno); continue; } bool subset=matchNoCase(&key[1],curmodel.back()); bool superset=matchNoCase(curmodel.back(),&key[1]); if(subset && superset) { //printf("leaving modelsection %s\n",curmodel.back().c_str()); curmodel.pop_back(); } else if(superset) { while(curmodel.size()>0) { //printf("leaving modelsection %s (==%s)\n",curmodel.back().c_str(),&key[1]); curmodel.pop_back(); if(!matchNoCase(curmodel.back(),&key[1])) break; } } else printf("WARNING: config model mismatch, line %d\n",lineno); ignoring=false; //scan through current model selection stack, see if we're still ignoring for(unsigned int i=0; i<curmodel.size(); i++) if(!matchNoCase(rdStr,curmodel[i])) { ignoring=true; break; } //printf("ignoring==%d\n",ignoring); } else { curmodel.push_back(key); //printf("entering section %s\n",curmodel.back().c_str()); ignoring=ignoring || !matchNoCase(rdStr,key); //printf("ignoring==%d\n",ignoring); } } else if(!ignoring) { if (sscanf(buf,"[%29[^]]]",key)>0) { section=parseSection(key); if(section==sec_invalid) std::cerr << "WARNING: Reading " << filename << ", unknown section " << key << " at line number " << lineno << endl; //std::cout << "now parsing section " << section << std::endl; } else if (sscanf(buf,"%29[^ =] =%49s",key,value)>1) { //printf("setValue(%d,'%s','%s');\n",section,key,value); if(section!=sec_invalid) if(setValue(section, key, value)==NULL) std::cerr << "WARNING: Reading " << filename << ", illegal key/value " << key << '/' << value << " at line number " << lineno << endl; } else { std::cerr << "WARNING: Reading " << filename << ", parse error on key/value " << key << '/' << value << " at line number " << lineno << endl; } } } fclose(fp); } bool Config::matchNoCase(const std::string& model, const std::string& pattern) { unsigned int i=0; if(i==pattern.size() && i==model.size()) return true; if(i==pattern.size() || i==model.size()) return false; while(pattern[i]!='*') { if(toupper(pattern[i])!=toupper(model[i])) return false; i++; if(i==pattern.size() && i==model.size()) return true; if(i==pattern.size() || i==model.size()) return false; } i=pattern.size()-1; unsigned int j=model.size()-1; while(pattern[i]!='*') { if(toupper(pattern[i])!=toupper(model[j])) return false; i--; j--; } return true; } bool Config::extractBool(const char * value) { int i=0; while(isspace(value[i])) i++; if(strncasecmp(&value[i],"t",29)==0) return true; else if(strncasecmp(&value[i],"f",29)==0) return false; else if(strncasecmp(&value[i],"true",29)==0) return true; else if(strncasecmp(&value[i],"false",29)==0) return false; else if(strncasecmp(&value[i],"y",29)==0) return true; else if(strncasecmp(&value[i],"n",29)==0) return false; else if(strncasecmp(&value[i],"yes",29)==0) return true; else if(strncasecmp(&value[i],"no",29)==0) return false; else return atoi(value); } /*! @file * @brief Implements Config, which provides global access to system configuration information * @author alokl (Creator) * * $Author: ejt $ * $Name: tekkotsu-3_0 $ * $Revision: 1.59 $ * $State: Exp $ * $Date: 2006/09/27 20:36:06 $ */

Tekkotsu v3.0

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