Class for loading configuration file information. More...

#include <configfile.h>

Classes
struct	CMacro
struct	Field
struct	Section
struct	Token
Public Member Functions
	ConfigFile (uint32_t _default_host, uint32_t _default_robot)
	Standard constructor.
	ConfigFile (const char *_default_host, uint32_t _default_robot)
	Alternate constructor, to specify the host as a string.
	ConfigFile ()
	Alternate constructor, used when not loading from a file.
	~ConfigFile ()
	Standard destructor.
bool	Load (const char *filename)
	Load config from file.
void	InsertFieldValue (int index, const char name, const char value)
	Add a (name,value) pair directly into the database, without reading from a file.
bool	WarnUnused ()
	Check for unused fields and print warnings.
bool	ReadBool (int section, const char *name, bool value)
	Read a boolean value (one of: yes, no, true, false, 1, 0)
const char *	ReadString (int section, const char name, const char value)
	Read a string value.
int	ReadInt (int section, const char *name, int value)
	Read an integer value.
double	ReadFloat (int section, const char *name, double value)
	Read a floating point (double) value.
double	ReadLength (int section, const char *name, double value)
	Read a length (includes unit conversion, if any).
double	ReadAngle (int section, const char *name, double value)
	Read an angle (includes unit conversion).
uint32_t	ReadColor (int section, const char *name, uint32_t value)
	Read a color (includes text to RGB conversion)
const char *	ReadFilename (int section, const char name, const char value)
	Read a filename.
int	GetTupleCount (int section, const char *name)
	Get the number of values in a tuple.
const char *	ReadTupleString (int section, const char name, int index, const char value)
	Read a string from a tuple field.
int	ReadTupleInt (int section, const char *name, int index, int value)
	Read an integer from a tuple field.
double	ReadTupleFloat (int section, const char *name, int index, double value)
	Read a float (double) from a tuple field.
double	ReadTupleLength (int section, const char *name, int index, double value)
	Read a length from a tuple (includes units conversion)
double	ReadTupleAngle (int section, const char *name, int index, double value)
	Read an angle form a tuple (includes units conversion)
uint32_t	ReadTupleColor (int section, const char *name, int index, uint32_t value)
	Read a color (includes text to RGB conversion)
int	ReadDeviceAddr (player_devaddr_t addr, int section, const char name, int code, int index, const char *key)
	Read a device id.
bool	ParseDriver (int section)
bool	ParseInterface (int section)
bool	ParseAllDrivers ()
bool	ParseAllInterfaces ()
int	GetSectionCount ()
	Get the number of sections.
const char *	GetSectionType (int section)
	Get a section type name.
int	LookupSection (const char *type)
	Lookup a section number by section type name.
int	GetSectionParent (int section)
	Get a section's parent section.
void	DumpTokens ()
	Dump the token list (for debugging).
void	DumpSections ()
	Dump the section list for debugging.
void	DumpFields ()
	Dump the field list for debugging.
Public Attributes
char *	filename
	Name of the file we loaded.
Private Types
enum	{ TokenComment, TokenWord, TokenNum, TokenString, TokenBool, TokenOpenSection, TokenCloseSection, TokenOpenTuple, TokenCloseTuple, TokenSpace, TokenEOL }
Private Member Functions
void	InitFields ()
bool	Save (const char *filename)
void	WriteBool (int section, const char *name, bool value)
void	WriteBool_Compat (int section, const char *name, bool value)
void	WriteString (int section, const char name, const char value)
void	WriteInt (int section, const char *name, int value)
void	WriteFloat (int section, const char *name, double value)
void	WriteLength (int section, const char *name, double value)
void	WriteTupleString (int section, const char name, int index, const char value)
void	WriteTupleInt (int section, const char *name, int index, int value)
void	WriteTupleFloat (int section, const char *name, int index, double value)
void	WriteTupleLength (int section, const char *name, int index, double value)
void	WriteTupleAngle (int section, const char *name, int index, double value)
bool	LoadTokens (FILE *file, int include)
bool	LoadTokenComment (FILE file, int line, int include)
bool	LoadTokenWord (FILE file, int line, int include)
bool	LoadTokenInclude (FILE file, int line, int include)
bool	LoadTokenNum (FILE file, int line, int include)
bool	LoadTokenString (FILE file, int line, int include)
bool	LoadTokenSpace (FILE file, int line, int include)
bool	SaveTokens (FILE *file)
void	ClearTokens ()
bool	AddToken (int type, const char *value, int include)
bool	SetTokenValue (int index, const char *value)
const char *	GetTokenValue (int index)
bool	ParseTokens ()
bool	ParseTokenInclude (int index, int line)
bool	ParseTokenDefine (int index, int line)
bool	ParseTokenPlugin (int index, int line)
bool	ParseTokenWord (int section, int index, int line)
bool	ParseTokenSection (int section, int index, int line)
bool	ParseTokenField (int section, int index, int line)
bool	ParseTokenTuple (int section, int field, int index, int line)
void	ClearMacros ()
int	AddMacro (const char macroname, const char sectionname, int line, int starttoken, int endtoken)
int	LookupMacro (const char *macroname)
void	DumpMacros ()
void	ClearSections ()
int	AddSection (int parent, const char *type)
void	ClearFields ()
int	AddField (int section, const char *name, int line)
void	AddFieldValue (int field, int index, int value_token)
int	GetField (int section, const char *name)
int	GetFieldValueCount (int field)
const char *	GetFieldValue (int field, int index, bool flag_used=true)
void	SetFieldValue (int field, int index, const char *value)
uint32_t	LookupColor (const char *name)
Private Attributes
int	token_size
int	token_count
Token *	tokens
int	macro_size
int	macro_count
CMacro *	macros
int	section_size
int	section_count
Section *	sections
int	field_size
int	field_count
Field *	fields
uint32_t	default_host
uint32_t	default_robot
double	unit_length
double	unit_angle

Detailed Description

Class for loading configuration file information.

This class is used to load and configure drivers from a configuration text file. This file is divided into sections, with section having a set of key/value fields.

Example file format is as follows:

# This is a comment

# The keyword 'driver' begins a section
driver
(
  # This line is used to identify which driver to
  # instantiate
  name "mydriver"

  # This line lists the interfaces that the driver
  # will support
  provides ["position2d:0" "laser:0"]

  # This line lists the devices to which the driver
  # will subscribe
  requires ["ptz:0"]

  # An integer
  key1  0             
  # A string
  key2 "foo"          
  # A tuple of strings
  key3 ["foo" "bar"]  
  # A tuple of multiple types
  key4 ["foo" 3.14 42]
)

The most common use of this class is for a driver to extract configuration file options. All drivers are passed a ConfigFile pointer cf and an integer section in their contructor (see Driver::Driver). The driver code can use this information to retrieve key/value information that was given inside the appropriate driver() section in the configuration file. For example:

  int maximum_speed = cf->ReadInt(section, "max_speed", -1);
  if(maximum_speed == -1)
  {
    // Since the default value of -1 was assigned,
    // no "max_speed" key/value was given in the configuration
    // file.
  }

For each type Foo, there is a method ReadFoo() that looks for a key/value pair in the indicated section and with the type Foo. The last argument specifies a default value to return if the given key is not found. The default should either be a reasonable value or a recognizably invalid value (so that you can determine when the user did not specify a value).

Always use ReadLength for linear dimensions, positions, and time derivatives (velocities, accelerations, etc.) ; this method will return values in meters, regardless of what local units are being used in the configuration file. Similarly, always use ReadAngle for angular quanities; this method will always return values in radians.

Always use ReadFilename for filenames; this method will return absolute paths, appropriately converting any relative paths that are given in the configuration file. Non-absolute paths in the configuration file are assumed to be relative to the directory in which the configuration file itself resides.

Always use ReadColor for packed 24-bit color values.

Drivers that support multiple interfaces must use ReadDeviceAddr to find out which interfaces they have been asked to support (single-interface drivers specify their one interface in the Driver constructor). For example, to check whether the driver has been asked to support a position2d interface, and if so, to add that interface:

  player_devaddr_t position_addr;
  if(cf->ReadDeviceAddr(&position_addr, section, "provides",
                        PLAYER_POSITION2D_CODE, -1, NULL) == 0)
  {
    if(this->AddInterface(position_addr) != 0)
    {
      this->SetError(-1);
      return;
    }
  }

A driver can support more than interface of the same type. For example, the p2os driver supports 3 position2d interfaces: one for wheelmotors/odometry, one for compass, and one for gyro. In this case, the last argument to ReadDeviceAddr is used to differentiate them, according to key that was given in the "provides" line. For example, if in the configuration file we have:

driver
(
  name "mydriver"
  provides ["odometry:::position2d:0" "gyro:::position2d:1"]
)

then in the driver code we can do something like this:

  player_devaddr_t odom_addr, gyro_addr;

  // Do we create an odometry position interface?
  if(cf->ReadDeviceAddr(&odom_addr, section, "provides",
                        PLAYER_POSITION2D_CODE, -1, "odometry") == 0)
  {
    if(this->AddInterface(odom_addr) != 0)
    {
      this->SetError(-1);
      return;
    }
  }

  // Do we create a gyro position interface?
  if(cf->ReadDeviceAddr(&gyro_addr, section, "provides",
                        PLAYER_POSITION2D_CODE, -1, "gyro") == 0)
  {
    if(this->AddInterface(gyro_addr) != 0)
    {
      this->SetError(-1);
      return;
    }
  }

Drivers that subscribe to other devices use ReadDeviceAddr in the same way to retrieve information from the "requires" line of the configuration file.

Member Function Documentation

int ConfigFile::GetSectionParent ( int section )

Get a section's parent section.

Returns:: Returns -1 if there is no parent.

int ConfigFile::GetTupleCount	(	int	section,
		const char *	name
	)

Get the number of values in a tuple.

Parameters:

section	Section to read.
name	Field name.

void ConfigFile::InitFields ( ) [private]

Intitialization helper

void ConfigFile::InsertFieldValue	(	int	index,
		const char *	name,
		const char *	value
	)

Add a (name,value) pair directly into the database, without reading from a file.

The (name,value) goes into the "global" section. Can be called multiple times with different index to create a tuple field.

Parameters:

index	Index of the value within the field (0 unless the field is a tuple)
name	Name of the field
value	Value to be assigned

bool ConfigFile::Load ( const char * filename )

Load config from file.

Parameters:

filename Name of file; can be relative or fully qualified path.

Returns:: Returns true on success.

int ConfigFile::LookupSection ( const char * type )

Lookup a section number by section type name.

Returns:: Returns -1 if there is no section with this type.

double ConfigFile::ReadAngle	(	int	section,
		const char *	name,
		double	value
	)

Read an angle (includes unit conversion).

In the configuration file, angles are specified in degrees; this method will convert them to radians.

Parameters:

section	Section to read.
name	Field name
value	Default value if the field is not present in the file (radians).

Returns:: Returns the field value.

bool ConfigFile::ReadBool	(	int	section,
		const char *	name,
		bool	value
	)

Read a boolean value (one of: yes, no, true, false, 1, 0)

Parameters:

section	Section to read.
name	Field name
value	Default value if this field is not present in the file

Returns:: Returns the field value

uint32_t ConfigFile::ReadColor	(	int	section,
		const char *	name,
		uint32_t	value
	)

Read a color (includes text to RGB conversion)

In the configuration file colors may be specified with sybolic names; e.g., "blue" and "red". This function will convert them to an RGB value using the X11 rgb.txt file.

Parameters:

section	Section to read.
name	Field name
value	Default value if the field is not present in the file (RGB).

Returns:: Returns the field value.

int ConfigFile::ReadDeviceAddr	(	player_devaddr_t *	addr,
		int	section,
		const char *	name,
		int	code,
		int	index,
		const char *	key
	)

Read a device id.

Reads a device id from the named field of the given section. The returned id will match the given code, index and key values.

Parameters:

addr	address field to be filled in.
section	File section.
name	Field name.
code	Interface type code (use 0 to match all interface types).
index	Tuple index (use -1 to match all indices).
key	Device key value (use NULL to match all key vales).

Returns:: Non-zero on error.

Referenced by SegwayRMP400::SegwayRMP400(), and SphereDriver::SphereDriver().

const char* ConfigFile::ReadFilename	(	int	section,
		const char *	name,
		const char *	value
	)

Read a filename.

Always returns an absolute path. If the filename is entered as a relative path, we prepend the config file's path to it.

Parameters:

section	Section to read.
name	Field name
value	Default value if the field is not present in the file.

Returns:: Returns the field value.

double ConfigFile::ReadFloat	(	int	section,
		const char *	name,
		double	value
	)

Read a floating point (double) value.

Parameters:

section	Section to read.
name	Field name
value	Default value if the field is not present in the file.

Returns:: Returns the field value.

int ConfigFile::ReadInt	(	int	section,
		const char *	name,
		int	value
	)

Read an integer value.

Parameters:

section	Section to read.
name	Field name
value	Default value if the field is not present in the file.

Returns:: Returns the field value.

Referenced by SegwayRMP400::SegwayRMP400(), and SphereDriver::SphereDriver().

double ConfigFile::ReadLength	(	int	section,
		const char *	name,
		double	value
	)

Read a length (includes unit conversion, if any).

Parameters:

section	Section to read.
name	Field name
value	Default value if the field is not present in the file.

Returns:: Returns the field value.

const char* ConfigFile::ReadString	(	int	section,
		const char *	name,
		const char *	value
	)

Read a string value.

Parameters:

section	Section to read.
name	Field name
value	Default value if the field is not present in the file.

Returns:: Returns the field value.

Referenced by SphereDriver::SphereDriver().

double ConfigFile::ReadTupleAngle	(	int	section,
		const char *	name,
		int	index,
		double	value
	)

Read an angle form a tuple (includes units conversion)

In the configuration file, angles are specified in degrees; this method will convert them to radians.

Parameters:

section	Section to read.
name	Field name
index	Tuple index (zero-based)
value	Default value if the field is not present in the file.

Returns:: Returns the tuple element value.

uint32_t ConfigFile::ReadTupleColor	(	int	section,
		const char *	name,
		int	index,
		uint32_t	value
	)

Read a color (includes text to RGB conversion)

In the configuration file colors may be specified with sybolic names; e.g., "blue" and "red". This function will convert them to an RGB value using the X11 rgb.txt file.

Parameters:

section	Section to read.
name	Field name
index	Tuple index (zero-based)
value	Default value if the field is not present in the file (RGB).

Returns:: Returns the field value.

double ConfigFile::ReadTupleFloat	(	int	section,
		const char *	name,
		int	index,
		double	value
	)

Read a float (double) from a tuple field.

Parameters:

section	Section to read.
name	Field name
index	Tuple index (zero-based)
value	Default value if the field is not present in the file.

Returns:: Returns the tuple element value.

int ConfigFile::ReadTupleInt	(	int	section,
		const char *	name,
		int	index,
		int	value
	)

Read an integer from a tuple field.

Parameters:

section	Section to read.
name	Field name
index	Tuple index (zero-based)
value	Default value if the field is not present in the file.

Returns:: Returns the tuple element value.

Referenced by SphereDriver::SphereDriver().

double ConfigFile::ReadTupleLength	(	int	section,
		const char *	name,
		int	index,
		double	value
	)

Read a length from a tuple (includes units conversion)

Parameters:

section	Section to read.
name	Field name
index	Tuple index (zero-based)
value	Default value if the field is not present in the file.

Returns:: Returns the tuple element value.

const char* ConfigFile::ReadTupleString	(	int	section,
		const char *	name,
		int	index,
		const char *	value
	)

Read a string from a tuple field.

Parameters:

section	Section to read.
name	Field name
index	Tuple index (zero-based)
value	Default value if the field is not present in the file.

Returns:: Returns the tuple element value.

bool ConfigFile::WarnUnused ( )

Check for unused fields and print warnings.

Returns:: Returns true if there are unused fields.

The documentation for this class was generated from the following file:

configfile.h

Classes

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation