Config Class Reference

the root configuration object, provides some global functionality like porting pathnames (portPath()) More...

#include <Config.h>

Inheritance diagram for Config:

[legend]

Detailed Description

the root configuration object, provides some global functionality like porting pathnames (portPath())

Definition at line 100 of file Config.h.

List of all members.

Classes
class	behaviors_config
	place for users to put their own configuration More...
class	controller_config
	controller information More...
class	main_config
	general configuration options More...
class	motion_config
	motion information More...
class	sound_config
	sound information More...
class	vision_config
	vision configuration options (this is a big section, with sub-sections) More...
class	wireless_config
	wireless configuration options More...
Public Types
enum	transports { UDP, TCP }
Public Member Functions
	Config (const std::string &filename="")
void	setFileSystemRoot (const std::string &fsr)
	sets fsRoot
const std::string &	getFileSystemRoot () const
	returns fsRoot
std::string	portPath (const std::string &path) const
	returns a portable version of path which should be usable on either the simulator or the robot
std::string	makePath (const std::string &name) const
	returns an absolute path if is relative (to root), otherwise just name
std::string	searchPath (const std::string &name, const std::string &root) const
	searches for name at root/target/name, root/name, and finally just name, returns root/target/name if not found.
virtual void	saveXML (xmlNode *node, bool onlyOverwrite, std::set< std::string > &seen) const
	saves the dictionary into the specified node
virtual unsigned int	loadBuffer (const char buf[], unsigned int len, const char *filename=NULL)
	Load from a saved buffer in memory.
virtual unsigned int	loadFile (const char *filename)
	initiate opening of the specified file and loading/saving of all appropriate information.
virtual unsigned int	loadFileStream (FILE f, const char filename=NULL)
	Used recursively on member objects once a file is already open - DON'T CLOSE the file in your overridden functions.
void *	setValue (const std::string &section, std::string key, const std::string &value)
	pass the section, item name string, item value string - sets the value and returns pointer to the item changed
Public Attributes
Config::behaviors_config	behaviors
	place for users to put their own configuration
Config::wireless_config	wireless
	wireless configuration options
Config::main_config	main
	general configuration options
Config::controller_config	controller
	controller information
Config::vision_config	vision
	vision configuration options (this is a big section, with sub-sections)
Config::motion_config	motion
	motion information
Config::sound_config	sound
	sound information
Static Public Attributes
static const unsigned int	NUM_TRANSPORTS = 2
	number of transports available
static const char *	transport_names [NUM_TRANSPORTS+1] = { "UDP", "TCP", NULL }
	string names for transports
Protected Member Functions
unsigned int	loadOldFormat (const char buf[], unsigned int len)
unsigned int	loadOldFormat (FILE *f)
void	parseLine (const char buf[], unsigned int lineno, std::vector< std::string > &modelStack, bool &ignoring, std::string &section)
Static Protected Member Functions
static char	localeToLower (char c)
Protected Attributes
std::string	fsRoot
	a prefix representing the file system root, usually indicating the robot's storage root.
Static Protected Attributes
static const char *	xmlIntro1 = "<?xml version"
static const char *	xmlIntro2 = "<!DOCTYPE "
static const char *	xmlIntro3 = "<plist"
static const std::locale &	curLocale = std::locale::classic()

Member Enumeration Documentation

enum Config::transports

Enumerator:

UDP
TCP

Definition at line 116 of file Config.h.

Constructor & Destructor Documentation

Config::Config ( const std::string & filename = "" )

Definition at line 102 of file Config.h.

Member Function Documentation

const std::string& Config::getFileSystemRoot ( ) const

returns fsRoot

Definition at line 121 of file Config.h.

Referenced by CameraData::loadCameraData(), KoduConfig::loadFile(), and CameraData::saveCameraData().

unsigned int Config::loadBuffer	(	const char	buf[],
		unsigned int	len,
		const char *	filename = `NULL`
	)			`[virtual]`

Load from a saved buffer in memory.

Parameters:

	buf	pointer to the memory where you should begin loading
	len	length of buf available (this isn't necessarily all yours, there might be other things following your data)

Returns:: the number of bytes actually used

Reimplemented from XMLLoadSave.

Definition at line 195 of file Config.cc.

unsigned int Config::loadFile ( const char * filename ) [virtual]

initiate opening of the specified file and loading/saving of all appropriate information.

Parameters:

filename

the file to load/save

Returns:: number of bytes read/written, 0 if error (or empty)

Reimplemented from XMLLoadSave.

Definition at line 201 of file Config.cc.

Referenced by Config().

unsigned int Config::loadFileStream	(	FILE *	f,
		const char *	filename = `NULL`
	)			`[virtual]`

Used recursively on member objects once a file is already open - DON'T CLOSE the file in your overridden functions.

Parameters:

f

a pointer to the file to load

Returns:: number of bytes read, 0 if error (or empty)

Reimplemented from XMLLoadSave.

Definition at line 228 of file Config.cc.

unsigned int Config::loadOldFormat ( FILE * f ) [protected]

Definition at line 417 of file Config.cc.

unsigned int Config::loadOldFormat	(	const char	buf[],
		unsigned int	len
	)			`[protected]`

Definition at line 402 of file Config.cc.

Referenced by loadBuffer(), loadFile(), and loadFileStream().

static char Config::localeToLower ( char c ) [static, protected]

Definition at line 702 of file Config.h.

std::string Config::makePath ( const std::string & name ) const

returns an absolute path if is relative (to root), otherwise just name

Definition at line 127 of file Config.h.

Referenced by GaitedFootstepMC::GaitedFootstepMC(), Kinematics::init(), and XWalkMC::XWalkMC().

void Config::parseLine	(	const char	buf[],
		unsigned int	lineno,
		std::vector< std::string > &	modelStack,
		bool &	ignoring,
		std::string &	section
	)			`[protected]`

Definition at line 432 of file Config.cc.

Referenced by loadOldFormat().

std::string Config::portPath ( const std::string & path ) const

returns a portable version of path which should be usable on either the simulator or the robot

Definition at line 274 of file Config.cc.

Referenced by SensorObserverControl::checkLogFile(), EventLogger::checkLogFile(), CameraBehavior::getNextName(), CameraBehavior::initIndex(), SegmentedColorGenerator::loadColorInfo(), loadFile(), SegmentedColorGenerator::loadThresholdMap(), Config::sound_config::makePath(), PostureEditor::PostureEditor(), WalkCalibration::saveData(), searchPath(), LoadCalibration::selectedFile(), FileBrowserControl::setRoot(), and WaypointWalkControl::WaypointWalkControl().

void Config::saveXML	(	xmlNode *	node,
		bool	onlyOverwrite,
		std::set< std::string > &	seen
	)			const `[virtual]`

saves the dictionary into the specified node

Parameters:

`[in]`	node	the xml node which should be saved into
`[in]`	onlyOverwrite	if is true, only saves entries for keys already found in the node (this overrides the current savePolicy value)
`[in]`	seen	used to keep track of which nodes have been seen in node -- may be of particular interest with onlyOverride set

seen is not cleared before being used.

Reimplemented from plist::DictionaryBase.

Definition at line 155 of file Config.cc.

std::string Config::searchPath	(	const std::string &	name,
		const std::string &	root
	)			const

searches for name at root/target/name, root/name, and finally just name, returns root/target/name if not found.

Definition at line 549 of file Config.cc.

Referenced by Config::motion_config::makePath(), and makePath().

void Config::setFileSystemRoot ( const std::string & fsr )

sets fsRoot

Definition at line 255 of file Config.cc.

void * Config::setValue	(	const std::string &	section,
		std::string	key,
		const std::string &	value
	)

pass the section, item name string, item value string - sets the value and returns pointer to the item changed

this is the older deprecated interface -- use the inherited resolveEntry() instead to support sub-sections

Definition at line 289 of file Config.cc.

Referenced by parseLine(), and Controller::setConfig().

Member Data Documentation

Config::behaviors_config Config::behaviors

place for users to put their own configuration

you can dynamically "link in" external configuration settings by passing them to the addEntry() of the plist::Dictionary superclass. You may want to call writeParseTree() first to flush current settings, and then readParseTree() afterward to pull any pre-existing values from the configuration file into the instances you've just registered.

Of course, you could also just write your values into the configuration file first, and just rely on getEntry/setEntry to read/write the value. This may be more convenient if you use the value infrequently and don't need an instance of it sitting around.

Referenced by Config(), FlashIPAddrBehavior::doStart(), and FlashIPAddrBehavior::setupSequence().