void HlView::Update()
{
if( BtStrCompare( m_lastArchiveName, m_archiveName ) == BtFalse )
{
if( m_pLast )
{
m_pLast->OnExit();
}
Unload();
Load();
OnEntry();
}
// Update the menu
UpdateMenu();
m_pLast = this;
}
/***********************************************************************
* Method: RobotController::Transition
* Params: RobotState::State newState
* Returns: void
* Effects: Transition strarts the transition from one state to another
***********************************************************************/
void RobotController::Transition(RobotState::State newState, void* args)
{
//TODO: make sure the state we are entering is valid based on the current state of the robot
if (m_status.GetState() != newState)
{
m_timeEnteringState = ros::Time::now();
}
switch(m_status.GetState())
{
case RobotState::WAITING:
case RobotState::WAITING_TAG_FINISHED:
case RobotState::NAVIGATING:
case RobotState::NAVIGATING_TAG_FINISHED:
// m_tagProcessor->SetShouldPause(false);
break;
}
m_status.SetState(newState);
OnEntry(args);
ROS_INFO_STREAM("Transitioned to " << RobotState::ToString(newState));
}
bool IniReader::Parse() {
FILE* f = OpenGameFile(m_filename, "r");
if(f == NULL)
return false;
bool res = true;
enum ParseState {
S_DEFAULT, S_IGNORERESTLINE, S_PROPNAME, S_PROPVALUE, S_SECTION };
ParseState state = S_DEFAULT;
std::string propname;
std::string section;
std::string value;
while(!feof(f) && !ferror(f)) {
unsigned char c = 0;
if(fread(&c, 1, 1, f) == 0) break;
if(c == '\r') continue; // ignore this
switch(state) {
case S_DEFAULT:
if(c >= 128) break; // just ignore unicode-stuff when we are in this state (UTF8 bytes at beginning are also handled by this)
else if(isspace(c)) break; // ignore spaces and newlines
else if(c == '#') { state = S_IGNORERESTLINE; /* this is a comment */ break; }
else if(c == '[') { state = S_SECTION; section = ""; break; }
else if(c == '=') {
warnings << "WARNING: \"=\" is not allowed as the first character in a line of " << m_filename << endl;
break; /* ignore */ }
else { state = S_PROPNAME; propname = c; break; }
case S_SECTION:
if(c == ']') {
if( ! OnNewSection(section) ) { res = false; goto parseCleanup; }
state = S_DEFAULT; NewSection(section); break; }
else if(c == '\n') {
warnings << "WARNING: section-name \"" << section << "\" of " << m_filename << " is not closed correctly" << endl;
state = S_DEFAULT; break; }
else if(isspace(c)) {
warnings << "WARNING: section-name \"" << section << "\" of " << m_filename << " contains a space" << endl;
break; /* ignore */ }
else { section += c; break; }
case S_PROPNAME:
if(c == '\n') {
warnings << "WARNING: property \"" << propname << "\" of " << m_filename << " incomplete" << endl;
state = S_DEFAULT; break; }
else if(isspace(c)) break; // just ignore spaces
else if(c == '=') { state = S_PROPVALUE; value = ""; break; }
else { propname += c; break; }
case S_PROPVALUE:
if(c == '\n' || c == '#') {
if( ! OnEntry(section, propname, value) ) { res = false; goto parseCleanup; }
NewEntryInSection(propname, value);
if(c == '#') state = S_IGNORERESTLINE; else state = S_DEFAULT;
break; }
else if(isspace(c) && value == "") break; // ignore heading spaces
else { value += c; break; }
case S_IGNORERESTLINE:
if(c == '\n') state = S_DEFAULT;
break; // ignore everything
}
}
// In case the endline is missing at the end of file, finish the parsing of the last line
if (state == S_PROPVALUE) {
if( ! OnEntry(section, propname, value) ) { res = false; goto parseCleanup; }
NewEntryInSection(propname, value);
}
// DEBUG: dump the file
/*notes << "Dump of " << m_filename << endl;
for (SectionMap::iterator it = m_sections.begin(); it != m_sections.end(); ++it) {
notes << "[" << it->first << "]" << endl;
for (Section::iterator k = it->second.begin(); k != it->second.end(); ++k)
notes << k->first << "=" << k->second << endl;
notes << endl;
}
notes << endl;*/
parseCleanup:
fclose(f);
return res;
}
