/*
* This function checks to see if the current YAML::Node contains only keys
* that we care about. Unknown keys should cause PLFS to spit out an error
* rather than being silently ignored.
* This is a bit nasty as it drills through the entire tree recursively
* but it will catch any unknowns in one pass
*
* Returns true if all keys are valid
*
* Returns false if unknown keys are found and sets bad_key to an error
* message that points out what key is invalid
*/
bool
is_valid_node(const YAML::Node node, string** bad_key) {
set<string> key_list(Valid_Keys,
Valid_Keys +
(sizeof(Valid_Keys) / sizeof(Valid_Keys[0]))
);
string key;
string err = "\nBad key or value in plfsrc: ";
if(node.IsMap()) {
for(YAML::const_iterator it=node.begin();it!=node.end();it++) {
if(!it->first.IsNull()) {
key = it->first.as<string>();
if(!is_valid_node(node[key],bad_key)) // recurse
return false;
if(key_list.find(key) == key_list.end()) {
err.append(key);
*bad_key = new string (err);
return false; // this is an unknown key
}
}
}
}
else if (node.IsSequence()) {
for(unsigned int i = 0; i < node.size(); i++)
if(!is_valid_node(node[i],bad_key)) // recurse
return false;
}
else if (node.IsScalar() && node.as<string>().find(" ") != string::npos) {
err.append(node.as<string>());
*bad_key = new string (err);
return false; // no spaces in values allowed
}
return true; // all keys are valid
}
bool AreDetailsEqual(const YAML::Node& lhs, const YAML::Node& rhs) {
//We want to check for plugin order and messages.
if (lhs.IsSequence() && rhs.IsSequence()) {
std::list<std::string> lhs_names, rhs_names;
std::list<Message> lhs_messages, rhs_messages;
for (YAML::const_iterator it = lhs.begin(); it != lhs.end(); ++it) {
if ((*it)["name"])
lhs_names.push_back((*it)["name"].as<std::string>());
if ((*it)["messages"]) {
std::list<Message> messages = (*it)["messages"].as< std::list<Message> >();
lhs_messages.insert(lhs_messages.end(), messages.begin(), messages.end());
}
}
for (YAML::const_iterator it = rhs.begin(); it != rhs.end(); ++it) {
if ((*it)["name"])
rhs_names.push_back((*it)["name"].as<std::string>());
if ((*it)["messages"]) {
std::list<Message> messages = (*it)["messages"].as< std::list<Message> >();
rhs_messages.insert(rhs_messages.end(), messages.begin(), messages.end());
}
}
return lhs_names == rhs_names && lhs_messages == rhs_messages;
}
else
return false;
}
bool
KnobSerialization::checkForDefaultValueNode(const YAML::Node& node, const std::string& nodeType, bool dataTypeSet)
{
std::string defaultString("Default");
std::string defaultTypeName = defaultString + nodeType;
if (!node[defaultTypeName]) {
return false;
}
// If the _dataType member was set in checkForValueNode, ensure that the data type of the value is the same as
// the default value.
if (dataTypeSet) {
SerializationValueVariantTypeEnum type = dataTypeFromString(nodeType);
if (type != _dataType) {
throw std::invalid_argument(_scriptName + ": Default value and value type differ!");
}
} else {
_dataType = dataTypeFromString(nodeType);
}
YAML::Node defNode = node[defaultTypeName];
int nDims = defNode.IsSequence() ? defNode.size() : 1;
_defaultValues.resize(nDims);
for (int i = 0; i < nDims; ++i) {
_defaultValues[i].serializeDefaultValue = true;
YAML::Node dimNode = defNode.IsSequence() ? defNode[i] : defNode;
decodeValueFromNode(dimNode, _defaultValues[i].value, _dataType);
}
return true;
}
bool YamlPath::get(YAML::Node root, YAML::Node& out) {
size_t beginToken = 0, endToken = 0, pathSize = codedPath.size();
auto delimiter = MAP_DELIM; // First token must be a map key.
while (endToken < pathSize) {
if (!root.IsDefined()) {
return false; // A node before the end of the path was mising, quit!
}
beginToken = endToken;
endToken = pathSize;
endToken = std::min(endToken, codedPath.find(SEQ_DELIM, beginToken));
endToken = std::min(endToken, codedPath.find(MAP_DELIM, beginToken));
if (delimiter == SEQ_DELIM) {
int index = std::stoi(&codedPath[beginToken]);
if (root.IsSequence()) {
root.reset(root[index]);
} else {
return false;
}
} else if (delimiter == MAP_DELIM) {
auto key = codedPath.substr(beginToken, endToken - beginToken);
if (root.IsMap()) {
root.reset(root[key]);
} else {
return false;
}
} else {
return false; // Path is malformed, return null node.
}
delimiter = codedPath[endToken]; // Get next character as the delimiter.
++endToken; // Move past the delimiter.
}
// Success! Assign the result.
out.reset(root);
return true;
}
// Incrementally load YAML
static NEVER_INLINE void operator +=(YAML::Node& left, const YAML::Node& node)
{
if (node && !node.IsNull())
{
if (node.IsMap())
{
for (const auto& pair : node)
{
if (pair.first.IsScalar())
{
auto&& lhs = left[pair.first.Scalar()];
lhs += pair.second;
}
else
{
// Exotic case (TODO: probably doesn't work)
auto&& lhs = left[YAML::Clone(pair.first)];
lhs += pair.second;
}
}
}
else if (node.IsScalar() || node.IsSequence())
{
// Scalars and sequences are replaced completely, but this may change in future.
// This logic may be overwritten by custom demands of every specific cfg:: node.
left = node;
}
}
}
int GazeboRosPulson::ParseBeaconMapFile(std::string f)
{
ROS_INFO("Opening Beacon Map File: %s", f.c_str());
// open file
std::fstream fs;
fs.open(f.c_str());
if (!fs.is_open())
return -1;
YAML::Node map = YAML::LoadFile(f.c_str());
assert(map.IsSequence());
num_beacons_ = map.size();
// read beacon locations
for (int i = 0; i < num_beacons_; i++)
{
Beacon b;
b.x = (double) map[i]["x"].as<double>();
b.y = (double) map[i]["y"].as<double>();
b.z = (double) map[i]["z"].as<double>();
b.id = (int) map[i]["id"].as<int>();
ROS_INFO("Beacon %d at : %f %f %f", b.id, b.x, b.y, b.z);
beacons_.push_back(b);
}
// close file
fs.close();
return 0;
}
Vector from_yaml(type_t<Vector>, const YAML::Node& value)
{
if (!value.IsSequence())
throw deserialize_error{"type must be a sequence but is " +
yaml_type_name(value)};
Vector ret{};
vector_reserve(ret, value.size(), has_reserve<Vector>{});
for (const auto& item : value)
{
try
{
ret.push_back(yaml::deserialize<typename Vector::value_type>(item));
}
catch (deserialize_error& ex)
{
std::string msg = "error when deserializing element " +
std::to_string(ret.size());
ex.add(msg.c_str());
throw;
}
}
return ret;
}
bool ParamManager::load_from_file(std::string filename)
{
try
{
YAML::Node root = YAML::LoadFile(filename);
assert(root.IsSequence());
for (int i = 0; i < root.size(); i++)
{
if (root[i].IsMap() && root[i]["name"] && root[i]["type"] && root[i]["value"])
{
if (is_param_id(root[i]["name"].as<std::string>()))
{
Param param = params_.find(root[i]["name"].as<std::string>())->second;
if ((MAV_PARAM_TYPE) root[i]["type"].as<int>() == param.getType())
{
set_param_value(root[i]["name"].as<std::string>(), root[i]["value"].as<double>());
}
}
}
}
return true;
}
catch (...)
{
return false;
}
}
std::tuple<Ts...> from_yaml(type_t<std::tuple<Ts...>>, const YAML::Node& value)
{
if (!value.IsSequence())
throw deserialize_error{"type must be a sequence but is " +
yaml_type_name(value)};
return tuple_from_yaml<std::tuple<Ts...>>(
value, make_index_sequence<sizeof...(Ts)>{});
}
void
NonKeyParamsSerialization::decode(const YAML::Node& node)
{
if (!node.IsSequence() || node.size() != 3) {
throw YAML::InvalidNode();
}
dataTypeSize = node[0].as<std::size_t>();
nComps = node[1].as<int>();
bounds.decode(node[2]);
}
int main(int argc, char **argv) {
ros::init(argc, argv, "apriltag_ros");
ros::NodeHandle nh("~");
image_transport::ImageTransport it(nh);
image_transport::CameraSubscriber camera_sub =
it.subscribeCamera("image_raw", 1, cam_callback);
pose_pub = nh.advertise<geometry_msgs::PoseStamped>("pose_cam", 1);
// load YAML file with tag positions
std::string yamlPath;
if (!nh.hasParam("map_file")) {
ROS_ERROR("Error: You must specify the map_file parameter.");
return -1;
}
nh.getParam("map_file", yamlPath);
try {
YAML::Node mapNode = YAML::LoadFile(yamlPath);
if (!mapNode.IsSequence()) {
throw std::runtime_error("YAML file should be a sequence of tags");
}
for (size_t i=0; i < mapNode.size(); i++) {
apriltag_ros::Tag tag = mapNode[i].as<apriltag_ros::Tag>();
tagsWorld[tag.id] = tag; // add to map
}
if (tagsWorld.empty()) {
throw std::runtime_error("No tags were loaded");
} else {
ROS_INFO("Loaded %lu tags from the map file", tagsWorld.size());
}
}
catch(std::exception& e) {
ROS_ERROR("Error: Failed to load map file: %s", yamlPath.c_str());
ROS_ERROR("Reason: %s", e.what());
return -1;
}
image_pub = nh.advertise<sensor_msgs::Image>("image", 1);
tag_pub = nh.advertise<apriltag_ros::tags>("tags", 1);
ros::Rate r(10.0);
while(nh.ok())
{
r.sleep();
ros::spinOnce();
}
return 0;
}
static void decodeBezierCPCurve(const YAML::Node& node, double* x, CurveSerialization* curve)
{
try {
if (node.IsSequence()) {
curve->decode(node);
if (!curve->keys.empty()) {
*x = curve->keys.front().value;
}
} else {
*x = node.as<double>();
}
} catch (const YAML::BadConversion& /*e*/) {
assert(false);
}
}
void
BezierCPSerialization::decode(const YAML::Node& node)
{
if (!node.IsSequence() || node.size() != 6) {
throw YAML::InvalidNode();
}
decodeBezierCPCurve(node[0], &x, &xCurve);
decodeBezierCPCurve(node[1], &y, &yCurve);
decodeBezierCPCurve(node[2], &leftX, &leftCurveX);
decodeBezierCPCurve(node[3], &leftY, &leftCurveY);
decodeBezierCPCurve(node[4], &rightX, &rightCurveX);
decodeBezierCPCurve(node[5], &rightY, &rightCurveY);
}
static bool decodeMat(const YAML::Node &node, kr::Mat<Scalar, Rows, Cols> &M) {
static_assert(Rows != Eigen::Dynamic && Cols != Eigen::Dynamic,
"Static matrices only");
if (!node.IsSequence() || node.size() != Rows*Cols) {
return false;
}
for (int i = 0; i < Rows; i++) {
for (int j = 0; j < Cols; j++) {
M(i, j) = static_cast<Scalar>(node[i * Cols + j].as<double>());
}
}
return true;
}
enum_flags<Enum> from_yaml(type_t<enum_flags<Enum>>, const YAML::Node& value)
{
if (!value.IsSequence())
throw deserialize_error{"type must be a sequnce but is " +
yaml_type_name(value)};
enum_flags<Enum> ret{};
for (const auto& v : value)
{
const auto e = yaml::deserialize<Enum>(v);
ret |= e;
}
return ret;
}
void GameConfiguration::parseYAML(const string archivoAParsear){
//VERIFICA SI ARCHIVO ESTA CORRUPTO O TIENE FORMATO VALIDO DE YAML, EN ESE CASO PARSEA DIRECTAMENTE EL ARCHIVO POR DEFECTO
this->loadFile(archivoAParsear);
this->pantalla = PantallaConfig(this->nodoRaiz["pantalla"]);
this->configuracion = ConfiguracionConfig(this->nodoRaiz["configuracion"]);
YAML::Node nodoTipos = this->nodoRaiz["tipos"];
this->escenario = EscenarioConfig(this->nodoRaiz["escenario"]);
if(!nodoTipos.IsSequence()){
Log().Get(TAG,logERROR) << "Nodo tipos tiene que ser una secuencia";
} else {
for (std::size_t i=0;i < nodoTipos.size();i++) {
TipoConfig* newNodo = new TipoConfig(nodoTipos[i]);
tipos.push_back(*newNodo);
}
}
}
YAML::Node expandDefaults(const YAML::Node& node) {
YAML::Node result = YAML::Clone(node);
if (node.IsMap() && node["DEFAULT"]) {
const YAML::Node& default_node = result["DEFAULT"];
for (auto field = result.begin(); field != result.end(); ++field) {
std::string fieldname = field->first.as<std::string>();
if (fieldname != "DEFAULT") {
result[fieldname] = applyDefaults(result[fieldname], default_node);
}
}
}
if (result.IsMap() || result.IsSequence()) {
for (auto child = result.begin(); child != result.end(); ++child) {
std::string child_name = child->first.as<std::string>();
result[child_name] = expandDefaults(child->second);
}
}
return result;
}
inline
bool
checkVariableType(const YAML::Node& node,
const YamlCppUtils::Type type)
{
switch (type) {
case YamlCppUtils::TypeBoolean:
try {
node.as<bool>();
return true;
} catch (const YAML::TypedBadConversion<bool>&) {
return false;
}
case YamlCppUtils::TypeFloat:
try {
node.as<double>();
return true;
} catch (const YAML::TypedBadConversion<double>&) {
return false;
}
case YamlCppUtils::TypeInt:
try {
node.as<int>();
return true;
} catch (const YAML::TypedBadConversion<int>&) {
return false;
}
case YamlCppUtils::TypeSequence:
return node.IsSequence();
case YamlCppUtils::TypeString:
try {
node.as<std::string>();
return true;
} catch (const YAML::TypedBadConversion<std::string>&) {
return false;
}
}
return false;
}
// Test conversion to and from yaml node
TYPED_TEST(AllMatrixTests, YamlConvert)
{
typedef typename TestFixture::Matrix Matrix;
typedef typename TestFixture::Scalar T;
// This array has more elements than we will need.
// The element type must match the matrix!
const T inputArray[18] =
{
0.01f, 1.02f, 2.03f, 3.04f, 4.05f, 5.06f, 6.07f, 7.08f, 8.09f,
9.10f, 10.11f, 11.12f, 12.13f, 13.14f, 14.15f, 15.16f, 16.17f, 17.18f
};
Matrix matrix(inputArray);
YAML::Node node;
ASSERT_NO_THROW(node = matrix);
EXPECT_TRUE(node.IsSequence());
EXPECT_EQ(matrix.rows(), node.size());
ASSERT_NO_THROW({Matrix expected = node.as<Matrix>();});
XmlRpc::XmlRpcValue YamlToXml( const YAML::Node& node )
{
XmlRpc::XmlRpcValue xml;
if( node.IsNull() )
{
return xml;
}
else if( node.IsSequence() )
{
std::vector< std::string > contents = node.as< std::vector< std::string > >();
xml.setSize( contents.size() );
for( unsigned int i = 0; i < contents.size(); i++ )
{
xml[i] = contents[i];
}
}
else if( node.IsScalar() )
{
xml = node.as< std::string >();
}
else if( node.IsMap() )
{
YAML::Node::const_iterator iter;
for( iter = node.begin(); iter != node.end(); iter++ )
{
std::string name = iter->first.as<std::string>();
xml[ name ] = YamlToXml( iter->second );
}
}
else
{
std::cerr << "Invalid YAML node type." << std::endl;
}
return xml;
}
void cfg::decode(const YAML::Node& data, cfg::_base& rhs)
{
switch (rhs.get_type())
{
case type::node:
{
if (data.IsScalar() || data.IsSequence())
{
return; // ???
}
for (const auto& pair : data)
{
if (!pair.first.IsScalar()) continue;
// Find the key among existing nodes
for (const auto& _pair : static_cast<node&>(rhs).get_nodes())
{
if (_pair.first == pair.first.Scalar())
{
decode(pair.second, *_pair.second);
}
}
}
break;
}
case type::set:
{
std::vector<std::string> values;
if (YAML::convert<decltype(values)>::decode(data, values))
{
rhs.from_list(std::move(values));
}
break;
}
case type::log:
{
if (data.IsScalar() || data.IsSequence())
{
return; // ???
}
std::map<std::string, logs::level> values;
for (const auto& pair : data)
{
if (!pair.first.IsScalar() || !pair.second.IsScalar()) continue;
u64 value;
if (cfg::try_to_enum_value(&value, &fmt_class_string<logs::level>::format, pair.second.Scalar()))
{
values.emplace(pair.first.Scalar(), static_cast<logs::level>(static_cast<int>(value)));
}
}
static_cast<log_entry&>(rhs).set_map(std::move(values));
break;
}
default:
{
std::string value;
if (YAML::convert<std::string>::decode(data, value))
{
rhs.from_string(value);
}
break; // ???
}
}
}
Reflectable reflectable_from_yaml(const YAML::Node& value)
{
Reflectable refl{};
if (value.IsMap())
{
ctti::reflect(refl, [&value](auto fi) {
using field_type = typename decltype(fi)::type;
try
{
const auto& query = value[fi.name()];
if (query)
fi.get() = yaml::deserialize<field_type>(query);
else
fi.get() = yaml::deserialize<field_type>({});
}
catch (deserialize_error& ex)
{
std::string msg =
"error when deserializing field " + std::string(fi.name());
ex.add(msg.c_str());
throw;
}
});
}
else if (value.IsSequence())
{
if (value.size() > ctti::total_num_fields<Reflectable>())
{
throw deserialize_error{"sequence size is greater than "
"declared struct's field "
"count"};
}
ctti::reflect(refl, [&value, index = 0U](auto fi) mutable {
using field_type = typename decltype(fi)::type;
try
{
if (index < value.size())
fi.get() = yaml::deserialize<field_type>(value[index]);
else
fi.get() = yaml::deserialize<field_type>({});
++index;
}
catch (deserialize_error& ex)
{
std::string msg =
"error when deserializing element " + std::to_string(index);
ex.add(msg.c_str());
throw;
}
});
}
else
{
throw deserialize_error{"type must be a sequence or map but is " +
yaml_type_name(value)};
}
return refl;
}
void
KnobSerialization::decodeValueNode(const std::string& viewName, const YAML::Node& node)
{
int nDims = 1;
bool isMainNodeSequence = node.IsSequence() && _dataType != eSerializationValueVariantTypeTable;
if (isMainNodeSequence) {
nDims = node.size();
}
PerDimensionValueSerializationVec& dimVec = _values[viewName];
initValuesVec(this, &dimVec, nDims);
for (int i = 0; i < nDims; ++i) {
YAML::Node dimNode = isMainNodeSequence ? node[i] : node;
if (!dimNode.IsMap()) {
// This is a value
decodeValueFromNode(dimNode, dimVec[i]._value, _dataType);
dimVec[i]._serializeValue = true;
} else { // !isMap
// Always look for an animation curve
if (dimNode["Curve"]) {
// Curve
dimVec[i]._animationCurve.decode(dimNode["Curve"]);
}
// Look for a link or expression
if (dimNode["pyMultiExpr"]) {
dimVec[i]._expression = dimNode["pyMultiExpr"].as<std::string>();
dimVec[i]._expresionHasReturnVariable = true;
dimVec[i]._expressionLanguage = kKnobSerializationExpressionLanguagePython;
} else if (dimNode["pyExpr"]) {
dimVec[i]._expression = dimNode["pyExpr"].as<std::string>();
dimVec[i]._expressionLanguage = kKnobSerializationExpressionLanguagePython;
} else if (dimNode["exprtk"]) {
dimVec[i]._expression = dimNode["exprtk"].as<std::string>();
dimVec[i]._expressionLanguage = kKnobSerializationExpressionLanguageExprtk;
} else {
// This is most likely a regular slavr/master link
bool gotLink = false;
if (dimNode["N"]) {
dimVec[i]._slaveMasterLink.masterNodeName = dimNode["N"].as<std::string>();
gotLink = true;
}
if (dimNode["T"]) {
dimVec[i]._slaveMasterLink.masterTableItemName = dimNode["T"].as<std::string>();
gotLink = true;
}
if (dimNode["K"]) {
dimVec[i]._slaveMasterLink.masterKnobName = dimNode["K"].as<std::string>();
gotLink = true;
}
if (dimNode["D"]) {
dimVec[i]._slaveMasterLink.masterDimensionName = dimNode["D"].as<std::string>();
gotLink = true;
}
if (dimNode["V"]) {
dimVec[i]._slaveMasterLink.masterViewName = dimNode["V"].as<std::string>();
gotLink = true;
}
dimVec[i]._slaveMasterLink.hasLink = gotLink;
}
} // isMap
}
} //decodeValueNode
void Config::parseWatcher(const YAML::Node& node)
{
size_t asterisk_count;
if(node.size() >= 1 && node.IsMap())
for (YAML::const_iterator iter=node.begin();iter!=node.end();++iter) {
std::string key = iter->first.as<std::string>();
YAML::Node value = iter->second;
Util::lowercase(key);
if(key == "filter")
{
if(!value.IsSequence())
std::cerr << "ERROR!\n";
for(YAML::const_iterator filter_iter=value.begin();
filter_iter!=value.end();
++filter_iter)
{
asterisk_count = 0;
std::string val = filter_iter->as<std::string>();
for(size_t i = 0; i < val.length(); i++)
if(val[i] == '*')
asterisk_count++;
LOG(logger, DEBUG, "Filter: %s", val.c_str());
if(asterisk_count > 1)
throw std::runtime_error("Could not open file");
mWatch.filters.push_back(val);
}
}
else if(key == "include")
{
if(!value.IsSequence() && !value.IsScalar())
std::cerr << "ERROR!\n";
if(value.IsSequence())
{
for(YAML::const_iterator filter_iter=value.begin();
filter_iter!=value.end();
++filter_iter)
{
LOG(logger, DEBUG, "Include: %s", filter_iter->as<std::string>().c_str());
mWatch.include.push_back(filter_iter->as<std::string>());
}
}
else if(value.IsScalar())
{
LOG(logger, DEBUG, "Include: %s", value.as<std::string>().c_str());
mWatch.include.push_back(value.as<std::string>());
}
}
else if(key == "exclude")
{
if(!value.IsSequence() && !value.IsScalar())
std::cerr << "ERROR!\n";
if(value.IsSequence())
{
for(YAML::const_iterator filter_iter=value.begin();
filter_iter!=value.end();
++filter_iter)
{
LOG(logger, DEBUG, "Exclude: %s", filter_iter->as<std::string>().c_str());
mWatch.exclude.push_back(filter_iter->as<std::string>());
}
}
else if(value.IsScalar())
{
LOG(logger, DEBUG, "Exclude: %s", value.as<std::string>().c_str());
mWatch.exclude.push_back(value.as<std::string>());
}
}
else
LOG(logger, DEBUG, "Value: %s\n", value.as<std::string>().c_str());
}
}
void
CurveSerialization::decode(const YAML::Node& node)
{
if (!node.IsSequence()) {
return;
}
if (node.size() == 0) {
return;
}
CurveDecodeStateEnum state = eCurveDecodeStateMayExpectInterpolation;
std::string interpolation;
KeyFrameSerialization keyframe;
bool pushKeyFrame = false;
for (std::size_t i = 0; i < node.size(); ++i) {
YAML::Node keyNode = node[i];
switch (state) {
case eCurveDecodeStateMayExpectInterpolation:
if (pushKeyFrame) {
keys.push_back(keyframe);
// Reset keyframe
keyframe.interpolation.clear();
keyframe.time = keyframe.value = keyframe.leftDerivative = keyframe.rightDerivative = 0.;
}
try {
// First try to get a time. Conversion of a string to double always fails but string to double does not
keyframe.time = keyNode.as<double>();
// OK we read a valid time, assume the interpolation is the same as the previous
// No interpolation, use the interpolation set previously.
// If interpolation is not set, set interpolation to linear
if (interpolation.empty()) {
interpolation = kKeyframeSerializationTypeLinear;
}
keyframe.interpolation = interpolation;
state = eCurveDecodeStateExpectValue;
} catch (const YAML::BadConversion& /*e*/) {
// OK we read an interpolation and set the curve interpolation so far if needed
keyframe.interpolation = keyNode.as<std::string>();
// No interpolation, use the interpolation set previously.
// If interpolation is not set, set interpolation to linear
if (interpolation.empty()) {
interpolation = keyframe.interpolation;
}
state = eCurveDecodeStateExpectTime;
}
break;
case eCurveDecodeStateExpectTime:
keyframe.time = keyNode.as<double>();
state = eCurveDecodeStateExpectValue;
break;
case eCurveDecodeStateExpectValue:
keyframe.value = keyNode.as<double>();
// Depending on interpolation we may expect derivatives
if (keyframe.interpolation == kKeyframeSerializationTypeFree || keyframe.interpolation == kKeyframeSerializationTypeBroken) {
state = eCurveDecodeStateMayExpectRightDerivative;
} else {
state = eCurveDecodeStateMayExpectInterpolation;
}
break;
case eCurveDecodeStateMayExpectRightDerivative:
keyframe.rightDerivative = keyNode.as<double>();
if (keyframe.interpolation == kKeyframeSerializationTypeBroken) {
state = eCurveDecodeStateMayExpectLeftDerivative;
} else {
state = eCurveDecodeStateMayExpectInterpolation;
}
break;
case eCurveDecodeStateMayExpectLeftDerivative:
keyframe.leftDerivative = keyNode.as<double>();
state = eCurveDecodeStateMayExpectInterpolation;
break;
}
pushKeyFrame = true;
}
if (pushKeyFrame) {
keys.push_back(keyframe);
}
}
void MidiRouter::readFile(QString fileName) {
clear();
QFile file(fileName);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
emit(mappingError("cannot open file: " + fileName));
return;
}
QTextStream in(&file);
YAML::Node root = YAML::Load(in.readAll().toStdString());
if (!root.IsMap()) {
emit(mappingError("mapping is not a map in " + fileName));
return;
}
for (auto kv: std::map<QString, int>({{"master", -1}, {"player0", 0}, {"player1", 1}})) {
const QString key = kv.first;
const int player = kv.second;
if (!root[key])
continue;
YAML::Node parent = root[key];
if (!parent.IsSequence())
emit(mappingError(key + " is not a sequence in " + fileName));
for (unsigned int i = 0; i < parent.size(); i++) {
YAML::Node node = parent[i];
MidiMapPtr mmap = QSharedPointer<MidiMap>::create();
mmap->player_index = player;
try {
if (node["trigger"]) {
mmap->signal_name = node["trigger"].as<QString>();
mmap->mapping_type = TRIGGER;
try {
if (!find_midi(node, mmap, yamls_trigger_map))
emit(mappingError(key + " could not find trigger mapping in element " + QString::number(i)));
} catch (std::runtime_error& e) {
emit(mappingError(key + QString::fromStdString(e.what()) + " in element " + QString::number(i)));
}
} else if (node["continuous"]) {
mmap->signal_name = node["continuous"].as<QString>();
mmap->mapping_type = CONTINUOUS;
try {
if (!find_midi(node, mmap, yamls_cc_map))
emit(mappingError(key + " could not find cc mapping in element " + QString::number(i)));
} catch (std::runtime_error& e) {
emit(mappingError(key + QString::fromStdString(e.what()) + " in element " + QString::number(i)));
}
} else if (node["twos_complement"]) {
mmap->signal_name = node["twos_complement"].as<QString>();
mmap->mapping_type = TWOS_COMPLEMENT;
try {
if (!find_midi(node, mmap, yamls_cc_map))
emit(mappingError(key + " could not find trigger mapping in element " + QString::number(i)));
} catch (std::runtime_error& e) {
emit(mappingError(key + QString::fromStdString(e.what()) + " in element " + QString::number(i)));
}
} else {
emit(mappingError(key + " no supported mapping found in midi mapping element " + QString::number(i)));
return;
}
if (node["mult"])
mmap->multiplier = node["mult"].as<double>();
if (node["offset"])
mmap->offset = node["offset"].as<double>();
//XXX search for conflicting maps and warn
mMappings.push_back(mmap);
} catch (YAML::Exception& e) {
emit(mappingError(key + " exception processing midi mapping element " + QString::number(i) + " " + QString(e.what())));
return;
} catch(...) {
emit(mappingError(key + " exception processing midi mapping element " + QString::number(i)));
return;
}
}
}
}