std::string settingToString(Setting& setting, uint32_t maxElements)
{
Setting::Type t = setting.getType();
switch (t)
{
case Setting::Type::TypeInt: {
return stringFormat("%i", (int)setting);
}
case Setting::Type::TypeInt64: {
return stringFormat("%ll", (long long)setting);
}
case Setting::Type::TypeString: {
return stringFormat("\"%s\"", (const char*)setting);
}
case Setting::Type::TypeBoolean: {
return stringFormat("%i", (bool)setting);
}
case Setting::Type::TypeArray:
case Setting::Type::TypeList: {
std::ostringstream value;
value << ((t == Setting::Type::TypeArray) ? "[" : "(");
if (setting.getLength() > 0) {
int i = 0;
while (true) {
value << settingToString(setting[i++]);
if (i == setting.getLength()) {
break;
}
if (i == maxElements) {
value << ",...";
break;
} else {
value << ",";
}
}
} else {
value << "empty";
}
value << ((t == Setting::Type::TypeArray) ? "]" : ")");
return value.str();
}
default: {
return std::string("<unknown-type>");
}
}
}
int readShapes(Setting &shapeConfig, shapeMap &shapes, bodyMap &limbs)
{
//Shapes
// name = "foot";
// body = "shin";
// position = { x = 0.0; y = -3.0; };
int nShapes = shapeConfig.getLength();
for (int i = 0; i<nShapes; ++i) {
try {
Setting &curShape = shapeConfig[i];
string name = curShape["name"],
body = curShape["body"];
float x = curShape["position"]["x"],
y = curShape["position"]["y"];
shapePos s;
s.localPos.Set(x,y);
s.b = limbs[body];
shapes.insert(make_pair(name, s));
} catch (...) {
cerr<<"Creature::readShapes problem processing shape "
<<i<<endl;
return 0;
}
}
return 1;
}
int readJoints(Setting &jointConfig, jointMap &joints, bodyMap &limbs,
World *w)
{
//Joints:
// name = "knee";
// type,
// XXX so far only revolute
// obj1
// obj2
// position.{x,y}
// lowerAngle
// upperAngle
int nJoints = jointConfig.getLength();
for (int i = 0; i<nJoints; ++i) {
try {
Setting &curJoint = jointConfig[i];
string name = curJoint["name"];
string type = curJoint["type"];
if (type == "revolute") {
string obj1 = curJoint["obj1"];
string obj2 = curJoint["obj2"];
float x = curJoint["position"]["x"],
y = curJoint["position"]["y"];
b2RevoluteJointDef jointDef;
jointDef.Initialize(limbs[obj1].get(), limbs[obj2].get(),
Vec2(x, y));
jointDef.lowerAngle = curJoint["lowerAngle"];
jointDef.upperAngle = curJoint["upperAngle"];
//XXX default to enableLimit true
jointDef.enableLimit = true;
RevoluteJointP joint =
boost::dynamic_pointer_cast<RevoluteJoint,Joint>
(w->createJoint(&jointDef));
joints.insert(make_pair(name, joint));
} else {
cerr<<"Creature::readJoints joint "<<i<<":"<<name
<<", unknown type "<<type<<endl;
return 0;
}
} catch (SettingTypeException te) {
cerr<<"Creature::readJoints problem processing joint "<<i<<endl;
cerr<<" SettingTypeException: "<<((SettingException)te).what()
<<", "<<te.getPath()<<endl;
return 0;
} catch (SettingNotFoundException te) {
cerr<<"Creature::readJoints problem processing joint "<<i<<endl;
cerr<<" SettingNotFoundException: "
<<((SettingException)te).what()<<", "<<te.getPath()<<endl;
return 0;
} catch (...) {
cerr<<"Creature::readJoints problem processing joint "<<i<<endl;
return 0;
}
}
return 1;
}
void ConfigFactory::createTimeSeriesList(Setting& timeSeriesGroup) {
int tsCount = timeSeriesGroup.getLength();
// loop through the time series and create them.
for (int iSeries = 0; iSeries < tsCount; ++iSeries) {
Setting& series = timeSeriesGroup[iSeries];
string seriesName = series["name"];
TimeSeries::sharedPointer theTimeSeries = createTimeSeriesOfType(series);
if (theTimeSeries != NULL) {
_timeSeriesList[seriesName] = theTimeSeries;
}
}
// connect single sources (ModularTimeSeries subclasses)
typedef std::map<string, string> stringMap_t;
BOOST_FOREACH(const stringMap_t::value_type& stringPair, _timeSeriesSourceList) {
string tsName = stringPair.first;
string sourceName = stringPair.second;
if (_timeSeriesList.find(tsName) == _timeSeriesList.end()) {
std::cerr << "cannot locate Timeseries " << tsName << std::endl;
continue;
}
if (_timeSeriesList.find(sourceName) == _timeSeriesList.end()) {
std::cerr << "cannot locate specified source Timeseries " << sourceName << std::endl;
std::cerr << "-- (specified by Timeseries " << tsName << ")" << std::endl;
continue;
}
ModularTimeSeries::sharedPointer ts = boost::static_pointer_cast<ModularTimeSeries>(_timeSeriesList[tsName]);
TimeSeries::sharedPointer source = _timeSeriesList[sourceName];
ts->setSource(source);
}
int readSensors (Setting &sensorConfig, sensorList &sensors,
bodyMap &limbs, jointMap &joints, shapeMap &shapes)
{
//Sensors:
// type = {JointSensor, HeightSensor, BodyAngleSensor
// target
// for HeightSensor: minH, maxH
// for BodyAngleSensor: minA, maxA
int nSensors = sensorConfig.getLength();
for (int i = 0; i<nSensors; ++i) {
try {
Setting &curSensor = sensorConfig[i];
string type = curSensor["type"];
string target = curSensor["target"];
if (type == "JointSensor") {
SensorP s(new JointSensor(joints[target]));
sensors.push_back(s);
} else if (type == "HeightSensor") {
double minH = curSensor["minH"],
maxH = curSensor["maxH"];
SensorP s(new HeightSensor(shapes[target], minH, maxH));
sensors.push_back(s);
} else if (type == "BodyAngleSensor") {
double minA = curSensor["minA"],
maxA = curSensor["maxA"];
SensorP s(new BodyAngleSensor(limbs[target], minA, maxA));
sensors.push_back(s);
} else {
cerr<<"Creature::readSensors sensor "<<i
<<", unknown type: "<<type<<endl;
return 0;
}
} catch (SettingTypeException te) {
cerr<<"Creature::readSensors problem processing sensor "
<<i<<endl;
cerr<<" SettingTypeException: "<<((SettingException)te).what()
<<", "<<te.getPath()<<endl;
return 0;
} catch (SettingNotFoundException te) {
cerr<<"Creature::readSensors problem processing sensor "
<<i<<endl;
cerr<<" SettingNotFoundException: "
<<((SettingException)te).what()<<", "<<te.getPath()<<endl;
return 0;
} catch (...) {
cerr<<"Creature::readSensors problem processing limb "
<<i<<endl;
return 0;
}
}
return 1;
}
// keeping the clock creation simple for now - e.g., no function pointers.
void ConfigFactory::createClocks(Setting& clockGroup) {
int clockCount = clockGroup.getLength();
for (int iClock = 0; iClock < clockCount; ++iClock) {
Setting& clock = clockGroup[iClock];
string clockName = clock["name"];
int period = clock["period"];
Clock::sharedPointer aClock( new Clock(period) );
_clockList[clockName] = aClock;
}
return;
}
void ServiceManager::setup(Setting& settings)
{
for(int i = 0; i < settings.getLength(); i++)
{
Setting& stSvc = settings[i];
String classname = stSvc.getName();
stSvc.lookupValue("class", classname);
Service* svc = addService(classname);
if(svc != NULL)
{
svc->doSetup(this, stSvc);
}
}
}
int readMuscles (Setting &muscleConfig, muscleList &muscles, bodyMap &limbs)
{
//Muscles:
// name = "hamstring";
// obj1 = "shin";
// pos1 = { x = -0.5; y = 1.5; };
// obj2 = "thigh";
// pos2 = { x = -0.5; y = 1.0; };
// minK = 3000.0;
// maxK = 10000.0;
// minEq = 1.5;
// maxEq = 4.5;
int nMuscles = muscleConfig.getLength();
for (int i = 0; i<nMuscles; ++i) {
try {
Setting &curMuscle = muscleConfig[i];
string name = curMuscle["name"];
string obj1 = curMuscle["obj1"],
obj2 = curMuscle["obj2"];
float x1 = curMuscle["pos1"]["x"],
y1 = curMuscle["pos1"]["y"],
x2 = curMuscle["pos2"]["x"],
y2 = curMuscle["pos2"]["y"];
MuscleP muscle(new Muscle(limbs[obj1], Vec2(x1, y1),
limbs[obj2], Vec2(x2, y2),
curMuscle["minK"],
curMuscle["maxK"],
curMuscle["minEq"],
curMuscle["maxEq"],
curMuscle["kd"]));
muscles.push_back(muscle);
} catch (SettingTypeException te) {
cerr<<"Creature::readMuscles problem processing muscle "<<i<<endl;
cerr<<" SettingTypeException: "<<((SettingException)te).what()
<<", "<<te.getPath()<<endl;
return 0;
} catch (SettingNotFoundException te) {
cerr<<"Creature::readMuscles problem processing muscle "<<i<<endl;
cerr<<" SettingNotFoundException: "
<<((SettingException)te).what()<<", "<<te.getPath()<<endl;
return 0;
} catch (...) {
cerr<<"Creature::readMuscles problem processing muscle "<<i<<endl;
return 0;
}
}
return 1;
}
void ConfigFactory::createPointRecords(Setting& records) {
int recordCount = records.getLength();
// loop through the records and create them.
for (int iRecord = 0; iRecord < recordCount; ++iRecord) {
Setting& record = records[iRecord];
string recordName = record["name"];
PointRecord::sharedPointer pointRecord = createPointRecordOfType(record);
if (pointRecord) {
_pointRecordList[recordName] = pointRecord;
}
else {
std::cerr << "could not load point record\n";
}
}
return;
}
int readLimbs(Setting &limbConfig, bodyMap &limbs, bodyPosList &parts,
World *w)
{
//Limbs specify:
// name
// position.{x,y}
// angle
// angularDamping
// list of shapes:
// each has type box or ball
// for box: w, h
// for ball: radius
// density
// optional position
// optional friction
int nLimbs = limbConfig.getLength();
for (int i = 0; i<nLimbs; ++i) {
try {
Setting &curLimb = limbConfig[i];
string name = curLimb["name"];
float x = curLimb["position"]["x"],
y = curLimb["position"]["y"];
b2BodyDef bone;
bone.type = b2_dynamicBody;
bone.position.Set(x,y);
curLimb.lookupValue("angle", bone.angle);
curLimb.lookupValue("angularDamping", bone.angularDamping);
BodyP limb(w->createBody(&bone));
BodyPos bp;
bp.b = limb;
bp.defaultPos.Set(x,y);
bp.angle = bone.angle;
Setting &shapes = curLimb["shapes"];
int nShapes = shapes.getLength();
for (int j = 0; j<nShapes; ++j) {
Setting &curShape = shapes[j];
string type = curShape["type"];
b2FixtureDef fixtureDef;
fixtureDef.density = curShape["density"];
curShape.lookupValue("friction", fixtureDef.friction);
curShape.lookupValue("groupIndex",
(int&)(fixtureDef.filter.groupIndex));
if (type == "box") {
float w = curShape["w"],
h = curShape["h"];
b2PolygonShape box;
box.SetAsBox(w,h);
fixtureDef.shape = &box;
limb->CreateFixture(&fixtureDef);
} else if (type == "ball") {
b2CircleShape ball;
ball.m_radius = curShape["radius"];
float x = curShape["position"]["x"],
y = curShape["position"]["y"];
ball.m_p.Set(x,y);
fixtureDef.shape = &ball;
limb->CreateFixture(&fixtureDef);
} else {
cerr<<"Creature::initFromFile limb "<<name
<<", shape "<<j<<" type "<<type<<" unknown."<<endl;
return 0;
}
}
parts.push_back(bp);
limbs.insert(make_pair(name, limb));
} catch (SettingTypeException te) {
cerr<<"Creature::readLimbs problem processing limb "<<i<<endl;
cerr<<" SettingTypeException: "<<((SettingException)te).what()
<<", "<<te.getPath()<<endl;
return 0;
} catch (SettingNotFoundException te) {
cerr<<"Creature::readLimbs problem processing limb "<<i<<endl;
cerr<<" SettingNotFoundException: "
<<((SettingException)te).what()<<", "<<te.getPath()<<endl;
return 0;
} catch (...) {
cerr<<"Creature::readLimbs problem processing limb "<<i<<endl;
return 0;
}
}
return 1;
}
void _apply(Setting& root, Setting& source, LockList* lockList)
{
Setting* s = nullptr;
if (!source.isRoot()) {
const char* name = source.getName();
if (name != nullptr) {
if (root.exists(name)) {
s = &root[name];
if (_isLocked(*s, true, lockList)) {
LogWarn("Ignored updating configuration '%s' to value "
"'%s'. Setting locked to value '%s'.",
s->getPath().c_str(),
settingToString(source).c_str(),
settingToString(*s).c_str());
return;
}
if (!s->isGroup()) {
root.remove(s->getIndex());
s = &root.add(name, source.getType());
}
} else {
s = &root.add(name, source.getType());
if (_isLocked(*s, false, lockList)) {
LogWarn("Ignored creating configuration '%s' with "
"value '%s'. Setting locked.",
s->getPath().c_str(),
settingToString(*s).c_str());
root.remove(s->getIndex());
return;
}
}
} else {
// List or array elements
s = &root.add(source.getType());
}
} else {
s = &root;
}
switch (source.getType())
{
case Setting::Type::TypeInt: {
*s = (int)source;
break;
}
case Setting::Type::TypeInt64: {
*s = (long long)source;
break;
}
case Setting::Type::TypeString: {
*s = (const char*)source;
break;
}
case Setting::Type::TypeBoolean: {
*s = (bool)source;
break;
}
case Setting::Type::TypeArray:
case Setting::Type::TypeList:
case Setting::Type::TypeGroup: {
for (int i = 0; i < source.getLength(); ++i) {
_apply(*s, source[i], lockList);
}
break;
}
default: {
assert(false);
break;
}
}
}
