void
gu::Config::parse (param_map_t& pmap, const std::string& params)
throw (Exception)
{
if (0 == params[0]) return;
std::vector<std::string> pv = gu::tokenize (params, PARAM_SEP, ESCAPE);
for (size_t i = 0; i < pv.size(); ++i)
{
std::vector<std::string> kvv =
gu::tokenize (pv[i], KEY_VALUE_SEP, ESCAPE, true);
assert(kvv.size() > 0);
gu::trim(kvv[0]);
const std::string& key = kvv[0];
if (!key.empty())
{
if (kvv.size() == 1)
{
gu_throw_error(EINVAL) <<"Key without value: '" << key
<<"' at position '"
<< i << "' in parameter list.";
}
if (kvv.size() > 2)
{
gu_throw_error(EINVAL) <<"More than one value for key '" << key
<<"' at '"
<< pv[i] << "' in parameter list.";
}
gu::trim(kvv[1]);
std::string& value = kvv[1];
param_map_t::iterator pi = pmap.find(key);
if (pi != pmap.end())
{
log_warn << "Element " << pv[i] << " overwrites previous value"
<< " '" << pi->second << "' of '" << key << "' by '"
<< value << "'";
}
log_debug << "Found param '" << key << "' = '" << value << "'";
pmap[key] = value;
}
else if (kvv.size() > 1)
{
gu_throw_error(EINVAL) << "Empty key at '" << pv[i]
<< "' in parameter list.";
}
}
}
void walk_get_param(httpd* server) {
httpVar* param_var = httpdGetVariableByName(server, "param");
if (param_var) {
const char* param_name = param_var->value;
param_map_t::iterator it = param_map.find(param_name);
if (it != param_map.end()) {
pthread_mutex_lock(&rbt_mutex);
double v = WalkerManager::GetInstance()->GetParameterValue(it->second);
pthread_mutex_unlock(&rbt_mutex);
static char buf[50];
sprintf(buf, "%lf", v);
httpdSetContentType(server, "application/json");
httpdOutput(server, buf);
} else httpdOutput(server, "Parameter $param not found!");
} else
httpdOutput(server, "Please specify the param name!");
}
void walk(httpd* server) {
httpVar* motion_var = httpdGetVariableByName(server, "motion");
if (motion_var) {
param_map_t::iterator it = motion_map.find(motion_var->value);
if (it == motion_map.end())
httpdOutput(server, "Motion parameter $motion is invalid!");
else {
pthread_mutex_lock(&rbt_mutex);
Behaviour::GetInstance()->Walk(it->second);
pthread_mutex_unlock(&rbt_mutex);
httpdOutput(server, "walk - motion: $motion");
}
} else {
pthread_mutex_lock(&rbt_mutex);
Behaviour::GetInstance()->Walk();
pthread_mutex_unlock(&rbt_mutex);
httpdOutput(server, "walk (no motion specified)");
}
}
void walk_set_param(httpd* server) {
httpVar *param_var = httpdGetVariableByName(server, "param"),
*value_var = httpdGetVariableByName(server, "value");
if (param_var && value_var) {
double value;
if (0 == sscanf(value_var->value, "%lf", &value)) {
httpdOutput(server, "The value is invalid!");
}
const char* param_name = param_var->value;
param_map_t::iterator it = param_map.find(param_name);
if (it != param_map.end()) {
pthread_mutex_lock(&rbt_mutex);
WalkerManager::GetInstance()->SetParameter(it->second, value);
//TODO save parset file?
pthread_mutex_unlock(&rbt_mutex);
httpdOutput(server, "Parameter $param has been set as $value.");
} else httpdOutput(server, "Parameter $param not found!");
} else
httpdOutput(server, "Please specify the param name and the value!");
}
