//----------------------------------------------------------------------------------
bool g3d::VoxelSpace_c::load(const std::string &FileName,YAML::Node &user_doc)
{
bool Res = true;
mcv::MixedFileManager_c FManager;
std::stringstream YamlHeader = FManager.Parse(FileName);
if(YamlHeader.str().empty())
{
std::cout << "VoxelSpace_c::load() Couldn't load File: " << FileName << std::endl;
return false;
}
YAML::Parser parser;
parser.Load(YamlHeader);
parser.GetNextDocument(user_doc);
YAML::Node doc;
parser.GetNextDocument(doc);
doc["VoxelSize"] >> VoxelSize;
int TotalVoxels,vXv,vYv,vZv;
doc["Xv"] >> vXv;
doc["Yv"] >> vYv;
doc["Zv"] >> vZv;
doc["TotalVoxels"] >> TotalVoxels;
int vNbFill;
doc["NbFill"] >> vNbFill;
EigenBox3D vBox;
doc["VoxBox"] >> vBox;
//This is the load SetUp as the data is the master with its Xv,Yv,Zv
//and the <float> is not guarantied through text save and load
//whether use double if more precision is needed but won't correct the text conversion issue
//or save the critical information on data, but it becomes no more editable by the user
//the remaining issue is the float -> text -> float conversion !!! ??? is this safe ?
Reset(vBox.Low,vXv,vYv,vZv,VoxelSize);//will get Xv = vXv ....
doc["TypeName"] >> TypeName;
doc["ColorTable"] >> ColorTable;
if(doc.FindValue("ClassesNames"))
{
doc["ClassesNames"] >> ClassesNames;
}
void Settings::ParseInitConfig() {
QFile launcherFile(DirectoryManager::GetInstance()->GetConfigDir() + InitFile);
if (!launcherFile.open(QFile::ReadOnly)) {
Logger::GetInstance()->AddLog(tr("Error read launcher config"));
return;
}
YAML::Parser launcherParser;
std::istringstream launcherStream(launcherFile.readAll().data());
launcherParser.Load(launcherStream);
launcherFile.close();
YAML::Node launcherSettings;
if (!launcherParser.GetNextDocument(launcherSettings)) {
Logger::GetInstance()->AddLog(tr("Error parse launcher settings."));
return;
}
AppsConfig newConfig;
const YAML::Node* pTimer = launcherSettings.FindValue(CONFIG_UPDATE_INTERVAL);
if (pTimer) {
QString interval;
setString(interval, pTimer);
m_nUpdateTimer = interval.toInt() * 60 * 1000;
}
const YAML::Node* Launcher = launcherSettings.FindValue(LAUNCHER);
if (Launcher) {
const YAML::Node* LauncherVer = Launcher->FindValue(LAUNCHER_VER);
if (LauncherVer)
setString(newConfig.m_Launcher.m_Version, LauncherVer);
const YAML::Node* LauncherUrl = Launcher->FindValue(LAUNCHER_UPDATE_URL);
if (LauncherUrl)
setString(newConfig.m_Launcher.m_Url, LauncherUrl);
}
QFile docFile(DirectoryManager::GetInstance()->GetDocumentsDirectory() + InitFile);
if(docFile.open(QFile::ReadOnly)) {
YAML::Parser docParser;
std::istringstream docStream(docFile.readAll().data());
docParser.Load(docStream);
docFile.close();
YAML::Node docSettings;
docParser.GetNextDocument(docSettings);
ParseAppConfig(&docSettings, STABLE, newConfig.m_Stable);
ParseAppConfig(&docSettings, QA, newConfig.m_Test);
ParseAppConfig(&docSettings, DEVELOPMENT, newConfig.m_Development);
ParseAppConfig(&docSettings, DEPENDENCIES, newConfig.m_Dependencies);
}
m_Config = newConfig;
}
// Called from the consumer since this class is a registered MessageListener.
virtual void
onMessage (const Message * message)
throw ()
{
static int
count = 0;
try
{
count++;
const TextMessage *
textMessage = dynamic_cast < const
TextMessage * >(message);
const BytesMessage *
bytesMessage = dynamic_cast < const
BytesMessage * >(message);
string text = "";
if (bytesMessage != NULL)
{
//std::cout << bytesMessage->getBodyBytes();
//bytesMessage->reset();
size_t i = bytesMessage->getBodyLength ();
printf ("%lu", i);
ofstream ofs ("message.yaml", ofstream::out);
for (int x = 1; x <= i; x++)
{
ofs << bytesMessage->readByte ();
}
ofs.flush ();
ofs.close ();
try
{
std::ifstream fin ("message.yaml");
//std::stringstream fin(std::string(bytesMessage->getBodyBytes()));
YAML::Parser parser (fin);
YAML::Node doc;
// We assume only the first doc, need to check with doc.size
parser.GetNextDocument (doc);
/*
Key: :agent
Key: :body
Key: :callerid
Key: :collectiv
Key: :filter
Key: :hash
Key: :msgtarget
Key: :msgtime
Key: :requestid
Key: :senderid
*/
for (YAML::Iterator it = doc.begin (); it != doc.end (); ++it)
{
std::string key, value;
it.first () >> key;
std::cout << "Key: " << key << std::endl;
}
std::string requestid;
std::string senderid;
std::string msgtarget;
doc[":msgtarget"] >> msgtarget;
doc[":requestid"] >> requestid;
doc[":senderid"] >> senderid;
std::cout << msgtarget << std::endl << requestid << std::
endl << senderid << std::endl;
// Body seems to be multiline string of yaml
// Parsing strings http://stackoverflow.com/questions/2813030/yaml-cpp-parsing-strings
std::string body;
doc[":body"] >> body;
std::stringstream bodystream (body);
YAML::Parser bodyparser (bodystream);
YAML::Node bodydoc;
std::string action;
bodyparser.GetNextDocument (bodydoc);
bodydoc >> action;
std::cout << action;
// Construct YAML body
YAML::Emitter reply_message_body_yaml;
reply_message_body_yaml << "pong";
// Put it in a string
std::string reply_message_body = reply_message_body_yaml.c_str();
std::cout << reply_message_body << std::endl;
// Append PSK to it
std::string psk = "unset";
std::string body_psk = reply_message_body;
body_psk.append(psk);
std::stringstream md5sumstream;
// MD5 - https://gist.github.com/2389719
// but needs a real string
// http://social.msdn.microsoft.com/Forums/en/Vsexpressvc/thread/e1774395-ba99-4fe6-98eb-2224a67984b9
unsigned char md5_result[MD5_DIGEST_LENGTH];
const unsigned char * constStr = reinterpret_cast<const unsigned char *> (body_psk.c_str());
MD5(constStr, body_psk.length() , md5_result);
for (i=0; i < MD5_DIGEST_LENGTH; i++)
{
printf("%02x", md5_result[i]);
char digit[2];
sprintf(digit,"%02x", md5_result[i]);
md5sumstream << digit;
}
printf("\n");
std::cout << "md5 stream:" << md5sumstream.str() << std::endl;
std::string hash = md5sumstream.str();
std::cout << "hash:" << hash << std::endl;
YAML::Emitter reply_message_yaml;
reply_message_yaml << YAML::BeginMap;
reply_message_yaml << YAML::Key << ":msgtime";
reply_message_yaml << YAML::Value << 1010101;
reply_message_yaml << YAML::Key << ":requestid";
reply_message_yaml << YAML::Value << requestid;
reply_message_yaml << YAML::Key << ":body";
reply_message_yaml << YAML::Value << reply_message_body;
reply_message_yaml << YAML::Key << ":senderid";
reply_message_yaml << YAML::Value << "mcpp";
reply_message_yaml << YAML::Key << ":senderagent";
reply_message_yaml << YAML::Value << "discovery";
reply_message_yaml << YAML::Key << ":msgtarget";
reply_message_yaml << YAML::Value << "/topic/mcollective.discovery.reply";
reply_message_yaml << YAML::Key << ":hash";
reply_message_yaml << YAML::Value << hash;
reply_message_yaml << YAML::EndMap;
// Put it in a string
std::string reply_message = reply_message_yaml.c_str();
std::cout << reply_message << std::endl;
// Get ready to send
try {
Connection* connection;
Session* session;
Destination* destination;
MessageProducer* producer;
// Create a ConnectionFactory
std::string brokerURI = "tcp://127.0.0.1:6163" "?wireFormat=stomp";
auto_ptr<ConnectionFactory> connectionFactory(
ConnectionFactory::createCMSConnectionFactory( brokerURI ) );
// Create a Connection
connection = connectionFactory->createConnection ("mcollective", "marionette");
connection->start();
// Create a Session
session = connection->createSession( Session::AUTO_ACKNOWLEDGE );
// Create the destination (Topic or Queue)
destination = session->createTopic( "mcollective.discovery.reply" );
// Create a MessageProducer from the Session to the Topic or Queue
producer = session->createProducer( destination );
producer->setDeliveryMode( DeliveryMode::NON_PERSISTENT );
// Create a messages
BytesMessage* reply = session->createBytesMessage();
reply->writeString(reply_message.c_str());
producer->send( reply );
printf("reply send \n");
delete reply;
}catch ( CMSException& e ) {
e.printStackTrace();
}
}
catch (YAML::ParserException & e)
{
std::cout << e.what () << "\n";
}
}
if (textMessage != NULL)
{
text = textMessage->getText ();
}
else
{
text = "NOT A TEXTMESSAGE!";
//std::cout << message->getCMSType();
std::vector < string > v = message->getPropertyNames ();
for (std::vector < string >::iterator it = v.begin ();
it != v.end (); ++it)
{
std::cout << *it << std::endl;
}
}
printf ("Message #%d Received: %s\n", count, text.c_str ());
}
YamlConfigurationNode *
YamlConfiguration::read_yaml_file(std::string filename, bool ignore_missing,
std::queue<LoadQueueEntry> &load_queue,
std::string &host_file)
{
if (access(filename.c_str(), R_OK) == -1) {
if (ignore_missing) {
return NULL;
}
throw Exception(errno, "YamlConfig: cannot access file %s", filename.c_str());
}
#ifdef HAVE_YAMLCPP_0_5
std::vector<YAML::Node> docs;
#else
std::ifstream fin(filename.c_str());
YAML::Parser parser;
YAML::Node doc1, doc2;
#endif
bool have_doc1 = false, have_doc2 = false;
try {
#ifdef HAVE_YAMLCPP_0_5
docs = YAML::LoadAllFromFile(filename);
have_doc1 = docs.size() > 0;
have_doc2 = docs.size() > 1;
#else
parser.Load(fin);
have_doc1 = parser.GetNextDocument(doc1);
have_doc2 = parser.GetNextDocument(doc2);
#endif
} catch (YAML::ParserException &e) {
throw CouldNotOpenConfigException("Failed to parse %s line %i column %i: %s",
filename.c_str(), e.mark.line, e.mark.column,
e.msg.c_str());
}
YamlConfigurationNode *sub_root = NULL;
if (! have_doc1) {
//throw Exception("YamlConfig: file %s contains no document", filename.c_str());
// empty -> ignore
} else if (have_doc1 && have_doc2) {
// we have a meta info and a config document
#ifdef HAVE_YAMLCPP_0_5
read_meta_doc(docs[0], load_queue, host_file);
read_config_doc(docs[1], sub_root);
#else
read_meta_doc(doc1, load_queue, host_file);
read_config_doc(doc2, sub_root);
#endif
} else {
// only one, assume this to be the config document
#ifdef HAVE_YAMLCPP_0_5
read_config_doc(docs[0], sub_root);
#else
read_config_doc(doc1, sub_root);
#endif
}
return sub_root;
}
int ConfigManager::readConfigFile(int fd, std::istream* stream)
{
YAML::Parser p;
YAML::Node doc;
int ret = 0;
std::vector<v4l2_ext_control> controls;
try
{
p.Load(*stream);
}
catch(YAML::Exception& e)
{
ROS_FATAL("Could not parse config file: %s", e.what());
return -1;
}
if(!p.GetNextDocument(doc))
{
ROS_FATAL("Could not get YAML document");
return -1;
}
for(YAML::Iterator it = doc.begin(); it != doc.end(); ++it)
{
std::string key, value;
try
{
(*it).begin().first() >> key;
(*it).begin().second() >> value;
}
catch(YAML::Exception& e)
{
ROS_FATAL("Invalid parameter specification: %s", e.what());
return -1;
}
int ivalue = -1;
calibration::CameraParam* info = getParamInfo(key);
if(!info)
{
ROS_FATAL("Unknown parameter '%s' in config file, ignoring...", key.c_str());
continue;
}
ivalue = atoi(value.c_str());
info->value = ivalue;
v4l2_ext_control control;
memset(&control, 0, sizeof(control));
control.id = info->id;
control.value = ivalue;
controls.push_back(control);
}
v4l2_ext_controls request;
memset(&request, 0, sizeof(request));
request.controls = &controls[0];
request.count = controls.size();
request.ctrl_class = V4L2_CTRL_CLASS_USER;
if(ioctl(fd, VIDIOC_S_EXT_CTRLS, &request) != 0)
{
ROS_FATAL("Control setting failed. This may have happened at control 0x%X with value %d",
controls[request.error_idx].id,
controls[request.error_idx].value
);
return -1;
}
ROS_INFO("Controls set successfully from config file");
return ret;
}
