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;
}
//----------------------------------------------------------------------------------
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;
}
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;
}