ImuAdis16448::ImuAdis16448(SensorId::SensorId sensor_id, IpConnection::WeakPtr config_connection):
Imu(sensor_id,
SensorSettings(sensor_id, SensorType::SensorType::IMU_ADIS16448,calculateBufferSize(),
ImuAdis16448Defaults::NUM_OF_MSGS_IN_PACKAGE,
ImuAdis16448Defaults::USE_CONST_PACKAGE_SIZE,
ImuAdis16448Defaults::CALIBRATION_SIZE),
config_connection)
{
}
/* Callback on_foreach_iter */
bool ClusterSettings::on_foreach_iter (const Gtk::TreeModel::iterator& iter)
{
Gtk::TreeModel::Row row = *iter;
m_Sensors.push_back (SensorSettings (row[m_Columns.m_col_tag],
row[m_Columns.m_col_online],
row[m_Columns.m_col_x],
row[m_Columns.m_col_y],
row[m_Columns.m_col_adata],
row[m_Columns.m_col_type]));
return false;
}
/* Method load_xml */
bool ClusterSettings::load_xml (const Glib::ustring& filename)
{
/* Create xml document */
TiXmlDocument doc (filename.c_str ());
/* Test xml file */
if (!doc.LoadFile ())
return false;
/* XML handles */
TiXmlHandle hdoc (&doc);
TiXmlHandle hroot (0);
/* Root element */
TiXmlElement *root = hdoc.FirstChildElement ().ToElement ();
Glib::ustring check_xml;
check_xml.assign (root->Value ());
if (!root && !check_xml.compare ("SensorsClusterSettings"))
return false;
hroot = TiXmlHandle (root);
/* Cluster element */
TiXmlElement *cluster = hroot.FirstChildElement ("Cluster").ToElement ();
if (!cluster)
return false;
/* Get cluster attribute */
set_name (cluster->Attribute ("name"));
/* Sensors element */
TiXmlElement *sensorsNode = hroot.FirstChildElement ("Sensors").ToElement ();
if (!sensorsNode)
return false;
/* Get sensors and attributes */
TiXmlElement *sensor;
sensor = hroot.FirstChildElement ("Sensors").FirstChild ("Sensor").ToElement ();
if (!sensor)
return false;
for (sensor; sensor; sensor = sensor->NextSiblingElement ())
{
std::string sensor_tag,
sensor_type;
int sensor_online,
sensor_adata;
double sensor_x_coord,
sensor_y_coord;
SensorSettings sensor_settings;
sensor_tag.assign (sensor->Attribute ("tag"));
if (sensor_tag.empty ())
return false;
if (sensor->QueryIntAttribute ("online", &sensor_online) != TIXML_SUCCESS)
return false;
if (sensor->QueryDoubleAttribute ("x", &sensor_x_coord) != TIXML_SUCCESS)
return false;
if (sensor->QueryDoubleAttribute ("y", &sensor_y_coord) != TIXML_SUCCESS)
return false;
if (sensor->QueryIntAttribute ("adata", &sensor_adata) != TIXML_SUCCESS)
return false;
sensor_type.assign (sensor->Attribute ("type"));
if (sensor_type.empty ())
return false;
m_Sensors.push_back (SensorSettings (sensor_tag,
sensor_online,
sensor_x_coord,
sensor_y_coord,
sensor_adata,
sensor_type));
}
return true;
}
