void LibFileIO2_Demo_INI_File(void)
{
LibFile_INI ini_file("test.ini", "r+b");
EXIT_CHK( rc, ini_file.StartParse() );
ini_file.Dump();
u32 val;
EXIT_CHK( rc, ini_file.GetValueU32("[FW FilePointer]", "Mirror_Addr_2", val) );
DUMPD(val);
DUMPX(val);
}
wstring GetSetting( const wchar_t* file, wchar_t* strName, wchar_t* strDefault, wchar_t* dst_path )
{
int dwRet;
wstring strRet;
wstring strFileName(dst_path);
wchar_t buf[1024];
wstring ini_file(file);
strFileName += ini_file;
dwRet = GetPrivateProfileStringW(L"Setting", strName, strDefault, buf, sizeof(buf), strFileName.c_str());
strRet = buf;
return strRet;
}
void ProdMaster::parse_blueprint_file(std::string filepath) {
std::string path = ros::package::getPath("prod_master");
std::stringstream ss_path;
ss_path << path << filepath;
QString filename(ss_path.str().c_str());
QFileInfo config(filename);
if (!config.exists()) {
std::cout << "Error reading " << filepath << " file!" << std::endl;
throw;
}
QSettings ini_file(filename, QSettings::IniFormat);
ini_file.beginGroup("OBJ_REQ");
int N_OBJ = ini_file.value("N_OBJ", 0).toInt();
std::cout << "N_OBJ: " << N_OBJ << std::endl;
std::stringstream target_name;
for (unsigned int n = 0; n < N_OBJ; ++n) {
Component current_comp(0, 0, 0);
target_name.str("");
target_name << "OBJ_" << n << "_" << "SHAPE";
int shape = ini_file.value(target_name.str().c_str(), 0).toInt();
target_name.str("");
target_name << "OBJ_" << n << "_" << "COLOR";
int color = ini_file.value(target_name.str().c_str(), 0).toInt();
current_comp.shape = shape;
current_comp.color = color;
current_comp.slot = n;
blueprint.push_back(current_comp);
std::cout << "OBJ_" << n << ": Shape: " << shape << ", Color: " << color << std::endl;
}
ini_file.endGroup();
};
void qtvplugin_geomarker::ini_save()
{
QSettings settings(ini_file(),QSettings::IniFormat);
int radioButton_QTV_tool_point = 0;
if (ui->radioButton_QTV_tool_line->isChecked()==true) radioButton_QTV_tool_point = 1;
else if (ui->radioButton_QTV_tool_polygon->isChecked()==true) radioButton_QTV_tool_point = 2;
else if (ui->radioButton_QTV_tool_icons->isChecked()==true) radioButton_QTV_tool_point = 3;
else radioButton_QTV_tool_point = 0;
settings.setValue("ui/radioButton_QTV_tool_point",radioButton_QTV_tool_point);
settings.setValue("ui/lineEdit_QTV_currentID",ui->lineEdit_QTV_currentID->text());
settings.setValue("ui/lineEdit_QTV_point_lat",ui->lineEdit_QTV_point_lat->text());
settings.setValue("ui/lineEdit_QTV_point_lon",ui->lineEdit_QTV_point_lon->text());
settings.setValue("ui/spinBox_QTV_point_width",ui->spinBox_QTV_point_width->value());
settings.setValue("ui/spinBox_QTV_point_height",ui->spinBox_QTV_point_height->value());
int radioButton_QTV_PointRect = 0;
if (ui->radioButton_QTV_PointRound->isChecked()==true) radioButton_QTV_PointRect = 1;
else radioButton_QTV_PointRect = 0;
settings.setValue("ui/radioButton_QTV_PointRect",radioButton_QTV_PointRect);
settings.setValue("ui/lineEdit_QTV_PenColor",ui->lineEdit_QTV_PenColor->text());
settings.setValue("ui/lineEdit_QTV_FillColor",ui->lineEdit_QTV_FillColor->text());
settings.setValue("ui/lineEdit_QTV_TextColor",ui->lineEdit_QTV_TextColor->text());
settings.setValue("ui/lineEdit_QTV_prop_name",ui->lineEdit_QTV_prop_name->text());
settings.setValue("ui/lineEdit_QTV_prop_string",ui->lineEdit_QTV_prop_string->text());
settings.setValue("ui/lineEdit_QTV_lineLat1",ui->lineEdit_QTV_lineLat1->text());
settings.setValue("ui/lineEdit_QTV_lineLat2",ui->lineEdit_QTV_lineLat2->text());
settings.setValue("ui/lineEdit_QTV_lineLon1",ui->lineEdit_QTV_lineLon1->text());
settings.setValue("ui/lineEdit_QTV_lineLon2",ui->lineEdit_QTV_lineLon2->text());
settings.setValue("ui/spinBox_QTV_penWidth",ui->spinBox_QTV_penWidth->value());
settings.setValue("ui/comboBox_QTV_linePad",ui->comboBox_QTV_linePad->currentIndex());
settings.setValue("ui/comboBox_QTV_fillPad",ui->comboBox_QTV_fillPad->currentIndex());
settings.setValue("ui/plainTextEdit_QTV_corners",ui->plainTextEdit_QTV_corners->toPlainText());
settings.setValue("ui/spinBox_QTV_textWeight",ui->spinBox_QTV_textWeight->value());
settings.setValue("ui/spinBox_QTV_fontSize",ui->spinBox_QTV_fontSize->value());
settings.setValue("ui/lineEdit_QTV_icon_lat",ui->lineEdit_QTV_icon_lat->text());
settings.setValue("ui/lineEdit_QTV_icon_lon",ui->lineEdit_QTV_icon_lon->text());
settings.setValue("ui/lineEdit_QTV_icon_rotate",ui->lineEdit_QTV_icon_rotate->text());
settings.setValue("ui/lineEdit_QTV_icon_scale",ui->lineEdit_QTV_icon_scale->text());
settings.setValue("ui/checkBox_QTV_multiline",ui->checkBox_QTV_multiline->isChecked()?-1:0);
settings.setValue("ui/checkBox_QTV_acceptHoverEvent",ui->checkBox_QTV_acceptHoverEvent->isChecked()?-1:0);
}
void qtvplugin_geomarker::style_save()
{
QSettings settings(ini_file(),QSettings::IniFormat);
settings.setValue("default_style/spinBox_QTV_point_width",ui->spinBox_QTV_point_width->value());
settings.setValue("default_style/spinBox_QTV_point_height",ui->spinBox_QTV_point_height->value());
int radioButton_QTV_PointRect = 0;
if (ui->radioButton_QTV_PointRound->isChecked()==true) radioButton_QTV_PointRect = 1;
else radioButton_QTV_PointRect = 0;
settings.setValue("default_style/radioButton_QTV_PointRect",radioButton_QTV_PointRect);
settings.setValue("default_style/lineEdit_QTV_PenColor",ui->lineEdit_QTV_PenColor->text());
settings.setValue("default_style/lineEdit_QTV_FillColor",ui->lineEdit_QTV_FillColor->text());
settings.setValue("default_style/lineEdit_QTV_TextColor",ui->lineEdit_QTV_TextColor->text());
settings.setValue("default_style/spinBox_QTV_penWidth",ui->spinBox_QTV_penWidth->value());
settings.setValue("default_style/comboBox_QTV_linePad",ui->comboBox_QTV_linePad->currentIndex());
settings.setValue("default_style/comboBox_QTV_fillPad",ui->comboBox_QTV_fillPad->currentIndex());
settings.setValue("default_style/spinBox_QTV_textWeight",ui->spinBox_QTV_textWeight->value());
settings.setValue("default_style/spinBox_QTV_fontSize",ui->spinBox_QTV_fontSize->value());
settings.setValue("default_style/lineEdit_QTV_icon_rotate",ui->lineEdit_QTV_icon_rotate->text());
settings.setValue("default_style/lineEdit_QTV_icon_scale",ui->lineEdit_QTV_icon_scale->text());
settings.setValue("default_style/checkBox_QTV_multiline",ui->checkBox_QTV_multiline->isChecked()?-1:0);
settings.setValue("default_style/checkBox_QTV_icon_smooth",ui->checkBox_QTV_icon_smooth->isChecked()?-1:0);
settings.setValue("default_style/comboBox_QTV_icons",ui->comboBox_QTV_icons->currentText());
//update current style
m_default_style.n_point_width = ui->spinBox_QTV_point_width->value();
m_default_style.n_point_height = ui->spinBox_QTV_point_height->value();
m_default_style.n_point_rect = radioButton_QTV_PointRect;
m_default_style.pen.setColor(string2color(ui->lineEdit_QTV_PenColor->text()));
m_default_style.pen.setWidth(ui->spinBox_QTV_penWidth->value());
m_default_style.pen.setStyle(static_cast<Qt::PenStyle>(ui->comboBox_QTV_linePad->currentIndex()));
m_default_style.brush.setColor(string2color(ui->lineEdit_QTV_FillColor->text()));
m_default_style.brush.setStyle(static_cast<Qt::BrushStyle>(ui->comboBox_QTV_fillPad->currentIndex()));
m_default_style.text_color = string2color(ui->lineEdit_QTV_TextColor->text());
m_default_style.font.setWeight(ui->spinBox_QTV_textWeight->value());
m_default_style.font.setPointSize(ui->spinBox_QTV_fontSize->value());
m_default_style.scale = ui->lineEdit_QTV_icon_scale->text().toFloat();
m_default_style.rotate = ui->lineEdit_QTV_icon_rotate->text().toFloat();
m_default_style.multiline = ui->checkBox_QTV_multiline->isChecked()?-1:0;
m_default_style.smooth = ui->checkBox_QTV_icon_smooth->isChecked()?-1:0;
m_default_style.icon_name = ui->comboBox_QTV_icons->currentText();
}
void ProdMaster::parse_config_file(std::string filepath) {
std::string path = ros::package::getPath("prod_master");
std::stringstream ss_path;
ss_path << path << filepath;
QString filename(ss_path.str().c_str());
QFileInfo config(filename);
if(!config.exists()) {
std::cout <<"Error reading " << filepath << " file!" <<std::endl;
throw;
}
QSettings ini_file(filename, QSettings::IniFormat);
// START WORKBENCH SLOTS FOR CAMBOT
_parse_config_slots(ini_file, "CAMBOT", workbench_slots_cambot);
// END WORKBENCH SLOTS FOR CAMBOT
// START WORKBENCH SLOTS FOR GRIPPERBOT
_parse_config_slots(ini_file, "GRIPPERBOT", workbench_slots_gripperbot);
// END WORKBENCH SLOTS FOR GRIPPERBOT
// START COLLECTOR POSITION
ini_file.beginGroup("SLOTS");
std::stringstream target_name;
// using ASCII value of X, Y and Z get the collector slot
cv::Vec3f collector_slot__coord;
for (char axis = 88; axis <= 90; ++axis) {
target_name.str("");
target_name << "SLOT_COLLECTOR_" << axis;
collector_slot__coord[axis - 88] = ini_file.value(target_name.str().c_str(), 0.0f).toString().toFloat();
}
// saving to class variable
collector_slot.slot = -1;
collector_slot.coord = collector_slot__coord;
std::cout << "SLOT_COLLECTOR: slot = " << collector_slot.slot << ", coord = " << collector_slot.coord << std::endl;
ini_file.endGroup();
// END COLLECTOR POSITION
// START DIFFERENT ROBOTS POSITIONS
_parse_config_robots_pos(ini_file, "CAMBOT", cambot_wait_pos);
_parse_config_robots_pos(ini_file, "GRIPPERBOT", gripperbot_wait_pos);
// END DIFFERENT ROBOTS POSITIONS
// START MISCELLANEOUS
ini_file.beginGroup("MISC");
// flag that says if the environment is adversarial;
// if true (non zero) we use camera everything to update workbench state
target_name.str("");
target_name << "ADVERSARIAL_ENV";
ADVERSARIAL_ENV = (bool)ini_file.value(target_name.str().c_str(), 0).toString().toInt();
std::cout << "ADVERSARIAL_ENV: "<< ADVERSARIAL_ENV << std::endl;
ini_file.endGroup();
// END MISCELLANEOUS
};
void qtvplugin_geomarker::style_load()
{
QSettings settings(ini_file(),QSettings::IniFormat);
int spinBox_QTV_point_width = settings.value("default_style/spinBox_QTV_point_width",8).toInt();
ui->spinBox_QTV_point_width->setValue(spinBox_QTV_point_width);
int spinBox_QTV_point_height = settings.value("default_style/spinBox_QTV_point_height",8).toInt();
ui->spinBox_QTV_point_height->setValue(spinBox_QTV_point_height);
QString lineEdit_QTV_PenColor = settings.value("default_style/lineEdit_QTV_PenColor",color2string(QColor(0,0,0,128))).toString();
ui->lineEdit_QTV_PenColor->setText(lineEdit_QTV_PenColor);
QString lineEdit_QTV_FillColor = settings.value("default_style/lineEdit_QTV_FillColor",color2string(QColor(255,255,255,128))).toString();
ui->lineEdit_QTV_FillColor->setText(lineEdit_QTV_FillColor);
QString lineEdit_QTV_TextColor = settings.value("default_style/lineEdit_QTV_TextColor",color2string(QColor(0,0,0))).toString();
ui->lineEdit_QTV_TextColor->setText(lineEdit_QTV_TextColor);
int radioButton_QTV_PointRect = settings.value("default_style/radioButton_QTV_PointRect",0).toInt();
switch (radioButton_QTV_PointRect)
{
case 0:
ui->radioButton_QTV_PointRect->setChecked(true);
break;
case 1:
ui->radioButton_QTV_PointRound->setChecked(true);
break;
default:
ui->radioButton_QTV_PointRect->setChecked(true);
break;
}
int spinBox_QTV_penWidth = settings.value("default_style/spinBox_QTV_penWidth",3).toInt();
ui->spinBox_QTV_penWidth->setValue(spinBox_QTV_penWidth);
int comboBox_QTV_linePad = settings.value("default_style/comboBox_QTV_linePad",1).toInt();
ui->comboBox_QTV_linePad->setCurrentIndex(comboBox_QTV_linePad);
int comboBox_QTV_fillPad = settings.value("default_style/comboBox_QTV_fillPad",1).toInt();
ui->comboBox_QTV_fillPad->setCurrentIndex(comboBox_QTV_fillPad);
int spinBox_QTV_fontSize = settings.value("default_style/spinBox_QTV_fontSize",9).toInt();
ui->spinBox_QTV_fontSize->setValue(spinBox_QTV_fontSize);
int spinBox_QTV_textWeight = settings.value("default_style/spinBox_QTV_textWeight",16).toInt();
ui->spinBox_QTV_textWeight->setValue(spinBox_QTV_textWeight);
QString lineEdit_QTV_icon_scale = settings.value("default_style/lineEdit_QTV_icon_scale","1.0").toString();
ui->lineEdit_QTV_icon_scale->setText(lineEdit_QTV_icon_scale);
QString lineEdit_QTV_icon_rotate = settings.value("default_style/lineEdit_QTV_icon_rotate","1.0").toString();
ui->lineEdit_QTV_icon_rotate->setText(lineEdit_QTV_icon_rotate);
int checkBox_QTV_multiline = settings.value("default_style/checkBox_QTV_multiline",0).toInt();
ui->checkBox_QTV_multiline->setChecked(checkBox_QTV_multiline?true:false);
int checkBox_QTV_icon_smooth = settings.value("default_style/checkBox_QTV_icon_smooth",0).toInt();
ui->checkBox_QTV_icon_smooth->setChecked(checkBox_QTV_icon_smooth?true:false);
QString comboBox_QTV_icons = settings.value("default_style/comboBox_QTV_icons","default").toString();
if (m_map_icons.contains(comboBox_QTV_icons))
ui->comboBox_QTV_icons->setCurrentText(comboBox_QTV_icons);
//update current style
m_default_style.n_point_width = ui->spinBox_QTV_point_width->value();
m_default_style.n_point_height = ui->spinBox_QTV_point_height->value();
m_default_style.n_point_rect = radioButton_QTV_PointRect;
m_default_style.pen.setColor(string2color(ui->lineEdit_QTV_PenColor->text()));
m_default_style.pen.setWidth(ui->spinBox_QTV_penWidth->value());
m_default_style.pen.setStyle(static_cast<Qt::PenStyle>(ui->comboBox_QTV_linePad->currentIndex()));
m_default_style.brush.setColor(string2color(ui->lineEdit_QTV_FillColor->text()));
m_default_style.brush.setStyle(static_cast<Qt::BrushStyle>(ui->comboBox_QTV_fillPad->currentIndex()));
m_default_style.text_color = string2color(ui->lineEdit_QTV_TextColor->text());
m_default_style.font.setWeight(ui->spinBox_QTV_textWeight->value());
m_default_style.font.setPointSize(ui->spinBox_QTV_fontSize->value());
m_default_style.scale = ui->lineEdit_QTV_icon_scale->text().toFloat();
m_default_style.rotate = ui->lineEdit_QTV_icon_rotate->text().toFloat();
m_default_style.multiline = ui->checkBox_QTV_multiline->isChecked()?-1:0;
m_default_style.smooth = ui->checkBox_QTV_icon_smooth->isChecked()?-1:0;
m_default_style.icon_name = ui->comboBox_QTV_icons->currentText();
}
void qtvplugin_geomarker::ini_load()
{
QSettings settings(ini_file(),QSettings::IniFormat);
int radioButton_QTV_tool_point = settings.value("ui/radioButton_QTV_tool_point",0).toInt();
switch (radioButton_QTV_tool_point)
{
case 0:
ui->radioButton_QTV_tool_point->setChecked(true);
break;
case 1:
ui->radioButton_QTV_tool_line->setChecked(true);
break;
case 2:
ui->radioButton_QTV_tool_polygon->setChecked(true);
break;
case 3:
ui->radioButton_QTV_tool_icons->setChecked(true);
break;
default:
ui->radioButton_QTV_tool_point->setChecked(true);
break;
}
QString lineEdit_QTV_currentID = settings.value("ui/lineEdit_QTV_currentID","PT0").toString();
ui->lineEdit_QTV_currentID->setText(lineEdit_QTV_currentID);
QString lineEdit_QTV_point_lat = settings.value("ui/lineEdit_QTV_point_lat","0").toString();
ui->lineEdit_QTV_point_lat->setText(lineEdit_QTV_point_lat);
QString lineEdit_QTV_point_lon = settings.value("ui/lineEdit_QTV_point_lon","0").toString();
ui->lineEdit_QTV_point_lon->setText(lineEdit_QTV_point_lon);
int spinBox_QTV_point_width = settings.value("ui/spinBox_QTV_point_width",8).toInt();
ui->spinBox_QTV_point_width->setValue(spinBox_QTV_point_width);
int spinBox_QTV_point_height = settings.value("ui/spinBox_QTV_point_height",8).toInt();
ui->spinBox_QTV_point_height->setValue(spinBox_QTV_point_height);
QString lineEdit_QTV_PenColor = settings.value("ui/lineEdit_QTV_PenColor",color2string(QColor(0,0,0,128))).toString();
ui->lineEdit_QTV_PenColor->setText(lineEdit_QTV_PenColor);
QString lineEdit_QTV_FillColor = settings.value("ui/lineEdit_QTV_FillColor",color2string(QColor(255,255,255,128))).toString();
ui->lineEdit_QTV_FillColor->setText(lineEdit_QTV_FillColor);
QString lineEdit_QTV_TextColor = settings.value("ui/lineEdit_QTV_TextColor",color2string(QColor(0,0,0))).toString();
ui->lineEdit_QTV_TextColor->setText(lineEdit_QTV_TextColor);
int radioButton_QTV_PointRect = settings.value("ui/radioButton_QTV_PointRect",0).toInt();
switch (radioButton_QTV_PointRect)
{
case 0:
ui->radioButton_QTV_PointRect->setChecked(true);
break;
case 1:
ui->radioButton_QTV_PointRound->setChecked(true);
break;
default:
ui->radioButton_QTV_PointRect->setChecked(true);
break;
}
QString lineEdit_QTV_prop_name = settings.value("ui/lineEdit_QTV_prop_name","LABEL").toString();
ui->lineEdit_QTV_prop_name->setText(lineEdit_QTV_prop_name);
QString lineEdit_QTV_prop_string = settings.value("ui/lineEdit_QTV_prop_string","please input label here").toString();
ui->lineEdit_QTV_prop_string->setText(lineEdit_QTV_prop_string);
QString lineEdit_QTV_lineLat1 = settings.value("ui/lineEdit_QTV_lineLat1","0").toString();
ui->lineEdit_QTV_lineLat1->setText(lineEdit_QTV_lineLat1);
QString lineEdit_QTV_lineLat2 = settings.value("ui/lineEdit_QTV_lineLat2","0").toString();
ui->lineEdit_QTV_lineLat2->setText(lineEdit_QTV_lineLat2);
QString lineEdit_QTV_lineLon1 = settings.value("ui/lineEdit_QTV_lineLon1","0").toString();
ui->lineEdit_QTV_lineLon1->setText(lineEdit_QTV_lineLon1);
QString lineEdit_QTV_lineLon2 = settings.value("ui/lineEdit_QTV_lineLon2","0").toString();
ui->lineEdit_QTV_lineLon2->setText(lineEdit_QTV_lineLon2);
int spinBox_QTV_penWidth = settings.value("ui/spinBox_QTV_penWidth",3).toInt();
ui->spinBox_QTV_penWidth->setValue(spinBox_QTV_penWidth);
int comboBox_QTV_linePad = settings.value("ui/comboBox_QTV_linePad",1).toInt();
ui->comboBox_QTV_linePad->setCurrentIndex(comboBox_QTV_linePad);
int comboBox_QTV_fillPad = settings.value("ui/comboBox_QTV_fillPad",1).toInt();
ui->comboBox_QTV_fillPad->setCurrentIndex(comboBox_QTV_fillPad);
QString plainTextEdit_QTV_corners = settings.value("ui/plainTextEdit_QTV_corners","0").toString();
ui->plainTextEdit_QTV_corners->setPlainText(plainTextEdit_QTV_corners);
int spinBox_QTV_fontSize = settings.value("ui/spinBox_QTV_fontSize",9).toInt();
ui->spinBox_QTV_fontSize->setValue(spinBox_QTV_fontSize);
int spinBox_QTV_textWeight = settings.value("ui/spinBox_QTV_textWeight",16).toInt();
ui->spinBox_QTV_textWeight->setValue(spinBox_QTV_textWeight);
QString lineEdit_QTV_icon_lat = settings.value("ui/lineEdit_QTV_icon_lat","0").toString();
ui->lineEdit_QTV_icon_lat->setText(lineEdit_QTV_icon_lat);
QString lineEdit_QTV_icon_lon = settings.value("ui/lineEdit_QTV_icon_lon","0").toString();
ui->lineEdit_QTV_icon_lon->setText(lineEdit_QTV_icon_lon);
QString lineEdit_QTV_icon_scale = settings.value("ui/lineEdit_QTV_icon_scale","1.0").toString();
ui->lineEdit_QTV_icon_scale->setText(lineEdit_QTV_icon_scale);
QString lineEdit_QTV_icon_rotate = settings.value("ui/lineEdit_QTV_icon_rotate","1.0").toString();
ui->lineEdit_QTV_icon_rotate->setText(lineEdit_QTV_icon_rotate);
int checkBox_QTV_multiline = settings.value("ui/checkBox_QTV_multiline",0).toInt();
ui->checkBox_QTV_multiline->setChecked(checkBox_QTV_multiline?true:false);
int checkBox_QTV_acceptHoverEvent = settings.value("ui/checkBox_QTV_acceptHoverEvent",0).toInt();
ui->checkBox_QTV_acceptHoverEvent->setChecked(checkBox_QTV_acceptHoverEvent?true:false);
}
