int main()
{
Param * p = NULL;
bool result = false;
// show structure size
std::cout << "size of Param: " << sizeof(Param) << std::endl;
// param1
result = Param::getDict().get("param1", p);
assert(result);
assert(p->getType() == Param::FLOAT);
assert(fabs(p->getFloat() - 1.0f) < 1e-20);
assert(p->getInt() == 1);
// param2
result = Param::getDict().get("param2", p);
assert(result);
assert(p->getType() == Param::INT);
assert(fabs(p->getFloat() - 2.0f) < 1e-20);
assert(p->getInt() == 2);
// param3
result = Param::getDict().get("param3", p);
assert(result);
assert(p->getType() == Param::FLOAT);
assert(fabs(p->getFloat() - 1.3f) < 1e-20);
assert(p->getInt() == 1);
};
bool ParamManager::load_from_file(std::string filename)
{
try
{
YAML::Node root = YAML::LoadFile(filename);
assert(root.IsSequence());
for (int i = 0; i < root.size(); i++)
{
if (root[i].IsMap() && root[i]["name"] && root[i]["type"] && root[i]["value"])
{
if (is_param_id(root[i]["name"].as<std::string>()))
{
Param param = params_.find(root[i]["name"].as<std::string>())->second;
if ((MAV_PARAM_TYPE) root[i]["type"].as<int>() == param.getType())
{
set_param_value(root[i]["name"].as<std::string>(), root[i]["value"].as<double>());
}
}
}
}
return true;
}
catch (...)
{
return false;
}
}