bool CNR_7DOFAnalyticInverseKinematicsComp::SetParameter(Property parameter)
{
onDestroy();
if(parameter.FindName("UpperArmLength") == false) {
PrintMessage("ERROR : CNR_6DOFRobotForwardKinematicsComp::SetParameter() -> Can't find the UpperArmLength in property\n");
return false;
}
if(parameter.FindName("LowerArmLength") == false) {
PrintMessage("ERROR : CNR_6DOFRobotForwardKinematicsComp::SetParameter() -> Can't find the LowerArmLength in property\n");
return false;
}
if(parameter.FindName("ToolLength") == false) {
PrintMessage("ERROR : CNR_6DOFRobotForwardKinematicsComp::SetParameter() -> Can't find the ToolLength in property\n");
return false;
}
if(parameter.FindName("RedundantValue") == false) {
PrintMessage("ERROR : CNR_6DOFRobotForwardKinematicsComp::SetParameter() -> Can't find the RedundantValue in property\n");
return false;
}
PrintMessage("UpperArmLength : %.3f\nLowerArmLength : %.3f\nToolLength : %.3f\nRedundantValue : %.3f\n"
,atof(parameter.GetValue("UpperArmLength").c_str())
,atof(parameter.GetValue("LowerArmLength").c_str())
,atof(parameter.GetValue("ToolLength").c_str())
,atof(parameter.GetValue("RedundantValue").c_str()));
this->parameter = parameter;
return true;
}
// Call back Declaration
ReturnType HCILab_PowerSTTVoiceRecComp::onInitialize()
{
// XML에 저장된 프라퍼티를 parameter에 저장
Property parameter;
std::map<std::string, std::string> temp = getPropertyMap();
parameter.SetProperty(temp);
if(parameter.FindName("WordList") == false) {
PrintMessage("ERROR : HCILab_PowerSTTVoiceRecComp::onInitialize() -> Can't find the WordList in property\n");
return OPROS_FIND_PROPERTY_ERROR;
}
SetModulePath();
int err = power_stt_kor_create(strModulePath);
if( err != 1 )
PrintMessage("Error:HCILab_PowerSTTVoiceRecComp::power_stt_kor_create ()\n");
if( LoadList1((char *)parameter.GetValue("WordList").c_str()) ) {
PrintMessage("INFO:HCILab_PowerSTTVoiceRecComp::onInitialize() %s -> %s\n", parameter.GetValue("WordList").c_str(), strList1.c_str());
power_stt_kor_set_vocab((char *)strList1.c_str(), "");
}
PrintMessage("Success : HCILab_PowerSTTVoiceRecComp::onInitialize()\n");
return OPROS_SUCCESS;
}
int HyVisionHvr2130Camera::SetParameter(Property parameter)
{
if (!parameter.FindName("CameraID") ||
!parameter.FindName("Width") ||
!parameter.FindName("Height") ||
!parameter.FindName("PixelBytes") ||
!parameter.FindName("Flip") )
{
if( !parameter.FindName("CameraID") )
PrintMessage("Error:HyVisionHvr2130Camera::SetParameter()->Can't find parameter CameraID.\n");
if( !parameter.FindName("Width") )
PrintMessage("Error:HyVisionHvr2130Camera::SetParameter()->Can't find parameter Width.\n");
if( !parameter.FindName("Height") )
PrintMessage("Error:HyVisionHvr2130Camera::SetParameter()->Can't find parameter Height.\n");
if( !parameter.FindName("PixelBytes") )
PrintMessage("Error:HyVisionHvr2130Camera::SetParameter()->Can't find parameter PixelBytes.\n");
if( !parameter.FindName("Flip") )
PrintMessage("Error:HyVisionHvr2130Camera::SetParameter()->Can't find parameter Flip.\n");
PrintMessage("Error:HyVisionHvr2130Camera::SetParameter()->Can't find parameter(s) name.\n");
return API_ERROR;
}
_id = atoi( (parameter.GetValue("CameraID")).c_str() );
_width = atoi( (parameter.GetValue("Width")).c_str() );
_height = atoi( (parameter.GetValue("Height")).c_str() );
_pixelByte = atoi( (parameter.GetValue("PixelBytes")).c_str() );
_flip = atoi( (parameter.GetValue("Flip")).c_str() );
PrintMessage("SUCCESS:HyVisionHvr2130Camera::SetParameter()->CameraID = %d, Width = %d, Height = %d.\n", _id, _width, _height);
this->parameter = parameter;
return API_SUCCESS;
}
int YujinRobot_iRobiQSpeech::Initialize(Property parameter)
{
if(SetParameter(parameter) == false) {
return false;
}
if(parameter.FindName("IP") == false) {
PrintMessage("ERROR : YujinRobot_iRobiQSpeech::initialize() -> Can't find the IP Address\n");
return false;
}
std::string ip = parameter.GetValue("IP");
if(parameter.FindName("Port") == false) {
PrintMessage("ERROR : YujinRobot_iRobiQSpeech::initialize() -> Can't find the Port Number\n");
return false;
}
unsigned int port = (unsigned int)atoi(parameter.GetValue("Port").c_str());
if(parameter.FindName("ServiceID") == false) {
PrintMessage("ERROR : YujinRobot_iRobiQSpeech::initialize() -> Can't find the Service ID\n");
return false;
}
unsigned short serviceId = (unsigned short)atoi(parameter.GetValue("ServiceID").c_str());
if(iRobiQ_Initialize() == false) {
return false;
}
if(iRobiQ_Connect(ip, port, serviceId) == false) {
iRobiQ_Finalize();
}
return true;
}
int Simulator_GyroSensor::SetParameter(Property parameter)
{
SimulatorIP = parameter.GetValue("userMessage").c_str();
deviceName = parameter.GetValue("GyroName").c_str();
RobotName = parameter.GetValue("RobotName").c_str();
PortNumber = atoi(parameter.GetValue("Port").c_str());
this->parameter = parameter;
return 0;
}
int Simulator_LaserScanner::SetParameter(Property parameter)
{
maximumStep = atoi(parameter.GetValue("MaximumStep").c_str());
startStep = atoi(parameter.GetValue("StartStep").c_str());
endStep = atoi(parameter.GetValue("EndStep").c_str());
deltaStep = atoi(parameter.GetValue("DeltaStep").c_str());
SimulatorIP = parameter.GetValue("userMessage").c_str();
DeviceName = parameter.GetValue("deviceName").c_str();
RobotName = parameter.GetValue("RobotName").c_str();
PortNumber = atoi(parameter.GetValue("Port").c_str());
if(endStep < 0 || endStep > maximumStep) {
return API_ERROR;
}
if(startStep < 0 || startStep >= endStep || startStep >= endStep) {
return API_ERROR;
}
if(deltaStep <= 0 || deltaStep > MAXIMUM_CLUSTER_SIZE) {
return API_ERROR;
}
scanStepSize = (endStep - startStep) / deltaStep + 1;
scannedData.resize(scanStepSize);
m_ClientSocket.StepSize = scanStepSize;
this->parameter = parameter;
return 0;
}
CEVENT(CMDBoard, _ExitPost)
{
World* world = World::GetPtr();
Editor* ed = ((EditorExitedArgs*)args)->editor;
BoardPost* post = (BoardPost*)ed->GetArg();
Player* mobile = (Player*)caller;
BoardManager* bmanager = (BoardManager*)world->GetProperty("boards");
Property* prop = NULL;
Board* board = NULL;
int id = 0;
if (!bmanager)
{
mobile->Message(MSG_ERROR, "Can not access the board system.");
return;
}
prop = mobile->variables.FindProperty("board");
if (!prop)
{
mobile->Message(MSG_ERROR, "No board set.");
return;
}
id = prop->GetValue().GetInt();
board = bmanager->GetBoardByIndex(id);
if (!board)
{
mobile->Message(MSG_ERROR, "The board you have set does not exist.");
return;
}
board->AddPost(post);
}
int SerialCommunication::Initialize(Property parameter)
{
if(parameter.FindName("PortName") == false) return API_ERROR;
string portName = parameter.GetValue("PortName");
if(parameter.FindName("TimeOut") == false) return API_ERROR;
unsigned long timeOut = (unsigned long)atol(parameter.GetValue("TimeOut").c_str());
if(parameter.FindName("BaudRate") == false) return API_ERROR;
unsigned long baudRate = (unsigned long)atol(parameter.GetValue("BaudRate").c_str());
if(parameter.FindName("DataBits") == false) return API_ERROR;
char dataBits = (char)atoi(parameter.GetValue("DataBits").c_str());
if(parameter.FindName("StopBits") == false) return API_ERROR;
char stopBits = (char)atoi(parameter.GetValue("StopBits").c_str());
if(parameter.FindName("Parity") == false) return API_ERROR;
char parity = (char)atoi(parameter.GetValue("Parity").c_str());
if(parameter.FindName("FlowControl") == false) return API_ERROR;
char flowControl = (char)atoi(parameter.GetValue("FlowControl").c_str());
if(handle != NULL) {
return 0;
}
#ifdef WIN32
handle = new SerialWindows(portName, timeOut, baudRate, dataBits, stopBits, parity, flowControl);
#else
handle = new SerialLinux(portName, timeOut, baudRate, dataBits, stopBits, parity, flowControl);
#endif
this->parameter = parameter;
return API_SUCCESS;
}
bool KITECH_MonotoneCubicTrajectoryGenerationComp::SetParameter(Property parameter)
{
if(parameter.FindName("SamplingTime") == false) {
PrintMessage("ERROR : KITECH_MonotoneCubicTrajectoryGenerationComp::SetParameter() -> Can't find the SamplingTime in property\n");
return false;
}
samplingTime = atof(parameter.GetValue("SamplingTime").c_str());
if(parameter.FindName("Monotonicity") == false) {
PrintMessage("ERROR : KITECH_MonotoneCubicTrajectoryGenerationComp::SetParameter() -> Can't find the Monotonicity in property\n");
return false;
}
monotonicity = atof(parameter.GetValue("Monotonicity").c_str());
this->parameter = parameter;
return true;
}
int DasaRobot_TetraIR::SetParameter(Property parameter)
{
if (parameter.FindName("Size") == false) return API_ERROR;
if (parameter.FindName("RobotIP") == false) return API_ERROR;
if (parameter.FindName("RobotPort") == false) return API_ERROR;
sensorCount = atoi (parameter.GetValue("Size").c_str());
robotIP = parameter.GetValue("RobotIP");
robotPort = atoi (parameter.GetValue("RobotPort").c_str());
PrintMessage("-- DasaRobot_TetraIR Parameter\n");
PrintMessage("-- Size : %d\n", sensorCount);
PrintMessage("-- RobotIP : %s\n", robotIP.c_str ());
PrintMessage("-- RobotPort : %d\n", robotPort);
PrintMessage("\n");
this->parameter = parameter;
return API_SUCCESS;
}
ReturnType KitechCardinalSplineTrajectoryGenerationComp::SetParameter(Property parameter)
{
if(parameter.FindName("Tension") == false) {
PrintMessage("ERROR : KitechCardinalSplineTrajectoryGenerationComp::SetParameter() -> Can't find the Tension in property\n");
return OPROS_BAD_INPUT_PARAMETER;
}
_tension = atof(parameter.GetValue("Tension").c_str());
_parameter = parameter;
return _errorCode = OPROS_SUCCESS;
}
void TypeNameFilter::RefreshContents() {
Flags.Refresh = false;
TypeNameFilterArguments* tfa = (TypeNameFilterArguments*)(Arguments->AdditionalArguments);
RegexMatcher regex(tfa->ComparisonRegex);
ScopeEnumerator* e = new ScopeEnumerator(*(Arguments->Source),Arguments->Requester);
if(tfa->IncludeWhenMatches) {
while (e->MoveNext()) {
Property* p = e->Current;
if (regex.Matches(*(p->GetValue()->GetClassTypeInfo()->ClassName))) {
Add(*p);
}
}
} else {
while (e->MoveNext()) {
Property* p = e->Current;
if (!regex.Matches(*(p->GetValue()->GetClassTypeInfo()->ClassName))) {
Add(*p);
}
}
}
delete e;
}
void CMDBoard::List(Player* mobile)
{
World* world = World::GetPtr();
BoardManager* bmanager = (BoardManager*)world->GetProperty("boards");
Property* prop = NULL;
int id = 0;
int i = 0;
Board* board = NULL;
std::vector<BoardPost*>* posts;
std::vector<BoardPost*>::iterator it, itEnd;
std::stringstream st;
if (!bmanager)
{
mobile->Message(MSG_ERROR, "Can not access the board system.");
return;
}
prop = mobile->variables.FindProperty("board");
if (!prop)
{
mobile->Message(MSG_ERROR, "No board set.");
mobile->Message(MSG_ERROR, "Use board set to choose a board.");
return;
}
id = prop->GetValue().GetInt();
board = bmanager->GetBoardByIndex(id);
if (!board)
{
mobile->Message(MSG_ERROR, "The board you have set does not exist.");
return;
}
posts = board->GetPosts();
if (!posts->size())
{
mobile->Message(MSG_INFO, "No messages.");
return;
}
st << left << "#" << setw(12) << "poster" << right << "subject" << endl;
st << Repete("-", 80) << endl;
itEnd = posts->end();
i = 1;
for (it = posts->begin(); it != itEnd; ++it, ++i)
{
st << left << "[" << setw(5) << i << "]" << setw(12) << (*it)->GetPoster() << right << (*it)->GetSubject() << endl;
}
mobile->Message(MSG_LIST, st.str());
}
Property* Alias::GetProxy() {
if(IsPath) {
if (mAliasedPath != NULL) {
Property* p = mAliasedPath->GetProperty(Creator,NULL,PropertyModes::Traversing);
if (p != NULL) {
// Do not cache path value.
return p->GetValue();
}
}
} else if (mCachedProperty == NULL && mAliasedProperty != NULL) {
mCachedProperty = mAliasedProperty->GetValue();
}
return mCachedProperty == NULL ? Property::NullProperty : mCachedProperty;
}
int Robotis_DynamixelUART::SetParameter(Property parameter)
{
if(parameter.FindName("MaximumPower") == false) goto ERROR_Robotis_DynamixelUART_SetParameter;
_profile.maximumPower = atof(parameter.GetValue("MaximumPower").c_str());
if(parameter.FindName("LinePerRevolution") == false) goto ERROR_Robotis_DynamixelUART_SetParameter;
_profile.linePerRevolution = atof(parameter.GetValue("LinePerRevolution").c_str());
// 엔코더가 고정되어 있기 때문에 강제로 값을 설정
_profile.linePerRevolution = 360.0 * 1023.0 / 300.0;
if(parameter.FindName("ReductionRatio") == false) goto ERROR_Robotis_DynamixelUART_SetParameter;
_profile.reductionRatio = atof(parameter.GetValue("ReductionRatio").c_str());
if(parameter.FindName("MaximumVelocity") == false) goto ERROR_Robotis_DynamixelUART_SetParameter;
_profile.maximumVelocity = atof(parameter.GetValue("MaximumVelocity").c_str());
if(parameter.FindName("Acceleration") == false) goto ERROR_Robotis_DynamixelUART_SetParameter;
_profile.acceleration = atof(parameter.GetValue("Acceleration").c_str());
if(parameter.FindName("MinimumPositionLimit") == false) goto ERROR_Robotis_DynamixelUART_SetParameter;
_profile.minimumPositionLimit = atof(parameter.GetValue("MinimumPositionLimit").c_str());
if(parameter.FindName("MaximumPositionLimit") == false) goto ERROR_Robotis_DynamixelUART_SetParameter;
_profile.maximumPositionLimit = atof(parameter.GetValue("MaximumPositionLimit").c_str());
if(dynamixel == NULL) {
if(uart == NULL) {
return API_ERROR;
}
dynamixel = new DynamixelUART(uart, 0);
}
if(dynamixel->SetTorqueLimit((unsigned short)(_profile.maximumPower)) == false) {
PrintMessage("ERROR : Robotis_DynamixelUART::SetParameter() -> Occur a error in SetTorqueLimit().\n");
return API_ERROR;
}
if(dynamixel->SetMovingSpeed((unsigned short)(_profile.maximumVelocity * 60 * _profile.reductionRatio / 360.0)) == false) {
PrintMessage("ERROR : Robotis_DynamixelUART::SetParameter() -> Occur a error in SetMovingSpeed().\n");
return API_ERROR;
}
this->parameter = parameter;
return API_SUCCESS;
ERROR_Robotis_DynamixelUART_SetParameter :
PrintMessage("ERROR : Faulhaber_MCDC2805::SetParameter() -> Can't find parameters\n");
return API_ERROR;
}
void CMDBoard::Read(Player* mobile, int id)
{
World* world = World::GetPtr();
BoardPost*post = NULL;
BoardManager* bmanager = (BoardManager*)world->GetProperty("boards");
Board* board = NULL;
Property* prop = NULL;
int boardid = 0;
std::stringstream st;
if (!bmanager)
{
mobile->Message(MSG_ERROR, "Can not access the board system.");
return;
}
prop = mobile->variables.FindProperty("board");
if (!prop)
{
mobile->Message(MSG_ERROR, "No board set.");
mobile->Message(MSG_ERROR, "Use board set to choose a board.");
return;
}
boardid = prop->GetValue().GetInt();
board = bmanager->GetBoardByIndex(boardid);
if (!board)
{
mobile->Message(MSG_ERROR, "The board you have set does not exist.");
return;
}
post = board->GetPostByIndex(id);
if (!post)
{
mobile->Message(MSG_ERROR, "That post does not exist.");
return;
}
st << left << setw(15) << "From: " << right << post->GetPoster() << endl;
st << left << setw(15) << "Subject: " << right << post->GetSubject() << endl;
st << post->GetMessage() << endl;
mobile->Message(MSG_INFO, st.str());
}
int YujinRobot_iRobiQBumper::SetParameter(Property parameter)
{
if(parameter.FindName("Size") == false) return API_ERROR;
int size = atoi(parameter.GetValue("Size").c_str());
if(size < 0) {
return API_ERROR;
}
char name[128];
for(int i = 0; i < size; i++) {
sprintf(name, "X%d", i);
if(parameter.FindName(string(name)) == false) goto ERROR_YujinRobot_iRobiQBumper_SetParameter;
sprintf(name, "Y%d", i);
if(parameter.FindName(string(name)) == false) goto ERROR_YujinRobot_iRobiQBumper_SetParameter;
sprintf(name, "Z%d", i);
if(parameter.FindName(string(name)) == false) goto ERROR_YujinRobot_iRobiQBumper_SetParameter;
sprintf(name, "Roll%d", i);
if(parameter.FindName(string(name)) == false) goto ERROR_YujinRobot_iRobiQBumper_SetParameter;
sprintf(name, "Pitch%d", i);
if(parameter.FindName(string(name)) == false) goto ERROR_YujinRobot_iRobiQBumper_SetParameter;
sprintf(name, "Yaw%d", i);
if(parameter.FindName(string(name)) == false) goto ERROR_YujinRobot_iRobiQBumper_SetParameter;
}
this->parameter = parameter;
return API_SUCCESS;
ERROR_YujinRobot_iRobiQBumper_SetParameter :
PrintMessage("ERROR : YujinRobot_iRobiQBumper::SetParameter() -> Can't find a property in parameter.\n");
return API_ERROR;
}
int ESD_CAN::Initialize(Property parameter)
{
if(isInitialized == true) {
return API_SUCCESS;
}
if(parameter.FindName("Channel") == false) return API_ERROR;
channel = atoi(parameter.GetValue("Channel").c_str());
if(channel < 0) {
return API_ERROR;
}
if(canInfo.find(channel) != canInfo.end()) {
canInfo[channel]->nHandle++;
isInitialized = true;
return API_SUCCESS;
}
if(parameter.FindName("TimeOut") == false) return API_ERROR;
long timeOut = atol(parameter.GetValue("TimeOut").c_str());
if(parameter.FindName("BitRate") == false) return API_ERROR;
long bitRate = atol(parameter.GetValue("BitRate").c_str());
if(parameter.FindName("AcceptanceMask") == false) return API_ERROR;
long acceptanceMask = atol(parameter.GetValue("AcceptanceMask").c_str());
if(parameter.FindName("AcceptanceCode") == false) return API_ERROR;
long acceptanceCode = atol(parameter.GetValue("AcceptanceCode").c_str());
if(parameter.FindName("Mode") == false) return API_ERROR;
bool isExtended = true;
if(atoi(parameter.GetValue("Mode").c_str()) == 0) {
isExtended = false;
}
ESDCANInfo *tmp = new ESDCANInfo(channel, bitRate, acceptanceMask, acceptanceCode, isExtended, timeOut);
canInfo[channel] = tmp;
canInfo[channel]->nHandle++;
isInitialized = true;
return API_SUCCESS;
}
int Simulator_Manipulator::SetParameter(Property parameter)
{
if(parameter.FindName("NumberOfJoints") == false) return API_ERROR;
if(parameter.FindName("IP") == false) return API_ERROR;
if(parameter.FindName("Port") == false) return API_ERROR;
if(parameter.FindName("RobotName") == false) return API_ERROR;
_numberOfJoints = atoi(parameter.GetValue("NumberOfJoints").c_str());
_devicesName.resize(_numberOfJoints * 2);
char name[128];
for(size_t i = 0; i < _numberOfJoints; i++) {
sprintf(name, "MotorName%d", i);
if(parameter.FindName(name) == false) {
_numberOfJoints = 0;
_devicesName.clear();
return API_ERROR;
}
_devicesName[i] = parameter.GetValue(name);
sprintf(name, "EncoderName%d", i);
if(parameter.FindName(name) == false) {
_numberOfJoints = 0;
_devicesName.clear();
return API_ERROR;
}
_devicesName[i + _numberOfJoints] = parameter.GetValue(name);
}
_ip = parameter.GetValue("IP");
_port = atoi(parameter.GetValue("Port").c_str());
_robotName = parameter.GetValue("RobotName");
return API_SUCCESS;
}
// Call back Declaration
ReturnType GyroSensorComp::onInitialize()
{
Property parameter;
std::map<std::string, std::string> temp = getPropertyMap();
parameter.SetProperty(temp);
if(parameter.FindName("ApiName") == false) {
PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't find the APIName in property\n");
return lastError = OPROS_FIND_PROPERTY_ERROR;
}
#if defined(WIN32)
// DLL 로드
hOprosAPI = LoadLibrary((LPCSTR)parameter.GetValue("ApiName").c_str());
if(hOprosAPI == NULL) {
PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("ApiName").c_str());
return lastError = OPROS_FIND_DLL_ERROR;
}
// API 로드
GET_OPROS_API getOprosAPI;
getOprosAPI = (GET_OPROS_API)GetProcAddress(hOprosAPI, "GetAPI");
if(getOprosAPI == NULL) {
PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n");
FreeLibrary(hOprosAPI);
hOprosAPI = NULL;
return lastError = OPROS_LOAD_DLL_ERROR;
}
// API Casting
gyroSensor = dynamic_cast<GyroSensor *>(getOprosAPI());
if(gyroSensor == NULL) {
PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't get a handle of AccelerationSensor API\n");
FreeLibrary(hOprosAPI);
hOprosAPI = NULL;
return lastError = OPROS_LOAD_DLL_ERROR;
}
#else
// Shared Library 로드
hOprosAPI = dlopen(parameter.GetValue("ApiName").c_str(), RTLD_NOW);
if(hOprosAPI == NULL) {
PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("ApiName").c_str());
return lastError = OPROS_FIND_DLL_ERROR;
}
// API 로드
GET_OPROS_API getOprosAPI = (GET_OPROS_API)dlsym(hOprosAPI, "GetAPI");
char *error = dlerror();
if(error != NULL) {
PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n");
dlclose(hOprosAPI);
hOprosAPI = NULL;
return lastError = OPROS_LOAD_DLL_ERROR;
}
// API Casting
gyroSensor = static_cast<GyroSensor *>(getOprosAPI());
if(gyroSensor == NULL) {
PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't get a handle of AccelerationSensor API\n");
dlclose(hOprosAPI);
hOprosAPI = NULL;
return lastError = OPROS_LOAD_DLL_ERROR;
}
#endif
if(gyroSensor->Initialize(parameter) != API_SUCCESS) {
delete gyroSensor;
gyroSensor = NULL;
#if defined(WIN32)
FreeLibrary(hOprosAPI);
#else
dlclose(hOprosAPI);
#endif
hOprosAPI = NULL;
return lastError = OPROS_INITIALIZE_API_ERROR;
}
return lastError = OPROS_SUCCESS;
}
int VidereSthDcsgVarMultiCamera::SetParameter(Property parameter)
{
if (!parameter.FindName("Count") ) {
PrintMessage("Error:VidereSthDcsgVarMultiCamera::SetParameter()->Can't find parameter(s) name.\n");
return API_ERROR;
}
_nCameraCount = atoi( (parameter.GetValue("Count")).c_str() );
if( 0 < _nCameraCount ) {
if( _id ) {
free(_id); _id = 0;
}
if( _width ) {
free(_width); _width = 0;
}
if( _height ) {
free(_height); _height = 0;
}
if( _pixelByte ) {
free(_pixelByte); _pixelByte = 0;
}
if( _flip ) {
free(_flip); _flip = 0;
}
_id = (int *)malloc(_nCameraCount*sizeof(int));
_width = (int *)malloc(_nCameraCount*sizeof(int));
_height = (int *)malloc(_nCameraCount*sizeof(int));
_pixelByte = (int *)malloc(_nCameraCount*sizeof(int));
_flip = (int *)malloc(_nCameraCount*sizeof(int));
// CalibratedParameter parameter를 확인하여 없으면 에러 리턴
if(parameter.FindName("CalibrationFilename") == false) {
PrintMessage("WARNING : VidereSthDcsgVarMultiCamera::SetParameter() -> Can't find the Calibration file in property\n");
//return API_ERROR;
_calibrationFilename = parameter.GetValue("APIName"); // apiname으로 대체
}
else _calibrationFilename = parameter.GetValue("CalibrationFilename");
char str[256];
for( int i = 0 ; i < _nCameraCount ; i++ ) {
sprintf(str, "CameraID%d", i);
if( !parameter.FindName(str) ) {
PrintMessage("Error:VidereSthDcsgVarMultiCamera::SetParameter()->Can't find parameter(s) name %s\n", str);
return API_ERROR;
}
_id[i] = atoi( (parameter.GetValue(string(str))).c_str() );
sprintf(str, "Width%d", i);
if( !parameter.FindName(str) ) {
PrintMessage("Error:VidereSthDcsgVarMultiCamera::SetParameter()->Can't find parameter(s) name %s\n", str);
return API_ERROR;
}
_width[i] = atoi( (parameter.GetValue(string(str))).c_str() );
sprintf(str, "Height%d", i);
if( !parameter.FindName(str) ) {
PrintMessage("Error:VidereSthDcsgVarMultiCamera::SetParameter()->Can't find parameter(s) name %s\n", str);
return API_ERROR;
}
_height[i] = atoi( (parameter.GetValue(string(str))).c_str() );
sprintf(str, "PixelBytes%d", i);
if( !parameter.FindName(str) ) {
PrintMessage("Error:VidereSthDcsgVarMultiCamera::SetParameter()->Can't find parameter(s) name %s\n", str);
return API_ERROR;
}
_pixelByte[i] = atoi( (parameter.GetValue(string(str))).c_str() );
sprintf(str, "Flip%d", i);
if( !parameter.FindName(str) ) {
PrintMessage("Error:VidereSthDcsgVarMultiCamera::SetParameter()->Can't find parameter(s) name %s\n", str);
return API_ERROR;
}
_flip[i] = atoi( (parameter.GetValue(string(str))).c_str() );
// check image size
if(i>0)
{
if(_width[0]!=_width[i] || _height[0]!=_height[i] || _pixelByte[0]!=_pixelByte[i])
{
PrintMessage("Error:VidereSthDcsgVarMultiCamera::SetParameter() -> Each camera must have same parameters(width,height,pixelbytes)!\n");
return API_ERROR;
}
}
}
PrintMessage("SUCCESS: VidereSthDcsgVarMultiCamera::SetParameter() OK!\n");
PrintMessage("Count:%d, calibrationFilename:%s\n", _nCameraCount, _calibrationFilename.c_str() );
for(int i=0; i<_nCameraCount;i++)
PrintMessage("CameraID:%d, width:%d, height:%d, pixelbytes:%d, flip:%d\n", _id[i],_width[i],_height[i],_pixelByte[i],_flip[i]);
this->parameter = parameter;
return API_SUCCESS;
}
else {
PrintMessage("Error:VidereSthDcsgVarMultiCamera::SetParameter()->Camera count is 0.\n");
return API_ERROR;
}
}
bool KITECH_InverseDynamicsControlComp::SetParameter(Property parameter)
{
int jointCount;
int jointType, jointAxis;
double x, y, z, phi, theta, psi;
double mass, cx, cy, cz;
double ixx, iyy, izz, ixy, iyz, izx;
char name[128];
double gravity[3] = {0., 0., -9.81 };
onDestroy();
// Setup a control period
if(parameter.FindName("Period") == false) {
PrintMessage("ERROR : KITECH_InverseDynamicsControlComp::SetParameter() -> Can't find the Period in property\n");
return false;
}
_dynamics = new InverseDynamicsControl(gravity, atof(parameter.GetValue("Period").c_str()));
// Setup a count of joints
if(parameter.FindName("JointCount") == false) {
PrintMessage("ERROR : KITECH_InverseDynamicsControlComp::SetParameter() -> Can't find the JointCount in property\n");
goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
}
jointCount = atoi(parameter.GetValue("JointCount").c_str());
// Set gains
if(parameter.FindName("Kp") == false) {
PrintMessage("ERROR : KITECH_InverseDynamicsControlComp::SetParameter() -> Can't find the JointCount in property\n");
goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
}
_dynamics->SetKp(atof(parameter.GetValue("Kp").c_str()));
if(parameter.FindName("Ki") == false) {
PrintMessage("ERROR : KITECH_InverseDynamicsControlComp::SetParameter() -> Can't find the JointCount in property\n");
goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
}
_dynamics->SetKi(atof(parameter.GetValue("Ki").c_str()));
if(parameter.FindName("Kd") == false) {
PrintMessage("ERROR : KITECH_InverseDynamicsControlComp::SetParameter() -> Can't find the JointCount in property\n");
goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
}
_dynamics->SetKd(atof(parameter.GetValue("Kd").c_str()));
// Setup a joint information
PrintMessage("KITECH_InverseDynamicsControlComp Joint Information\n");
for(int i = 0; i < jointCount; i++) {
sprintf(name, "JointType%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else jointType = atoi(parameter.GetValue(name).c_str());
sprintf(name, "JointAxis%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else jointAxis = atoi(parameter.GetValue(name).c_str());
sprintf(name, "X%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else x = atof(parameter.GetValue(name).c_str());
sprintf(name, "Y%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else y = atof(parameter.GetValue(name).c_str());
sprintf(name, "Z%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else z = atof(parameter.GetValue(name).c_str());
sprintf(name, "Phi%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else phi = atof(parameter.GetValue(name).c_str());
sprintf(name, "Theta%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else theta = atof(parameter.GetValue(name).c_str());
sprintf(name, "Psi%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else psi = atof(parameter.GetValue(name).c_str());
sprintf(name, "Mass%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else mass = atof(parameter.GetValue(name).c_str());
sprintf(name, "CX%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else cx = atof(parameter.GetValue(name).c_str());
sprintf(name, "CY%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else cy = atof(parameter.GetValue(name).c_str());
sprintf(name, "CZ%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else cz = atof(parameter.GetValue(name).c_str());
sprintf(name, "IXX%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else ixx = atof(parameter.GetValue(name).c_str());
sprintf(name, "IYY%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else iyy = atof(parameter.GetValue(name).c_str());
sprintf(name, "IZZ%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else izz = atof(parameter.GetValue(name).c_str());
sprintf(name, "IXY%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else ixy = atof(parameter.GetValue(name).c_str());
sprintf(name, "IYZ%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else iyz = atof(parameter.GetValue(name).c_str());
sprintf(name, "IZX%d", i);
if(parameter.FindName(name) == false) goto ERROR_KITECH_InverseDynamicsControlComp_SetParameter;
else izx = atof(parameter.GetValue(name).c_str());
_dynamics->AttachJoint(jointType, jointAxis, mass, cx, cy, cz, ixx, iyy, izz, ixy, iyz, izx, x, y, z, phi, theta, psi, 0.3);
PrintMessage("Axis%d %d %d %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n",
i, jointType, jointAxis, x, y, z, phi, theta, psi, mass, cx, cy, cz, ixx, iyy, izz, ixy, iyz, izx);
}
this->parameter = parameter;
return true;
ERROR_KITECH_InverseDynamicsControlComp_SetParameter :
PrintMessage("ERROR : KITECH_InverseDynamicsControlComp::SetParameter() -> Can't find parameters in property\n");
onDestroy();
return false;
}
int KITECH_SDM8::InitializeUART(Property parameter)
{
Property uartParameter;
if(parameter.FindName("UARTAPIName") == false) return API_ERROR;
if(parameter.FindName("PortName") == false) return API_ERROR; uartParameter.SetValue("PortName", parameter.GetValue("PortName"));
if(parameter.FindName("TimeOut") == false) return API_ERROR; uartParameter.SetValue("TimeOut", parameter.GetValue("TimeOut"));
if(parameter.FindName("BaudRate") == false) return API_ERROR; uartParameter.SetValue("BaudRate", parameter.GetValue("BaudRate"));
if(parameter.FindName("DataBits") == false) return API_ERROR; uartParameter.SetValue("DataBits", parameter.GetValue("DataBits"));
if(parameter.FindName("StopBits") == false) return API_ERROR; uartParameter.SetValue("StopBits", parameter.GetValue("StopBits"));
if(parameter.FindName("Parity") == false) return API_ERROR; uartParameter.SetValue("Parity", parameter.GetValue("Parity"));
if(parameter.FindName("FlowControl") == false) return API_ERROR; uartParameter.SetValue("FlowControl", parameter.GetValue("FlowControl"));
if(uart != NULL) {
delete uart;
}
#if defined(WIN32)
// DLL 로드
hOprosAPI = LoadLibrary((LPCSTR)parameter.GetValue("UARTAPIName").c_str());
if(hOprosAPI == NULL) {
return API_ERROR;
}
GET_OPROS_API getOprosAPI;
getOprosAPI = (GET_OPROS_API)GetProcAddress(hOprosAPI, "GetAPI");
if(getOprosAPI == NULL) {
FreeLibrary(hOprosAPI);
hOprosAPI = NULL;
return API_ERROR;
}
#else
hOprosAPI = dlopen(parameter.GetValue("UARTAPIName").c_str(), RTLD_LAZY);
if(hOprosAPI == NULL) {
PrintMessage("ERROR : InitializeUART() -> dlopen (%s)\n",parameter.GetValue("UARTDllName").c_str());
return API_ERROR;
}
GET_OPROS_API getOprosAPI;
getOprosAPI = (GET_OPROS_API)dlsym(hOprosAPI, "GetAPI");
char *error = dlerror();
if(error != NULL) {
PrintMessage ("ERROR -> %s\n", error);
dlclose(hOprosAPI);
hOprosAPI = NULL;
return API_ERROR;
}
#endif
uart = (UART *)getOprosAPI();
if(uart == NULL) {
#if defined(WIN32)
FreeLibrary(hOprosAPI);
#else
dlclose(hOprosAPI);
#endif
hOprosAPI = NULL;
return API_ERROR;
}
// API 초기화
if(uart->Initialize(uartParameter) < 0) {
FinalizeUART();
return API_ERROR;
}
if(uart->Enable() < 0) {
FinalizeUART();
return API_ERROR;
}
return API_SUCCESS;
}
int KITECH_SDM8::SetParameter(Property parameter)
{
if(uart == NULL) {
PrintMessage("ERROR : KITECH_SDM8::SetParameter() -> A handle of UART is NULL.\n");
return API_ERROR;
}
if(parameter.FindName("Size") == false) return API_ERROR;
int size = atoi(parameter.GetValue("Size").c_str());
if(size <= 0) return API_ERROR;
joints.clear();
joints.resize(size);
char temp[64];
for(int i = 0; i < size; i++) {
sprintf(temp, "ID%d", i);
if(parameter.FindName(string(temp)) == false) goto ERROR_KITECH_SDM8_SET_PARAMETER;
joints[i].id = atoi(parameter.GetValue(temp).c_str());
sprintf(temp, "MaximumPower%d", i);
if(parameter.FindName(string(temp)) == false) goto ERROR_KITECH_SDM8_SET_PARAMETER;
joints[i].maximumPower = atof(parameter.GetValue(temp).c_str());
sprintf(temp, "LinePerRevolution%d", i);
if(parameter.FindName(string(temp)) == false) goto ERROR_KITECH_SDM8_SET_PARAMETER;
joints[i].linePerRevolution = atof(parameter.GetValue(temp).c_str());
sprintf(temp, "ReductionRatio%d", i);
if(parameter.FindName(string(temp)) == false) goto ERROR_KITECH_SDM8_SET_PARAMETER;
joints[i].reductionRatio = atof(parameter.GetValue(temp).c_str());
sprintf(temp, "MaximumVelocity%d", i);
if(parameter.FindName(string(temp)) == false) goto ERROR_KITECH_SDM8_SET_PARAMETER;
joints[i].maximumVelocity = atof(parameter.GetValue(temp).c_str());
sprintf(temp, "Acceleration%d", i);
if(parameter.FindName(string(temp)) == false) goto ERROR_KITECH_SDM8_SET_PARAMETER;
joints[i].acceleration = atof(parameter.GetValue(temp).c_str());
sprintf(temp, "MinimumPositionLimit%d", i);
if(parameter.FindName(string(temp)) == false) goto ERROR_KITECH_SDM8_SET_PARAMETER;
joints[i].minimumPositionLimit = atof(parameter.GetValue(temp).c_str());
sprintf(temp, "MaximumPositionLimit%d", i);
if(parameter.FindName(string(temp)) == false) goto ERROR_KITECH_SDM8_SET_PARAMETER;
joints[i].maximumPositionLimit = atof(parameter.GetValue(temp).c_str());
joints[i].deg2pulse = ENCODER_RESOLUTION / 360.0 / joints[i].reductionRatio;
joints[i].deg2rpm = 60.0 / 360.0 / joints[i].reductionRatio;
joints[i].dynamixel = new RobotisDynamixelUART(joints[i].id, uart);
}
for(size_t i = 0; i < joints.size(); i++) {
joints[i].dynamixel->SetMovingspeed(100);
}
this->parameter = parameter;
return API_SUCCESS;
ERROR_KITECH_SDM8_SET_PARAMETER :
PrintMessage("ERROR : KITECH_SDM8::SetParameter() -> Can't find parameters\n");
joints.clear();
joints.resize(size);
return API_ERROR;
}
int DasaRobot_MobilityUltrasonic::InitializeUART(Property parameter)
{
Property uartParameter;
char *error = NULL;
if(parameter.FindName("UARTAPIName") == false) goto ERROR_DasaRobot_MobilityUltrasonic_InitializeUART;
if(parameter.FindName("PortName") == false) goto ERROR_DasaRobot_MobilityUltrasonic_InitializeUART;
else uartParameter.SetValue("PortName", parameter.GetValue("PortName"));
if(parameter.FindName("TimeOut") == false) goto ERROR_DasaRobot_MobilityUltrasonic_InitializeUART;
else uartParameter.SetValue("TimeOut", parameter.GetValue("TimeOut"));
if(parameter.FindName("BaudRate") == false) goto ERROR_DasaRobot_MobilityUltrasonic_InitializeUART;
else uartParameter.SetValue("BaudRate", parameter.GetValue("BaudRate"));
if(parameter.FindName("DataBits") == false) goto ERROR_DasaRobot_MobilityUltrasonic_InitializeUART;
else uartParameter.SetValue("DataBits", parameter.GetValue("DataBits"));
if(parameter.FindName("StopBits") == false) goto ERROR_DasaRobot_MobilityUltrasonic_InitializeUART;
else uartParameter.SetValue("StopBits", parameter.GetValue("StopBits"));
if(parameter.FindName("Parity") == false) goto ERROR_DasaRobot_MobilityUltrasonic_InitializeUART;
else uartParameter.SetValue("Parity", parameter.GetValue("Parity"));
if(parameter.FindName("FlowControl") == false) goto ERROR_DasaRobot_MobilityUltrasonic_InitializeUART;
else uartParameter.SetValue("FlowControl", parameter.GetValue("FlowControl"));
if(uart != NULL) {
delete uart;
uart = NULL;
}
#if defined(WIN32)
// DLL 로드
hOprosAPI = LoadLibrary((LPCSTR)parameter.GetValue("UARTAPIName").c_str());
if(hOprosAPI == NULL) {
return API_ERROR;
}
GET_OPROS_API getOprosAPI;
getOprosAPI = (GET_OPROS_API)GetProcAddress(hOprosAPI, "GetAPI");
if(getOprosAPI == NULL) {
FreeLibrary(hOprosAPI);
hOprosAPI = NULL;
return API_ERROR;
}
#else
hOprosAPI = dlopen(parameter.GetValue("UARTAPIName").c_str(), RTLD_LAZY);
if(hOprosAPI == NULL) {
return API_ERROR;
}
GET_OPROS_API getOprosAPI;
getOprosAPI = (GET_OPROS_API)dlsym(hOprosAPI, "GetAPI");
error = dlerror();
if(error != NULL) {
dlclose(hOprosAPI);
hOprosAPI = NULL;
return API_ERROR;
}
#endif
uart = (UART *)getOprosAPI();
if(uart == NULL) {
Finalize();
return API_ERROR;
}
// API 초기화
if(uart->Initialize(uartParameter) < 0) {
Finalize();
return API_ERROR;
}
if(uart->Enable() < 0) {
Finalize();
return API_ERROR;
}
return API_SUCCESS;
ERROR_DasaRobot_MobilityUltrasonic_InitializeUART :
PrintMessage("ERROR : DasaRobot_MobilityUltrasonic::InitializeUART() -> Can't find a property in parameter.\n");
return API_ERROR;
}
void CONFIG::Run(void) {
static const char* const params[] = {
"-r", "-wcp", "-wcd", "-wc", "-writeconf", "-l", "-rmconf",
"-h", "-help", "-?", "-axclear", "-axadd", "-axtype", "-get", "-set",
"-writelang", "-wl", "-securemode", "" };
enum prs {
P_NOMATCH, P_NOPARAMS, // fixed return values for GetParameterFromList
P_RESTART,
P_WRITECONF_PORTABLE, P_WRITECONF_DEFAULT, P_WRITECONF, P_WRITECONF2,
P_LISTCONF, P_KILLCONF,
P_HELP, P_HELP2, P_HELP3,
P_AUTOEXEC_CLEAR, P_AUTOEXEC_ADD, P_AUTOEXEC_TYPE,
P_GETPROP, P_SETPROP,
P_WRITELANG, P_WRITELANG2,
P_SECURE
} presult = P_NOMATCH;
bool first = true;
std::vector<std::string> pvars;
// Loop through the passed parameters
while(presult != P_NOPARAMS) {
presult = (enum prs)cmd->GetParameterFromList(params, pvars);
switch(presult) {
case P_RESTART:
if (securemode_check()) return;
if (pvars.size() == 0) restart_program(control->startup_params);
else {
std::vector<std::string> restart_params;
restart_params.push_back(control->cmdline->GetFileName());
for(size_t i = 0; i < pvars.size(); i++) {
restart_params.push_back(pvars[i]);
if (pvars[i].find(' ') != std::string::npos) {
pvars[i] = "\""+pvars[i]+"\""; // add back spaces
}
}
// the rest on the commandline, too
cmd->FillVector(restart_params);
restart_program(restart_params);
}
return;
case P_LISTCONF: {
Bitu size = control->configfiles.size();
std::string config_path;
Cross::GetPlatformConfigDir(config_path);
WriteOut(MSG_Get("PROGRAM_CONFIG_CONFDIR"), VERSION,config_path.c_str());
if (size==0) WriteOut(MSG_Get("PROGRAM_CONFIG_NOCONFIGFILE"));
else {
WriteOut(MSG_Get("PROGRAM_CONFIG_PRIMARY_CONF"),control->configfiles.front().c_str());
if (size > 1) {
WriteOut(MSG_Get("PROGRAM_CONFIG_ADDITIONAL_CONF"));
for(Bitu i = 1; i < size; i++)
WriteOut("%s\n",control->configfiles[i].c_str());
}
}
if (control->startup_params.size() > 0) {
std::string test;
for(size_t k = 0; k < control->startup_params.size(); k++)
test += control->startup_params[k] + " ";
WriteOut(MSG_Get("PROGRAM_CONFIG_PRINT_STARTUP"), test.c_str());
}
break;
}
case P_WRITECONF: case P_WRITECONF2:
if (securemode_check()) return;
if (pvars.size() > 1) return;
else if (pvars.size() == 1) {
// write config to specific file, except if it is an absolute path
writeconf(pvars[0], !Cross::IsPathAbsolute(pvars[0]));
} else {
// -wc without parameter: write primary config file
if (control->configfiles.size()) writeconf(control->configfiles[0], false);
else WriteOut(MSG_Get("PROGRAM_CONFIG_NOCONFIGFILE"));
}
break;
case P_WRITECONF_DEFAULT: {
// write to /userdir/dosbox0.xx.conf
if (securemode_check()) return;
if (pvars.size() > 0) return;
std::string confname;
Cross::GetPlatformConfigName(confname);
writeconf(confname, true);
break;
}
case P_WRITECONF_PORTABLE:
if (securemode_check()) return;
if (pvars.size() > 1) return;
else if (pvars.size() == 1) {
// write config to startup directory
writeconf(pvars[0], false);
} else {
// -wcp without parameter: write dosbox.conf to startup directory
if (control->configfiles.size()) writeconf(std::string("dosbox.conf"), false);
else WriteOut(MSG_Get("PROGRAM_CONFIG_NOCONFIGFILE"));
}
break;
case P_NOPARAMS:
if (!first) break;
case P_NOMATCH:
WriteOut(MSG_Get("PROGRAM_CONFIG_USAGE"));
return;
case P_HELP: case P_HELP2: case P_HELP3: {
switch(pvars.size()) {
case 0:
WriteOut(MSG_Get("PROGRAM_CONFIG_USAGE"));
return;
case 1: {
if (!strcasecmp("sections",pvars[0].c_str())) {
// list the sections
WriteOut(MSG_Get("PROGRAM_CONFIG_HLP_SECTLIST"));
Bitu i = 0;
while(true) {
Section* sec = control->GetSection(i++);
if (!sec) break;
WriteOut("%s\n",sec->GetName());
}
return;
}
// if it's a section, leave it as one-param
Section* sec = control->GetSection(pvars[0].c_str());
if (!sec) {
// could be a property
sec = control->GetSectionFromProperty(pvars[0].c_str());
if (!sec) {
WriteOut(MSG_Get("PROGRAM_CONFIG_PROPERTY_ERROR"));
return;
}
pvars.insert(pvars.begin(),std::string(sec->GetName()));
}
break;
}
case 2: {
// sanity check
Section* sec = control->GetSection(pvars[0].c_str());
Section* sec2 = control->GetSectionFromProperty(pvars[1].c_str());
if (sec != sec2) {
WriteOut(MSG_Get("PROGRAM_CONFIG_PROPERTY_ERROR"));
}
break;
}
default:
WriteOut(MSG_Get("PROGRAM_CONFIG_USAGE"));
return;
}
// if we have one value in pvars, it's a section
// two values are section + property
Section* sec = control->GetSection(pvars[0].c_str());
if (sec==NULL) {
WriteOut(MSG_Get("PROGRAM_CONFIG_PROPERTY_ERROR"));
return;
}
Section_prop* psec = dynamic_cast <Section_prop*>(sec);
if (psec==NULL) {
// failed; maybe it's the autoexec section?
Section_line* pline = dynamic_cast <Section_line*>(sec);
if (pline==NULL) E_Exit("Section dynamic cast failed.");
WriteOut(MSG_Get("PROGRAM_CONFIG_HLP_LINEHLP"),
pline->GetName(),
// this is 'unclean' but the autoexec section has no help associated
MSG_Get("AUTOEXEC_CONFIGFILE_HELP"),
pline->data.c_str() );
return;
}
if (pvars.size()==1) {
size_t i = 0;
WriteOut(MSG_Get("PROGRAM_CONFIG_HLP_SECTHLP"),pvars[0].c_str());
while(true) {
// list the properties
Property* p = psec->Get_prop(i++);
if (p==NULL) break;
WriteOut("%s\n", p->propname.c_str());
}
} else {
// find the property by it's name
size_t i = 0;
while (true) {
Property *p = psec->Get_prop(i++);
if (p==NULL) break;
if (!strcasecmp(p->propname.c_str(),pvars[1].c_str())) {
// found it; make the list of possible values
std::string propvalues;
std::vector<Value> pv = p->GetValues();
if (p->Get_type()==Value::V_BOOL) {
// possible values for boolean are true, false
propvalues += "true, false";
} else if (p->Get_type()==Value::V_INT) {
// print min, max for integer values if used
Prop_int* pint = dynamic_cast <Prop_int*>(p);
if (pint==NULL) E_Exit("Int property dynamic cast failed.");
if (pint->getMin() != pint->getMax()) {
std::ostringstream oss;
oss << pint->getMin();
oss << "..";
oss << pint->getMax();
propvalues += oss.str();
}
}
for(Bitu k = 0; k < pv.size(); k++) {
if (pv[k].ToString() =="%u")
propvalues += MSG_Get("PROGRAM_CONFIG_HLP_POSINT");
else propvalues += pv[k].ToString();
if ((k+1) < pv.size()) propvalues += ", ";
}
WriteOut(MSG_Get("PROGRAM_CONFIG_HLP_PROPHLP"),
p->propname.c_str(),
sec->GetName(),
p->Get_help(),propvalues.c_str(),
p->Get_Default_Value().ToString().c_str(),
p->GetValue().ToString().c_str());
// print 'changability'
if (p->getChange()==Property::Changeable::OnlyAtStart) {
WriteOut(MSG_Get("PROGRAM_CONFIG_HLP_NOCHANGE"));
}
return;
}
}
break;
}
return;
}
case P_AUTOEXEC_CLEAR: {
Section_line* sec = dynamic_cast <Section_line*>
(control->GetSection(std::string("autoexec")));
sec->data.clear();
break;
}
case P_AUTOEXEC_ADD: {
if (pvars.size() == 0) {
WriteOut(MSG_Get("PROGRAM_CONFIG_MISSINGPARAM"));
return;
}
Section_line* sec = dynamic_cast <Section_line*>
(control->GetSection(std::string("autoexec")));
for(Bitu i = 0; i < pvars.size(); i++) sec->HandleInputline(pvars[i]);
break;
}
case P_AUTOEXEC_TYPE: {
Section_line* sec = dynamic_cast <Section_line*>
(control->GetSection(std::string("autoexec")));
WriteOut("\n%s",sec->data.c_str());
break;
}
case P_GETPROP: {
// "section property"
// "property"
// "section"
// "section" "property"
if (pvars.size()==0) {
WriteOut(MSG_Get("PROGRAM_CONFIG_GET_SYNTAX"));
return;
}
std::string::size_type spcpos = pvars[0].find_first_of(' ');
// split on the ' '
if (spcpos != std::string::npos) {
pvars.insert(++pvars.begin(),pvars[0].substr(spcpos+1));
pvars[0].erase(spcpos);
}
switch(pvars.size()) {
case 1: {
// property/section only
// is it a section?
Section* sec = control->GetSection(pvars[0].c_str());
if (sec) {
// list properties in section
Bitu i = 0;
Section_prop* psec = dynamic_cast <Section_prop*>(sec);
if (psec==NULL) {
// autoexec section
Section_line* pline = dynamic_cast <Section_line*>(sec);
if (pline==NULL) E_Exit("Section dynamic cast failed.");
WriteOut("%s",pline->data.c_str());
break;
}
while(true) {
// list the properties
Property* p = psec->Get_prop(i++);
if (p==NULL) break;
WriteOut("%s=%s\n", p->propname.c_str(),
p->GetValue().ToString().c_str());
}
} else {
// no: maybe it's a property?
sec = control->GetSectionFromProperty(pvars[0].c_str());
if (!sec) {
WriteOut(MSG_Get("PROGRAM_CONFIG_PROPERTY_ERROR"));
return;
}
// it's a property name
std::string val = sec->GetPropValue(pvars[0].c_str());
WriteOut("%s",val.c_str());
}
break;
}
case 2: {
// section + property
Section* sec = control->GetSection(pvars[0].c_str());
if (!sec) {
WriteOut(MSG_Get("PROGRAM_CONFIG_SECTION_ERROR"));
return;
}
std::string val = sec->GetPropValue(pvars[1].c_str());
if (val == NO_SUCH_PROPERTY) {
WriteOut(MSG_Get("PROGRAM_CONFIG_NO_PROPERTY"),
pvars[1].c_str(),pvars[0].c_str());
return;
}
WriteOut("%s",val.c_str());
break;
}
default:
WriteOut(MSG_Get("PROGRAM_CONFIG_GET_SYNTAX"));
return;
}
return;
}
case P_SETPROP: {
// Code for the configuration changes
// Official format: config -set "section property=value"
// Accepted: with or without -set,
// "section property value"
// "section property=value"
// "property" "value"
// "section" "property=value"
// "section" "property=value" "value" "value" ...
// "section" "property" "value" "value" ...
// "section property" "value" "value" ...
// "property" "value" "value" ...
// "property=value" "value" "value" ...
if (pvars.size()==0) {
WriteOut(MSG_Get("PROGRAM_CONFIG_SET_SYNTAX"));
return;
}
// add rest of command
std::string rest;
if (cmd->GetStringRemain(rest)) pvars.push_back(rest);
// attempt to split off the first word
std::string::size_type spcpos = pvars[0].find_first_of(' ');
std::string::size_type equpos = pvars[0].find_first_of('=');
if ((equpos != std::string::npos) &&
((spcpos == std::string::npos) || (equpos < spcpos))) {
// If we have a '=' possibly before a ' ' split on the =
pvars.insert(++pvars.begin(),pvars[0].substr(equpos+1));
pvars[0].erase(equpos);
// As we had a = the first thing must be a property now
Section* sec=control->GetSectionFromProperty(pvars[0].c_str());
if (sec) pvars.insert(pvars.begin(),std::string(sec->GetName()));
else {
WriteOut(MSG_Get("PROGRAM_CONFIG_PROPERTY_ERROR"));
return;
}
// order in the vector should be ok now
} else {
if ((spcpos != std::string::npos) &&
((equpos == std::string::npos) || (spcpos < equpos))) {
// ' ' before a possible '=', split on the ' '
pvars.insert(++pvars.begin(),pvars[0].substr(spcpos+1));
pvars[0].erase(spcpos);
}
// check if the first parameter is a section or property
Section* sec = control->GetSection(pvars[0].c_str());
if (!sec) {
// not a section: little duplicate from above
Section* sec=control->GetSectionFromProperty(pvars[0].c_str());
if (sec) pvars.insert(pvars.begin(),std::string(sec->GetName()));
else {
WriteOut(MSG_Get("PROGRAM_CONFIG_PROPERTY_ERROR"));
return;
}
} else {
// first of pvars is most likely a section, but could still be gus
// have a look at the second parameter
if (pvars.size() < 2) {
WriteOut(MSG_Get("PROGRAM_CONFIG_SET_SYNTAX"));
return;
}
std::string::size_type spcpos2 = pvars[1].find_first_of(' ');
std::string::size_type equpos2 = pvars[1].find_first_of('=');
if ((equpos2 != std::string::npos) &&
((spcpos2 == std::string::npos) || (equpos2 < spcpos2))) {
// split on the =
pvars.insert(pvars.begin()+2,pvars[1].substr(equpos2+1));
pvars[1].erase(equpos2);
} else if ((spcpos2 != std::string::npos) &&
((equpos2 == std::string::npos) || (spcpos2 < equpos2))) {
// split on the ' '
pvars.insert(pvars.begin()+2,pvars[1].substr(spcpos2+1));
pvars[1].erase(spcpos2);
}
// is this a property?
Section* sec2 = control->GetSectionFromProperty(pvars[1].c_str());
if (!sec2) {
// not a property,
Section* sec3 = control->GetSectionFromProperty(pvars[0].c_str());
if (sec3) {
// section and property name are identical
pvars.insert(pvars.begin(),pvars[0]);
} // else has been checked above already
}
}
}
if(pvars.size() < 3) {
WriteOut(MSG_Get("PROGRAM_CONFIG_SET_SYNTAX"));
return;
}
// check if the property actually exists in the section
Section* sec2 = control->GetSectionFromProperty(pvars[1].c_str());
if (!sec2) {
WriteOut(MSG_Get("PROGRAM_CONFIG_NO_PROPERTY"),
pvars[1].c_str(),pvars[0].c_str());
return;
}
// Input has been parsed (pvar[0]=section, [1]=property, [2]=value)
// now execute
Section* tsec = control->GetSection(pvars[0]);
std::string value;
value += pvars[2];
for(Bitu i = 3; i < pvars.size(); i++) value += (std::string(" ") + pvars[i]);
std::string inputline = pvars[1] + "=" + value;
tsec->ExecuteDestroy(false);
bool change_success = tsec->HandleInputline(inputline.c_str());
if (!change_success) WriteOut(MSG_Get("PROGRAM_CONFIG_VALUE_ERROR"),
value.c_str(),pvars[1].c_str());
tsec->ExecuteInit(false);
return;
}
case P_WRITELANG: case P_WRITELANG2:
// In secure mode don't allow a new languagefile to be created
// Who knows which kind of file we would overwrite.
if (securemode_check()) return;
if (pvars.size() < 1) {
WriteOut(MSG_Get("PROGRAM_CONFIG_MISSINGPARAM"));
return;
}
if (!MSG_Write(pvars[0].c_str())) {
WriteOut(MSG_Get("PROGRAM_CONFIG_FILE_ERROR"),pvars[0].c_str());
return;
}
break;
case P_SECURE:
// Code for switching to secure mode
control->SwitchToSecureMode();
WriteOut(MSG_Get("PROGRAM_CONFIG_SECURE_ON"));
return;
default:
E_Exit("bug");
break;
}
first = false;
}
return;
}
// Call back Declaration
ReturnType KinectComp::onInitialize()
{
// XML에 저장된 프라퍼티를 parameter에 저장
std::map<std::string, std::string>& propertyMap = getPropertyMap();
Property parameter;
parameter.SetProperty(propertyMap);
// dll 파일이름을 확인하여 없으면 에러 리턴
if (parameter.FindName("APIName") == false)
{
PrintMessage(DEBUG_MESSAGE("Can't find the APIName in property").c_str());
return OPROS_FIND_PROPERTY_ERROR;
}
//DLL 로드
mhOprosAPI = LoadLibrary((LPCSTR)parameter.GetValue("APIName").c_str());
if (mhOprosAPI == NULL)
{
PrintMessage(DEBUG_MESSAGE("Can't get a handle of GetAPI Funtion").c_str());
PrintMessage(DEBUG_MESSAGE("Can't get a DLL").c_str());
return OPROS_FIND_DLL_ERROR;
}
//API 로드
GET_OPROS_API getOprosAPI = (GET_OPROS_API)GetProcAddress(mhOprosAPI, "GetAPI");
if (getOprosAPI == NULL)
{
PrintMessage(DEBUG_MESSAGE("Can't get a handle of GetAPI Funtion").c_str());
PrintMessage(DEBUG_MESSAGE("Can't load API").c_str());
FreeLibrary(mhOprosAPI);
mhOprosAPI = NULL;
return OPROS_LOAD_DLL_ERROR;
}
mpKinect = dynamic_cast<Kinect *>(getOprosAPI());
if(mpKinect == NULL)
{
PrintMessage(DEBUG_MESSAGE("Can't get a handle of Kinect API").c_str());
PrintMessage(DEBUG_MESSAGE("Can't get a Casting").c_str());
FreeLibrary(mhOprosAPI);
mhOprosAPI = NULL;
return OPROS_LOAD_DLL_ERROR;
}
//API 초기화
if(mpKinect->Initialize(parameter) != API_SUCCESS)
{
PrintMessage(DEBUG_MESSAGE("Can't initialize a Kinect API").c_str());
delete mpKinect;
mpKinect = NULL;
FreeLibrary(mhOprosAPI);
mhOprosAPI = NULL;
return OPROS_INITIALIZE_API_ERROR;
}
return OPROS_SUCCESS;
}
// Call back Declaration
ReturnType TCPIPComp::onInitialize()
{
// XML에 저장된 프라퍼티를 parameter에 저장
Property parameter;
std::map<std::string, std::string> temp = getPropertyMap();
parameter.SetProperty(temp);
// dll 파일이름을 확인하여 없으면 에러 리턴
if(parameter.FindName("APIName") == false) {
PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't find the APIName in property\n");
return OPROS_FIND_PROPERTY_ERROR;
}
#if defined(WIN32)
// Load a DLL
hOprosAPI = LoadLibrary((LPCSTR)parameter.GetValue("APIName").c_str());
if(hOprosAPI == NULL) {
PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("APIName").c_str());
return OPROS_FIND_DLL_ERROR;
}
// Load a API
GET_OPROS_API getOprosAPI;
getOprosAPI = (GET_OPROS_API)GetProcAddress(hOprosAPI, "GetAPI");
if(getOprosAPI == NULL) {
PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n");
FreeLibrary(hOprosAPI);
hOprosAPI = NULL;
return OPROS_LOAD_DLL_ERROR;
}
#else
// Load a shared library
hOprosAPI = dlopen(parameter.GetValue("DllName").c_str(), RTLD_LAZY);
if(hOprosAPI == NULL) {
PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("DllName").c_str());
return OPROS_FIND_DLL_ERROR;
}
// Load a API
GET_OPROS_API getOprosAPI;
getOprosAPI = (GET_OPROS_API)dlsym(hOprosAPI, "GetAPI");
char *error = dlerror();
if(error != NULL) {
PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n");
dlclose(hOprosAPI);
hOprosAPI = NULL;
return OPROS_LOAD_DLL_ERROR;
}
#endif
tcpip = dynamic_cast<TCPIP *>(getOprosAPI());
if(tcpip == NULL) {
PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't get a handle of TCPIP API\n");
#if defined(WIN32)
FreeLibrary(hOprosAPI);
#else
dlclose(hOprosAPI);
#endif
hOprosAPI = NULL;
return OPROS_LOAD_DLL_ERROR;
}
if(tcpip->Initialize(parameter) != API_SUCCESS) {
PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't initialize a TCPIP API\n");
delete tcpip;
tcpip = NULL;
#if defined(WIN32)
FreeLibrary(hOprosAPI);
#else
dlclose(hOprosAPI);
#endif
hOprosAPI = NULL;
return OPROS_INITIALIZE_API_ERROR;
}
error = 0;
return OPROS_SUCCESS;
}
// Call back Declaration
ReturnType JoystickComp::onInitialize()
{
// XML에 저장된 프라퍼티를 parameter에 저장
Property parameter;
std::map<std::string, std::string> temp = getPropertyMap();
parameter.SetProperty(temp);
// dll 파일이름을 확인하여 없으면 에러 리턴
if(parameter.FindName("APIName") == false) {
PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't find the APIName in property\n");
return OPROS_FIND_PROPERTY_ERROR;
}
#if defined(WIN32)
// DLL 로드
hOprosAPI = LoadLibrary((LPCSTR)parameter.GetValue("APIName").c_str());
if(hOprosAPI == NULL) {
PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("APIName").c_str());
return OPROS_FIND_DLL_ERROR;
}
// API 로드
GET_OPROS_API getOprosAPI;
getOprosAPI = (GET_OPROS_API)GetProcAddress(hOprosAPI, "GetAPI");
if(getOprosAPI == NULL) {
PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n");
FreeLibrary(hOprosAPI);
hOprosAPI = NULL;
return OPROS_LOAD_DLL_ERROR;
}
#else
hOprosAPI = dlopen(parameter.GetValue("APIName").c_str(), RTLD_LAZY);
if(hOprosAPI == NULL) {
PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("APIName").c_str());
return OPROS_FIND_DLL_ERROR;
}
GET_OPROS_API getOprosAPI;
getOprosAPI = (GET_OPROS_API)dlsym(hOprosAPI, "GetAPI");
char *lastError = dlerror();
if(lastError != NULL) {
PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n");
dlclose(hOprosAPI);
hOprosAPI = NULL;
return OPROS_LOAD_DLL_ERROR;
}
#endif
joystick = static_cast<Joystick *>(getOprosAPI());
if(joystick == NULL) {
PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't get a handle of Joystick API\n");
#if defined(WIN32)
FreeLibrary(hOprosAPI);
#else
dlclose(hOprosAPI);
#endif
hOprosAPI = NULL;
return OPROS_LOAD_DLL_ERROR;
}
// API 초기화
if(joystick->Initialize(parameter) != API_SUCCESS) {
PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't intilaize a Joystick API\n");
delete joystick;
joystick = NULL;
#if defined(WIN32)
FreeLibrary(hOprosAPI);
#else
dlclose(hOprosAPI);
#endif
hOprosAPI = NULL;
return OPROS_INITIALIZE_API_ERROR;
}
lastError = OPROS_SUCCESS;
PrintMessage("SUCCESS : JoystickComp::onInitialize()\n");
return OPROS_SUCCESS;
}
int SerialCommunication::SetParameter(Property parameter)
{
if(parameter.FindName("TimeOut") == false) return API_ERROR;
unsigned long timeOut = (unsigned long)atol(parameter.GetValue("TimeOut").c_str());
if(parameter.FindName("BaudRate") == false) return API_ERROR;
unsigned long baudRate = (unsigned long)atol(parameter.GetValue("BaudRate").c_str());
if(parameter.FindName("DataBits") == false) return API_ERROR;
char dataBits = (char)atoi(parameter.GetValue("DataBits").c_str());
if(parameter.FindName("StopBits") == false) return API_ERROR;
char stopBits = (char)atoi(parameter.GetValue("StopBits").c_str());
if(parameter.FindName("Parity") == false) return API_ERROR;
char parity = (char)atoi(parameter.GetValue("Parity").c_str());
if(parameter.FindName("FlowControl") == false) return API_ERROR;
char flowControl = (char)atoi(parameter.GetValue("FlowControl").c_str());
if(handle != NULL) {
if(handle->SetParameter(timeOut, baudRate, dataBits, stopBits, parity, flowControl) < 0) {
return API_ERROR;
}
}
this->parameter.SetValue("TimeOut", parameter.GetValue("TimeOut"));
this->parameter.SetValue("BaudRate", parameter.GetValue("BaudRate"));
this->parameter.SetValue("DataBits", parameter.GetValue("DataBits"));
this->parameter.SetValue("StopBits", parameter.GetValue("StopBits"));
this->parameter.SetValue("Parity", parameter.GetValue("Parity"));
this->parameter.SetValue("FlowControl", parameter.GetValue("FlowControl"));
return API_SUCCESS;
}
