void CommandLineParser::parse(const QStringList &commandLine)
{
m_profile.clear();
m_startCommit.clear();
m_maxDuration = 0;
m_jobCount = 0;
m_log = false;
m_commandLine = commandLine;
Q_ASSERT(!m_commandLine.isEmpty());
m_command = m_commandLine.takeFirst();
while (!m_commandLine.isEmpty()) {
const QString arg = m_commandLine.takeFirst();
if (arg == profileOption())
assignOptionArgument(arg, m_profile);
else if (arg == startCommitOption())
assignOptionArgument(arg, m_startCommit);
else if (arg == jobCountOption())
assignOptionArgument(arg, m_jobCount);
else if (arg == maxDurationoption())
parseDuration();
else if (arg == logOption())
m_log = true;
else
throw ParseException(QString::fromLocal8Bit("Unknown parameter '%1'").arg(arg));
}
if (m_profile.isEmpty())
throw ParseException("No profile given.");
if (m_startCommit.isEmpty())
throw ParseException("No start commit given.");
}
void
PlanConfigParser::parse(Parsers::Config& cfg, std::string id, IMC::Dubin& man)
{
// Get configurable parameters
parseSpeed(cfg, id, man);
parseDuration(cfg, id, man);
parseTimeout(cfg, id, man);
parseZ(cfg, id, man);
parseZUnits(cfg, id, man);
}
void
PlanConfigParser::parse(Parsers::Config& cfg, std::string id, IMC::StationKeeping& man)
{
// Get configurable parameters
parseCoordinate(cfg, id, man);
parseSpeed(cfg, id, man);
parseZ(cfg, id, man);
parseZUnits(cfg, id, man);
parseDuration(cfg, id, man);
cfg.get(id, "Radius (meters)", "15.0", man.radius);
}
void
PlanConfigParser::parse(Parsers::Config& cfg, std::string id, IMC::PopUp& man)
{
parseCoordinate(cfg, id, man);
parseSpeed(cfg, id, man);
parseTimeout(cfg, id, man);
parseDuration(cfg, id, man);
parseZ(cfg, id, man);
parseZUnits(cfg, id, man);
cfg.get(id, "Radius (meters)", "15.0", man.radius);
cfg.get(id, "Flags", "0x00", man.flags);
}
TimeVal::TimeVal (const std::string &s, const parseformat fmt)
{
struct tm conv;
time_t res;
memset(&parser_context,0,sizeof(parser_context));
reset();
setBuffer(s);
initParser();
switch (fmt) {
case XML_DATETIME:
parseDateTime();
break;
case XML_DURATION:
parseDuration();
break;
default:
throw TimeValException("unknown XML TimeVal format");
break;
}
xmlnormalize();
memset(&conv,0,sizeof(conv));
conv.tm_sec = parser_context.fValue[Second];
conv.tm_min = parser_context.fValue[Minute];
conv.tm_hour= parser_context.fValue[Hour];
conv.tm_mday= parser_context.fValue[Day];
if (parser_context.fValue[Month] > 0) {
conv.tm_mon = parser_context.fValue[Month]-1;
}
conv.tm_year = parser_context.fValue[CentYear];
if (conv.tm_year > 1900)
conv.tm_year -= 1900;
conv.tm_isdst = 0;
if (fmt == XML_DURATION) {
conv.tm_year += 70; // start of epoch added to the duration
conv.tm_mday += 1;
conv.tm_hour += 1;
}
tv_sec = mktime (&conv);
tv_usec = parser_context.fValue[MiliSecond] * 1000;
m_tz = gmt;
// not give we get here, destructor does same thing to be sure
}
void
PlanConfigParser::parse(Parsers::Config& cfg, std::string id, IMC::Loiter& man)
{
// Get configurable parameters
parseCoordinate(cfg, id, man);
parseSpeed(cfg, id, man);
parseTimeout(cfg, id, man);
parseDuration(cfg, id, man);
parseZ(cfg, id, man);
parseZUnits(cfg, id, man);
int8_t type;
cfg.get(id, "Loiter Type", "0", type);
switch (type)
{
case 1:
man.type = IMC::Loiter::LT_RACETRACK; break;
case 2:
man.type = IMC::Loiter::LT_HOVER; break;
case 3:
man.type = IMC::Loiter::LT_EIGHT; break;
case 0:
default:
man.type = IMC::Loiter::LT_CIRCULAR; break;
}
std::string ldir;
cfg.get(id, "Loiter Direction", "Clock", ldir);
if (ldir == "Clockwise")
man.direction = IMC::Loiter::LD_CLOCKW;
else
man.direction = IMC::Loiter::LD_CCLOCKW;
cfg.get(id, "Radius (meters)", "50", man.radius);
parseAngle(cfg, id, "Bearing (degrees)", man.bearing, 0.0);
cfg.get(id, "Length (meters)", "100", man.length);
}
void
PlanConfigParser::parse(Parsers::Config& cfg, std::string id, IMC::CompassCalibration& man)
{
// Get configurable parameters
parseCoordinate(cfg, id, man);
parseSpeed(cfg, id, man);
parseTimeout(cfg, id, man);
parseDuration(cfg, id, man);
parseZ(cfg, id, man);
parseZUnits(cfg, id, man);
std::string ldir;
cfg.get(id, "Loiter Direction", "Clock", ldir);
if (ldir == "Clockwise")
man.direction = IMC::Loiter::LD_CLOCKW;
else
man.direction = IMC::Loiter::LD_CCLOCKW;
cfg.get(id, "Radius (meters)", "50", man.radius);
cfg.get(id, "Amplitude (meters)", "1", man.amplitude);
parseAngle(cfg, id, "Pitch (degrees)", man.pitch, (fp32_t)0.0);
}
int main (int argc, char **argv)
{
struct CCDdev device = {"/dev/ccda"};
struct CCDexp exposure = {&device};
unsigned short *pixelRow, *end;
int overage;
unsigned avgPixel = 0;
char *outFn;
FILE *outFile;
const static struct option options[] = {
{"autoexpose", 2, NULL, 'a'},
{"binning", 1, NULL, 'b'},
{"bin", 1, NULL, 'b'},
{"offset", 1, NULL, 'o'},
{"origin", 1, NULL, 'o'},
{"size", 1, NULL, 's'},
{"dark", 0, NULL, 'D'},
// {"depth", 1, NULL, 'd'},
{"nowipe", 0, NULL, 'w'},
{"noclear", 0, NULL, 'c'},
{"noaccumulation", 0, NULL, 'A'},
{"tdi", 0, NULL, 't'},
{"TDI", 0, NULL, 't'},
{"tiff", 2, NULL, 'T'},
{"TIFF", 2, NULL, 'T'},
{"FITS", 0, NULL, 'F'},
{"fits", 0, NULL, 'F'},
{"JPEG", 0, NULL, 'J'},
{"jpeg", 0, NULL, 'J'},
{"camera", 1, NULL, 'n'},
{"debug", 2, NULL, 'S'},
{"help", 0, NULL, 'h'},
{NULL}
};
progName = basename (argv[0]);
if (write (progressFD, "", 0)) progressFD=fileno(stdout);
for (;;) {
int optc = getopt_long_only (argc, argv, "", options, 0);
switch(optc) {
case -1:
goto gotAllOpts;
case 'a': //auto exposure
exposureSecs = 5*60; //default to 5 minute max exposure time
if (optarg) {
char *terminator = optarg;
if (*optarg != ',') terminator=parseDuration (optarg, &exposureSecs);
switch (*terminator) {
case ',':
switch(*(terminator=parseInt (terminator+1, &maxAutoSignal))) {
case ',':
if (*parseInt(terminator+1, &adcBias))
syntaxErr("Junk text after min A/D counts!");
case '\0':
break;
default:
syntaxErr("Junk text after autoexposure max A/D count target!");
}
case '\0':
break;
default:
syntaxErr ("Junk text after autoexposure max duration!");
}
if (exposureSecs < 0.002)
syntaxErr ("autoexposure limit must be > 2ms");
}
exposureSecs = -exposureSecs;
break;
case 'b': //XY binning
parseXYoptArg (&binX, &binY);
if (!validBin(binX) || !validBin(binY))
syntaxErr ("Binning factors must be between 1 and 4!");
break;
case 'o': //origin offset
parseXYoptArg (&offsetX, &offsetY);
if (offsetX < 0 || offsetY < 0)
syntaxErr ("Negative origin offset specified!");
break;
case 's': //image size
parseXYoptArg (&sizeX, &sizeY);
if (sizeX < 0 || sizeY < 0)
syntaxErr ("Negative image size specified!");
break;
case 'd': //depth
if (*parseInt (optarg, &CCDdepth))
syntaxErr ("invalid text after depth option");
if (CCDdepth <= 0)
syntaxErr ("Negative # of depth bits specified");
break;
case 'S': //display debuging status info
debug = optarg ? atoi(optarg) : 1;
break;
case 'w': //suppress CCD wipe
exposure.flags |= CCD_EXP_FLAGS_NOWIPE_FRAME;
break;
case 'c': //suppress image clear
exposure.flags |= CCD_EXP_FLAGS_NOCLEAR_FRAME;
break;
case 't': //time delay integration
exposure.flags |= CCD_EXP_FLAGS_TDI;
break;
case 'A': //no binning accumulation
exposure.flags |= CCD_EXP_FLAGS_NOBIN_ACCUM;
break;
case 'D': //dard frame
exposure.flags |= CCD_EXP_FLAGS_NOOPEN_SHUTTER;
break;
case 'n': //camera device file
device.filename[NAME_STRING_LENGTH]='\0';
strncpy (device.filename, optarg, NAME_STRING_LENGTH-1);
break;
case 'T': //generate TIFF file
assignType(TIFFfile);
if (optarg && toupper(*optarg)=='D')
setenv ("TIFF_COMPRESSION", "32946", 1);
break;
case 'F': //generate FITS file
assignType(FITSfile);
break;
case 'J': //generate JPEG file
assignType(JPEGfile);
break;
case 'h':
usage();
return 0;
default:
syntaxErr("invalid option: %s", argv[optind]);
}
}
gotAllOpts: //on to arguments (exposure time and output file name)
if (exposureSecs == 0.0) {
if (!argv[optind])
syntaxErr ("Missing Exposure Time");
if (*parseDuration (argv[optind], &exposureSecs))
syntaxErr ("Junk text after exposure duration");
if (exposureSecs < 0.001)
syntaxErr ("Exposure duration must be >= 0.001 seconds");
++optind;
}
if (!CCDconnect (&device)) {
fprintf (stderr, "Cannot open camera device: %s\n", device.filename);
return 1;
}
printf ("%s: %dx%d pixel %d-bit CCD camera\n",
device.camera, device.width, device.height, device.depth);
outFn = argv[optind];
if (outFn) {
char *lastDot;
outFile = fopen (outFn, "w");
if (!outFile) {
perror(outFn);
return errno;
}
if (outputFileType == unspecifiedFile) {
lastDot = strrchr (outFn, '.');
if (lastDot) switch (toupper(lastDot[1])) {
case 'J': outputFileType = JPEGfile;
break;
case 'T': outputFileType = TIFFfile;
break;
case 'F': outputFileType = FITSfile;
break;
}
}
}else //trying to write image to stdout
syntaxErr ("Missing output image filename!");
exposure.width = sizeX ? sizeX : device.width;
exposure.height = sizeY ? sizeY : device.height;
exposure.xoffset = offsetX;
exposure.yoffset = offsetY;
overage = device.width - exposure.width - offsetX;
if (overage < 0)
exposure.width += overage;
overage = device.height - exposure.height - offsetY;
if (overage < 0)
exposure.height += overage;
exposure.xbin = binX;
exposure.ybin = binY;
exposure.dacBits = CCDdepth ? CCDdepth : device.dacBits;
if (exposure.dacBits < 8 || exposure.dacBits > 16)
syntaxErr ("Pixel depth of %d bits is not currently supported!\n", exposure.dacBits);
if (exposureSecs < 0.0) {
exposureSecs = -exposureSecs;
if (debug) printf(
"Calibrating <= %g second exposure between %d and %d A/D counts...\n",
exposureSecs, maxAutoSignal, adcBias);
exposure.msec = exposureSecs * 1000.0 + 0.5;
if (optimizeExposure (&exposure)) {
fprintf (stderr, "Autoexposure calibration failed!\n");
return 6;
}
}else
exposure.msec = exposureSecs * 1000.0 + 0.5;
exposureSecs = (double)exposure.msec / 1000.0;
printf ("Exposing %dx%d pixel %d-bit image for %g seconds\n",
exposure.width/binX, exposure.height/binY, exposure.dacBits, exposureSecs);
expose (&exposure);
/* Write out the image in the specified format */
switch (outputFileType) {
case unspecifiedFile:
outputFileType = TIFFfile; //default to TIFF
case TIFFfile:
{
TIFF *tif = TIFFFdOpen (fileno(outFile), outFn, "w");
if (!tif || saveTIFF (tif, &exposure)) imageWrtFailed();
TIFFClose(tif);
}
break;
case FITSfile:
if (saveFITS (fileno(outFile), &exposure)) imageWrtFailed();
break;
default:
syntaxErr("Unsupported image file type: %s",fileTypeName[outputFileType]);
}
printf ("%s: %s Upload Complete\n", outFn, fileTypeName[outputFileType]);
return 0;
}
void AnalyzeTask::updateInfo(AudioFileModel &audioFile, bool &skipNext, QPair<quint32, quint32> &id_val, quint32 &coverType, QByteArray &coverData, const QString &key, const QString &value)
{
//qWarning("'%s' -> '%s'", MUTILS_UTF8(key), MUTILS_UTF8(value));
/*New Stream*/
if(IS_KEY("Gen_ID") || IS_KEY("Aud_ID"))
{
if(value.isEmpty())
{
skipNext = false;
}
else
{
//We ignore all ID's, except for the lowest one!
bool ok = false;
unsigned int id = value.toUInt(&ok);
if(ok)
{
if(IS_KEY("Gen_ID")) { id_val.first = qMin(id_val.first, id); skipNext = (id > id_val.first); }
if(IS_KEY("Aud_ID")) { id_val.second = qMin(id_val.second, id); skipNext = (id > id_val.second); }
}
else
{
skipNext = true;
}
}
if(skipNext)
{
qWarning("Skipping info for non-primary stream!");
}
return;
}
/*Skip or empty?*/
if((skipNext) || value.isEmpty())
{
return;
}
/*Playlist file?*/
if(IS_KEY("Aud_Source"))
{
skipNext = true;
audioFile.techInfo().setContainerType(QString());
audioFile.techInfo().setAudioType(QString());
qWarning("Skipping info for playlist file!");
return;
}
/*General Section*/
if(IS_SEC("Gen"))
{
if(IS_KEY("Gen_Format"))
{
audioFile.techInfo().setContainerType(value);
}
else if(IS_KEY("Gen_Format_Profile"))
{
audioFile.techInfo().setContainerProfile(value);
}
else if(IS_KEY("Gen_Title") || IS_KEY("Gen_Track"))
{
audioFile.metaInfo().setTitle(value);
}
else if(IS_KEY("Gen_Duration"))
{
unsigned int tmp = parseDuration(value);
if(tmp > 0) audioFile.techInfo().setDuration(tmp);
}
else if(IS_KEY("Gen_Artist") || IS_KEY("Gen_Performer"))
{
audioFile.metaInfo().setArtist(value);
}
else if(IS_KEY("Gen_Album"))
{
audioFile.metaInfo().setAlbum(value);
}
else if(IS_KEY("Gen_Genre"))
{
audioFile.metaInfo().setGenre(value);
}
else if(IS_KEY("Gen_Released_Date") || IS_KEY("Gen_Recorded_Date"))
{
unsigned int tmp = parseYear(value);
if(tmp > 0) audioFile.metaInfo().setYear(tmp);
}
else if(IS_KEY("Gen_Comment"))
{
audioFile.metaInfo().setComment(value);
}
else if(IS_KEY("Gen_Track/Position"))
{
bool ok = false;
unsigned int tmp = value.toUInt(&ok);
if(ok) audioFile.metaInfo().setPosition(tmp);
}
else if(IS_KEY("Gen_Cover") || IS_KEY("Gen_Cover_Type"))
{
if(coverType == UINT_MAX)
{
coverType = 0;
}
}
else if(IS_KEY("Gen_Cover_Mime"))
{
QString temp = FIRST_TOK(value);
for (quint32 i = 0; MIME_TYPES[i].type; i++)
{
if (temp.compare(QString::fromLatin1(MIME_TYPES[i].type), Qt::CaseInsensitive) == 0)
{
coverType = i;
break;
}
}
}
else if(IS_KEY("Gen_Cover_Data"))
{
if(!coverData.isEmpty()) coverData.clear();
coverData.append(QByteArray::fromBase64(FIRST_TOK(value).toLatin1()));
}
else
{
qWarning("Unknown key '%s' with value '%s' found!", MUTILS_UTF8(key), MUTILS_UTF8(value));
}
return;
}
/*Audio Section*/
if(IS_SEC("Aud"))
{
if(IS_KEY("Aud_Format"))
{
audioFile.techInfo().setAudioType(value);
}
else if(IS_KEY("Aud_Format_Profile"))
{
audioFile.techInfo().setAudioProfile(value);
}
else if(IS_KEY("Aud_Format_Version"))
{
audioFile.techInfo().setAudioVersion(value);
}
else if(IS_KEY("Aud_Channel(s)"))
{
bool ok = false;
unsigned int tmp = value.toUInt(&ok);
if(ok) audioFile.techInfo().setAudioChannels(tmp);
}
else if(IS_KEY("Aud_SamplingRate"))
{
bool ok = false;
unsigned int tmp = value.toUInt(&ok);
if(ok) audioFile.techInfo().setAudioSamplerate(tmp);
}
else if(IS_KEY("Aud_BitDepth"))
{
bool ok = false;
unsigned int tmp = value.toUInt(&ok);
if(ok) audioFile.techInfo().setAudioBitdepth(tmp);
}
else if(IS_KEY("Aud_Duration"))
{
unsigned int tmp = parseDuration(value);
if(tmp > 0) audioFile.techInfo().setDuration(tmp);
}
else if(IS_KEY("Aud_BitRate"))
{
bool ok = false;
unsigned int tmp = value.toUInt(&ok);
if(ok) audioFile.techInfo().setAudioBitrate(tmp/1000);
}
else if(IS_KEY("Aud_BitRate_Mode"))
{
if(!value.compare("CBR", Qt::CaseInsensitive)) audioFile.techInfo().setAudioBitrateMode(AudioFileModel::BitrateModeConstant);
if(!value.compare("VBR", Qt::CaseInsensitive)) audioFile.techInfo().setAudioBitrateMode(AudioFileModel::BitrateModeVariable);
}
else if(IS_KEY("Aud_Encoded_Library"))
{
audioFile.techInfo().setAudioEncodeLib(value);
}
else
{
qWarning("Unknown key '%s' with value '%s' found!", MUTILS_UTF8(key), MUTILS_UTF8(value));
}
return;
}
/*Section not recognized*/
qWarning("Unknown section: %s", MUTILS_UTF8(key));
}
void AnalyzeTask::updateInfo(AudioFileModel &audioFile, bool *skipNext, unsigned int *id_val, cover_t *coverType, QByteArray *coverData, const QString &key, const QString &value)
{
//qWarning("'%s' -> '%s'", QUTF8(key), QUTF8(value));
/*New Stream*/
if(IS_KEY("Gen_ID") || IS_KEY("Aud_ID"))
{
if(value.isEmpty())
{
*skipNext = false;
}
else
{
//We ignore all ID's, except for the lowest one!
bool ok = false;
unsigned int id = value.toUInt(&ok);
if(ok)
{
if(IS_KEY("Gen_ID")) { id_val[0] = qMin(id_val[0], id); *skipNext = (id > id_val[0]); }
if(IS_KEY("Aud_ID")) { id_val[1] = qMin(id_val[1], id); *skipNext = (id > id_val[1]); }
}
else
{
*skipNext = true;
}
}
if(*skipNext)
{
qWarning("Skipping info for non-primary stream!");
}
return;
}
/*Skip or empty?*/
if((*skipNext) || value.isEmpty())
{
return;
}
/*Playlist file?*/
if(IS_KEY("Aud_Source"))
{
*skipNext = true;
audioFile.techInfo().setContainerType(QString());
audioFile.techInfo().setAudioType(QString());
qWarning("Skipping info for playlist file!");
return;
}
/*General Section*/
if(IS_SEC("Gen"))
{
if(IS_KEY("Gen_Format"))
{
audioFile.techInfo().setContainerType(value);
}
else if(IS_KEY("Gen_Format_Profile"))
{
audioFile.techInfo().setContainerProfile(value);
}
else if(IS_KEY("Gen_Title") || IS_KEY("Gen_Track"))
{
audioFile.metaInfo().setTitle(value);
}
else if(IS_KEY("Gen_Duration"))
{
unsigned int tmp = parseDuration(value);
if(tmp > 0) audioFile.techInfo().setDuration(tmp);
}
else if(IS_KEY("Gen_Artist") || IS_KEY("Gen_Performer"))
{
audioFile.metaInfo().setArtist(value);
}
else if(IS_KEY("Gen_Album"))
{
audioFile.metaInfo().setAlbum(value);
}
else if(IS_KEY("Gen_Genre"))
{
audioFile.metaInfo().setGenre(value);
}
else if(IS_KEY("Gen_Released_Date") || IS_KEY("Gen_Recorded_Date"))
{
unsigned int tmp = parseYear(value);
if(tmp > 0) audioFile.metaInfo().setYear(tmp);
}
else if(IS_KEY("Gen_Comment"))
{
audioFile.metaInfo().setComment(value);
}
else if(IS_KEY("Gen_Track/Position"))
{
bool ok = false;
unsigned int tmp = value.toUInt(&ok);
if(ok) audioFile.metaInfo().setPosition(tmp);
}
else if(IS_KEY("Gen_Cover") || IS_KEY("Gen_Cover_Type"))
{
if(*coverType == coverNone)
{
*coverType = coverJpeg;
}
}
else if(IS_KEY("Gen_Cover_Mime"))
{
QString temp = FIRST_TOK(value);
if(!temp.compare("image/jpeg", Qt::CaseInsensitive)) *coverType = coverJpeg;
else if(!temp.compare("image/png", Qt::CaseInsensitive)) *coverType = coverPng;
else if(!temp.compare("image/gif", Qt::CaseInsensitive)) *coverType = coverGif;
}
else if(IS_KEY("Gen_Cover_Data"))
{
if(!coverData->isEmpty()) coverData->clear();
coverData->append(QByteArray::fromBase64(FIRST_TOK(value).toLatin1()));
}
else
{
qWarning("Unknown key '%s' with value '%s' found!", QUTF8(key), QUTF8(value));
}
return;
}
/*Audio Section*/
if(IS_SEC("Aud"))
{
if(IS_KEY("Aud_Format"))
{
audioFile.techInfo().setAudioType(value);
}
else if(IS_KEY("Aud_Format_Profile"))
{
audioFile.techInfo().setAudioProfile(value);
}
else if(IS_KEY("Aud_Format_Version"))
{
audioFile.techInfo().setAudioVersion(value);
}
else if(IS_KEY("Aud_Channel(s)"))
{
bool ok = false;
unsigned int tmp = value.toUInt(&ok);
if(ok) audioFile.techInfo().setAudioChannels(tmp);
}
else if(IS_KEY("Aud_SamplingRate"))
{
bool ok = false;
unsigned int tmp = value.toUInt(&ok);
if(ok) audioFile.techInfo().setAudioSamplerate(tmp);
}
else if(IS_KEY("Aud_BitDepth"))
{
bool ok = false;
unsigned int tmp = value.toUInt(&ok);
if(ok) audioFile.techInfo().setAudioBitdepth(tmp);
}
else if(IS_KEY("Aud_Duration"))
{
unsigned int tmp = parseDuration(value);
if(tmp > 0) audioFile.techInfo().setDuration(tmp);
}
else if(IS_KEY("Aud_BitRate"))
{
bool ok = false;
unsigned int tmp = value.toUInt(&ok);
if(ok) audioFile.techInfo().setAudioBitrate(tmp/1000);
}
else if(IS_KEY("Aud_BitRate_Mode"))
{
if(!value.compare("CBR", Qt::CaseInsensitive)) audioFile.techInfo().setAudioBitrateMode(AudioFileModel::BitrateModeConstant);
if(!value.compare("VBR", Qt::CaseInsensitive)) audioFile.techInfo().setAudioBitrateMode(AudioFileModel::BitrateModeVariable);
}
else if(IS_KEY("Aud_Encoded_Library"))
{
audioFile.techInfo().setAudioEncodeLib(value);
}
else
{
qWarning("Unknown key '%s' with value '%s' found!", QUTF8(key), QUTF8(value));
}
return;
}
/*Section not recognized*/
qWarning("Unknown section: %s", QUTF8(key));
}
void
PlanConfigParser::parse(Parsers::Config& cfg, std::string id, IMC::IdleManeuver& man)
{
parseDuration(cfg, id, man);
}
