ControlParameters Class Reference

#include <ControlParameters.h>

Inheritance diagram for ControlParameters:

Collaboration diagram for ControlParameters:

Public Member Functions
	ControlParameters (const std::string &name)
bool	isFullyInitialized ()
void	initializeDouble (const std::string &name, double d)
void	initializeFloat (const std::string &name, float f)
void	initializeInteger (const std::string &name, s64 i)
void	initializeVec3f (const std::string &name, Vec3< float > &v)
void	initializeVec3d (const std::string &name, Vec3< double > &v)
void	lockMutex ()
void	unlockMutex ()
void	writeToIniFile (const std::string &path)
void	initializeFromIniFile (const std::string &path)
void	initializeFromYamlFile (const std::string &path)
void	defineAndInitializeFromYamlFile (const std::string &path)
void	writeToYamlFile (const std::string &path)
std::string	generateUnitializedList ()

Public Attributes
ControlParameterCollection	collection

Protected Attributes
std::string	_name
std::mutex	_mutex

Detailed Description

Parent class for groups of parameters RobotParameters and SimulatorParameters inherit from this class

Definition at line 391 of file ControlParameters.h.

Constructor & Destructor Documentation

ControlParameters::ControlParameters ( const std::string &  name )

inline

Each control parameter group must have a unique name so the ini files don't mixed up

Parameters

name

Definition at line 398 of file ControlParameters.h.

: collection(name), _name(name) {}

Member Function Documentation

void ControlParameters::defineAndInitializeFromYamlFile

(

const std::string &

path

)

Definition at line 280 of file ControlParameters.cpp.

References ControlParameter::_kind, ControlParameterCollection::_name, DOUBLE, f(), FLOAT, ControlParameter::initializeDouble(), ControlParameter::initializeFloat(), ControlParameter::initializeInteger(), ControlParameter::initializeVec3d(), ControlParameter::initializeVec3f(), S64, VEC3_DOUBLE, VEC3_FLOAT, and YAML_COLLECTION_NAME_KEY.

                                                                             {
  ParamHandler paramHandler(path);

  if (!paramHandler.fileOpenedSuccessfully()) {
    printf(
        "[ERROR] Could not open yaml file %s : not initializing control "
        "parameters!\n",
        path.c_str());
    throw std::runtime_error("yaml file bad");
  }

  std::string name;
  if (!paramHandler.getString(YAML_COLLECTION_NAME_KEY, name)) {
    printf("[ERROR] YAML doesn't have a a collection name field named %s\n",
           YAML_COLLECTION_NAME_KEY);
    throw std::runtime_error("yaml file bad");
  }

  if (name != _name) {
    printf(
        "[ERROR] YAML file %s has collection name %s which cannot be used to "
        "initialize %s\n",
        path.c_str(), name.c_str(), _name.c_str());
    throw std::runtime_error("yaml file bad");
  }

  std::vector<std::string> keys = paramHandler.getKeys();

  for (auto& key : keys) {
    if (key == YAML_COLLECTION_NAME_KEY) continue;
    std::string valueString;
    paramHandler.getString(key, valueString);
    ControlParameterValueKind kind;
    if(valueString.empty()) {
      kind = ControlParameterValueKind::VEC3_DOUBLE;
    } else {
      kind = ControlParameterValueKind::DOUBLE;
    }

    ControlParameter* cp = new ControlParameter(key, kind);
    collection.addParameter(cp, key);
    switch (cp->_kind) {
      case ControlParameterValueKind::DOUBLE: {
        double d;
        assert(paramHandler.getValue(key, d));
        cp->initializeDouble(d);
      } break;

      case ControlParameterValueKind::FLOAT: {
        float f;
        assert(paramHandler.getValue(key, f));
        cp->initializeFloat(f);
      } break;

      case ControlParameterValueKind::S64: {
        s64 f;
        assert(paramHandler.getValue(key, f));
        cp->initializeInteger(f);
      } break;

      case ControlParameterValueKind::VEC3_DOUBLE: {
        std::vector<double> vv;
        assert(paramHandler.getVector(key, vv));
        assert(vv.size() == 3);
        Vec3<double> v(vv[0], vv[1], vv[2]);
        cp->initializeVec3d(v);
      } break;

      case ControlParameterValueKind::VEC3_FLOAT: {
        std::vector<float> vv;
        assert(paramHandler.getVector(key, vv));
        assert(vv.size() == 3);
        Vec3<float> v(vv[0], vv[1], vv[2]);
        cp->initializeVec3f(v);
      } break;

      default:
        throw std::runtime_error("can't read type " +
                                 std::to_string((u32)cp->_kind) +
                                 " from yaml file");
        break;
    }
  }
}

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std::string ControlParameters::generateUnitializedList

(

)

Definition at line 89 of file ControlParameters.cpp.

                                                     {
  std::string result;
  for (auto& kv : collection._map) {
    if (!kv.second->_set) {
      result += kv.second->_name + "    :\n";
    }
  }

  return result;
}

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void ControlParameters::initializeDouble ( const std::string &  name, double  d  )

inline

Directly initialize a given control parameter

Definition at line 408 of file ControlParameters.h.

                                                         {
    collection.lookup(name).initializeDouble(d);
  }

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void ControlParameters::initializeFloat ( const std::string &  name, float  f  )

inline

Definition at line 412 of file ControlParameters.h.

                                                       {
    collection.lookup(name).initializeFloat(f);
  }

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void ControlParameters::initializeFromIniFile

(

const std::string &

path

)

Definition at line 204 of file ControlParameters.cpp.

References ControlParameter::_kind, ControlParameterCollection::_name, DOUBLE, FLOAT, ControlParameter::initializeDouble(), ControlParameter::initializeFloat(), ControlParameter::initializeInteger(), and S64.

                                                                   {
  INIReader iniReader(path);
  if (iniReader.ParseError() < 0) {
    printf(
        "[ERROR] Could not open ini file %s : not initializing control "
        "parameters!\n",
        path.c_str());
    throw std::runtime_error("ini file bad");
  }

  std::set<std::string> sections = iniReader.GetSections();

  if (sections.size() != 1) {
    printf(
        "[ERROR] INI file %s had %ld sections (expected 1) : not initializing "
        "control parameters\n",
        path.c_str(), sections.size());
    throw std::runtime_error("ini file bad");
  }

  std::string sectionName = *(sections.begin());

  if (sectionName != _name) {
    printf(
        "[ERROR] INI file %s has section name %s, which cannot be used to "
        "initialize %s\n",
        path.c_str(), sectionName.c_str(), _name.c_str());
    throw std::runtime_error("ini file bad");
  }

  std::set<std::string> parameterNames = iniReader.GetFields(sectionName);

  for (auto& name : parameterNames) {
    ControlParameter& cp = collection.lookup(name);
    switch (cp._kind) {
      case ControlParameterValueKind::DOUBLE:
        cp.initializeDouble(iniReader.GetReal(sectionName, name, 0.));
        break;
      case ControlParameterValueKind::FLOAT:
        cp.initializeFloat((float)iniReader.GetReal(sectionName, name, 0.));
        break;
      case ControlParameterValueKind::S64:
        cp.initializeInteger(iniReader.GetInteger(sectionName, name, 0));
        break;
      default:
        throw std::runtime_error("can't read type " +
                                 std::to_string((u32)cp._kind) +
                                 " from ini file");
        break;
    }
  }
}

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void ControlParameters::initializeFromYamlFile

(

const std::string &

path

)

Definition at line 365 of file ControlParameters.cpp.

References ControlParameter::_kind, ControlParameterCollection::_name, DOUBLE, f(), FLOAT, ControlParameter::initializeDouble(), ControlParameter::initializeFloat(), ControlParameter::initializeInteger(), ControlParameter::initializeVec3d(), ControlParameter::initializeVec3f(), S64, VEC3_DOUBLE, VEC3_FLOAT, and YAML_COLLECTION_NAME_KEY.

                                                                    {
  ParamHandler paramHandler(path);

  if (!paramHandler.fileOpenedSuccessfully()) {
    printf(
        "[ERROR] Could not open yaml file %s : not initializing control "
        "parameters!\n",
        path.c_str());
    throw std::runtime_error("yaml file bad");
  }

  std::string name;
  if (!paramHandler.getString(YAML_COLLECTION_NAME_KEY, name)) {
    printf("[ERROR] YAML doesn't have a a collection name field named %s\n",
           YAML_COLLECTION_NAME_KEY);
    throw std::runtime_error("yaml file bad");
  }

  if (name != _name) {
    printf(
        "[ERROR] YAML file %s has collection name %s which cannot be used to "
        "initialize %s\n",
        path.c_str(), name.c_str(), _name.c_str());
    throw std::runtime_error("yaml file bad");
  }

  std::vector<std::string> keys = paramHandler.getKeys();

  for (auto& key : keys) {
    if (key == YAML_COLLECTION_NAME_KEY) continue;
    ControlParameter& cp = collection.lookup(key);
    switch (cp._kind) {
      case ControlParameterValueKind::DOUBLE: {
        double d;
        assert(paramHandler.getValue(key, d));
        cp.initializeDouble(d);
      } break;

      case ControlParameterValueKind::FLOAT: {
        float f;
        assert(paramHandler.getValue(key, f));
        cp.initializeFloat(f);
      } break;

      case ControlParameterValueKind::S64: {
        s64 f;
        assert(paramHandler.getValue(key, f));
        cp.initializeInteger(f);
      } break;

      case ControlParameterValueKind::VEC3_DOUBLE: {
        std::vector<double> vv;
        assert(paramHandler.getVector(key, vv));
        assert(vv.size() == 3);
        Vec3<double> v(vv[0], vv[1], vv[2]);
        cp.initializeVec3d(v);
      } break;

      case ControlParameterValueKind::VEC3_FLOAT: {
        std::vector<float> vv;
        assert(paramHandler.getVector(key, vv));
        assert(vv.size() == 3);
        Vec3<float> v(vv[0], vv[1], vv[2]);
        cp.initializeVec3f(v);
      } break;

      default:
        throw std::runtime_error("can't read type " +
                                 std::to_string((u32)cp._kind) +
                                 " from yaml file");
        break;
    }
  }
}

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void ControlParameters::initializeInteger ( const std::string &  name, s64  i  )

inline

Definition at line 416 of file ControlParameters.h.

                                                       {
    collection.lookup(name).initializeInteger(i);
  }

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void ControlParameters::initializeVec3d ( const std::string &  name, Vec3< double > &  v  )

inline

Definition at line 424 of file ControlParameters.h.

                                                               {
    collection.lookup(name).initializeVec3d(v);
  }

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void ControlParameters::initializeVec3f ( const std::string &  name, Vec3< float > &  v  )

inline

Definition at line 420 of file ControlParameters.h.

                                                              {
    collection.lookup(name).initializeVec3f(v);
  }

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bool ControlParameters::isFullyInitialized ( )

inline

If true, all parameters have been initialized in one way or another

Definition at line 403 of file ControlParameters.h.

{ return collection.checkIfAllSet(); }

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void ControlParameters::lockMutex ( )

inline

Definition at line 428 of file ControlParameters.h.

{ _mutex.lock(); }

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void ControlParameters::unlockMutex ( )

inline

Definition at line 430 of file ControlParameters.h.

{ _mutex.unlock(); }

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void ControlParameters::writeToIniFile

(

const std::string &

path

)

Definition at line 196 of file ControlParameters.cpp.

References writeStringToFile().

                                                            {
  writeStringToFile(path, collection.printToIniString());
}

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void ControlParameters::writeToYamlFile

(

const std::string &

path

)

Definition at line 200 of file ControlParameters.cpp.

References writeStringToFile().

                                                             {
  writeStringToFile(path, collection.printToYamlString());
}

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Member Data Documentation

std::mutex ControlParameters::_mutex

protected

Definition at line 445 of file ControlParameters.h.

std::string ControlParameters::_name

protected

Definition at line 444 of file ControlParameters.h.

ControlParameterCollection ControlParameters::collection

Definition at line 441 of file ControlParameters.h.

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The documentation for this class was generated from the following files:

• ControlParameters.h
• ControlParameters.cpp