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|
/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArTestConfig.h"
#include <ArConfig.h>
#include <ArConfigArg.h>
struct ArConfigPrimitiveData {
int myIntInt;
int myIntIntWithMin;
int myIntIntWithMax;
int myIntIntWithMinMax;
short myIntShort;
short myIntShortWithMin;
short myIntShortWithMax;
short myIntShortWithMinMax;
unsigned short myIntUShort;
unsigned short myIntUShortWithMin;
unsigned short myIntUShortWithMax;
unsigned short myIntUShortWithMinMax;
unsigned char myIntUChar;
unsigned char myIntUCharWithMin;
unsigned char myIntUCharWithMax;
unsigned char myIntUCharWithMinMax;
double myDouble;
double myDoubleWithMin;
double myDoubleWithMax;
double myDoubleWithMinAndMax;
bool myBool;
char myStringBuf[256];
std::list<ArConfigArg> myArgList;
ArConfigPrimitiveData();
}; // end struct ArConfigPrimitiveData
ArConfigPrimitiveData::ArConfigPrimitiveData() :
myIntInt(1),
myIntIntWithMin(2),
myIntIntWithMax(3),
myIntIntWithMinMax(4),
myIntShort(5),
myIntShortWithMin(6),
myIntShortWithMax(7),
myIntShortWithMinMax(8),
myIntUShort(9),
myIntUShortWithMin(10),
myIntUShortWithMax(11),
myIntUShortWithMinMax(12),
myIntUChar(13),
myIntUCharWithMin(12),
myIntUCharWithMax(11),
myIntUCharWithMinMax(10),
myDouble(17.1),
myDoubleWithMin(18.2),
myDoubleWithMax(19.3),
myDoubleWithMinAndMax(20.4),
myBool(false),
myStringBuf(),
myArgList()
{
myStringBuf[0] = '\0';
/// Constructor for making an integer argument by pointer (4 bytes)
myArgList.push_back(ArConfigArg("PointerIntInt",
&myIntInt,
"Pointer to an INT_INT, no bounds"));
myArgList.push_back(ArConfigArg("PointerIntIntWithMin",
&myIntIntWithMin,
"Pointer to an INT_INT, min bound",
1));
myArgList.push_back(ArConfigArg("PointerIntIntWithMax",
&myIntIntWithMax,
"Pointer to an INT_INT, max bounds",
INT_MIN,
9999));
myArgList.push_back(ArConfigArg("PointerIntIntWithMinMax",
&myIntIntWithMinMax,
"Pointer to an INT_INT, min and max bounds",
-1,
9999));
/// Constructor for making an int argument thats a short (2 bytes)
//ArConfigArg(const char * name, short *pointer,
// const char * description = "",
// int minInt = SHRT_MIN,
// int maxInt = SHRT_MAX);
myArgList.push_back(ArConfigArg("PointerIntShort",
&myIntShort,
"Pointer to an INT_SHORT, no bounds"));
myArgList.push_back(ArConfigArg("PointerIntShortWithMin",
&myIntShortWithMin,
"Pointer to an INT_SHORT, min bound",
1));
myArgList.push_back(ArConfigArg("PointerIntShortWithMax",
&myIntShortWithMax,
"Pointer to an INT_SHORT, max bounds",
SHRT_MIN,
9999));
myArgList.push_back(ArConfigArg("PointerIntShortWithMinMax",
&myIntShortWithMinMax,
"Pointer to an INT_SHORT, min and max bounds",
-1,
9999));
/// Constructor for making an int argument thats a ushort (2 bytes)
// ArConfigArg(const char * name, unsigned short *pointer,
// const char * description = "",
// int minInt = 0,
// int maxInt = USHRT_MAX);
myArgList.push_back(ArConfigArg("PointerIntUShort",
&myIntUShort,
"Pointer to an INT_USHORT, no bounds"));
myArgList.back().setRestartLevel(ArConfigArg::NO_RESTART);
myArgList.push_back(ArConfigArg("PointerIntUShortWithMin",
&myIntUShortWithMin,
"Pointer to an INT_USHORT, min bound",
1));
myArgList.back().setRestartLevel(ArConfigArg::RESTART_CLIENT);
myArgList.push_back(ArConfigArg("PointerIntUShortWithMax",
&myIntUShortWithMax,
"Pointer to an INT_USHORT, max bounds",
SHRT_MIN,
9999));
myArgList.back().setRestartLevel(ArConfigArg::RESTART_SOFTWARE);
myArgList.push_back(ArConfigArg("PointerIntUShortWithMinMax",
&myIntUShortWithMinMax,
"Pointer to an INT_USHORT, min and max bounds",
1,
9999));
myArgList.back().setRestartLevel(ArConfigArg::RESTART_HARDWARE);
///// Constructor for making an char (1 byte) argument by pointer (treated as int)
// ArConfigArg(const char * name, unsigned char *pointer,
// const char * description = "",
// int minInt = 0,
// int maxInt = 255);
myArgList.push_back(ArConfigArg("PointerIntUChar",
&myIntUChar,
"Pointer to an INT_UCHAR, no bounds"));
myArgList.push_back(ArConfigArg("PointerIntUCharWithMin",
&myIntUCharWithMin,
"Pointer to an INT_UCHAR, min bound",
1));
myArgList.push_back(ArConfigArg("PointerIntUCharWithMax",
&myIntUCharWithMax,
"Pointer to an INT_UCHAR, max bounds",
0,
11));
myArgList.push_back(ArConfigArg("PointerIntUCharWithMinMax",
&myIntUCharWithMinMax,
"Pointer to an INT_UCHAR, min and max bounds",
1,
11));
/// Constructor for making a double argument by pointer
// ArConfigArg(const char * name, double *pointer,
// const char * description = "",
// double minDouble = -HUGE_VAL,
// double maxDouble = HUGE_VAL);
myArgList.push_back(ArConfigArg("PointerDouble",
&myDouble,
"Pointer to a DOUBLE, no bounds"));
myArgList.push_back(ArConfigArg("PointerDoubleWithMin",
&myDoubleWithMin,
"Pointer to a DOUBLE, min bound and a precision set to 2 plus a really, really long description that should require word wrapping",
-1.2,
HUGE_VAL,
2));
myArgList.back().setExtraExplanation("A bit more information regarding the double with min.");
myArgList.push_back(ArConfigArg("PointerDoubleWithMax",
&myDoubleWithMax,
"Pointer to a DOUBLE, max bounds",
-HUGE_VAL,
9999.8));
myArgList.back().setExtraExplanation("A bit more information regarding the double with max.");
myArgList.push_back(ArConfigArg("PointerDoubleWithMinMax",
&myDoubleWithMinAndMax,
"Pointer to a DOUBLE, min and max bounds",
-1.2,
9999.8));
/// Constructor for making a boolean argument by pointer
//ArConfigArg(const char * name, bool *pointer,
// const char * description = "");
myArgList.push_back(ArConfigArg("PointerBool",
&myBool,
"Pointer to a BOOL"));
/// Constructor for making an argument of a string by pointer (see details)
// ArConfigArg(const char *name, char *str,
// const char *description,
// size_t maxStrLen);
myArgList.push_back(ArConfigArg("PointerString",
myStringBuf,
"Pointer to a STRING",
sizeof(myStringBuf)));
myArgList.push_back(ArConfigArg(ArConfigArg::SEPARATOR));
myArgList.push_back(ArConfigArg("ValueString",
"InputText",
"A STRING value",
0));
/// Constructor for making an argument of a string by pointer (see details)
// ArConfigArg(const char *name, const char *str,
// const char *description);
myArgList.push_back(ArConfigArg("ValueStringNoMaxLength",
"InputTextNoMaxLength",
"A STRING value, no max string length"));
/// Constructor for making an integer argument
// ArConfigArg(const char * name,
// int val,
// const char * description = "",
// int minInt = INT_MIN,
// int maxInt = INT_MAX);
myArgList.push_back(ArConfigArg("ValueIntInt",
1,
"An INT_INT value, no bounds"));
/// Constructor for making a double argument
// ArConfigArg(const char * name,
// double val,
// const char * description = "",
// double minDouble = -HUGE_VAL,
// double maxDouble = HUGE_VAL);
myArgList.push_back(ArConfigArg("ValueDouble",
2.3,
"A DOUBLE value, no bounds"));
/// Constructor for making a boolean argument
// ArConfigArg(const char * name,
// bool val,
// const char * description = "");
myArgList.push_back(ArConfigArg("ValueBool",
false,
"A BOOL value"));
/// Constructor for making an argument that has functors to handle things
// ArConfigArg(const char *name,
// ArRetFunctor1<bool, ArArgumentBuilder *> *setFunctor,
// ArRetFunctor<const std::list<ArArgumentBuilder *> *> *getFunctor,
// const char *description);
/// Constructor for just holding a description (for ArConfig)
// ArConfigArg(const char *str, Type type = DESCRIPTION_HOLDER);
myArgList.push_back(ArConfigArg("DescriptionHolder"));
myArgList.push_back(ArConfigArg("Description Holder With Blanks and a really long description that might need to employ truncation or word wrapping upon display"));
/// Constructor for holding an unknown argument (STRING_HOLDER)
// ArConfigArg(const char *name, const char *str);
myArgList.push_back(ArConfigArg("StringHolderName",
"StringHolderText"));
myArgList.push_back(ArConfigArg("String Holder Name With Blanks",
"String Holder Text With Blanks"));
/// Constructs a new named argument of the specified type.
//AREXPORT ArConfigArg(Type type,
// const char *name,
// const char *description);
myArgList.push_back(ArConfigArg(ArConfigArg::LIST,
"EmptyList",
"List with no children"));
/// Constructs a new argument of the specified type.
// ArConfigArg(Type type);
myArgList.push_back(ArConfigArg(ArConfigArg::SEPARATOR));
} // end method addToConfig
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
struct ArConfigDisplayHintData
{
std::list<ArConfigArg> myArgList;
ArConfigDisplayHintData();
}; // end struct ArConfigDisplayHintData
ArConfigDisplayHintData::ArConfigDisplayHintData() :
myArgList()
{
// STRING
// <code>Choices:</code><i>choice1</i>(<code>;;</code><i>choice#i</i>)*
myArgList.push_back(ArConfigArg("PrimaryColor",
"Red",
"Choices display hint, for a primary color"));
myArgList.back().setDisplayHint("Choices:Red;;Green;;Blue");
// <code>MapItem:</code><i>type</i><code>|</code>(<code>Parent</code>|<code>SubType</code>|<code>SubTypeAndParent</code>|<code>SubTypeGlob</code>)<code>|</code>(<code>Optional</code>|<code>Required</code>)
myArgList.push_back(ArConfigArg("Goals",
"",
"MapItem display hint, for goals"));
myArgList.back().setDisplayHint("MapItem:Goal");
// <code>ChildObject:</code><i>type</i><code>|</code>(<code>Parent</code>|<code>SubType</code>|<code>SubTypeAndParent</code>|<code>SubTypeGlob</code>)<code>|</code>(<code>Optional</code>|<code>Required</code>)
// TODO
// <code>Macro:</code><i>taskClass1</i>(<code>;;</code><i>taskClass#i</i>)*|(<code>Optional</code>|<code>Required</code>)
// TODO
// <code>Macro</code>
myArgList.push_back(ArConfigArg("Macros",
"",
"Macro display hint, no task classes"));
myArgList.back().setDisplayHint("Macro");
// <code>Time:</code><i>format</i>
// TODO
// <code>Time</code>
myArgList.push_back(ArConfigArg("PlainTime",
"",
"Time display hint, no formatting"));
myArgList.back().setDisplayHint("Time");
// <code>RobotFile:</code><i>fileFilterNames</i><code>|</code><i>fileFilters</i>
// KMC Not sure that wil work
myArgList.push_back(ArConfigArg("RobotFile",
"",
"RobotFile display hint, no filters"));
myArgList.back().setDisplayHint("RobotFile");
// INT
// <code>Color</code>
myArgList.push_back(ArConfigArg("Color",
0xAAAAAA,
"Color display hint, for chooser"));
myArgList.back().setDisplayHint("Color");
// BOOL
// <code>Checkbox</code>
myArgList.push_back(ArConfigArg("PlainCheckbox",
false,
"Checkbox display hint (plain)"));
myArgList.back().setDisplayHint("Checkbox");
// VISIBLE =
// <code>Visible:</code><i>OtherParamName=OtherParamValue</i>
// Creation of variable lists of parameters (a set of lasers, some parameters
// depending on the selected laser type)
// Data regarding a single laser unit.
//
ArConfigArg laserUnitInfo(ArConfigArg::LIST,
"LaserUnitInfo",
"Data for a laser on the robot.");
ArConfigArg laserNumberArg("LaserNumber",
0,
"ID of laser unit"); // ?? TODO Redundant with laserUnit name
laserNumberArg.setDisplayHint("Editable:false");
laserUnitInfo.addArg(laserNumberArg);
laserUnitInfo.addArg(ArConfigArg("LaserX",
0,
"X position of laser on robot, measured from center of rotation (mm)"));
laserUnitInfo.addArg(ArConfigArg("LaserY",
0,
"Y position of laser on robot, measured from center of rotation (mm)"));
laserUnitInfo.addArg(ArConfigArg("LaserZ",
0,
"Z position of laser on robot, measured from floor (mm)"));
ArConfigArg laserTypeArg("LaserType",
"",
"Type of the laser unit",
0);
laserTypeArg.setDisplayHint("Choices:LMS1xxx;;LMS2xxx;;URG");
laserUnitInfo.addArg(laserTypeArg);
// Data that is displayed only when LaserType is set to lms2xxx
//
ArConfigArg lms2xxInfo(ArConfigArg::LIST,
"LMS2xxInfo",
"Data for an LMS2xxx laser");
lms2xxInfo.setDisplayHint("Visible:LaserType=lms2xxx");
lms2xxInfo.addArg(ArConfigArg("LaserMaxRange",
32000,
"Maximum range of the laser (mm)"));
lms2xxInfo.addArg(ArConfigArg("LaserCumulativeBufSize",
200,
"Needs a description"));
laserUnitInfo.addArg(lms2xxInfo);
// Placeholders for all possible laser units on the robot
//
ArConfigArg laserUnitCount("LaserCount",
1,
"Number of lasers on the robot",
0,
3);
laserUnitCount.setDisplayHint("SpinBox");
myArgList.push_back(laserUnitCount);
// VISIBLE >
// <code>Visible:</code><i>OtherParamName>OtherParamValue</i>
int maxCount = 3;
char nameBuf[256];
char displayHintBuf[256];
for (int i = 1; i <= maxCount; i++) {
snprintf(nameBuf, sizeof(nameBuf), "LaserUnit%i", i);
nameBuf[sizeof(nameBuf) - 1] = '\0';
ArConfigArg curLaserUnit(nameBuf, laserUnitInfo);
// TODO Set laserNumber too?
ArConfigArg *laserNumberArg = curLaserUnit.findArg("LaserNumber");
if (laserNumberArg != NULL) {
laserNumberArg->setInt(i);
}
// This info is visible only when the laserUnitCount is big enough
//
snprintf(displayHintBuf, sizeof(displayHintBuf),
"Visible:LaserCount>%i", i - 1);
displayHintBuf[sizeof(displayHintBuf) - 1] = '\0';
curLaserUnit.setDisplayHint(displayHintBuf);
myArgList.push_back(curLaserUnit);
}
// <code>Visible:</code><i>OtherParamName!=OtherParamValue</i>
// <code>Visible:</code><code>false</code>
// <code>Editable:</code><i>OtherParamName=OtherParamValue</i>
// <code>Editable:</code><i>OtherParamName!=OtherParamValue</i>
// <code>Editable:</code><i>OtherParamName>OtherParamValue</i>
// <code>Editable:</code><code>false</code>
} // end ctor
// --------------------------------------------------------------------------
// Simple parameter that is editable only when a feature is enabled
//
//config.addParam("MicroCycleDockEnabled");
//config.addParam("MicroCycleDockStateOfCharge", ...
// "Editable:MicroCycleDockEnabled=true") // DisplayHint
//
// -------------------------------------------------------------------------
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
ArTestConfig::ArTestConfig(ArConfig *config,
const char *configSectionName) :
myTopLevelConfigPrimitives(new ArConfigPrimitiveData()),
myListMemberPrimitives(new ArConfigPrimitiveData()),
myDisplayHintData(new ArConfigDisplayHintData())
{
// KMC Was thinking that we may someday want flags to control these things
// so left them in the body.
addToConfig(config, configSectionName);
} // end ctor
ArTestConfig::~ArTestConfig()
{
delete myTopLevelConfigPrimitives;
delete myListMemberPrimitives;
delete myDisplayHintData;
}
bool ArTestConfig::addToConfig(ArConfig *config,
const char *configSectionName)
{
if (config == NULL) {
return false;
}
bool isSuccess = true;
if (myTopLevelConfigPrimitives != NULL) {
std::string fullSectionName;
if (configSectionName != NULL) {
fullSectionName = configSectionName;
}
fullSectionName += "Primitives";
for (std::list<ArConfigArg>::iterator iter =
myTopLevelConfigPrimitives->myArgList.begin();
(iter != myTopLevelConfigPrimitives->myArgList.end());
iter++) {
if ((*iter).getRestartLevel() != ArConfigArg::NO_RESTART) {
ArLog::log(ArLog::Normal,
" %s", (*iter).getName());
}
if (!config->addParam(*iter,
fullSectionName.c_str(),
ArPriority::NORMAL,
(*iter).getDisplayHint(),
(*iter).getRestartLevel())) {
isSuccess = false;
}
} // end for each top level arg
} // end if
if (myListMemberPrimitives != NULL) {
std::string fullSectionName;
if (configSectionName != NULL) {
fullSectionName = configSectionName;
}
fullSectionName += "ListMembers";
ArConfigArg listArg(ArConfigArg::LIST,
"PrimitiveList",
"List that contains all of the primitives");
for (std::list<ArConfigArg>::iterator iter =
myListMemberPrimitives->myArgList.begin();
(iter != myListMemberPrimitives->myArgList.end());
iter++) {
// KMC This is temp just because the separator was the first item in
// the list.
if ((*iter).getType() == ArConfigArg::SEPARATOR) {
continue;
}
if (!listArg.addArg(*iter)) {
// Not necessarily failure, cannot add pointers ...
}
} // end for each list member arg
if (!config->addParam(listArg,
fullSectionName.c_str(),
ArPriority::NORMAL)) {
isSuccess = false;
}
} // end if list member primitives
if (myDisplayHintData != NULL) {
std::string fullSectionName;
if (configSectionName != NULL) {
fullSectionName = configSectionName;
}
fullSectionName += "DisplayHints";
for (std::list<ArConfigArg>::iterator iter =
myDisplayHintData->myArgList.begin();
(iter != myDisplayHintData->myArgList.end());
iter++) {
if (!config->addParam(*iter,
fullSectionName.c_str(),
ArPriority::NORMAL,
(*iter).getDisplayHint())) {
isSuccess = false;
}
} // end for each top level arg
} // end if display hint data
{
std::string fullSectionName;
if (configSectionName != NULL) {
fullSectionName = configSectionName;
}
fullSectionName += "RestartTypes";
config->addParam(ArConfigArg("RestartClientBool",
false,
"A BOOL to flip to cause a client restart request to be sent"),
fullSectionName.c_str(),
ArPriority::NORMAL, "", ArConfigArg::RESTART_CLIENT);
config->addParam(ArConfigArg("RestartServerBool",
false,
"A BOOL to flip to cause the software to restart"),
fullSectionName.c_str(),
ArPriority::NORMAL, "", ArConfigArg::RESTART_SOFTWARE);
config->addParam(ArConfigArg("RestartServerInt",
5,
"An INT to flip to cause the software to restart"),
fullSectionName.c_str(),
ArPriority::NORMAL, "", ArConfigArg::RESTART_SOFTWARE);
config->addParam(ArConfigArg("RestartServerDouble",
5.0,
"A DOUBLE to flip to cause the software to restart"),
fullSectionName.c_str(),
ArPriority::NORMAL, "", ArConfigArg::RESTART_SOFTWARE);
config->addParam(ArConfigArg("RestartRobotBool",
false,
"A BOOL to flip to cause the complete robot to restart (really this just turns it off right now)"),
fullSectionName.c_str(),
ArPriority::NORMAL, "", ArConfigArg::RESTART_HARDWARE);
config->addParam(ArConfigArg("RestartServerBool2",
false,
"A BOOL to flip to cause the software to restart"),
fullSectionName.c_str(),
ArPriority::NORMAL, "", ArConfigArg::RESTART_SOFTWARE);
config->addParam(ArConfigArg("RestartClientBool2",
false,
"A BOOL to flip to cause a client restart request to be sent"),
fullSectionName.c_str(),
ArPriority::NORMAL, "", ArConfigArg::RESTART_CLIENT);
}
return isSuccess;
} // end method addToConfig
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