YARP  2.3.70
Yet Another Robot Platform
property/main.cpp

How to read a configuration file. This example is designed to read a file like the following (property/config.txt):

// Copyright: (C) 2010 RobotCub Consortium
// Authors: Paul Fitzpatrick, Giorgio Metta, Lorenzo Natale
// CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
//
// Initialization file for robot head, 8 dof on can bus controller.
//
[GENERAL]
Joints 8
MaxDAC 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0
AxisMap 1 7 0 6 2 3 5 4
Encoder 360.0 360.0 360.0 360.0 360.0 360.0 360.0 360.0
Zeros 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Signs 0 0 0 0 0 0 0 0
Stiff 1 1 1 1 1 1 1 1
CurrentLimits 1220.0 1220.0 1220.0 1220.0 10000.0 10000.0 10000.0 10000.0
CanAddresses 14 13 12 11 128 128 128 128 128 128 128 128 128 128 128 128
// limits are: neck pan, neck tilt, eye tilt, version, vergence
[LIMITS]
Max 250000 250000 250000 250000 250000 180000 180000 180000
Min -250000 -250000 -250000 -250000 -250000 -180000 -180000 -180000
[HIGHPID]
Pid0 32 128 2 0 0 1333 0 1333 4 0
Pid1 32 128 2 0 0 1333 0 1333 4 0
Pid2 32 128 2 0 0 1333 0 1333 4 0
Pid3 32 128 2 0 0 1333 0 1333 4 0
Pid4 32 128 4 0 0 1333 0 1333 4 0
Pid5 32 128 1 0 0 1333 0 1333 4 0
Pid6 32 128 1 0 0 1333 0 1333 4 0
Pid7 32 128 1 0 0 1333 0 1333 4 0
[LOWPID]
Pid0 0 0 0 0 0 32767 0 32767 0 0
Pid1 0 0 0 0 0 32767 0 32767 0 0
Pid2 0 0 0 0 0 32767 0 32767 0 0
Pid3 0 0 0 0 0 32767 0 32767 0 0
Pid4 0 0 0 0 0 32767 0 32767 0 0
Pid5 0 0 0 0 0 32767 0 32767 0 0
Pid6 0 0 0 0 0 32767 0 32767 0 0
Pid7 0 0 0 0 0 32767 0 32767 0 0
/*
* Copyright: (C) 2010 RobotCub Consortium
* Author: Paul Fitzpatrick
* CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
*/
#include <stdio.h>
#include <stdlib.h>
using namespace yarp::os;
int main(int argc, char *argv[]) {
Property cmdLine;
cmdLine.fromCommand(argc,argv);
if (!cmdLine.check("file")) {
printf("Please call with: --file config.txt\n");
exit(1);
}
ConstString fname = cmdLine.find("file").asString();
printf("Working with config file %s\n", fname.c_str());
Property robot;
robot.fromConfigFile(fname.c_str());
if (!robot.check("GENERAL")) {
printf("Cannot understand config file\n");
exit(1);
}
int joints = robot.findGroup("GENERAL").find("Joints").asInt();
printf("Robot has %d joints\n", joints);
Bottle& maxes = robot.findGroup("LIMITS").findGroup("Max");
printf("Robot has limits: ");
for (int i=1; i<maxes.size(); i++) {
printf("%d ", maxes.get(i).asInt());
}
printf("\n");
//printf("If you wanted to transmit this configuration, here it is in Bottle format:\n");
//printf("%s\n", robot.toString().c_str());
return 0;
}