Detailed Description

Utility class to parse simple plans from DUNE's .ini format.

Static Public Member Functions
static void	parse (Parsers::Config &parser, std::string section, IMC::Goto &maneuver)

static void	parse (Parsers::Config &parser, std::string section, IMC::StationKeeping &maneuver)

static void	parse (Parsers::Config &parser, std::string section, IMC::Loiter &maneuver)

static void	parse (Parsers::Config &parser, std::string section, IMC::PopUp &maneuver)

static void	parse (Parsers::Config &parser, std::string section, IMC::Teleoperation &maneuver)

static void	parse (Parsers::Config &parser, std::string section, IMC::IdleManeuver &maneuver)

static void	parse (Parsers::Config &parser, std::string section, IMC::FollowPath &maneuver)

static void	parse (Parsers::Config &parser, std::string section, IMC::Rows &maneuver)

static void	parse (Parsers::Config &parser, std::string section, IMC::YoYo &maneuver)

static void	parse (Parsers::Config &parser, std::string section, IMC::Elevator &maneuver)

static void	parse (Parsers::Config &parser, std::string section, IMC::CompassCalibration &maneuver)

static void	parse (Parsers::Config &parser, IMC::PlanSpecification &plan)

static void	parseActions (Parsers::Config &cfg, const std::vector< std::string > &sections, IMC::MessageList< IMC::Message > &actions)

template<typename T >
static void	parseSpeed (Parsers::Config &parser, std::string section, T &man)

template<typename T >
static void	parseCoordinate (Parsers::Config &parser, std::string section, T &msg)

template<typename T >
static void	parseAngle (Parsers::Config &parser, std::string section, std::string key, T &value, T dfl)

template<typename T >
static void	parseTimeout (Parsers::Config &parser, std::string section, T &man)

template<typename T >
static void	parseDuration (Parsers::Config &parser, std::string section, T &man)

template<typename T >
static void	parseZ (Parsers::Config &parser, std::string section, T &man)

static void	parseZUnits (Parsers::Config &parser, std::string section, uint8_t &zunits, std::string label="Z Units")

template<typename Type >
static void	parseZUnits (Parsers::Config &parser, std::string section, Type &man, std::string label="Z Units")

Member Function Documentation

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		std::string	section,
		IMC::Goto &	maneuver
	)

static

Parse a Goto maneuver specification from plan definition file.

Parameters

[in]	parser	configuration parser handle.
[in]	section	section that contains the maneuver specification.
[out]	maneuver	output maneuver specification.

References parseCoordinate(), parseSpeed(), parseTimeout(), parseZ(), and parseZUnits().

Referenced by parse().

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		std::string	section,
		IMC::StationKeeping &	maneuver
	)

static

Parse a StationKeeping maneuver specification from plan definition file.

Parameters

[in]	parser	configuration parser handle.
[in]	section	section that contains the maneuver specification.
[out]	maneuver	output maneuver specification.

References DUNE::Parsers::Config::get(), parseCoordinate(), parseDuration(), parseSpeed(), parseZ(), parseZUnits(), and DUNE::IMC::StationKeeping::radius.

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		std::string	section,
		IMC::Loiter &	maneuver
	)

static

Parse a Loiter maneuver specification from plan definition file.

Parameters

[in]	parser	configuration parser handle.
[in]	section	section that contains the maneuver specification.
[out]	maneuver	output maneuver specification.

References DUNE::IMC::Loiter::bearing, DUNE::IMC::Loiter::direction, DUNE::Parsers::Config::get(), DUNE::IMC::Loiter::LD_CCLOCKW, DUNE::IMC::Loiter::LD_CLOCKW, DUNE::IMC::Loiter::length, DUNE::IMC::Loiter::LT_CIRCULAR, DUNE::IMC::Loiter::LT_EIGHT, DUNE::IMC::Loiter::LT_HOVER, DUNE::IMC::Loiter::LT_RACETRACK, parseAngle(), parseCoordinate(), parseDuration(), parseSpeed(), parseTimeout(), parseZ(), parseZUnits(), DUNE::IMC::Loiter::radius, and DUNE::IMC::Loiter::type.

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		std::string	section,
		IMC::PopUp &	maneuver
	)

static

Parse a Popup maneuver specification from plan definition file.

Parameters

[in]	parser	configuration parser handle.
[in]	section	section that contains the maneuver specification.
[out]	maneuver	output maneuver specification.

References DUNE::IMC::PopUp::flags, DUNE::Parsers::Config::get(), parseCoordinate(), parseDuration(), parseSpeed(), parseTimeout(), parseZ(), parseZUnits(), and DUNE::IMC::PopUp::radius.

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		std::string	section,
		IMC::Teleoperation &	maneuver
	)

static

Parse a Teleoperation maneuver specification from plan definition file.

Parameters

[in]	parser	configuration parser handle.
[in]	section	section that contains the maneuver specification.
[out]	maneuver	output maneuver specification.

References DUNE::IMC::Teleoperation::custom, and DUNE::Parsers::Config::get().

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		std::string	section,
		IMC::IdleManeuver &	maneuver
	)

static

Parse an Idle Maneuver specification.

Parameters

[in]	parser	configuration parser handle.
[in]	section	section that contains the maneuver specification.
[out]	maneuver	output maneuver.

References parseDuration().

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		std::string	section,
		IMC::FollowPath &	maneuver
	)

static

Parse a FollowPath specification.

Parameters

[in]	parser	configuration parser handle.
[in]	section	section that contains the maneuver specification.
[out]	maneuver	output maneuver.

References DUNE::Parsers::Config::get(), parseCoordinate(), parseSpeed(), parseTimeout(), parseZ(), parseZUnits(), DUNE::IMC::FollowPath::points, DUNE::IMC::MessageList< Type >::push_back(), DUNE::Math::Matrix::readFromConfig(), DUNE::Math::Matrix::rows(), DUNE::IMC::PathPoint::x, DUNE::IMC::PathPoint::y, and DUNE::IMC::PathPoint::z.

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		std::string	section,
		IMC::Rows &	maneuver
	)

static

Parse a Rows maneuver specification.

Parameters

[in]	parser	configuration parser handle.
[in]	section	section that contains the maneuver specification.
[out]	maneuver	output maneuver.

References DUNE::IMC::Rows::alternation, DUNE::IMC::Rows::bearing, DUNE::IMC::Rows::coff, DUNE::IMC::Rows::cross_angle, DUNE::IMC::Rows::flags, DUNE::Parsers::Config::get(), DUNE::IMC::Rows::hstep, DUNE::IMC::Rows::length, parseAngle(), parseCoordinate(), parseSpeed(), parseZ(), parseZUnits(), and DUNE::IMC::Rows::width.

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		std::string	section,
		IMC::YoYo &	maneuver
	)

static

Parse a Yoyo maneuver specification.

Parameters

[in]	parser	configuration parser handle
[in]	section	section that contais the maneuver specification
[out]	maneuver	output maneuver.

References DUNE::IMC::YoYo::amplitude, DUNE::Parsers::Config::get(), parseAngle(), parseCoordinate(), parseSpeed(), parseZ(), parseZUnits(), and DUNE::IMC::YoYo::pitch.

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		std::string	section,
		IMC::Elevator &	maneuver
	)

static

Parse an Elevator maneuver specification.

Parameters

[in]	parser	configuration parser handle.
[in]	section	section that contains the maneuver specification.
[out]	maneuver	output maneuver.

References DUNE::IMC::Elevator::end_z, DUNE::IMC::Elevator::end_z_units, DUNE::IMC::Elevator::flags, DUNE::Parsers::Config::get(), parseCoordinate(), parseSpeed(), parseZUnits(), DUNE::IMC::Elevator::radius, DUNE::IMC::Elevator::start_z, and DUNE::IMC::Elevator::start_z_units.

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		std::string	section,
		IMC::CompassCalibration &	maneuver
	)

static

Parse a CompassCalibration maneuver specification from plan definition file.

Parameters

[in]	parser	configuration parser handle.
[in]	section	section that contains the maneuver specification.
[out]	maneuver	output maneuver specification.

References DUNE::IMC::CompassCalibration::amplitude, DUNE::IMC::CompassCalibration::direction, DUNE::Parsers::Config::get(), DUNE::IMC::Loiter::LD_CCLOCKW, DUNE::IMC::Loiter::LD_CLOCKW, parseAngle(), parseCoordinate(), parseDuration(), parseSpeed(), parseTimeout(), parseZ(), parseZUnits(), DUNE::IMC::CompassCalibration::pitch, and DUNE::IMC::CompassCalibration::radius.

void DUNE::Parsers::PlanConfigParser::parse	(	Parsers::Config &	parser,
		IMC::PlanSpecification &	plan
	)

static

Parse plan parameters (utility text format).

Parameters

[in]	parser	configuration parser handle.
[out]	plan	plan parameters.

References DUNE::IMC::PlanManeuver::data, DUNE::IMC::PlanTransition::dest_man, DUNE::IMC::PlanManeuver::end_actions, DUNE::IMC::PlanSpecification::end_actions, DUNE::Parsers::Config::get(), DUNE::IMC::PlanManeuver::maneuver_id, DUNE::IMC::PlanSpecification::maneuvers, parse(), parseActions(), DUNE::IMC::PlanSpecification::plan_id, DUNE::IMC::PlanTransition::source_man, DUNE::IMC::PlanManeuver::start_actions, DUNE::IMC::PlanSpecification::start_actions, DUNE::IMC::PlanSpecification::start_man_id, DUNE::IMC::Message::toText(), and DUNE::IMC::PlanSpecification::transitions.

void DUNE::Parsers::PlanConfigParser::parseActions	(	Parsers::Config &	cfg,
		const std::vector< std::string > &	sections,
		IMC::MessageList< IMC::Message > &	actions
	)

static

Parse actions from a set vector of sections.

Parameters

[in]	cfg	Config object to use
[in]	sections	vector of sections to look for and parse
[out]	actions	message list to fill in with parsed data

References DUNE::Parsers::Config::get(), DUNE::IMC::EntityParameter::name, DUNE::IMC::SetEntityParameters::name, DUNE::Parsers::Config::options(), DUNE::IMC::SetEntityParameters::params, DUNE::IMC::MessageList< Type >::push_back(), and DUNE::IMC::EntityParameter::value.

Referenced by parse().

template<typename T >

static void DUNE::Parsers::PlanConfigParser::parseAngle	(	Parsers::Config &	parser,
		std::string	section,
		std::string	key,
		T &	value,
		T	dfl
	)

inlinestatic

Parse angle.

Parameters

[in]	parser	configuration parser handle.
[in]	section	configuration section.
[in]	key	configuration key.
[out]	value	value reference.
[in]	dfl	default value.

References DUNE::Parsers::Config::get(), DUNE::Math::Angles::radians(), and DUNE::uncastLexical().

Referenced by parse(), and parseCoordinate().

template<typename T >

static void DUNE::Parsers::PlanConfigParser::parseCoordinate	(	Parsers::Config &	parser,
		std::string	section,
		T &	msg
	)

inlinestatic

Parse latitute/longitude specification for a maneuver.

Parameters

[in]	parser	configuration parser handle.
[in]	section	configuration section.
[out]	msg	destination message.

References DUNE::Coordinates::WGS84::displace(), DUNE::Parsers::Config::get(), and parseAngle().

Referenced by parse().

template<typename T >

static void DUNE::Parsers::PlanConfigParser::parseDuration	(	Parsers::Config &	parser,
		std::string	section,
		T &	man
	)

inlinestatic

Parse duration specification for a maneuver.

Parameters

[in]	parser	configuration parser handle.
[in]	section	configuration section.
[out]	man	destination maneuver.

References DUNE::Parsers::Config::get().

Referenced by parse().

template<typename T >

static void DUNE::Parsers::PlanConfigParser::parseSpeed	(	Parsers::Config &	parser,
		std::string	section,
		T &	man
	)

inlinestatic

Parse speed and speed units for a maneuver.

Parameters

[in]	parser	configuration parser handle.
[in]	section	section configuration section.
[out]	man	destination maneuver.

References DUNE::Parsers::Config::get(), DUNE::IMC::SUNITS_METERS_PS, DUNE::IMC::SUNITS_PERCENTAGE, and DUNE::IMC::SUNITS_RPM.

Referenced by parse().

template<typename T >

static void DUNE::Parsers::PlanConfigParser::parseTimeout	(	Parsers::Config &	parser,
		std::string	section,
		T &	man
	)

inlinestatic

Parse timeout specification for a maneuver.

Parameters

[in]	parser	configuration parser handle.
[in]	section	configuration section.
[out]	man	destination maneuver.

References DUNE::Parsers::Config::get().

Referenced by parse().

template<typename T >

static void DUNE::Parsers::PlanConfigParser::parseZ	(	Parsers::Config &	parser,
		std::string	section,
		T &	man
	)

inlinestatic

Parse depth specification for a maneuver.

Parameters

[in]	parser	configuration parser handle.
[in]	section	configuration section.
[out]	man	destination maneuver.

References DUNE::Parsers::Config::get().

Referenced by parse().

static void DUNE::Parsers::PlanConfigParser::parseZUnits	(	Parsers::Config &	parser,
		std::string	section,
		uint8_t &	zunits,
		std::string	label = `"Z Units"`
	)

inlinestatic

Parse z units specification for a maneuver.

Parameters

[in]	parser	configuration parser handle.
[in]	section	configuration section.
[out]	zunits	destination variable.
[in]	label	label.

References DUNE::Parsers::Config::get(), DUNE::Utils::String::str(), DUNE::IMC::Z_ALTITUDE, DUNE::IMC::Z_DEPTH, DUNE::IMC::Z_HEIGHT, and DUNE::IMC::Z_NONE.

Referenced by parse(), and parseZUnits().

template<typename Type >

static void DUNE::Parsers::PlanConfigParser::parseZUnits	(	Parsers::Config &	parser,
		std::string	section,
		Type &	man,
		std::string	label = `"Z Units"`
	)

inlinestatic

Parse z units specification for maneuver.

Parameters

[in]	parser	configuration parser handle.
[in]	section	configuration section.
[out]	man	destination maneuver.
[in]	label	label.

References parseZUnits().

Collaboration diagram for DUNE::Parsers::PlanConfigParser:

Detailed Description

Static Public Member Functions

Member Function Documentation