787 lines
32 KiB
C
787 lines
32 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARCONFIGARG_H
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#define ARCONFIGARG_H
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#include <map>
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#include "ariaTypedefs.h"
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#include "ariaUtil.h"
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#include "ArFunctor.h"
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class ArArgumentBuilder;
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class ArFileParser;
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/// Argument class for ArConfig
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/**
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ArConfigArg stores information about a parameter (name, description, type),
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and a pointer to the variable that will actually store the value. This
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variable is normally stored and used by whatever class or module has added the
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parameter to ArConfig. (In addition, there are some special types of
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ArConfigArg that behave differently such as the "holder" types and separator,
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these are used internally or in special cases.)
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Which constructor you use determines the value type of the ArConfigArg object.
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A typical idiom for creating ArConfigArg objects and adding them to ArConfig
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is to create a temporary ArConfigArg in the call to ArConfig::addParam():
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@code
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config->addParam(ArConfigArg("MyParameter", &myTarget, "Example Parameter"), "Example Section");
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@endcode
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Where <tt>config</tt> is a pointer to an ArConfig object or subclass, and
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<tt>myTarget</tt> is a variable (e.g. int) that is a class member whose instance will not
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be destroyed before the end of the program, or which will remove the parameter
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from ArConfig before being destroyed (the pointer to <tt>myTarget</tt> that is stored
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in ArConfig must not become invalid.) The ArConfigArg object passed to
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addParam() will be copied and stored in ArConfig.
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@swignote Swig cannot determine the correct constructor to use
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based on most target langugages types, so you must use subclasses
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defined for various types. Or, use the constructor that accepts
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functors for dealing with arguments. Also, Swig cannot use pointers
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to change variables, so you must create ArConfigArg objects, passing
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in default values, and retain references to those objects,
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in addition to passing them to ArConfig, and read new values from those
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objects if ArConfig changes; or pass functors to ArConfigArg instead
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of the initial value.
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*/
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class ArConfigArg
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{
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public:
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typedef enum
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{
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INVALID, ///< An invalid argument, the argument wasn't created correctly
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INT, ///< Integer argument
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DOUBLE, ///< Double argument
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STRING, ///< String argument
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BOOL, ///< Boolean argument
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FUNCTOR, ///< Argument that handles things with functors
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DESCRIPTION_HOLDER, ///< Argument that just holds a description
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STRING_HOLDER, ///< this one is for holding strings and reading them in and writing them out but not really letting them get sent anywhere (its for unknown config parameters (so they don't get lost if a feature is turned off)
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SEPARATOR, ///< Empty argument that merely acts as a separator within a (large) section.
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CPPSTRING, ///< Pointer to std::string, use like STRING.
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LIST, ///< Composite argument that contains an ordered list of other args
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LIST_HOLDER, ///< Placeholder for composite argument that are not currently active
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LAST_TYPE = LIST_HOLDER ///< Last value in the enumeration
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} Type;
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/// Indicates the components that must be restarted if the parameter is changed
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enum RestartLevel {
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NO_RESTART, //< No restart necessary (default value)
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RESTART_CLIENT, //< Client software must be restarted (TODO Can this be eliminated?)
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RESTART_IO, //< IO has changed and needs to be restarted
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RESTART_SOFTWARE, //< Server software must be restarted
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RESTART_HARDWARE, //< Physical robot must be rebooted
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LAST_RESTART_LEVEL = RESTART_HARDWARE
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};
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enum {
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DEFAULT_DOUBLE_PRECISION = 5, ///< Default double precision, originates from previous saving behavior
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TYPE_COUNT = LAST_TYPE + 1, ///< Number of argument types
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RESTART_LEVEL_COUNT = LAST_RESTART_LEVEL + 1, ///< Number of restart levels
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};
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/// Keyword that indicates the start of an ArConfigArg LIST object, for ArFileParser.
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static const char *LIST_BEGIN_TAG;
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/// Keyword that indicates the end of an ArConfigArg LIST object, for ArFileParser.
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static const char *LIST_END_TAG;
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/// Resource file keyword that indicates an empty string (cannot write empty for csv).
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static const char *NULL_TAG;
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/// Resource file keyword that indicates a new entry.
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static const char *NEW_RESOURCE_TAG;
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// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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// Static Methods
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// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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/// Returns a text representation of the given type, suitable for logging.
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static const char *toString(Type t);
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/// Returns a text representation of the given RestartLevel, suitable for logging.
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static const char *toString(RestartLevel r);
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/// Given a text representation, returns the appropriate Type.
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static Type typeFromString(const char *text);
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/// Given a text representation, returns the appropriate RestartLevel.
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static RestartLevel restartLevelFromString(const char *text);
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/// Returns the section name contained in the given resource arg.
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AREXPORT static std::string parseResourceSectionName(ArArgumentBuilder *arg,
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const char *logPrefix = "");
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/// Returns the param name contained in the given resource arg.
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AREXPORT static std::string parseResourceArgName(ArArgumentBuilder *arg,
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const char *logPrefix = "");
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/// Returns the arg type contained in the given resource arg.
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AREXPORT static Type parseResourceType(ArArgumentBuilder *arg,
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const char *logPrefix = "");
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/// Returns true if the given resource arg is "top-level", i.e. not a list member.
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AREXPORT static bool isResourceTopLevel(ArArgumentBuilder *arg,
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const char *logPrefix = "");
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/// Returns the parent path contained in the resource arg for list members.
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AREXPORT static std::list<std::string> parseResourceParentPath(ArArgumentBuilder *arg,
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char separator = '|',
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const char *logPrefix = "");
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/// Returns the description contained in the given resource arg.
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AREXPORT static std::string parseResourceDescription(ArArgumentBuilder *arg,
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const char *logPrefix = "");
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/// Returns the extra explanation contained in the given resource arg.
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AREXPORT static std::string parseResourceExtra(ArArgumentBuilder *arg,
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const char *logPrefix = "");
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// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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// Instance Methods
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// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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/// Default empty contructor
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AREXPORT ArConfigArg();
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/// Constructor for making an integer argument by pointer (4 bytes)
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AREXPORT ArConfigArg(const char * name, int *pointer,
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const char * description = "",
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int minInt = INT_MIN,
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int maxInt = INT_MAX);
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/// Constructor for making an int argument thats a short (2 bytes)
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AREXPORT ArConfigArg(const char * name, short *pointer,
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const char * description = "",
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int minInt = SHRT_MIN,
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int maxInt = SHRT_MAX);
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/// Constructor for making an int argument thats a ushort (2 bytes)
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AREXPORT ArConfigArg(const char * name, unsigned short *pointer,
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const char * description = "",
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int minInt = 0,
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int maxInt = USHRT_MAX);
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/// Constructor for making an char (1 byte) argument by pointer (treated as int)
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AREXPORT ArConfigArg(const char * name, unsigned char *pointer,
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const char * description = "",
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int minInt = 0,
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int maxInt = 255);
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/// Constructor for making a double argument by pointer
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AREXPORT ArConfigArg(const char * name,
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double *pointer,
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const char * description = "",
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double minDouble = -HUGE_VAL,
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double maxDouble = HUGE_VAL,
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int precision = DEFAULT_DOUBLE_PRECISION);
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/// Constructor for making a boolean argument by pointer
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AREXPORT ArConfigArg(const char * name, bool *pointer,
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const char * description = "");
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/// Constructor for making an argument of a string by pointer (see details)
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AREXPORT ArConfigArg(const char *name, char *str,
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const char *description,
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size_t maxStrLen);
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/// Constructor for making an argument of a string by pointer (see details)
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AREXPORT ArConfigArg(const char *name, const char *str,
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const char *description);
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/// Constructor for making an argument of a C++ std::string
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AREXPORT ArConfigArg(const char *name, std::string *str, const char *description);
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/// Constructor for making an integer argument
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AREXPORT ArConfigArg(const char * name, int val,
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const char * description = "",
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int minInt = INT_MIN,
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int maxInt = INT_MAX);
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/// Constructor for making a double argument
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AREXPORT ArConfigArg(const char * name,
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double val,
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const char * description = "",
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double minDouble = -HUGE_VAL,
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double maxDouble = HUGE_VAL,
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int precision = DEFAULT_DOUBLE_PRECISION);
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/// Constructor for making a boolean argument
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AREXPORT ArConfigArg(const char * name, bool val,
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const char * description = "");
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/// Constructor for making an argument that has functors to handle things
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AREXPORT ArConfigArg(const char *name,
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ArRetFunctor1<bool, ArArgumentBuilder *> *setFunctor,
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ArRetFunctor<const std::list<ArArgumentBuilder *> *> *getFunctor,
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const char *description);
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/// Constructor for just holding a description (for ArConfig)
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AREXPORT ArConfigArg(const char *str, Type type = DESCRIPTION_HOLDER);
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/// Constructor for holding an unknown argument (STRING_HOLDER)
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AREXPORT ArConfigArg(const char *name, const char *str);
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/// Constructs a new named argument of the specified type.
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AREXPORT ArConfigArg(Type type,
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const char *name,
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const char *description);
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/// Constructs a new argument of the specified type.
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AREXPORT ArConfigArg(Type type);
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/// Destructor
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AREXPORT virtual ~ArConfigArg();
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/// Copy constructor that allows a new name to be assigned
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AREXPORT ArConfigArg(const char *argName,
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const ArConfigArg & arg);
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/// Copy constructor
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AREXPORT ArConfigArg(const ArConfigArg & arg);
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/// Assignment operator
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AREXPORT ArConfigArg &operator=(const ArConfigArg &arg);
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/// Copies the given arg to this one, detaching any pointers so they are not shared
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AREXPORT void copyAndDetach(const ArConfigArg &arg);
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/// Copies the translation data from given arg to this one.
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AREXPORT bool copyTranslation(const ArConfigArg &arg);
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/// Gets the type of the argument
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AREXPORT ArConfigArg::Type getType(void) const;
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/// Gets the name of the argument
|
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AREXPORT const char *getName(void) const;
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/// Gets the brief description of the argument
|
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AREXPORT const char *getDescription(void) const;
|
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/// Sets the description (normally given in the constructor)
|
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AREXPORT void setDescription(const char *description);
|
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|
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|
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/// For arguments that require more than a brief description, set the extra explanation.
|
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|
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AREXPORT void setExtraExplanation(const char *extraExplanation);
|
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|
|
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/// Returns the extra explanation, if any, for this argument
|
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|
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AREXPORT const char *getExtraExplanation() const;
|
||
|
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|
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|
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|
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|
|
/// Sets the argument value, for int arguments
|
||
|
|
AREXPORT bool setInt(int val,
|
||
|
|
char *errorBuffer = NULL, size_t errorBufferLen = 0,
|
||
|
|
bool doNotSet = false);
|
||
|
|
|
||
|
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/// Sets the argument value, for double arguments
|
||
|
|
AREXPORT bool setDouble(double val,
|
||
|
|
char *errorBuffer = NULL, size_t errorBufferLen = 0,
|
||
|
|
bool doNotSet = false);
|
||
|
|
|
||
|
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/// Sets the argument value, for bool arguments
|
||
|
|
AREXPORT bool setBool(bool val,
|
||
|
|
char *errorBuffer = NULL, size_t errorBufferLen = 0,
|
||
|
|
bool doNotSet = false);
|
||
|
|
|
||
|
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/// Sets the argument value for string arguments
|
||
|
|
AREXPORT bool setString(const char *str,
|
||
|
|
char *errorBuffer = NULL, size_t errorBufferLen = 0,
|
||
|
|
bool doNotSet = false);
|
||
|
|
|
||
|
|
/// Sets the argument value for string arguments. The value of @a str is copied to the target string.
|
||
|
|
AREXPORT bool setString(const std::string &str,
|
||
|
|
char *errorBuffer = NULL, size_t errorBufferLen = 0,
|
||
|
|
bool doNotSet = false);
|
||
|
|
|
||
|
|
AREXPORT bool setCppString(const std::string &str,
|
||
|
|
char *errorBuffer = NULL, size_t errorBufferLen = 0,
|
||
|
|
bool doNotSet = false);
|
||
|
|
|
||
|
|
/// Sets the argument by calling the setFunctor callback
|
||
|
|
AREXPORT bool setArgWithFunctor(ArArgumentBuilder *argument,
|
||
|
|
char *errorBuffer = NULL,
|
||
|
|
size_t errorBufferLen = 0,
|
||
|
|
bool doNotSet = false);
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/// Gets the argument value, for int arguments
|
||
|
|
AREXPORT int getInt(bool *ok = NULL) const;
|
||
|
|
|
||
|
|
/// Gets the minimum int value
|
||
|
|
AREXPORT int getMinInt(bool *ok = NULL) const;
|
||
|
|
/// Gets the maximum int value
|
||
|
|
AREXPORT int getMaxInt(bool *ok = NULL) const;
|
||
|
|
|
||
|
|
|
||
|
|
/// Gets the argument value, for double arguments
|
||
|
|
AREXPORT double getDouble(bool *ok = NULL) const;
|
||
|
|
/// Gets the minimum double value
|
||
|
|
AREXPORT double getMinDouble(bool *ok = NULL) const;
|
||
|
|
/// Gets the maximum double value
|
||
|
|
AREXPORT double getMaxDouble(bool *ok = NULL) const;
|
||
|
|
/// Gets the decimal precision of the double
|
||
|
|
AREXPORT int getDoublePrecision(bool *ok = NULL) const;
|
||
|
|
|
||
|
|
/// Gets the argument value, for bool arguments
|
||
|
|
AREXPORT bool getBool(bool *ok = NULL) const;
|
||
|
|
|
||
|
|
/// Gets the argument value, for string (and string holder) arguments
|
||
|
|
AREXPORT const char *getString(bool *ok = NULL) const;
|
||
|
|
|
||
|
|
/// Gets the argument value, which is a list of argumentbuilders here
|
||
|
|
AREXPORT const std::list<ArArgumentBuilder *> *getArgsWithFunctor(bool *ok = NULL) const;
|
||
|
|
|
||
|
|
AREXPORT std::string getCppString(bool *ok = NULL) const;
|
||
|
|
|
||
|
|
AREXPORT const std::string* getCppStringPtr(bool *ok = NULL) const;
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
// Methods for LIST Type
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
|
||
|
|
/// Adds a child arg to this arg. Valid only for LIST type; otherwise returns false.
|
||
|
|
AREXPORT bool addArg(const ArConfigArg &arg);
|
||
|
|
|
||
|
|
/// Returns whether the list contains child args. Valid only for LIST type; otherwise returns false.
|
||
|
|
AREXPORT bool hasArgs() const;
|
||
|
|
|
||
|
|
/// Returns the number of child args. Valid only for LIST type; otherwise returns 0.
|
||
|
|
AREXPORT size_t getArgCount() const;
|
||
|
|
|
||
|
|
// KMC 7/9/12 Right now, the returned args will not have the parent set to this arg.
|
||
|
|
// I suspect that this may present an implementation issue later but am not sure.
|
||
|
|
// Perhaps the addition of an iterator would suffice.
|
||
|
|
//
|
||
|
|
/// Returns a list of all child args in this arg. Valid only for LIST type; otherwise returns an empty list.
|
||
|
|
AREXPORT std::list<ArConfigArg> getArgs(bool *ok = NULL) const;
|
||
|
|
|
||
|
|
/// Returns the child arg at the specified index (between 0 and getArgCount()).
|
||
|
|
AREXPORT const ArConfigArg *getArg(size_t index) const;
|
||
|
|
|
||
|
|
/// Returns the child arg at the specified index (between 0 and getArgCount()).
|
||
|
|
AREXPORT ArConfigArg *getArg(size_t index);
|
||
|
|
|
||
|
|
/// Finds the specified child arg. Valid only for LIST type; otherwise returns NULL.
|
||
|
|
AREXPORT const ArConfigArg *findArg(const char *childParamName) const;
|
||
|
|
|
||
|
|
/// Finds the specified child arg. Valid only for LIST type; otherwise returns NULL.
|
||
|
|
AREXPORT ArConfigArg *findArg(const char *childParamName);
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
// Miscellaneous Attributes
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
|
||
|
|
|
||
|
|
/// Gets the priority (only used by ArConfig)
|
||
|
|
AREXPORT ArPriority::Priority getConfigPriority(void) const;
|
||
|
|
/// Sets the priority (only used by ArConfig)
|
||
|
|
AREXPORT void setConfigPriority(ArPriority::Priority priority);
|
||
|
|
|
||
|
|
/// Returns the display hint for this arg, or NULL if none is defined.
|
||
|
|
AREXPORT const char *getDisplayHint() const;
|
||
|
|
/// Sets the display hint for this arg.
|
||
|
|
AREXPORT void setDisplayHint(const char *hintText);
|
||
|
|
|
||
|
|
/// Gets the restart level of this parameter (only used by ArConfig)
|
||
|
|
AREXPORT RestartLevel getRestartLevel() const;
|
||
|
|
/// Sets the restart level of this parameter (only used by ArConfig)
|
||
|
|
AREXPORT void setRestartLevel(RestartLevel level);
|
||
|
|
|
||
|
|
/// Gets if notifications of changes are supressed (for the central
|
||
|
|
/// server config)
|
||
|
|
AREXPORT bool getSupressChanges(void) const;
|
||
|
|
/// Sets if notifications of changes are supressed (for the central
|
||
|
|
/// server config)
|
||
|
|
AREXPORT void setSupressChanges(bool supressChanges);
|
||
|
|
|
||
|
|
|
||
|
|
/// Returns a pointer to the immediate parent arg. If this is not a child ArConfigArg, then returns NULL.
|
||
|
|
AREXPORT ArConfigArg *getParentArg() const;
|
||
|
|
|
||
|
|
/// If getParentArg() is not null, then returns the path to the top level, as a single string
|
||
|
|
AREXPORT std::string getParentPathName(char separator = '|') const;
|
||
|
|
|
||
|
|
/// Given a parent path, as a single string, splits it in a format useable by ArConfigSection findParam
|
||
|
|
AREXPORT static std::list<std::string> splitParentPathName(const char *parentPathName,
|
||
|
|
char separator = '|');
|
||
|
|
|
||
|
|
|
||
|
|
/// Replaces spaces in the name with underscores
|
||
|
|
AREXPORT void replaceSpacesInName(void);
|
||
|
|
|
||
|
|
/// Returns whether the arg has a minimum value, currently applicable to INTs and DOUBLEs
|
||
|
|
AREXPORT bool hasMinBound() const;
|
||
|
|
|
||
|
|
/// Returns whether the arg has a maximum value, currently applicable to INTs and DOUBLEs
|
||
|
|
AREXPORT bool hasMaxBound() const;
|
||
|
|
|
||
|
|
/// Sets whether to ignore bounds or not (default is to not to)
|
||
|
|
AREXPORT void setIgnoreBounds(bool ignoreBounds = false);
|
||
|
|
|
||
|
|
/// Returns true if this arg points to a member of another object, false if arg is self-contained.
|
||
|
|
AREXPORT bool hasExternalDataReference() const;
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
// Generic (Type-Independent) Methods
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
|
||
|
|
/// Adds given parserCB handler for the appropriate keyword(s) to the given file parser.
|
||
|
|
AREXPORT bool addToFileParser(ArFileParser *parser,
|
||
|
|
ArRetFunctor3C<bool,
|
||
|
|
ArConfig,
|
||
|
|
ArArgumentBuilder *,
|
||
|
|
char *,
|
||
|
|
size_t> *parserCB,
|
||
|
|
const char *logPrefix = "",
|
||
|
|
bool isQuiet = false) const;
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/// Sets the value of this arg to the data described in the given ArArgumentBuilder
|
||
|
|
AREXPORT bool parseArgument(ArArgumentBuilder *arg,
|
||
|
|
char *errorBuffer,
|
||
|
|
size_t errorBufferLen,
|
||
|
|
const char *logPrefix = "",
|
||
|
|
bool isQuiet = false,
|
||
|
|
bool *changed = NULL);
|
||
|
|
|
||
|
|
/// Writes this arg to the given file, in a format suitable for reading by parseArgument.
|
||
|
|
AREXPORT bool writeArguments(FILE *file,
|
||
|
|
char *lineBuf,
|
||
|
|
int lineBufSize,
|
||
|
|
int startCommentColumn,
|
||
|
|
bool isWriteExtra = false,
|
||
|
|
const char *logPrefix = "",
|
||
|
|
int indentLevel = 0) const;
|
||
|
|
|
||
|
|
/// Writes the name of this arg to the given buffer, indenting as specified.
|
||
|
|
AREXPORT bool writeName(char *lineBuf,
|
||
|
|
int lineBufSize,
|
||
|
|
int indentLevel) const;
|
||
|
|
|
||
|
|
/// Writes the min/max values of this arg to the given buffer, as applicable.
|
||
|
|
AREXPORT bool writeBounds(char *line,
|
||
|
|
size_t lineLen,
|
||
|
|
const char *logPrefix = "") const;
|
||
|
|
|
||
|
|
/// Logs the type, name, and value of this argument
|
||
|
|
AREXPORT void log(bool verbose = false,
|
||
|
|
int indentCount = 1,
|
||
|
|
const char *logPrefix = "") const;
|
||
|
|
|
||
|
|
/// Checks only the name, type, and value attributes and returns whether they are equal.
|
||
|
|
AREXPORT bool isValueEqual(const ArConfigArg &other) const;
|
||
|
|
|
||
|
|
/// If the given source is of the same type, copies its value to this arg
|
||
|
|
/**
|
||
|
|
* Note that this method currently only works for the primitive arg
|
||
|
|
* types (i.e. int, bool, etc.). It doesn't copy functors or description
|
||
|
|
* holders.
|
||
|
|
*
|
||
|
|
* @param source the ArConfigArg whose value is to be copied to this arg
|
||
|
|
* @param isVerifyArgNames a bool set to true if the argument value should
|
||
|
|
* be set only if the given source has the same name as this argument;
|
||
|
|
* the default value is false
|
||
|
|
* @return bool true if the value was copied; false if the source was of a
|
||
|
|
* different (or non-copyable) type
|
||
|
|
**/
|
||
|
|
AREXPORT bool setValue(const ArConfigArg &source,
|
||
|
|
bool isVerifyArgNames = false);
|
||
|
|
|
||
|
|
/// Gets whether this value has been set since it was last cleared or not
|
||
|
|
bool isValueSet(void) { return myValueSet; }
|
||
|
|
|
||
|
|
/// Tells the configArg that the value hasn't been set
|
||
|
|
void clearValueSet(void) { myValueSet = false; }
|
||
|
|
|
||
|
|
/// For special arg types (such as LIST), sets the flag to indicate the value was set.
|
||
|
|
void setValueSet(void) { myValueSet = true; }
|
||
|
|
|
||
|
|
|
||
|
|
/// Returns whether the arg has been translated by a resource file.
|
||
|
|
bool isTranslated() const;
|
||
|
|
|
||
|
|
/// Sets whether the arg has been translated by a resource file.
|
||
|
|
void setTranslated(bool b);
|
||
|
|
|
||
|
|
|
||
|
|
enum ResourceIndices {
|
||
|
|
RESOURCE_INDEX_OF_SECTION_NAME = 0,
|
||
|
|
RESOURCE_INDEX_OF_ARG_NAME = 1,
|
||
|
|
RESOURCE_INDEX_OF_TYPE = 2,
|
||
|
|
RESOURCE_INDEX_OF_PRIORITY = 3,
|
||
|
|
RESOURCE_INDEX_OF_RESTART_LEVEL = 4,
|
||
|
|
RESOURCE_INDEX_OF_PARENT_PATH = 5,
|
||
|
|
RESOURCE_INDEX_OF_DESCRIPTION = 6,
|
||
|
|
RESOURCE_INDEX_OF_EXTRA = 7,
|
||
|
|
RESOURCE_INDEX_OF_DISPLAY = 8, // not yet supported
|
||
|
|
RESOURCE_INDEX_OF_NEW = 9
|
||
|
|
};
|
||
|
|
|
||
|
|
enum {
|
||
|
|
MAX_RESOURCE_ARG_TEXT_LENGTH = 1024
|
||
|
|
};
|
||
|
|
|
||
|
|
/// Sets the value of this arg to the resource data described in the given ArArgumentBuilder
|
||
|
|
AREXPORT bool parseResource(ArArgumentBuilder *arg,
|
||
|
|
char *errorBuffer,
|
||
|
|
size_t errorBufferLen,
|
||
|
|
const char *logPrefix = "",
|
||
|
|
bool isQuiet = false);
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/// Parses the text obtained from the resource arg, strips surrounding quotes, blanks, and funny chars.
|
||
|
|
AREXPORT static bool parseResourceArgText(const char *argText,
|
||
|
|
char *bufOut,
|
||
|
|
size_t bufLen);
|
||
|
|
|
||
|
|
/// Writes this arg to the given file, in a format suitable for reading by parseResource.
|
||
|
|
AREXPORT bool writeResource(FILE *file,
|
||
|
|
char *lineBuf,
|
||
|
|
int lineBufSize,
|
||
|
|
char separatorChar,
|
||
|
|
const char *sectionName,
|
||
|
|
const char *logPrefix = "") const;
|
||
|
|
|
||
|
|
|
||
|
|
/// Writes column labels and edit info to the given resource file, returns number of lines written
|
||
|
|
AREXPORT static int writeResourceHeader(FILE *file,
|
||
|
|
char *lineBuf,
|
||
|
|
int lineBufSize,
|
||
|
|
char separatorChar,
|
||
|
|
const char *sectionTitle,
|
||
|
|
const char *logPrefix = "");
|
||
|
|
|
||
|
|
/// Writes the section description to the resource file.
|
||
|
|
AREXPORT static int writeResourceSectionHeader(FILE *file,
|
||
|
|
char *lineBuf,
|
||
|
|
int lineBufSize,
|
||
|
|
char separatorChar,
|
||
|
|
const char *sectionName,
|
||
|
|
const char *sectionDesc,
|
||
|
|
const char *sectionExtra,
|
||
|
|
const char *sectionDisplayName,
|
||
|
|
bool isTranslated,
|
||
|
|
const char *logPrefix = "");
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
// Giving ArConfig access to the write method
|
||
|
|
friend class ArConfig;
|
||
|
|
|
||
|
|
/// Writes the given comment to the specified file, spanning multiple lines as necessary.
|
||
|
|
AREXPORT static bool writeMultiLineComment(const char *comment,
|
||
|
|
FILE *file,
|
||
|
|
char *lineBuf,
|
||
|
|
int lineBufSize,
|
||
|
|
const char *startComment);
|
||
|
|
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
enum IntType {
|
||
|
|
INT_NOT, ///< Not an int
|
||
|
|
INT_INT, ///< An int (4 bytes)
|
||
|
|
INT_SHORT, ///< A short (2 bytes)
|
||
|
|
INT_UNSIGNED_SHORT, ///< An unsigned short (2 bytes)
|
||
|
|
INT_UNSIGNED_CHAR ///< An unsigned char (1 byte)
|
||
|
|
};
|
||
|
|
|
||
|
|
/// Internal helper function
|
||
|
|
void clear(bool initial,
|
||
|
|
Type type = INVALID,
|
||
|
|
IntType intType = INT_NOT,
|
||
|
|
bool isDelete = true);
|
||
|
|
|
||
|
|
/// Copies the given arg to this one, optionally detaching any internal pointer
|
||
|
|
void copy(const ArConfigArg &arg, bool isDetach = false);
|
||
|
|
|
||
|
|
void set(ArConfigArg::Type type,
|
||
|
|
const char *name,
|
||
|
|
const char *description,
|
||
|
|
IntType intType = INT_NOT);
|
||
|
|
|
||
|
|
/// Sets the parent pointer of this arg.
|
||
|
|
void setParent(ArConfigArg *parentArg);
|
||
|
|
|
||
|
|
/// Whether the arg type is LIST or LIST_HOLDER
|
||
|
|
bool isListType() const;
|
||
|
|
|
||
|
|
// KMC 7/11/12 Changed from protected to private so future changes are less
|
||
|
|
// of a concern
|
||
|
|
// protected:
|
||
|
|
private:
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
/// Data applicable to INT args
|
||
|
|
struct ArConfigIntData {
|
||
|
|
|
||
|
|
// int data
|
||
|
|
ArConfigArg::IntType myIntType;
|
||
|
|
|
||
|
|
// If unions need to be avoided for some reason, then this can simply
|
||
|
|
// be turned into a struct.
|
||
|
|
//
|
||
|
|
// begin union (based on myIntType)
|
||
|
|
union {
|
||
|
|
int *myIntPointer;
|
||
|
|
short *myIntShortPointer;
|
||
|
|
unsigned short *myIntUnsignedShortPointer;
|
||
|
|
unsigned char *myIntUnsignedCharPointer;
|
||
|
|
};
|
||
|
|
// end union (based on myIntType)
|
||
|
|
|
||
|
|
int myMinInt;
|
||
|
|
int myMaxInt;
|
||
|
|
|
||
|
|
}; // end struct ArConfigIntData
|
||
|
|
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
/// Data applicable to DOUBLE args
|
||
|
|
struct ArConfigDoubleData {
|
||
|
|
|
||
|
|
double *myDoublePointer;
|
||
|
|
double myMinDouble;
|
||
|
|
double myMaxDouble;
|
||
|
|
int myPrecision;
|
||
|
|
|
||
|
|
}; // end struct ArConfigDoubleData
|
||
|
|
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
/// Data applicable to BOOL args
|
||
|
|
struct ArConfigBoolData {
|
||
|
|
|
||
|
|
bool *myBoolPointer;
|
||
|
|
|
||
|
|
}; // end struct ArConfigBoolData
|
||
|
|
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
/// Data applicable to STRING and STRING_HOLDER args
|
||
|
|
struct ArConfigStringData {
|
||
|
|
|
||
|
|
// string data
|
||
|
|
char *myStringPointer;
|
||
|
|
size_t myMaxStrLen;
|
||
|
|
// KMC own string change
|
||
|
|
// Not seeing the functional difference between this and myOwnPointedTo
|
||
|
|
// (which was previously applied to all but strings)
|
||
|
|
// bool myUsingOwnedString;
|
||
|
|
std::string *myString; ///< Used if myOwnedString is true. (Union member cannot have a copy constructor so using a pointer)
|
||
|
|
|
||
|
|
}; // end struct ArConfigStringData
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
/// Data applicable to CPPSTRING
|
||
|
|
struct ArConfigCppStringData {
|
||
|
|
std::string *myCppStringPtr;
|
||
|
|
};
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
/// Data applicable to LIST args
|
||
|
|
struct ArConfigListData {
|
||
|
|
|
||
|
|
std::list<ArConfigArg> *myChildArgList;
|
||
|
|
|
||
|
|
}; // end struct ArConfigListData
|
||
|
|
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
/// Data applicable to FUNCTOR args
|
||
|
|
struct ArConfigFunctorData {
|
||
|
|
|
||
|
|
ArRetFunctor1<bool, ArArgumentBuilder *> *mySetFunctor;
|
||
|
|
ArRetFunctor<const std::list<ArArgumentBuilder *> *> *myGetFunctor;
|
||
|
|
|
||
|
|
}; // end struct ArConfigFunctorData
|
||
|
|
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
//
|
||
|
|
// If unions need to be avoided for some reason, then this can simply
|
||
|
|
// be turned into a struct.
|
||
|
|
//
|
||
|
|
/// Data that varies according to type of arg
|
||
|
|
union ArConfigArgData { // begin union (based on myType)
|
||
|
|
ArConfigIntData myIntData;
|
||
|
|
ArConfigDoubleData myDoubleData;
|
||
|
|
ArConfigBoolData myBoolData;
|
||
|
|
ArConfigStringData myStringData;
|
||
|
|
ArConfigListData myListData;
|
||
|
|
ArConfigFunctorData myFunctorData;
|
||
|
|
ArConfigCppStringData myCppStringData;
|
||
|
|
}; // end union (based on myType)
|
||
|
|
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
|
||
|
|
/// Number of spaces to indent each level of list contents
|
||
|
|
static int ourIndentSpaceCount;
|
||
|
|
|
||
|
|
static std::map<std::string, Type> *ourTextToTypeMap;
|
||
|
|
static std::map<std::string, RestartLevel> *ourTextToRestartLevelMap;
|
||
|
|
|
||
|
|
/// Type of this arg
|
||
|
|
ArConfigArg::Type myType;
|
||
|
|
/// Name of this arg (may be empty for SEPARATOR args)
|
||
|
|
std::string myName;
|
||
|
|
/// Brief description of this arg
|
||
|
|
std::string myDescription;
|
||
|
|
/// An optional extra explanation for args that need clarification
|
||
|
|
std::string myExtraExplanation;
|
||
|
|
|
||
|
|
/// Name to be displayed in client applications. (Not yet supported.)
|
||
|
|
std::string myDisplayName;
|
||
|
|
|
||
|
|
ArConfigArgData myData;
|
||
|
|
|
||
|
|
/// Priority of this arg
|
||
|
|
ArPriority::Priority myConfigPriority;
|
||
|
|
/// Optional display hint used by clients
|
||
|
|
std::string myDisplayHint;
|
||
|
|
/// Indicates whether modifying the arg will result in a system restart
|
||
|
|
RestartLevel myRestartLevel;
|
||
|
|
/// Supressses change notification (for central server config params that should cause a restart on a robot, but not on the central server)
|
||
|
|
bool mySupressChanges;
|
||
|
|
|
||
|
|
/// Pointer to the parent arg, or NULL if this arg is not a member of a LIST
|
||
|
|
ArConfigArg *myParentArg;
|
||
|
|
|
||
|
|
/// Whether this arg "owns" its data, i.e. does not point to a member of another object
|
||
|
|
bool myOwnPointedTo : 1;
|
||
|
|
/// Whether this arg has been set to its initial value
|
||
|
|
bool myValueSet : 1;
|
||
|
|
/// Whether any min/max bounds requirements on this arg should be ignored
|
||
|
|
bool myIgnoreBounds : 1;
|
||
|
|
/// Whether this arg has been translated by a resource file
|
||
|
|
bool myIsTranslated : 1;
|
||
|
|
|
||
|
|
}; // end class ArConfigArg
|
||
|
|
|
||
|
|
#endif // ARCONFIGARG_H
|