165 lines
7.9 KiB
Python
165 lines
7.9 KiB
Python
"""
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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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from AriaPy import *
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import sys
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"""
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* @example configExample.cpp Example program demonstrating the use of ArConfig
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*
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* This program shows how to use ArConfig to store configuration parameters
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* and load/save them from a file.
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*
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* The ArNetworking library includes server classes that will let you
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* use a remote client such as MobileEyes to view and change the configuration.
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* See the ArNetworking documentation and examples.
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"""
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class ConfigExample:
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def __init__(self):
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# The global class Aria() contains an ArConfig object. You can create
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# other instances of ArConfig, but this is how you can share one ArConfig
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# among various program modules.
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# If you want to store a config parameter in ArConfig, first you must add
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# it to the ArConfig() object. Parameters are stored in sections.
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#
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# In the C++ library, ArConfigArg stores a pointer to a variable, which is
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# directly modified by ArConfig. In Python, however, it can't do that, so
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# you must get the value from ArConfig using findSection() and findParam().
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# Furthermore, the wrapper library can't distinguish between integers,
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# booleans, etc. so you must use special _Int, _Double, _Bool, and _String
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# subclasses for different types.
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config = Aria_getConfig()
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config.setSectionComment("Example Section", "Contains parameters created by the configExample")
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# Add an integer which ranges from -10 to 10:
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intParam = ArConfigArg_Int("ExampleIntegerParameter", 0, "Example parameter integer.", -10, 10)
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config.addParam(intParam, "Example Section", ArPriority.NORMAL)
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# Add a floating point number which ranges from 0.0 to 1.0:
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doubleParam = ArConfigArg_Double("ExampleDoubleParameter", 0.5, "Example double precision floating point number.", 0.0, 1.0)
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config.addParam(doubleParam, "Example Section", ArPriority.NORMAL)
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# Essential parameters can be placed in the "Important" priority level:
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boolParam = ArConfigArg_Bool("ExampleBoolParameter", 1, "Example boolean parameter.")
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config.addParam(boolParam, "Example Section", ArPriority.IMPORTANT)
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# Unimportant parameters can be placed in the "Trivial" priority level:
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stringParam = ArConfigArg_String("ExampleStringParameter", "Hello, world", "Example string parameter.")
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config.addParam(stringParam, "Example Section", ArPriority.TRIVIAL)
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# You can set a callback to be invoked when the configuration changes, in
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# case you need to respond to any changes in the parameter values:
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config.addProcessFileCB(self.processConfigFile, 0)
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# Method called by config process callback when a new file is loaded.
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# It can return False (0) to indicate an error, or True (1) to indicate no error.
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def processConfigFile(self):
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config = Aria_getConfig()
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section = config.findSection("Example Section")
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if not section:
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ArLog.log(ArLog.Normal, "configExample: config file does not have section \"Example Section\".")
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return 0
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intParam = section.findParam("ExampleIntegerParameter")
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if not intParam:
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ArLog.log(ArLog.Normal, "configExample: config file does not have ExampleIntegerParameter")
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return 0
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doubleParam = section.findParam("ExampleDoubleParameter")
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if not doubleParam:
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ArLog.log(ArLog.Normal, "configExample: config file does not have ExampleDoubleParameter.")
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return 0
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stringParam = section.findParam("ExampleStringParameter")
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if not stringParam:
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ArLog.log(ArLog.Normal, "configExample: config file does not have ExampleStringParameter.")
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return 0
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boolParam = section.findParam("ExampleBoolParameter")
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if not boolParam:
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ArLog.log(ArLog.Normal, "configExample: config file does not have ExampleBoolParameter.")
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return 0
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ArLog.log(ArLog.Normal, ( "configExample: processConfigFile callback: Config changed. New values: int=%d, float=%f, bool=%s, string=\"%s\"." % (intParam.getInt(), doubleParam.getDouble(), boolParam.getBool(), stringParam.getString()) ) )
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return True
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Aria_init()
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argParser = ArArgumentParser(sys.argv)
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argParser.loadDefaultArguments()
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if len(sys.argv) < 2 or not Aria_parseArgs() or argParser.checkArgument("-help"):
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ArLog.log(ArLog.Terse, "configExample: Error: no config file given as command line argument.");
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ArLog.log(ArLog.Terse, "configExample: usage: configExample <config file>.\nFor example, \"configExample configExample.cfg\".")
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Aria_logOptions()
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Aria_shutdown()
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sys.exit(1)
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# Object containing config parameters, and responding to changes (defined above):
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configExample = ConfigExample()
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# Load a config file given on the command line into the global
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# ArConfig object kept by Aria_ Normally ArConfig expects config
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# files to be in the main ARIA directory (i.e. /usr/local/Aria or
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# a directory specified by the $ARIA environment variable)., but
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# let's add "pythonExamples" to it, to load files from the pythonExamples
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# directory.
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filename = argParser.getArg(1)
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config = Aria_getConfig()
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config.setBaseDirectory(config.getBaseDirectory() + "pythonExamples/")
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ArLog.log(ArLog.Normal, "configExample: loading configuration file \"%s\" from directory \"%s\"... (processConfigFile callback should be called with new values)" % (filename, config.getBaseDirectory()))
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#config.setProcessFileCallbacksLogLevel(ArLog.Normal)
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if (not config.parseFile(filename, False)):
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ArLog.log(ArLog.Terse, "configExample: Error loading configuration file \"%s\"." % (filename))
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else:
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ArLog.log(ArLog.Normal, "configExample: Loaded configuration file \"%s\". Setting some values; processConfigFile callback should be called each time and see the new value." % (filename))
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# Try changing some of the parameters:
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# After changing a config value, you should invoke the callbacks.
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section = config.findSection("Example Section")
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if section:
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arg = section.findParam("ExampleBoolParameter")
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if arg:
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print "configExample: setting ExampleBoolParameter to %s" % (not arg.getBool())
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arg.setBool(not arg.getBool())
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arg = section.findParam("ExampleStringParameter")
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if arg:
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print "configExample: setting ExampleStringParameter to \"%s\"" % (arg.getString() + " Modified!")
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arg.setString(arg.getString() + " Modified!")
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if not config.callProcessFileCallBacks(False):
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ArLog.log(ArLog.Terse, "configExample: Error processing modified config.")
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else:
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ArLog.log(ArLog.Normal, "configExample: Successfully modified config and invoked callbacks.")
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# You can save the configuration as well:
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ArLog.log(ArLog.Normal, "configExample: Saving configuration...")
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if not config.writeFile(filename):
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ArLog.log(ArLog.Terse, "configExample: Error saving configuration to file \"%s\"not ", filename)
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# end of program.
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ArLog.log(ArLog.Normal, "configExample: end of program.")
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Aria_shutdown()
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