配置文件inifile入门浅析
C++自定义API参考http://blog.csdn.net/qq910894904/article/details/38583485windows api 参考https://wenku.baidu.com/view/f3d7636648d7c1c708a145b1.htmllinux api参考https://wenku.baidu.com/view/ac526681d4d8d15a
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C++自定义API参考http://blog.csdn.net/qq910894904/article/details/38583485
windows api 参考https://wenku.baidu.com/view/f3d7636648d7c1c708a145b1.html
linux api参考https://wenku.baidu.com/view/ac526681d4d8d15abe234e54.html
代码参考自https://github.com/Winnerhust/inifile2
代码api参考http://blog.csdn.net/qq910894904/article/details/38583485
C++读取配置文件常见的类型有ini .conf .cfg等。ARIA ARNL 中采用的也是读取配置文件的方法，格式为.p参考如下！！
ini文件
ini文件(即Initialization file)，这种类型的文件中通常存放的是一个程序的初始化信息。
ini文件组成部分：组group、键值key-value、内容parameter、注释comment .
ini文件可以包含若干个节(Section)，每个Section由节名（section 开头？）若干键值对(Key-value), 注释comment组成。读写ini文件实际上就是读写某个的Section中相应的Key的value值value
注释comment一般以分号“;”开头，在分号后面的文字，直到该行结尾都全部为注解。但是也有很多的配置文件的注释是以“#”开头的（linux tradition）。
注释一般以分号“;”开头，在分号后面的文字，直到该行结尾都全部为注解。但是也有很多的配置文件的注释是以“#”开头的。[sys_table]
table_id=1
max_column_id=11
table_type=1
#rowkey is table name
rowkey_is_fixed_length=0
column_info=table_name,varchar,128
column_info=table_id,int
column_info=table_type,int
column_info=rowkey_len,int
column_info=max_column_id,int
【】为组名
table_id = 1 ; 键为 table_id 值为11 （=号键值对定义）或者p3dx.p里面的空格定义map一对。
inifile.h
#ifndef _INIFILE_H
#define _INIFILE_H
#include <map>
#include <vector>
#include <string>
#include <string.h>
using namespace std;
namespace inifile
{
const int RET_OK = 0;
const int RET_ERR = -1;
const string delim = "\n";
struct IniItem {
string key;
string value;
string comment;
};
struct IniSection {
typedef vector<IniItem>::iterator iterator;
iterator begin() {
return items.begin();
}
iterator end() {
return items.end();
}
string name;
string comment;
vector<IniItem> items;
};
class IniFile
{
public:
IniFile();
~IniFile() {
release();
}
public:
typedef map<string, IniSection *>::iterator iterator;
iterator begin() {
return sections_.begin();
}
iterator end() {
return sections_.end();
}
public:
/* 打开并解析一个名为fname的INI文件 */
int load(const string &fname);
/*将内容保存到当前文件*/
int save();
/*将内容另存到一个名为fname的文件*/
int saveas(const string &fname);
/*获取section段第一个键为key的值,并返回其string型的值*/
string getStringValue(const string §ion, const string &key, int &ret);
/*获取section段第一个键为key的值,并返回其int型的值*/
int getIntValue(const string §ion, const string &key, int &ret);
/*获取section段第一个键为key的值,并返回其double型的值*/
double getDoubleValue(const string §ion, const string &key, int &ret);
/*获取section段第一个键为key的值,并将值赋到value中*/
int getValue(const string §ion, const string &key, string &value);
/*获取section段第一个键为key的值,并将值赋到value中,将注释赋到comment中*/
int getValue(const string §ion, const string &key, string &value, string &comment);
/*获取section段所有键为key的值,并将值赋到values的vector中*/
int getValues(const string §ion, const string &key, vector<string> &values);
/*获取section段所有键为key的值,并将值赋到values的vector中,,将注释赋到comments的vector中*/
int getValues(const string §ion, const string &key, vector<string> &value, vector<string> &comments);
bool hasSection(const string §ion) ;
bool hasKey(const string §ion, const string &key) ;
/* 获取section段的注释 */
int getSectionComment(const string §ion, string &comment);
/* 设置section段的注释 */
int setSectionComment(const string §ion, const string &comment);
/*获取注释标记符列表*/
void getCommentFlags(vector<string> &flags);
/*设置注释标记符列表*/
void setCommentFlags(const vector<string> &flags);
/*同时设置值和注释*/
int setValue(const string §ion, const string &key, const string &value, const string &comment = "");
/*删除段*/
void deleteSection(const string §ion);
/*删除特定段的特定参数*/
void deleteKey(const string §ion, const string &key);
public:
/*去掉str后面的c字符*/
static void trimleft(string &str, char c = ' ');
/*去掉str前面的c字符*/
static void trimright(string &str, char c = ' ');
/*去掉str前面和后面的空格符,Tab符等空白符*/
static void trim(string &str);
/*将字符串str按分割符delim分割成多个子串*/
private:
IniSection *getSection(const string §ion = "");
void release();
int getline(string &str, FILE *fp);
bool isComment(const string &str);
bool parse(const string &content, string &key, string &value, char c = '=');
//for dubug
void print();
private:
map<string, IniSection *> sections_;
string fname_;
vector<string> flags_;
};
}
#endif#ifndef _INIFILE_CPP
#define _INIFILE_CPP
#include "inifile.h"
#include <stdlib.h>
#include <stdio.h>
#include <ctype.h>
namespace inifile
{
int INI_BUF_SIZE = 2048;
IniFile::IniFile()
{
flags_.push_back("#");
flags_.push_back(";");
}
bool IniFile::parse(const string &content, string &key, string &value, char c/*= '='*/)
{
int i = 0;
int len = content.length();
while (i < len && content[i] != c) {
++i;
}
if (i >= 0 && i < len) {
key = string(content.c_str(), i);
value = string(content.c_str() + i + 1, len - i - 1);
return true;
}
return false;
}
int IniFile::getline(string &str, FILE *fp)
{
int plen = 0;
int buf_size = INI_BUF_SIZE * sizeof(char);
char *buf = (char *) malloc(buf_size);
char *pbuf = NULL;
char *p = buf;
if (buf == NULL) {
fprintf(stderr, "no enough memory!exit!\n");
exit(-1);
}
memset(buf, 0, buf_size);
int total_size = buf_size;
while (fgets(p, buf_size, fp) != NULL) {
plen = strlen(p);
if (plen > 0 && p[plen - 1] != '\n' && !feof(fp)) {
total_size = strlen(buf) + buf_size;
pbuf = (char *)realloc(buf, total_size);
if (pbuf == NULL) {
free(buf);
fprintf(stderr, "no enough memory!exit!\n");
exit(-1);
}
buf = pbuf;
p = buf + strlen(buf);
continue;
} else {
break;
}
}
str = buf;
free(buf);
buf = NULL;
return str.length();
}
int IniFile::load(const string &filename)
{
release();
fname_ = filename;
IniSection *section = NULL;
FILE *fp = fopen(filename.c_str(), "r");
if (fp == NULL) {
return -1;
}
string line;
string comment;
//增加默认段
section = new IniSection();
sections_[""] = section;
while (getline(line, fp) > 0) {
trimright(line, '\n');
trimright(line, '\r');
trim(line);
if (!isComment(line)) {
/* 针对 “value=1 #测试” 这种后面有注释的语句
* 重新分割line，并添加注释到commnet
* 注意：这种情况保存后会变成
* #测试
* value=1
* */
string subline;
string tmp = line;
for (size_t i = 0; i < flags_.size(); ++i) {
subline = line.substr(0, line.find(flags_[i]));
line = subline;
}
comment += tmp.substr(line.length());
}
trim(line);
if (line.length() <= 0) {
continue;
}
if (line[0] == '[') {
section = NULL;
int index = line.find_first_of(']');
if (index == -1) {
fclose(fp);
fprintf(stderr, "没有找到匹配的]\n");
return -1;
}
int len = index - 1;
if (len <= 0) {
fprintf(stderr, "段为空\n");
continue;
}
string s(line, 1, len);
if (getSection(s.c_str()) != NULL) {
fclose(fp);
fprintf(stderr, "此段已存在:%s\n", s.c_str());
return -1;
}
section = new IniSection();
sections_[s] = section;
section->name = s;
section->comment = comment;
comment = "";
} else if (isComment(line)) {
if (comment != "") {
comment += delim + line ;
} else {
comment = line;
}
} else {
string key, value;
if (parse(line, key, value)) {
IniItem item;
item.key = key;
item.value = value;
item.comment = comment;
section->items.push_back(item);
} else {
fprintf(stderr, "解析参数失败[%s]\n", line.c_str());
}
comment = "";
}
}
fclose(fp);
return 0;
}
int IniFile::save()
{
return saveas(fname_);
}
int IniFile::saveas(const string &filename)
{
string data = "";
for (iterator sect = sections_.begin(); sect != sections_.end(); ++sect) {
if (sect->second->comment != "") {
data += sect->second->comment;
data += delim;
}
if (sect->first != "") {
data += string("[") + sect->first + string("]");
data += delim;
}
for (IniSection::iterator item = sect->second->items.begin(); item != sect->second->items.end(); ++item) {
if (item->comment != "") {
data += item->comment;
data += delim;
}
data += item->key + "=" + item->value;
data += delim;
}
}
FILE *fp = fopen(filename.c_str(), "w");
fwrite(data.c_str(), 1, data.length(), fp);
fclose(fp);
return 0;
}
IniSection *IniFile::getSection(const string §ion /*=""*/)
{
iterator it = sections_.find(section);
if (it != sections_.end()) {
return it->second;
}
return NULL;
}
string IniFile::getStringValue(const string §ion, const string &key, int &ret)
{
string value, comment;
ret = getValue(section, key, value, comment);
return value;
}
int IniFile::getIntValue(const string §ion, const string &key, int &ret)
{
string value, comment;
ret = getValue(section, key, value, comment);
return atoi(value.c_str());
}
double IniFile::getDoubleValue(const string §ion, const string &key, int &ret)
{
string value, comment;
ret = getValue(section, key, value, comment);
return atof(value.c_str());
}
int IniFile::getValue(const string §ion, const string &key, string &value)
{
string comment;
return getValue(section, key, value, comment);
}
int IniFile::getValue(const string §ion, const string &key, string &value, string &comment)
{
IniSection *sect = getSection(section);
if (sect != NULL) {
for (IniSection::iterator it = sect->begin(); it != sect->end(); ++it) {
if (it->key == key) {
value = it->value;
comment = it->comment;
return RET_OK;
}
}
}
return RET_ERR;
}
int IniFile::getValues(const string §ion, const string &key, vector<string> &values)
{
vector<string> comments;
return getValues(section, key, values, comments);
}
int IniFile::getValues(const string §ion, const string &key,
vector<string> &values, vector<string> &comments)
{
string value, comment;
values.clear();
comments.clear();
IniSection *sect = getSection(section);
if (sect != NULL) {
for (IniSection::iterator it = sect->begin(); it != sect->end(); ++it) {
if (it->key == key) {
value = it->value;
comment = it->comment;
values.push_back(value);
comments.push_back(comment);
}
}
}
return (values.size() ? RET_OK : RET_ERR);
}
bool IniFile::hasSection(const string §ion)
{
return (getSection(section) != NULL);
}
bool IniFile::hasKey(const string §ion, const string &key)
{
IniSection *sect = getSection(section);
if (sect != NULL) {
for (IniSection::iterator it = sect->begin(); it != sect->end(); ++it) {
if (it->key == key) {
return true;
}
}
}
return false;
}
int IniFile::getSectionComment(const string §ion, string &comment)
{
comment = "";
IniSection *sect = getSection(section);
if (sect != NULL) {
comment = sect->comment;
return RET_OK;
}
return RET_ERR;
}
int IniFile::setSectionComment(const string §ion, const string &comment)
{
IniSection *sect = getSection(section);
if (sect != NULL) {
sect->comment = comment;
return RET_OK;
}
return RET_ERR;
}
int IniFile::setValue(const string §ion, const string &key,
const string &value, const string &comment /*=""*/)
{
IniSection *sect = getSection(section);
string comt = comment;
if (comt != "") {
comt = flags_[0] + comt;
}
if (sect == NULL) {
sect = new IniSection();
if (sect == NULL) {
fprintf(stderr, "no enough memory!\n");
exit(-1);
}
sect->name = section;
sections_[section] = sect;
}
for (IniSection::iterator it = sect->begin(); it != sect->end(); ++it) {
if (it->key == key) {
it->value = value;
it->comment = comt;
return RET_OK;
}
}
//not found key
IniItem item;
item.key = key;
item.value = value;
item.comment = comt;
sect->items.push_back(item);
return RET_OK;
}
void IniFile::getCommentFlags(vector<string> &flags)
{
flags = flags_;
}
void IniFile::setCommentFlags(const vector<string> &flags)
{
flags_ = flags;
}
void IniFile::deleteSection(const string §ion)
{
IniSection *sect = getSection(section);
if (sect != NULL) {
sections_.erase(section);
delete sect;
}
}
void IniFile::deleteKey(const string §ion, const string &key)
{
IniSection *sect = getSection(section);
if (sect != NULL) {
for (IniSection::iterator it = sect->begin(); it != sect->end(); ++it) {
if (it->key == key) {
sect->items.erase(it);
break;
}
}
}
}
void IniFile::release()
{
fname_ = "";
for (iterator i = sections_.begin(); i != sections_.end(); ++i) {
delete i->second;
}
sections_.clear();
}
bool IniFile::isComment(const string &str)
{
bool ret = false;
for (size_t i = 0; i < flags_.size(); ++i) {
size_t k = 0;
if (str.length() < flags_[i].length()) {
continue;
}
for (k = 0; k < flags_[i].length(); ++k) {
if (str[k] != flags_[i][k]) {
break;
}
}
if (k == flags_[i].length()) {
ret = true;
break;
}
}
return ret;
}
//for debug
void IniFile::print()
{
printf("filename:[%s]\n", fname_.c_str());
printf("flags_:[");
for (size_t i = 0; i < flags_.size(); ++i) {
printf(" %s ", flags_[i].c_str());
}
printf("]\n");
for (iterator it = sections_.begin(); it != sections_.end(); ++it) {
printf("section:[%s]\n", it->first.c_str());
printf("comment:[%s]\n", it->second->comment.c_str());
for (IniSection::iterator i = it->second->items.begin(); i != it->second->items.end(); ++i) {
printf(" comment:%s\n", i->comment.c_str());
printf(" parm :%s=%s\n", i->key.c_str(), i->value.c_str());
}
}
}
void IniFile::trimleft(string &str, char c/*=' '*/)
{
//trim head
int len = str.length();
int i = 0;
while (str[i] == c && str[i] != '\0') {
i++;
}
if (i != 0) {
str = string(str, i, len - i);
}
}
void IniFile::trimright(string &str, char c/*=' '*/)
{
//trim tail
int i = 0;
int len = str.length();
for (i = len - 1; i >= 0; --i) {
if (str[i] != c) {
break;
}
}
str = string(str, 0, i + 1);
}
void IniFile::trim(string &str)
{
//trim head
int len = str.length();
int i = 0;
while (isspace(str[i]) && str[i] != '\0') {
i++;
}
if (i != 0) {
str = string(str, i, len - i);
}
//trim tail
len = str.length();
for (i = len - 1; i >= 0; --i) {
if (!isspace(str[i])) {
break;
}
}
str = string(str, 0, i + 1);
}
}
#endifinifile_test.cpp
#include <iostream>
#include <gtest/gtest.h>
#include "inifile.h"
using namespace std;
using namespace inifile;
TEST(inifile, trim)
{
string buf = " aaa ";
IniFile::trim(buf);
EXPECT_EQ(buf, string("aaa"));
buf = " aaa";
IniFile::trim(buf);
EXPECT_EQ(buf, string("aaa"));
buf = "aaa ";
IniFile::trim(buf);
EXPECT_EQ(buf, string("aaa"));
}
TEST(inifile, trimleft)
{
string p = " aaa ";
IniFile::trimleft(p);
EXPECT_EQ(p, string("aaa "));
p = " aaa";
IniFile::trimleft(p);
EXPECT_EQ(p, string("aaa"));
p = "aaa ";
IniFile::trimleft(p);
EXPECT_EQ(p, string("aaa "));
}
TEST(inifile, trimright)
{
string p = " aaa ";
IniFile::trimright(p);
EXPECT_EQ(p, string(" aaa"));
p = " aaa";
IniFile::trimright(p);
EXPECT_EQ(p, string(" aaa"));
p = "aaa ";
IniFile::trimright(p);
EXPECT_EQ(p, string("aaa"));
}
TEST(IniFile, pasre)
{
IniFile section;
string s = "DB=sys";
string key, value;
EXPECT_EQ(section.parse(s.c_str(), key, value), true);
EXPECT_EQ(key, "DB");
EXPECT_EQ(value, "sys");
s = "DB";
key = value = "";
EXPECT_EQ(section.parse(s.c_str(), key, value), false);
EXPECT_EQ(key, "");
EXPECT_EQ(value, "");
s = "DB=";
key = value = "";
EXPECT_EQ(section.parse(s.c_str(), key, value), true);
EXPECT_EQ(key, "DB");
EXPECT_EQ(value, "");
s = "=sys";
key = value = "";
EXPECT_EQ(section.parse(s.c_str(), key, value), true);
EXPECT_EQ(key, "");
EXPECT_EQ(value, "sys");
}
//
TEST(IniFile, getline)
{
//create a new ini file
char filepath[] = "test/test.ini";
FILE *fp = fopen(filepath, "w+");
char content[] = " USER=root \r\n [COMMON] \n DB=sys \nPASSWD=tt \n#commit \n ;--------- \n[DEFINE] \nname=cxy\n";
fwrite(content, 1, sizeof(content), fp);
fclose(fp);
//test
IniFile ini;
string line;
fp = fopen(filepath, "r");
ini.getline(line, fp);
IniFile::trimright(line, '\n');
IniFile::trimright(line, '\r');
IniFile::trim(line);
EXPECT_EQ(line, "USER=root");
ini.getline(line, fp);
IniFile::trimright(line, '\n');
IniFile::trimright(line, '\r');
IniFile::trim(line);
EXPECT_EQ(line, "[COMMON]");
ini.getline(line, fp);
IniFile::trimright(line, '\n');
IniFile::trimright(line, '\r');
IniFile::trim(line);
EXPECT_EQ(line, "DB=sys");
ini.getline(line, fp);
ini.getline(line, fp);
IniFile::trimright(line, '\n');
IniFile::trimright(line, '\r');
IniFile::trim(line);
EXPECT_EQ(line, "#commit");
fclose(fp);
}
TEST(IniFile, hasSection_and_getValue)
{
//create a new ini file
char filepath[] = "test/test.ini";
FILE *fp = fopen(filepath, "w+");
char content[] = " USER=root \r\n [COMMON] \n DB=sys \nPASSWD=tt \n#commit \n ;--------- \n[DEFINE] \nname=cxy\nvalue=1 #测试\n";
fwrite(content, 1, sizeof(content), fp);
fclose(fp);
//test
IniFile ini;
ini.load(filepath);
/*cout<<"---------------\n"<<endl;
ini.print();
cout<<"---------------\n"<<endl;
*/
EXPECT_EQ(ini.hasSection(string("")), true);
EXPECT_EQ(ini.hasSection("COMMON"), true);
EXPECT_EQ(ini.hasSection("DEFINE"), true);
EXPECT_EQ(ini.hasSection("ss"), false);
string value;
EXPECT_EQ(ini.getValue("", "USER", value), 0);
EXPECT_EQ(value, string("root"));
EXPECT_EQ(ini.getValue("COMMON", "DB", value), 0);
EXPECT_EQ(value, string("sys"));
EXPECT_EQ(ini.getValue("COMMON", "PASSWD", value), 0);
EXPECT_EQ(value, string("tt"));
EXPECT_EQ(ini.getValue("DEFINE", "name", value), 0);
EXPECT_EQ(value, string("cxy"));
EXPECT_EQ(ini.getValue("DEFINE", "value", value), 0);
EXPECT_EQ(value, string("1"));
}
TEST(IniFile, reopen)
{
//create a new ini file
char filepath[] = "test/test.ini";
FILE *fp = fopen(filepath, "w");
char content[] = " USER=root \r\n [COMMON] \n DB=sys \nPASSWD=tt \n#commit \n ;--------- \n[DEFINE] \nname=cxy\n";
fwrite(content, sizeof(char), strlen(content), fp);
fclose(fp);
//test
IniFile ini;
ini.load(filepath);
//reopen
fp = fopen(filepath, "w");
strcpy(content, " USER=root2 \r\n [COMMON] \n DB=sys2 \n\n#commit \n ;--------- \n\n\n");
fwrite(content, sizeof(char), strlen(content), fp);
fclose(fp);
//test
ini.load(filepath);
EXPECT_EQ(ini.hasSection(""), true);
EXPECT_EQ(ini.hasSection("COMMON"), true);
EXPECT_EQ(ini.hasSection("DEFINE"), false);
string value;
EXPECT_EQ(ini.getValue("", "USER", value), 0);
EXPECT_EQ(value, string("root2"));
EXPECT_EQ(ini.getValue("COMMON", "DB", value), 0);
EXPECT_EQ(value, string("sys2"));
EXPECT_EQ(ini.getValue("COMMON", "PASSWD", value), -1);
EXPECT_EQ(ini.getValue("DEFINE", "name", value), -1);
}
TEST(IniFile, saveas)
{
//create a new ini file
char filepath[] = "test/test.ini";
FILE *fp = fopen(filepath, "w");
char content[] = " USER=root \r\n [COMMON] \n DB=sys \nPASSWD=tt \n#commit \n ;--------- \n[DEFINE] \nname=cxy\nvalue=1 #测试";
fwrite(content, sizeof(char), strlen(content), fp);
fclose(fp);
//test
IniFile ini;
ini.load(filepath);
char saveas_path[] = "test/test_save_as.ini";
ini.saveas(saveas_path);
fp = fopen(saveas_path, "r");
char buf[200];
memset(buf, 0, 200 * sizeof(char));
fread(buf, sizeof(char), 200, fp);
fclose(fp);
EXPECT_EQ(buf, string("USER=root\n[COMMON]\nDB=sys\nPASSWD=tt\n#commit\n;---------\n[DEFINE]\nname=cxy\n#测试\nvalue=1\n"));
}
TEST(IniFile, setValue)
{
IniFile ini;
ini.setValue("COMMON", "DB", "sys", "数据库");
ini.setValue("COMMON", "PASSWD", "root", "数据库密码");
ini.setValue("", "NAME", "cxy", "");
char filepath[] = "test/test_set.ini";
ini.saveas(filepath);
FILE *fp = fopen(filepath, "r");
char buf[200];
memset(buf, 0, 200 * sizeof(char));
fread(buf, sizeof(char), 200, fp);
fclose(fp);
EXPECT_EQ(buf, string("NAME=cxy\n[COMMON]\n#数据库\nDB=sys\n#数据库密码\nPASSWD=root\n"));
}
TEST(IniFile, deleteSection)
{
//create a new ini file
char filepath[] = "test/test.ini";
FILE *fp = fopen(filepath, "w");
char content[] = " USER=root \r\n [COMMON] \n DB=sys \nPASSWD=tt \n#commit \n ;--------- \n[DEFINE] \nname=cxy\n";
fwrite(content, sizeof(char), strlen(content), fp);
fclose(fp);
//test
IniFile ini;
ini.load(filepath);
ini.deleteSection("COMMON");
char saveas_path[] = "test/test_save_deleteS.ini";
ini.saveas(saveas_path);
fp = fopen(saveas_path, "r");
char buf[200];
memset(buf, 0, 200 * sizeof(char));
fread(buf, sizeof(char), 200, fp);
fclose(fp);
EXPECT_EQ(buf, string("USER=root\n#commit\n;---------\n[DEFINE]\nname=cxy\n"));
}
TEST(IniFile, deleteKey)
{
//create a new ini file
char filepath[] = "test/test.ini";
FILE *fp = fopen(filepath, "w");
char content[] = " USER=root \r\n [COMMON] \n DB=sys \nPASSWD=tt \n#commit \n ;--------- \n[DEFINE] \nname=cxy\n";
fwrite(content, sizeof(char), strlen(content), fp);
fclose(fp);
//test
IniFile ini;
ini.load(filepath);
ini.deleteKey("COMMON", "DB");
char saveas_path[] = "test/test_save_deleteK.ini";
ini.saveas(saveas_path);
fp = fopen(saveas_path, "r");
char buf[200];
memset(buf, 0, 200 * sizeof(char));
fread(buf, sizeof(char), 200, fp);
fclose(fp);
EXPECT_EQ(buf, string("USER=root\n[COMMON]\nPASSWD=tt\n#commit\n;---------\n[DEFINE]\nname=cxy\n"));
}
//#ifdef GTEST_MAIN
int main(int argc, char *argv[])
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
//#endif
如下是 P3DX.p的参数文件
ConfigVersion 2.0
;SectionFlags for :
; Robot parameter file
Section General settings
;SectionFlags for General settings:
Class Pioneer ; general type of robot
Subclass p3dx ; specific type of robot
RobotRadius 250.00000 ; radius in mm
RobotDiagonal 120.00000 ; half-height to diagonal of octagon
RobotWidth 425.00000 ; width in mm
RobotLength 511.00000 ; length in mm of the whole robot
RobotLengthFront 210.00000 ; length in mm to the front of the robot (if this is
; 0 (or non existent) this value will be set to half
; of RobotLength)
RobotLengthRear 301.00000 ; length in mm to the rear of the robot (if this is 0
; (or non existent) this value will be set to half of
; RobotLength)
Holonomic true ; turns in own radius
MaxRVelocity 500 ; absolute maximum degrees / sec
MaxVelocity 2200 ; absolute maximum mm / sec
MaxLatVelocity 0 ; absolute lateral maximum mm / sec
HasMoveCommand true ; has built in move command
RequestIOPackets false ; automatically request IO packets
RequestEncoderPackets false ; automatically request encoder packets
SwitchToBaudRate 38400 ; switch to this baud if non-0 and supported on robot
Section Conversion factors
;SectionFlags for Conversion factors:
AngleConvFactor 0.00153 ; radians per angular unit (2PI/4096)
DistConvFactor 0.48500 ; multiplier to mm from robot units
VelConvFactor 1.00000 ; multiplier to mm/sec from robot units
RangeConvFactor 1.00000 ; multiplier to mm from sonar units
DiffConvFactor 0.00560 ; ratio of angular velocity to wheel velocity (unused
; in newer firmware that calculates and returns this)
Vel2Divisor 20.00000 ; divisor for VEL2 commands
GyroScaler 1.62600 ; Scaling factor for gyro readings
Section Accessories the robot has
;SectionFlags for Accessories the robot has:
TableSensingIR false ; if robot has upwards facing table sensing IR
NewTableSensingIR false ; if table sensing IR are sent in IO packet
FrontBumpers false ; if robot has a front bump ring
NumFrontBumpers 5 ; number of front bumpers on the robot
RearBumpers false ; if the robot has a rear bump ring
NumRearBumpers 5 ; number of rear bumpers on the robot
Section IR parameters
;SectionFlags for IR parameters:
IRNum 0 ; number of IRs on the robot
; IRUnit <IR Number> <IR Type> <Persistance, cycles> <x position, mm> <y
position, mm>
Section Movement control parameters
; if these are 0 the parameters from robot flash will be used, otherwise these
; values will be used
;SectionFlags for Movement control parameters:
SettableVelMaxes true ; if TransVelMax and RotVelMax can be set
TransVelMax 0 ; maximum desired translational velocity for the robot
RotVelMax 0 ; maximum desired rotational velocity for the robot
SettableAccsDecs true ; if the accel and decel parameters can be set
TransAccel 0 ; translational acceleration
TransDecel 0 ; translational deceleration
RotAccel 0 ; rotational acceleration
RotDecel 0 ; rotational deceleration
HasLatVel false ; if the robot has lateral velocity
LatVelMax 0 ; maximum desired lateral velocity for the robot
LatAccel 0 ; lateral acceleration
LatDecel 0 ; lateral deceleration
Section GPS parameters
;SectionFlags for GPS parameters:
GPSPX 0 ; x location of gps receiver antenna on robot, mm
GPSPY 0 ; y location of gps receiver antenna on robot, mm
GPSType standard ; type of gps receiver (trimble, novatel, standard)
GPSPort COM2 ; port the gps is on
GPSBaud 9600 ; gps baud rate (9600, 19200, 38400, etc.)
Section Compass parameters
;SectionFlags for Compass parameters:
CompassType robot ; type of compass: robot (typical configuration), or
; serialTCM (computer serial port)
CompassPort ; serial port name, if CompassType is serialTCM
Section Sonar parameters
;SectionFlags for Sonar parameters:
SonarNum 16 ; Number of sonars on the robot.
; SonarUnit <sonarNumber> <x position, mm> <y position, mm> <heading of disc,
degrees> <MTX sonar board> <MTX sonar board unit position> <MTX gain> <MTX
detection threshold> <MTX max range> <autonomous driving sensor flag>
SonarUnit 0 69 136 90
SonarUnit 1 114 119 50
SonarUnit 2 148 78 30
SonarUnit 3 166 27 10
SonarUnit 4 166 -27 -10
SonarUnit 5 148 -78 -30
SonarUnit 6 114 -119 -50
SonarUnit 7 69 -136 -90
SonarUnit 8 -157 -136 -90
SonarUnit 9 -203 -119 -130
SonarUnit 10 -237 -78 -150
SonarUnit 11 -255 -27 -170
SonarUnit 12 -255 27 170
SonarUnit 13 -237 78 150
SonarUnit 14 -203 119 130
SonarUnit 15 -157 136 90
Section SonarBoard_1
; Information about the connection to this Sonar Board.
;SectionFlags for SonarBoard_1:
SonarAutoConnect false ; SonarBoard_1 exists and should be automatically
; connected at startup.
SonarBoardType ; Type of the sonar board.
SonarBoardPortType ; Port type that the sonar is on.
SonarBoardPort ; Port the sonar is on.
SonarBoardPowerOutput ; Power output that controls this Sonar Board's power.
SonarBaud 0 ; Baud rate for the sonar board communication. (9600,
; 19200, 38400, etc.).
SonarDelay 2 ; range [0, 10], Sonar delay (in ms).
SonarGain 10 ; range [0, 31], Default sonar gain for the board,
; range 0-31.
SonarDetectionThreshold 25 ; range [0, 65535], Default sonar detection
; threshold for the board.
SonarMaxRange 4335 ; range [0, 4335], Default maximum sonar range for
; the board.
Section Laser parameters
; Information about the connection to this laser and its position on the
; vehicle.
;SectionFlags for Laser parameters:
LaserAutoConnect true ; Laser_1 exists and should be automatically connected
; at startup.
LaserX 18 ; Location (in mm) of the laser in X (+ front, - back)
; relative to the robot's idealized center of
; rotation.
LaserY 0 ; Location (in mm) of the laser in Y (+ left, - right)
; relative to the robot's idealized center of
; rotation.
LaserTh 0.00000 ; range [-180, 180], Rotation (in deg) of the laser
; (+ counterclockwise, - clockwise).
LaserZ 0 ; minimum 0, Height (in mm) of the laser from the
; ground. 0 means unknown.
LaserIgnore ; Angles (in deg) at which to ignore readings, +/1 one
; degree. Angles are entered as strings, separated by
; a space.
LaserFlipped false ; Laser_1 is upside-down.
LaserType lms2xx ; Type of laser.
LaserPortType serial ; Type of port the laser is on.
LaserPort COM3 ; Port the laser is on.
LaserPowerOutput ; Power output that controls this laser's power.
LaserStartingBaudChoice ; StartingBaud for this laser. Leave blank to use the
; default.
LaserAutoBaudChoice ; AutoBaud for this laser. Leave blank to use the
; default.
LaserPowerControlled true ; When enabled (true), this indicates that the power
; to the laser is controlled by the serial port line.
LaserMaxRange 0 ; Maximum range (in mm) to use for the laser. This
; should be specified only when the range needs to be
; shortened. 0 to use the default range.
LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser. 0 to
; use the default.
LaserStartDegrees ; Start angle (in deg) for the laser. This may be used
; to constrain the angle. Fractional degrees are
; permitted. Leave blank to use the default.
LaserEndDegrees ; End angle (in deg) for the laser. This may be used
; to constrain the angle. Fractional degreees are
; permitted. Leave blank to use the default.
LaserDegreesChoice ; Degrees choice for the laser. This may be used to
; constrain the range. Leave blank to use the default.
LaserIncrement ; Increment (in deg) for the laser. Fractional degrees
; are permitted. Leave blank to use the default.
LaserIncrementChoice ; Increment choice for the laser. This may be used to
; increase the increment. Leave blank to use the
; default.
LaserUnitsChoice ; Units for the laser. This may be used to increase
; the size of the units. Leave blank to use the
; default.
LaserReflectorBitsChoice ; ReflectorBits for the laser. Leave blank to use the
; default.
Section Laser 2 parameters
; Information about the connection to this laser and its position on the
; vehicle.
;SectionFlags for Laser 2 parameters:
LaserAutoConnect false ; Laser_2 exists and should be automatically connected
; at startup.
LaserX 0 ; Location (in mm) of the laser in X (+ front, - back)
; relative to the robot's idealized center of
; rotation.
LaserY 0 ; Location (in mm) of the laser in Y (+ left, - right)
; relative to the robot's idealized center of
; rotation.
LaserTh 0.00000 ; range [-180, 180], Rotation (in deg) of the laser
; (+ counterclockwise, - clockwise).
LaserZ 0 ; minimum 0, Height (in mm) of the laser from the
; ground. 0 means unknown.
LaserIgnore ; Angles (in deg) at which to ignore readings, +/1 one
; degree. Angles are entered as strings, separated by
; a space.
LaserFlipped false ; Laser_2 is upside-down.
LaserType ; Type of laser.
LaserPortType ; Type of port the laser is on.
LaserPort ; Port the laser is on.
LaserPowerOutput ; Power output that controls this laser's power.
LaserStartingBaudChoice ; StartingBaud for this laser. Leave blank to use the
; default.
LaserAutoBaudChoice ; AutoBaud for this laser. Leave blank to use the
; default.
LaserPowerControlled true ; When enabled (true), this indicates that the power
; to the laser is controlled by the serial port line.
LaserMaxRange 0 ; Maximum range (in mm) to use for the laser. This
; should be specified only when the range needs to be
; shortened. 0 to use the default range.
LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser. 0 to
; use the default.
LaserStartDegrees ; Start angle (in deg) for the laser. This may be used
; to constrain the angle. Fractional degrees are
; permitted. Leave blank to use the default.
LaserEndDegrees ; End angle (in deg) for the laser. This may be used
; to constrain the angle. Fractional degreees are
; permitted. Leave blank to use the default.
LaserDegreesChoice ; Degrees choice for the laser. This may be used to
; constrain the range. Leave blank to use the default.
LaserIncrement ; Increment (in deg) for the laser. Fractional degrees
; are permitted. Leave blank to use the default.
LaserIncrementChoice ; Increment choice for the laser. This may be used to
; increase the increment. Leave blank to use the
; default.
LaserUnitsChoice ; Units for the laser. This may be used to increase
; the size of the units. Leave blank to use the
; default.
LaserReflectorBitsChoice ; ReflectorBits for the laser. Leave blank to use the
; default.
Section Battery_1
; Information about the connection to this battery.
;SectionFlags for Battery_1:
BatteryAutoConnect false ; Battery_1 exists and should be automatically
; connected at startup.
BatteryType ; Type of battery.
BatteryPortType ; Port type that the battery is on.
BatteryPort ; Port the battery is on.
BatteryBaud 0 ; Baud rate to use for battery communication (9600,
; 19200, 38400, etc.).
Section LCD_1
; The physical definition of this LCD.
;SectionFlags for LCD_1:
LCDAutoConnect false ; LCD_1 exists and should automatically be connected
; at startup.
LCDDisconnectOnConnectFailure false ; The LCD is a key component and is
; required for operation. If this is enabled and there
; is a failure in the LCD communications, then the
; robot will restart.
LCDType ; Type of LCD.
LCDPortType ; Port type that the LCD is on.
LCDPort ; Port that the LCD is on.
LCDPowerOutput ; Power output that controls this LCD's power.
LCDBaud 0 ; Baud rate for the LCD communication (9600, 19200,
; 38400, etc.).
Section PTZ 1 parameters
; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom
; control (PTZ) of a camera
;SectionFlags for PTZ 1 parameters:
PTZAutoConnect true ; If true, connect to this PTZ by default.
PTZType vcc4 ; PTZ or PTU type
PTZInverted false ; If unit is mounted inverted (upside-down)
PTZSerialPort none ; serial port, or none if not using serial port
; communication
PTZRobotAuxSerialPort 1 ; Pioneer aux. serial port, or -1 if not using aux.
; serial port for communication.
PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network
; communication.
PTZTCPPort 80 ; TCP Port to use for HTTP network connection
Section PTZ 2 parameters
; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom
; control (PTZ) of a camera
;SectionFlags for PTZ 2 parameters:
PTZAutoConnect false ; If true, connect to this PTZ by default.
PTZType unknown ; PTZ or PTU type
PTZInverted false ; If unit is mounted inverted (upside-down)
PTZSerialPort none ; serial port, or none if not using serial port
; communication
PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux.
; serial port for communication.
PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network
; communication.
PTZTCPPort 80 ; TCP Port to use for HTTP network connection
Section PTZ 3 parameters
; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom
; control (PTZ) of a camera
;SectionFlags for PTZ 3 parameters:
PTZAutoConnect false ; If true, connect to this PTZ by default.
PTZType unknown ; PTZ or PTU type
PTZInverted false ; If unit is mounted inverted (upside-down)
PTZSerialPort none ; serial port, or none if not using serial port
; communication
PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux.
; serial port for communication.
PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network
; communication.
PTZTCPPort 80 ; TCP Port to use for HTTP network connection
Section PTZ 4 parameters
; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom
; control (PTZ) of a camera
;SectionFlags for PTZ 4 parameters:
PTZAutoConnect false ; If true, connect to this PTZ by default.
PTZType unknown ; PTZ or PTU type
PTZInverted false ; If unit is mounted inverted (upside-down)
PTZSerialPort none ; serial port, or none if not using serial port
; communication
PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux.
; serial port for communication.
PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network
; communication.
PTZTCPPort 80 ; TCP Port to use for HTTP network connection
Section PTZ 5 parameters
; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom
; control (PTZ) of a camera
;SectionFlags for PTZ 5 parameters:
PTZAutoConnect false ; If true, connect to this PTZ by default.
PTZType unknown ; PTZ or PTU type
PTZInverted false ; If unit is mounted inverted (upside-down)
PTZSerialPort none ; serial port, or none if not using serial port
; communication
PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux.
; serial port for communication.
PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network
; communication.
PTZTCPPort 80 ; TCP Port to use for HTTP network connection
Section PTZ 6 parameters
; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom
; control (PTZ) of a camera
;SectionFlags for PTZ 6 parameters:
PTZAutoConnect false ; If true, connect to this PTZ by default.
PTZType unknown ; PTZ or PTU type
PTZInverted false ; If unit is mounted inverted (upside-down)
PTZSerialPort none ; serial port, or none if not using serial port
; communication
PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux.
; serial port for communication.
PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network
; communication.
PTZTCPPort 80 ; TCP Port to use for HTTP network connection
Section PTZ 7 parameters
; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom
; control (PTZ) of a camera
;SectionFlags for PTZ 7 parameters:
PTZAutoConnect false ; If true, connect to this PTZ by default.
PTZType unknown ; PTZ or PTU type
PTZInverted false ; If unit is mounted inverted (upside-down)
PTZSerialPort none ; serial port, or none if not using serial port
; communication
PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux.
; serial port for communication.
PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network
; communication.
PTZTCPPort 80 ; TCP Port to use for HTTP network connection
Section PTZ 8 parameters
; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom
; control (PTZ) of a camera
;SectionFlags for PTZ 8 parameters:
PTZAutoConnect false ; If true, connect to this PTZ by default.
PTZType unknown ; PTZ or PTU type
PTZInverted false ; If unit is mounted inverted (upside-down)
PTZSerialPort none ; serial port, or none if not using serial port
; communication
PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux.
; serial port for communication.
PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network
; communication.
PTZTCPPort 80 ; TCP Port to use for HTTP network connection
Section Video 1 parameters
; Information about the connection to a video acquisition device,
; framegrabber, or camera
;SectionFlags for Video 1 parameters:
VideoAutoConnect true ; If true, connect to this device by default.
VideoType sx11 ; Device type
VideoInverted false ; If image should be flipped (for cameras mounted
; inverted/upside-down)
VideoWidth -1 ; Desired width of image
VideoHeight -1 ; Desired height of image
VideoDeviceIndex -1 ; Device index
VideoDeviceName none ; Device name (overrides VideoDeviceIndex)
VideoChannel -1 ; Input channel
VideoAnalogSignalFormat ; NTSC or PAL
VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using
; network communication.
VideoTCPPort 80 ; TCP Port to use for HTTP network connection
Section Video 2 parameters
; Information about the connection to a video acquisition device,
; framegrabber, or camera
;SectionFlags for Video 2 parameters:
VideoAutoConnect false ; If true, connect to this device by default.
VideoType unknown ; Device type
VideoInverted false ; If image should be flipped (for cameras mounted
; inverted/upside-down)
VideoWidth -1 ; Desired width of image
VideoHeight -1 ; Desired height of image
VideoDeviceIndex -1 ; Device index
VideoDeviceName none ; Device name (overrides VideoDeviceIndex)
VideoChannel -1 ; Input channel
VideoAnalogSignalFormat ; NTSC or PAL
VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using
; network communication.
VideoTCPPort 80 ; TCP Port to use for HTTP network connection
Section Video 3 parameters
; Information about the connection to a video acquisition device,
; framegrabber, or camera
;SectionFlags for Video 3 parameters:
VideoAutoConnect false ; If true, connect to this device by default.
VideoType unknown ; Device type
VideoInverted false ; If image should be flipped (for cameras mounted
; inverted/upside-down)
VideoWidth -1 ; Desired width of image
VideoHeight -1 ; Desired height of image
VideoDeviceIndex -1 ; Device index
VideoDeviceName none ; Device name (overrides VideoDeviceIndex)
VideoChannel -1 ; Input channel
VideoAnalogSignalFormat ; NTSC or PAL
VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using
; network communication.
VideoTCPPort 80 ; TCP Port to use for HTTP network connection
Section Video 4 parameters
; Information about the connection to a video acquisition device,
; framegrabber, or camera
;SectionFlags for Video 4 parameters:
VideoAutoConnect false ; If true, connect to this device by default.
VideoType unknown ; Device type
VideoInverted false ; If image should be flipped (for cameras mounted
; inverted/upside-down)
VideoWidth -1 ; Desired width of image
VideoHeight -1 ; Desired height of image
VideoDeviceIndex -1 ; Device index
VideoDeviceName none ; Device name (overrides VideoDeviceIndex)
VideoChannel -1 ; Input channel
VideoAnalogSignalFormat ; NTSC or PAL
VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using
; network communication.
VideoTCPPort 80 ; TCP Port to use for HTTP network connection
Section Video 5 parameters
; Information about the connection to a video acquisition device,
; framegrabber, or camera
;SectionFlags for Video 5 parameters:
VideoAutoConnect false ; If true, connect to this device by default.
VideoType unknown ; Device type
VideoInverted false ; If image should be flipped (for cameras mounted
; inverted/upside-down)
VideoWidth -1 ; Desired width of image
VideoHeight -1 ; Desired height of image
VideoDeviceIndex -1 ; Device index
VideoDeviceName none ; Device name (overrides VideoDeviceIndex)
VideoChannel -1 ; Input channel
VideoAnalogSignalFormat ; NTSC or PAL
VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using
; network communication.
VideoTCPPort 80 ; TCP Port to use for HTTP network connection
Section Video 6 parameters
; Information about the connection to a video acquisition device,
; framegrabber, or camera
;SectionFlags for Video 6 parameters:
VideoAutoConnect false ; If true, connect to this device by default.
VideoType unknown ; Device type
VideoInverted false ; If image should be flipped (for cameras mounted
; inverted/upside-down)
VideoWidth -1 ; Desired width of image
VideoHeight -1 ; Desired height of image
VideoDeviceIndex -1 ; Device index
VideoDeviceName none ; Device name (overrides VideoDeviceIndex)
VideoChannel -1 ; Input channel
VideoAnalogSignalFormat ; NTSC or PAL
VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using
; network communication.
VideoTCPPort 80 ; TCP Port to use for HTTP network connection
Section Video 7 parameters
; Information about the connection to a video acquisition device,
; framegrabber, or camera
;SectionFlags for Video 7 parameters:
VideoAutoConnect false ; If true, connect to this device by default.
VideoType unknown ; Device type
VideoInverted false ; If image should be flipped (for cameras mounted
; inverted/upside-down)
VideoWidth -1 ; Desired width of image
VideoHeight -1 ; Desired height of image
VideoDeviceIndex -1 ; Device index
VideoDeviceName none ; Device name (overrides VideoDeviceIndex)
VideoChannel -1 ; Input channel
VideoAnalogSignalFormat ; NTSC or PAL
VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using
; network communication.
VideoTCPPort 80 ; TCP Port to use for HTTP network connection
Section Video 8 parameters
; Information about the connection to a video acquisition device,
; framegrabber, or camera
;SectionFlags for Video 8 parameters:
VideoAutoConnect false ; If true, connect to this device by default.
VideoType unknown ; Device type
VideoInverted false ; If image should be flipped (for cameras mounted
; inverted/upside-down)
VideoWidth -1 ; Desired width of image
VideoHeight -1 ; Desired height of image
VideoDeviceIndex -1 ; Device index
VideoDeviceName none ; Device name (overrides VideoDeviceIndex)
VideoChannel -1 ; Input channel
VideoAnalogSignalFormat ; NTSC or PAL
VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using
; network communication.
VideoTCPPort 80 ; TCP Port to use for HTTP network connection
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