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* Stage : a multi-robot simulator.
* Copyright (C) 2001, 2002 Richard Vaughan, Andrew Howard and Brian Gerkey.
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* GNU General Public License for more details.
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
* Desc: A class for reading in the world file.
* Author: Andrew Howard, Richard Vaughan
* Date: 15 Nov 2001
* CVS info: $Id$
#include <stdint.h> // for portable int types eg. uint32_t
#include <stdio.h> // for FILE ops
namespace Stg {
/// Property class
class CProperty
/// Index of entity this property belongs to
int entity;
/// Name of property
std::string name;
/// A list of token indexes
std::vector<int> values;
/// Line this property came from
int line;
/// Flag set if property has been used
bool used;
CProperty( int entity, const char* name, int line ) :
used(false) {}
// Class for loading/saving world file. This class hides the syntax
// of the world file and provides an ' = value' style
// interface. Global settings go in entity 0; every other entity
// refers to a specific entity. Parent/child relationships are
// encoded in the form of entity/subentity relationships.
class Worldfile
// Standard constructors/destructors
public: Worldfile();
public: ~Worldfile();
// replacement for fopen() that checks STAGEPATH dirs for the named file
// (thanks to Douglas S. Blank <>)
protected: FILE* FileOpen(const std::string& filename, const char* method);
// Load world from file
public: bool Load(const std::string& filename );
// Save world into named file
public: bool Save(const std::string& filename);
// Check for unused properties and print warnings
public: bool WarnUnused();
// Read a string
public: const std::string ReadString(int entity, const char* name, const std::string& value);
// Write a string
public: void WriteString(int entity, const char *name, const std::string& value );
// Read an integer
public: int ReadInt(int entity, const char *name, int value);
// Write an integer
public: void WriteInt(int entity, const char *name, int value);
// Read a float
public: double ReadFloat(int entity, const char *name, double value);
// Write a float
public: void WriteFloat(int entity, const char *name, double value);
// Read a length (includes unit conversion)
public: double ReadLength(int entity, const char *name, double value)
return (ReadFloat( entity, name, value/unit_length ) * unit_length);
// Write a length (includes units conversion)
public: void WriteLength(int entity, const char *name, double value);
// Read an angle (includes unit conversion)
public: double ReadAngle(int entity, const char *name, double value)
return (ReadFloat( entity, name, value/unit_angle ) * unit_angle);
// Read a boolean
// REMOVE? public: bool ReadBool(int entity, const char *name, bool value);
// Read a color (includes text to RGB conversion)
public: uint32_t ReadColor(int entity, const char *name, uint32_t value);
// Read a file name. Always returns an absolute path. If the
// filename is entered as a relative path, we prepend the world
// files path to it.
public: const char *ReadFilename(int entity, const char *name, const char *value);
// Read a series of values from a tuplee
public: int ReadTuple( const int entity, const char* name,
const unsigned int first, const unsigned int num, const char* format, ... );
// Write a series of values to a tuple
public: void WriteTuple( const int entity, const char *name,
const unsigned int first, const unsigned int count, const char* format, ... );
// Private methods used to load stuff from the world file
// Load tokens from a file.
private: bool LoadTokens(FILE *file, int include);
// Read in a comment token
private: bool LoadTokenComment(FILE *file, int *line, int include);
// Read in a word token
private: bool LoadTokenWord(FILE *file, int *line, int include);
// Load an include token; this will load the include file.
private: bool LoadTokenInclude(FILE *file, int *line, int include);
// Read in a number token
private: bool LoadTokenNum(FILE *file, int *line, int include);
// Read in a string token
private: bool LoadTokenString(FILE *file, int *line, int include);
// Read in a whitespace token
private: bool LoadTokenSpace(FILE *file, int *line, int include);
// Save tokens to a file.
private: bool SaveTokens(FILE *file);
// Clear the token list
private: void ClearTokens();
// Add a token to the token list
private: bool AddToken(int type, const char *value, int include);
// Set a token in the token list
private: bool SetTokenValue(int index, const char *value);
// Get the value of a token
private: const char *GetTokenValue(int index);
// Dump the token list (for debugging).
private: void DumpTokens();
// Parse a line
private: bool ParseTokens();
// Parse an include statement
private: bool ParseTokenInclude(int *index, int *line);
// Parse a macro definition
private: bool ParseTokenDefine(int *index, int *line);
// Parse an word (could be a entity or an property) from the token list.
private: bool ParseTokenWord(int entity, int *index, int *line);
// Parse a entity from the token list.
private: bool ParseTokenEntity(int entity, int *index, int *line);
// Parse an property from the token list.
private: bool ParseTokenProperty(int entity, int *index, int *line);
// Parse a tuple.
private: bool ParseTokenTuple( CProperty* property, int *index, int *line);
// Clear the macro list
private: void ClearMacros();
// Add a macro
private: void AddMacro(const char *macroname, const char *entityname,
int line, int starttoken, int endtoken);
// Lookup a macro by name
// Returns a pointer to a macro with this name, or NULL if there is none..
class CMacro;
private: CMacro* LookupMacro(const char *macroname);
// Dump the macro list for debugging
private: void DumpMacros();
// Clear the entity list
private: void ClearEntities();
// Add a entity
private: int AddEntity(int parent, const char *type);
// Get the number of entities.
public: int GetEntityCount();
// Get a entity (returns the entity type value)
public: const char *GetEntityType(int entity);
// Lookup a entity number by type name
// Returns -1 if there is entity with this type
public: int LookupEntity(const char *type);
// Get a entity's parent entity.
// Returns -1 if there is no parent.
public: int GetEntityParent(int entity);
// Dump the entity list for debugging
private: void DumpEntities();
// Clear the property list
private: void ClearProperties();
// Add an property
private: CProperty* AddProperty(int entity, const char *name, int line);
// Add an property value.
private: void AddPropertyValue( CProperty* property, int index, int value_token);
// Get an property
public: CProperty* GetProperty(int entity, const char *name);
// returns true iff the property exists in the file, so that you can
// be sure that GetProperty() will work
bool PropertyExists( int section, const char* token );
// Set the value of an property.
private: void SetPropertyValue( CProperty* property, int index, const char *value);
// Get the value of an property.
public: const char *GetPropertyValue( CProperty* property, int index);
// Dump the property list for debugging
private: void DumpProperties();
// Token types.
private: enum
TokenWord, TokenNum, TokenString,
TokenOpenEntity, TokenCloseEntity,
TokenOpenTuple, TokenCloseTuple,
TokenSpace, TokenEOL
// Token structure.
class CToken
// Non-zero if token is from an include file.
int include;
// Token type (enumerated value).
int type;
// Token value
std::string value;
CToken( int include, int type, const char* value ) :
include(include), type(type), value(value) {}
// A list of tokens loaded from the file.
// Modified values are written back into the token list.
//private: int token_size, token_count;
private: std::vector<CToken> tokens;
// Private macro class
class CMacro
// Name of macro
std::string macroname;
// Name of entity
std::string entityname;
// Line the macro definition starts on.
int line;
// Range of tokens in the body of the macro definition.
int starttoken, endtoken;
CMacro(const char *macroname, const char *entityname,
int line, int starttoken, int endtoken) :
endtoken(endtoken) {}
// Macro table
private: std::map<std::string,CMacro> macros;
// Private entity class
class CEntity
// Parent entity
int parent;
// Type of entity (i.e. position, laser, etc).
std::string type;
CEntity( int parent, const char* type ) : parent(parent), type(type) {}
// Entity list
private: std::vector<CEntity> entities;
// Property list
private: std::map<std::string,CProperty*> properties;
// Name of the file we loaded
public: std::string filename;
// Conversion units
public: double unit_length;
public: double unit_angle;
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