1 files changed, 289 insertions, 104 deletions

diff --git a/src/survive_config.c b/src/survive_config.c
index ed3f6cd..352a15b 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -1,174 +1,359 @@
+// (C) 2017 <>< Joshua Allen, Under MIT/x11 License.
 #include <string.h>
 #include <assert.h>
 #include "survive_config.h"
+#include <json_helpers.h>
+
+#include <errno.h>
 
 #define MAX_CONFIG_ENTRIES 100
+#define MAX_LIGHTHOUSES 2
 
-config_val config_values[MAX_CONFIG_ENTRIES];
-static uint16_t used_entries = 0;
+config_group global_config_values;
+config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs
 
-static FILE *config_file = NULL;
+//static uint16_t used_entries = 0;
 
-void config_init() {
-	uint16_t i = 0;
-	for (i=0;i<MAX_CONFIG_ENTRIES;++i) {
-		config_values[i].str = NULL;
-		config_values[i].tag = NULL;
-	}
+//static FILE *config_file = NULL;
+const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* values, uint8_t count);
 
-	used_entries = 0;
+void init_config_entry(config_entry* ce) {
+	ce->data = NULL;
+	ce->tag = NULL;
+	ce->type = CONFIG_UNKNOWN;
+	ce->elements = 0;
 }
 
-void write_float(char* tag, FLT x) {
-	fprintf(config_file, "\"%s\":\"%f\"\n", tag, x);
+void destroy_config_entry(config_entry* ce) {
+	if (ce->tag!=NULL) free(ce->tag);
+	if (ce->data!=NULL) free(ce->data);
 }
 
-void write_float_a(char* tag, FLT *x, uint8_t count) {
-	uint8_t i = 0;
-	char idx[4];
+void init_config_group(config_group *cg, uint16_t count) {
+	uint16_t i = 0;
+	cg->config_entries = malloc(count*sizeof(config_entry));
+	cg->used_entries = 0;
+	cg->max_entries = count;
+
 	for (i=0;i<count;++i) {
-		sprintf(idx,"%d",i);
-		fprintf(config_file, "\"%s%s\":\"%f\"\n", tag,idx, x);
+		init_config_entry(cg->config_entries+i);
 	}
-	fprintf(config_file, "\"%s\":\"%f\"\n", tag, x);
 }
 
-void write_uint32(char* tag, uint32_t x) {
-	fprintf(config_file, "\"%s\":\"%d\"\n", tag, x);
-}
+void resize_config_group(config_group *cg, uint16_t count) {
+	uint16_t i = 0;
+
+	if (count > cg->max_entries) {
+		config_entry* ptr = realloc(cg->config_entries, sizeof(config_entry)*count);
+		assert(ptr!=NULL);
+
+		cg->config_entries = ptr;
 
-void config_open(const char* path, const char* mode) {
-	config_file = fopen(path, mode);
+		for (i=cg->max_entries;i<count;++i) {
+			init_config_entry(cg->config_entries+i);
+		}
+
+		cg->max_entries = count;
+	}
 }
 
-void config_close() {
-	fclose(config_file);
+void config_init() {
+	uint16_t i = 0;
+	init_config_group(&global_config_values, MAX_CONFIG_ENTRIES);
+	for(i=0;i<MAX_LIGHTHOUSES;i++) {
+		init_config_group(lh_config+i, 9);
+	}
 }
 
-void config_write_lighthouse(struct BaseStationData* bsd, uint8_t length) {
-	uint8_t i = 0;
 
-	for (i=0;i<length; ++i) {
-		write_uint32("id", bsd[i].BaseStationID);
-		write_float_a("position", bsd[i].Position, 3);
-		write_float_a("quaternion", bsd[i].Quaternion, 4);
-		write_float_a("quaternion", bsd[i].Quaternion, 4);
-		write_float_a("fcalphase", bsd[i].fcalphase, 2);
-		write_float_a("fcaltilt", bsd[i].fcaltilt,2);
-		write_float_a("fcalcurve", bsd[i].fcalcurve,2);
-		write_float_a("fcalgibpha", bsd[i].fcalgibpha,2);
-		write_float_a("fcalgibmag", bsd[i].fcalgibmag,2);
-	}
+void config_set_lighthouse(BaseStationData* bsd, uint8_t idx) {
+	config_group *cg = lh_config+idx;
+	config_set_uint32(cg,"index", idx);
+	config_set_uint32(cg,"id", bsd->BaseStationID);
+	config_set_float_a(cg,"pose", &bsd->Pose.Pos[0], 7);
+	config_set_float_a(cg,"fcalphase", bsd->fcalphase, 2);
+	config_set_float_a(cg,"fcaltilt", bsd->fcaltilt,2);
+	config_set_float_a(cg,"fcalcurve", bsd->fcalcurve,2);
+	config_set_float_a(cg,"fcalgibpha", bsd->fcalgibpha,2);
+	config_set_float_a(cg,"fcalgibmag", bsd->fcalgibmag,2);
 }
 
-void sstrcpy(char* dest, const char *src) {
+void sstrcpy(char** dest, const char *src) {
 	uint32_t len = strlen(src)+1;
-	if (dest == NULL) {
-		dest = (char*)malloc(len);
-	} else {
-		dest = (char*)realloc(dest, len);
-	}
-	strcpy(dest,src);
+	assert(dest!=NULL);
+
+	char* ptr = (char*)realloc(*dest, len); //acts like malloc if dest==NULL
+	assert(ptr!=NULL);
+	*dest = ptr;
+
+	strcpy(*dest,src);
 }
 
-const char* config_read_str(const char *tag, const char *value, const char *def_str) {
+config_entry* find_config_entry(config_group *cg, const char *tag) {
 	uint16_t i = 0;
-	for (i=0;i<used_entries;++i) {
-		if ( strcmp(config_values[i].tag, tag) == 0 ) {
-			return config_values[i].str;
+	for (i=0;i < cg->used_entries;++i) {
+		if ( strcmp(cg->config_entries[i].tag, tag) == 0 ) {
+			return cg->config_entries+i;
 		}
 	}
-	assert(used_entries<MAX_CONFIG_ENTRIES);
+	return NULL;
+}
+
+const char* config_read_str(config_group *cg, const char *tag, const char *def) {
+	config_entry *cv = find_config_entry(cg, tag);
 
-	i = used_entries++;
-	sstrcpy(config_values[i].tag, tag);
-	sstrcpy(config_values[i].str, def_str);
+	if (cv != NULL) return cv->data;
 
-	return config_values[i].str;
+	return config_set_str(cg,tag,def);
 }
 
-uint32_t config_read_uint32(const char *tag, const uint32_t value, const uint32_t def) {
-	uint16_t i = 0;
-	for (i=0;i<used_entries;++i) {
-		if ( strcmp(config_values[i].tag, tag) == 0 ) {
-			return config_values[i].numeric.i;
-		}
-	}
-	assert(used_entries<MAX_CONFIG_ENTRIES);
+uint32_t config_read_uint32(config_group *cg, const char *tag, const uint32_t def) {
+	config_entry *cv = find_config_entry(cg, tag);
 
-	i = used_entries++;
-	sstrcpy(config_values[i].tag, tag);
-	config_values[i].numeric.i = def;
+	if (cv != NULL) return cv->numeric.i;
 
-	return config_values[i].numeric.i;
+	return config_set_uint32(cg, tag, def);
 }
 
-FLT config_read_float(const char *tag, const FLT value, const FLT def) {
-	uint16_t i = 0;
-	for (i=0;i<used_entries;++i) {
-		if ( strcmp(config_values[i].tag, tag) == 0 ) {
-			return config_values[i].numeric.f;
-		}
+FLT config_read_float(config_group *cg, const char *tag, const FLT def) {
+	config_entry *cv = find_config_entry(cg, tag);
+
+	if (cv != NULL) return cv->numeric.f;
+
+	return config_set_float(cg, tag, def);
+}
+
+uint16_t config_read_float_array(config_group *cg, const char *tag, FLT** values, const FLT* def, uint16_t count) {
+	config_entry *cv = find_config_entry(cg, tag);
+
+	if (cv != NULL) {
+		*values = (FLT*)cv->data;
+		return cv->elements;
 	}
-	assert(used_entries<MAX_CONFIG_ENTRIES);
 
-	i = used_entries++;
-	sstrcpy(config_values[i].tag, tag);
-	config_values[i].numeric.f = def;
+	if (def == NULL) return 0;
 
-	return config_values[i].numeric.f;
+	config_set_float_a(cg, tag, def, count);
+	*values = def;
+	return count;
 }
 
-const char* config_set_str(const char *tag, const char* value) {
-	uint16_t i = 0;
+config_entry* next_unused_entry(config_group *cg) {
+	config_entry *cv = NULL;
+//	assert(cg->used_entries < cg->max_entries);
+
+	if (cg->used_entries >= cg->max_entries) resize_config_group(cg, cg->max_entries + 10);
+
+	cv = cg->config_entries + cg->used_entries;
 
-	assert(used_entries<MAX_CONFIG_ENTRIES);
+	cg->used_entries++;
+	return cv;
+}
+
+const char* config_set_str(config_group *cg, const char *tag, const char* value) {
+	config_entry *cv = find_config_entry(cg, tag);
+	if (cv == NULL) cv = next_unused_entry(cg);
 
-	i = used_entries++;
-	sstrcpy(config_values[i].tag, tag);
-	sstrcpy(config_values[i].str, value);
+	sstrcpy(&(cv->tag), tag);
+	sstrcpy(&(cv->data), value);
+	cv->type = CONFIG_STRING;
 
 	return value;
 }
 
-const uint32_t config_set_uint32(const char *tag, const uint32_t value) {
-	uint16_t i = 0;
+const uint32_t config_set_uint32(config_group *cg, const char *tag, const uint32_t value) {
+	config_entry *cv = find_config_entry(cg, tag);
+	if (cv == NULL) cv = next_unused_entry(cg);
 
-	assert(used_entries<MAX_CONFIG_ENTRIES);
+	sstrcpy(&(cv->tag), tag);
+	cv->numeric.i = value;
+	cv->type = CONFIG_UINT32;
 
-	i = used_entries++;
-	sstrcpy(config_values[i].tag, tag);
-	config_values[i].numeric.i = value;
+	return value;
+}
+
+const FLT config_set_float(config_group *cg, const char *tag, const FLT value) {
+	config_entry *cv = find_config_entry(cg, tag);
+	if (cv == NULL) cv = next_unused_entry(cg);
+
+	sstrcpy(&(cv->tag), tag);
+	cv->numeric.f = value;
+	cv->type = CONFIG_FLOAT;
 
 	return value;
 }
 
-const FLT config_set_float(const char *tag, const FLT value) {
+const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* values, uint8_t count) {
+	config_entry *cv = find_config_entry(cg, tag);
+	if (cv == NULL) cv = next_unused_entry(cg);
+
+	sstrcpy(&(cv->tag), tag);
+
+	char* ptr = (char*)realloc(cv->data, sizeof(FLT)*count);
+	assert(ptr!=NULL);
+	cv->data = ptr;
+
+	printf("float array\n");
+
+	memcpy(cv->data,values,sizeof(FLT)*count);
+	cv->type = CONFIG_FLOAT_ARRAY;
+	cv->elements = count;
+
+	return values;
+}
+
+void _json_write_float_array(FILE* f, const char* tag, FLT* v, uint8_t count) {
+	#ifdef USE_DOUBLE
+		json_write_double_array(f,tag,v,count);
+	#else
+		json_write_float_array(f,tag,v,count);
+	#endif
+}
+
+void write_config_group(FILE* f, config_group *cg, char *tag) {
 	uint16_t i = 0;
 
-	assert(used_entries<MAX_CONFIG_ENTRIES);
+	if (tag != NULL) {
+		fprintf(f, "\"%s\":{\n", tag);
+	}
 
-	i = used_entries++;
-	sstrcpy(config_values[i].tag, tag);
-	config_values[i].numeric.f = value;
+	for (i=0;i < cg->used_entries;++i) {
+		if (cg->config_entries[i].type == CONFIG_FLOAT) {
+			json_write_float(f, cg->config_entries[i].tag, cg->config_entries[i].numeric.f);
+		} else if (cg->config_entries[i].type == CONFIG_UINT32) {
+			json_write_uint32(f, cg->config_entries[i].tag, cg->config_entries[i].numeric.i);
+		} else if (cg->config_entries[i].type == CONFIG_STRING) {
+			json_write_str(f, cg->config_entries[i].tag, cg->config_entries[i].data);
+		} else if (cg->config_entries[i].type == CONFIG_FLOAT_ARRAY) {
+			_json_write_float_array(f, cg->config_entries[i].tag, (FLT*)cg->config_entries[i].data, cg->config_entries[i].elements);
+		}
+		if ((i+1) < cg->used_entries) fprintf(f,",");
+		fprintf(f,"\n");
+	};
 
-	return value;
+	if (tag != NULL) {
+		fprintf(f,"}\n");
+	}
 }
+
 void config_save(const char* path) {
 	uint16_t i = 0;
 
 	FILE* f = fopen(path, "w");
 
-	for (i=0;i<=used_entries;++i) {
-		if (config_values[i].type == CONFIG_FLOAT) {
-			fprintf(f, "\"%s\":\"%F\"\n", config_values[i].tag, config_values[i].numeric.f);
-		} else if (config_values[i].type == CONFIG_UINT32) {
-			fprintf(f, "\"%s\":\"%d\"\n", config_values[i].tag, config_values[i].numeric.i);
-		} else if (config_values[i].type == CONFIG_STRING) {
-			fprintf(f, "\"%s\":\"%s\"\n", config_values[i].tag, config_values[i].str);
-		}
-	};
+	write_config_group(f,&global_config_values, NULL);
+	write_config_group(f,lh_config, "lighthouse0");
+	write_config_group(f,lh_config+1, "lighthouse1");
 
 	fclose(f);
 }
 
+void print_json_value(char* tag, char** values, uint16_t count) {
+	uint16_t i = 0;
+	for (i=0;i<count; ++i) {
+		printf("%s:%s \n", tag, values[i]);
+	}
+}
+
+config_group* cg_stack[10]; //handle 10 nested objects deep
+uint8_t cg_stack_head = 0;
+
+void handle_config_group(char* tag) {
+	cg_stack_head++;
+	if (strcmp("lighthouse0",tag) == 0) {
+		cg_stack[cg_stack_head] = lh_config;
+	} else if (strcmp("lighthouse1",tag) == 0) {
+		cg_stack[cg_stack_head] = lh_config+1;
+	} else {
+		cg_stack[cg_stack_head] = &global_config_values;
+	}
+}
+
+void pop_config_group() {
+	cg_stack_head--;
+}
+
+
+int parse_floats(char* tag, char** values, uint16_t count) {
+	uint16_t i = 0;
+	FLT f[count];
+	char* end = NULL;
+	config_group* cg = cg_stack[cg_stack_head];
+
+	for(i=0;i<count;++i) {
+
+		#ifdef USE_DOUBLE
+		f[i] = strtod(values[i], &end);
+		#else
+		f[i] = strtof(values[i], &end);
+		#endif
+
+//		if (values[i] == end) return 0; //not a float
+		if (*end != '\0') return 0; //not an integer
+	}
+
+	if (count>1) {
+		config_set_float_a(cg, tag, f, count);
+	}
+	else {
+		config_set_float(cg, tag, f[0]);
+	}
+
+	return 1;
+}
+
+int parse_uint32(char* tag, char** values, uint16_t count) {
+	uint16_t i = 0;
+	uint32_t l[count];
+	char* end = NULL;
+	config_group* cg = cg_stack[cg_stack_head];
+
+/*
+	//look for non numeric values
+	for(end=values[0];*end!='\0';++end) {
+		if ((*end<48) || (*end>57)) return 0;
+	}
+
+	end=NULL;
+*/
+	for(i=0;i<count;++i) {
+		l[i] = strtol(values[i], &end, 10);
+//		if (values[i] == end) return 0; //not an integer
+		if (*end != '\0') return 0; //not an integer
+	}
+
+//	if (count>1)
+//		config_set_uint32_array(cg, tag, f, count);
+//	else
+		config_set_uint32(cg, tag, l[0]);
+
+	return 1;
+}
+
+void handle_tag_value(char* tag, char** values, uint16_t count) {
+	print_json_value(tag,values,count);
+	config_group* cg = cg_stack[cg_stack_head];
+
+	if (parse_uint32(tag,values,count) > 0) return; //parse integers first, stricter rules
+
+	if (parse_floats(tag,values,count) > 0) return;
+
+	//should probably also handle string arrays
+	config_set_str(cg,tag,values[0]);
+//	else if (count>1) config_set_str
+}
+
+void config_read(const char* path) {
+	json_begin_object = handle_config_group;
+	json_end_object = pop_config_group;
+	json_tag_value = handle_tag_value;
+
+	cg_stack[0] = &global_config_values;
+
+	json_load_file(path);
+
+	json_begin_object = NULL;
+	json_end_object = NULL;
+	json_tag_value = NULL;
+}
+