From 0ebe84be5824202aecfd87ac58005afa76b36be9 Mon Sep 17 00:00:00 2001 From: Joshua Allen Date: Mon, 6 Mar 2017 22:05:02 -0500 Subject: Load strings from config files. I need to finish the loading of numeric values and arrays. --- src/survive_config.c | 57 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 57 insertions(+) (limited to 'src/survive_config.c') diff --git a/src/survive_config.c b/src/survive_config.c index c46e300..d91596f 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -109,6 +109,14 @@ FLT config_read_float(config_group *cg, const char *tag, const FLT def) { config_entry* next_unused_entry(config_group *cg) { config_entry *cv = cg->config_entries + cg->used_entries; assert(cg->used_entries < cg->max_entries); + +/* + if (cg->used_entries >= cg->max_entries) { + cg->max_entries+=10; + cg->config_entries = realloc(cg->config_entries, sizeof(config_entry)*cg->max_entries); + } +*/ + cg->used_entries++; return cv; } @@ -213,3 +221,52 @@ void config_save(const char* path) { fclose(f); } +void print_json_value(char* tag, char** values, uint16_t count) { + uint16_t i = 0; + for (i=0;i1) 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; +} + -- cgit v1.2.3 From a7b423ba1f0b28d0e6f3f375475cf93d66b922c9 Mon Sep 17 00:00:00 2001 From: Joshua Allen Date: Mon, 6 Mar 2017 22:21:15 -0500 Subject: remove unused function --- src/survive_config.c | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) (limited to 'src/survive_config.c') diff --git a/src/survive_config.c b/src/survive_config.c index d91596f..83951fb 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -14,7 +14,7 @@ config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs //static uint16_t used_entries = 0; -static FILE *config_file = NULL; +//static FILE *config_file = NULL; const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* values, uint8_t count); void init_config_group(config_group *cg, uint16_t count) { @@ -39,13 +39,6 @@ void config_init() { } } -void config_load(const char* path) { - config_file = fopen(path, "r"); -} - -void config_close() { - fclose(config_file); -} void config_set_lighthouse(struct BaseStationData* bsd, uint8_t idx) { config_group *cg = lh_config+idx; -- cgit v1.2.3 From 90ed96e7b59e60a39f1e1f33223c6ffb0ee833f7 Mon Sep 17 00:00:00 2001 From: Joshua Allen Date: Tue, 7 Mar 2017 20:33:19 -0500 Subject: parse out integers and floats --- src/survive_config.c | 81 ++++++++++++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 79 insertions(+), 2 deletions(-) (limited to 'src/survive_config.c') diff --git a/src/survive_config.c b/src/survive_config.c index 83951fb..d8bad17 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -4,6 +4,8 @@ #include "survive_config.h" #include +#include + #define MAX_CONFIG_ENTRIES 100 #define MAX_LIGHTHOUSES 2 @@ -99,6 +101,21 @@ FLT config_read_float(config_group *cg, const char *tag, const FLT def) { 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; + } + + if (def == NULL) return 0; + + config_set_float_a(cg, tag, def, count); + *values = def; + return count; +} + config_entry* next_unused_entry(config_group *cg) { config_entry *cv = cg->config_entries + cg->used_entries; assert(cg->used_entries < cg->max_entries); @@ -239,13 +256,73 @@ 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;i1) { + 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;i1) +// 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]; - //parse out numeric values + if (parse_uint32(tag,values,count) > 0) return; //parse integers first, stricter rules + + if (parse_floats(tag,values,count) > 0) return; - if (count == 1) config_set_str(cg,tag,values[0]); + //should probably also handle string arrays + config_set_str(cg,tag,values[0]); // else if (count>1) config_set_str } -- cgit v1.2.3 From 6613cdc174401379b88f253385e8f82304de42f5 Mon Sep 17 00:00:00 2001 From: Joshua Allen Date: Tue, 7 Mar 2017 21:20:39 -0500 Subject: simplify use of realloc --- src/survive_config.c | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) (limited to 'src/survive_config.c') diff --git a/src/survive_config.c b/src/survive_config.c index d8bad17..23d7ef1 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -59,11 +59,10 @@ void sstrcpy(char** dest, const char *src) { uint32_t len = strlen(src)+1; assert(dest!=NULL); - if (*dest == NULL) { - *dest = (char*)malloc(len); - } else { - *dest = (char*)realloc(*dest, len); - } + char* ptr = (char*)realloc(*dest, len); //acts like mallos if dest==NULL + assert(ptr!=NULL); + *dest = ptr; + strcpy(*dest,src); } @@ -170,12 +169,10 @@ const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* valu sstrcpy(&(cv->tag), tag); - if (cv->data == NULL) { - cv->data = (char*)malloc(sizeof(FLT)*count); - } - else { - cv->data = (char*)realloc(cv->data, sizeof(FLT)*count); - } + 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); -- cgit v1.2.3 From be3b6becc78ca68287e2570eea292535fc3327ec Mon Sep 17 00:00:00 2001 From: Joshua Allen Date: Tue, 7 Mar 2017 21:24:32 -0500 Subject: dynamically expand config_entries in config_group --- src/survive_config.c | 35 ++++++++++++++++++++++++++--------- 1 file changed, 26 insertions(+), 9 deletions(-) (limited to 'src/survive_config.c') diff --git a/src/survive_config.c b/src/survive_config.c index 23d7ef1..b59bd85 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -33,6 +33,26 @@ void init_config_group(config_group *cg, uint16_t count) { } } +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; + + for (i=cg->max_entries;iconfig_entries[i].data = NULL; + cg->config_entries[i].tag = NULL; + cg->config_entries[i].type = CONFIG_UNKNOWN; + cg->config_entries[i].elements = 0; + } + + cg->max_entries = count; + } +} + void config_init() { uint16_t i = 0; init_config_group(&global_config_values, MAX_CONFIG_ENTRIES); @@ -59,7 +79,7 @@ void sstrcpy(char** dest, const char *src) { uint32_t len = strlen(src)+1; assert(dest!=NULL); - char* ptr = (char*)realloc(*dest, len); //acts like mallos if dest==NULL + char* ptr = (char*)realloc(*dest, len); //acts like malloc if dest==NULL assert(ptr!=NULL); *dest = ptr; @@ -116,15 +136,12 @@ uint16_t config_read_float_array(config_group *cg, const char *tag, FLT** values } config_entry* next_unused_entry(config_group *cg) { - config_entry *cv = cg->config_entries + cg->used_entries; - assert(cg->used_entries < cg->max_entries); + config_entry *cv = NULL; +// assert(cg->used_entries < cg->max_entries); -/* - if (cg->used_entries >= cg->max_entries) { - cg->max_entries+=10; - cg->config_entries = realloc(cg->config_entries, sizeof(config_entry)*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; cg->used_entries++; return cv; -- cgit v1.2.3 From 57e82519b4844620851784e7682a2c562cb06d47 Mon Sep 17 00:00:00 2001 From: Joshua Allen Date: Tue, 7 Mar 2017 21:39:40 -0500 Subject: add init and destroy functions for config_entry --- src/survive_config.c | 24 ++++++++++++++---------- 1 file changed, 14 insertions(+), 10 deletions(-) (limited to 'src/survive_config.c') diff --git a/src/survive_config.c b/src/survive_config.c index b59bd85..f30bf87 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -9,8 +9,6 @@ #define MAX_CONFIG_ENTRIES 100 #define MAX_LIGHTHOUSES 2 - - config_group global_config_values; config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs @@ -19,6 +17,18 @@ config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs //static FILE *config_file = NULL; const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* values, uint8_t count); +void init_config_entry(config_entry* ce) { + ce->data = NULL; + ce->tag = NULL; + ce->type = CONFIG_UNKNOWN; + ce->elements = 0; +} + +void destroy_config_entry(config_entry* ce) { + if (ce->tag!=NULL) free(ce->tag); + if (ce->data!=NULL) free(ce->data); +} + void init_config_group(config_group *cg, uint16_t count) { uint16_t i = 0; cg->config_entries = malloc(count*sizeof(config_entry)); @@ -26,10 +36,7 @@ void init_config_group(config_group *cg, uint16_t count) { cg->max_entries = count; for (i=0;iconfig_entries[i].data = NULL; - cg->config_entries[i].tag = NULL; - cg->config_entries[i].type = CONFIG_UNKNOWN; - cg->config_entries[i].elements = 0; + init_config_entry(cg->config_entries+i); } } @@ -43,10 +50,7 @@ void resize_config_group(config_group *cg, uint16_t count) { cg->config_entries = ptr; for (i=cg->max_entries;iconfig_entries[i].data = NULL; - cg->config_entries[i].tag = NULL; - cg->config_entries[i].type = CONFIG_UNKNOWN; - cg->config_entries[i].elements = 0; + init_config_entry(cg->config_entries+i); } cg->max_entries = count; -- cgit v1.2.3 From b13b5f9af2c2803f919d8897cd3ed5d24831cad3 Mon Sep 17 00:00:00 2001 From: Joshua Allen Date: Tue, 7 Mar 2017 21:48:30 -0500 Subject: null after free --- src/survive_config.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/survive_config.c') diff --git a/src/survive_config.c b/src/survive_config.c index f30bf87..8e0241a 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -25,8 +25,8 @@ void init_config_entry(config_entry* ce) { } void destroy_config_entry(config_entry* ce) { - if (ce->tag!=NULL) free(ce->tag); - if (ce->data!=NULL) free(ce->data); + if (ce->tag!=NULL) { free(ce->tag); ce->tag=NULL; } + if (ce->data!=NULL) { free(ce->data); ce->data=NULL; } } void init_config_group(config_group *cg, uint16_t count) { -- cgit v1.2.3 From 394cbc465e776137834eea830038b43ea98f6268 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Wed, 8 Mar 2017 00:30:48 -0500 Subject: Switch types over to avoiding extra struct keyword. Switch poses to "SurvivePose" type. --- src/survive_config.c | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) (limited to 'src/survive_config.c') diff --git a/src/survive_config.c b/src/survive_config.c index f30bf87..352a15b 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -66,12 +66,11 @@ void config_init() { } -void config_set_lighthouse(struct BaseStationData* bsd, uint8_t idx) { +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,"position", bsd->Position, 3); - config_set_float_a(cg,"quaternion", bsd->Quaternion, 4); + 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); -- cgit v1.2.3 From d69cf82a079f93ae1109f70fd011a0efa75b44b5 Mon Sep 17 00:00:00 2001 From: Joshua Allen Date: Wed, 8 Mar 2017 21:17:50 -0500 Subject: shoehorn configuration into SurviveContext --- src/survive_config.c | 45 +++++++++++++++++++++++++++++++-------------- 1 file changed, 31 insertions(+), 14 deletions(-) (limited to 'src/survive_config.c') diff --git a/src/survive_config.c b/src/survive_config.c index 4de6a3a..de0530b 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -9,8 +9,8 @@ #define MAX_CONFIG_ENTRIES 100 #define MAX_LIGHTHOUSES 2 -config_group global_config_values; -config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs +//config_group global_config_values; +//config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs //static uint16_t used_entries = 0; @@ -40,6 +40,17 @@ void init_config_group(config_group *cg, uint16_t count) { } } +void destroy_config_group(config_group* cg) { + uint16_t i = 0; + if (cg->config_entries==NULL) return; + + for (i=0;imax_entries;++i) { + destroy_config_entry(cg->config_entries+i); + } + + free(cg->config_entries); +} + void resize_config_group(config_group *cg, uint16_t count) { uint16_t i = 0; @@ -57,6 +68,7 @@ void resize_config_group(config_group *cg, uint16_t count) { } } +/* void config_init() { uint16_t i = 0; init_config_group(&global_config_values, MAX_CONFIG_ENTRIES); @@ -64,9 +76,9 @@ void config_init() { init_config_group(lh_config+i, 9); } } +*/ - -void config_set_lighthouse(BaseStationData* bsd, uint8_t idx) { +void config_set_lighthouse(config_group* lh_config, BaseStationData* bsd, uint8_t idx) { config_group *cg = lh_config+idx; config_set_uint32(cg,"index", idx); config_set_uint32(cg,"id", bsd->BaseStationID); @@ -123,7 +135,7 @@ FLT config_read_float(config_group *cg, const char *tag, const FLT def) { 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) { +uint16_t config_read_float_array(config_group *cg, const char *tag, const FLT** values, const FLT* def, uint16_t count) { config_entry *cv = find_config_entry(cg, tag); if (cv != NULL) { @@ -236,14 +248,17 @@ void write_config_group(FILE* f, config_group *cg, char *tag) { } } -void config_save(const char* path) { +//struct SurviveContext; +SurviveContext* survive_context; + +void config_save(SurviveContext* sctx, const char* path) { uint16_t i = 0; FILE* f = fopen(path, "w"); - write_config_group(f,&global_config_values, NULL); - write_config_group(f,lh_config, "lighthouse0"); - write_config_group(f,lh_config+1, "lighthouse1"); + write_config_group(f,sctx->global_config_values, NULL); + write_config_group(f,sctx->lh_config, "lighthouse0"); + write_config_group(f,sctx->lh_config+1, "lighthouse1"); fclose(f); } @@ -261,11 +276,11 @@ 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; + cg_stack[cg_stack_head] = survive_context->lh_config; } else if (strcmp("lighthouse1",tag) == 0) { - cg_stack[cg_stack_head] = lh_config+1; + cg_stack[cg_stack_head] = survive_context->lh_config+1; } else { - cg_stack[cg_stack_head] = &global_config_values; + cg_stack[cg_stack_head] = survive_context->global_config_values; } } @@ -343,12 +358,14 @@ void handle_tag_value(char* tag, char** values, uint16_t count) { // else if (count>1) config_set_str } -void config_read(const char* path) { +void config_read(SurviveContext* sctx, const char* path) { + survive_context = sctx; + json_begin_object = handle_config_group; json_end_object = pop_config_group; json_tag_value = handle_tag_value; - cg_stack[0] = &global_config_values; + cg_stack[0] = sctx->global_config_values; json_load_file(path); -- cgit v1.2.3 From e7994264c36713b485b51f5505707bd8743b9e4d Mon Sep 17 00:00:00 2001 From: Joshua Allen Date: Wed, 8 Mar 2017 21:19:38 -0500 Subject: comment out unneeded #defines --- src/survive_config.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/survive_config.c') diff --git a/src/survive_config.c b/src/survive_config.c index de0530b..38c24e1 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -6,8 +6,8 @@ #include -#define MAX_CONFIG_ENTRIES 100 -#define MAX_LIGHTHOUSES 2 +//#define MAX_CONFIG_ENTRIES 100 +//#define MAX_LIGHTHOUSES 2 //config_group global_config_values; //config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs -- cgit v1.2.3 From 9e1eda90ff4c426750eed202c03808f6406988bb Mon Sep 17 00:00:00 2001 From: Joshua Allen Date: Wed, 8 Mar 2017 21:37:20 -0500 Subject: do not malloc if size is 0 --- src/survive_config.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) (limited to 'src/survive_config.c') diff --git a/src/survive_config.c b/src/survive_config.c index 38c24e1..3f0f199 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -31,9 +31,13 @@ void destroy_config_entry(config_entry* ce) { 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; + cg->config_entries = NULL; + + if (count==0) return; + + cg->config_entries = malloc(count*sizeof(config_entry)); for (i=0;iconfig_entries+i); -- cgit v1.2.3