15 #ifndef OPENHRP_BRIDGE_CONF_H_INCLUDED 16 #define OPENHRP_BRIDGE_CONF_H_INCLUDED 18 #if ( defined ( WIN32 ) || defined ( _WIN32 ) || defined(__WIN32__) || defined(__NT__) ) 19 #define SUFFIX_SHARED_EXT ".dll" 20 #define SUFFIX_EXE_EXT ".exe" 21 #elif defined(__APPLE__) 22 #define SUFFIX_SHARED_EXT ".dylib" 23 #define SUFFIX_EXE_EXT ".app" 25 #define SUFFIX_SHARED_EXT ".so" 26 #define SUFFIX_EXE_EXT "" 33 #include <boost/program_options.hpp> 34 #include <rtm/Manager.h> 35 #include <rtm/RTObject.h> 72 std::string InstanceName[2];
73 std::string PortName[2];
99 bool loadConfigFile(
const char* confFileName);
102 const char* getOpenHRPNameServerIdentifier();
103 const char* getControllerName();
104 const char* getVirtualRobotRtcTypeName();
122 boost::program_options::variables_map vmap;
123 boost::program_options::options_description options;
124 boost::program_options::options_description commandLineOptions;
127 bool isProcessingConfigFile;
129 std::string virtualRobotRtcTypeName;
130 std::string controllerName;
131 std::string nameServerIdentifier;
133 void initOptionsDescription();
134 void initLabelToDataTypeMap();
136 void parseCommandLineOptions(
int argc,
char* argv[]);
138 void setPortInfos(
const char* optionLabel,
PortInfoMap& portInfos);
139 void addPortConnection(
const std::string& value);
141 void setPreLoadModuleInfo();
142 void addModuleInfo(
const std::string& value);
143 void addTimeRateInfo(
const std::string& value);
145 void extractParameters(
const std::string&
str, std::vector<std::string>& result,
const char delimiter =
':');
146 std::string expandEnvironmentVariables(
const std::string&
str);
Definition: BridgeConf.h:45
Definition: BridgeConf.h:55
Definition: BridgeConf.h:54
PortInfoMap inPortInfos
Definition: BridgeConf.h:112
Definition: BridgeConf.h:50
Definition: BridgeConf.h:56
Definition: BridgeConf.h:43
TimeRateMap timeRateMap
Definition: BridgeConf.h:118
Definition: BridgeConf.h:81
PortInfoMap outPortInfos
Definition: BridgeConf.h:111
std::string portName
Definition: BridgeConf.h:61
Definition: BridgeConf.h:53
PortConnectionList portConnections
Definition: BridgeConf.h:116
Definition: BridgeConf.h:51
DataTypeId
Definition: BridgeConf.h:37
Definition: BridgeConf.h:39
LabelToDataTypeIdMap labelToDataTypeIdMap
Definition: BridgeConf.h:109
std::string componentName
Definition: BridgeConf.h:83
std::map< std::string, DataTypeId > LabelToDataTypeIdMap
Definition: BridgeConf.h:108
Definition: BridgeConf.h:47
RTC::RtcBase * rtcServant
Definition: BridgeConf.h:86
std::string str(const Vector3 &v)
Definition: EigenUtil.cpp:90
DataTypeId dataTypeId
Definition: BridgeConf.h:62
Definition: BridgeConf.h:48
std::string fileName
Definition: BridgeConf.h:82
Definition: BridgeConf.h:46
Definition: BridgeConf.h:44
Definition: BridgeConf.h:41
std::map< std::string, PortInfo > PortInfoMap
Definition: BridgeConf.h:68
std::vector< std::string > dataOwnerNames
Definition: BridgeConf.h:63
Definition: BridgeConf.h:92
Definition: BridgeConf.h:40
bool isLoaded
Definition: BridgeConf.h:85
Definition: BridgeConf.h:42
std::vector< PortConnection > PortConnectionList
Definition: BridgeConf.h:78
Definition: BridgeConf.h:49
std::map< std::string, double > TimeRateMap
Definition: BridgeConf.h:90
bool isReady()
Definition: BridgeConf.h:100
Definition: BridgeConf.h:71
std::list< ModuleInfo > ModuleInfoList
Definition: BridgeConf.h:88
Definition: BridgeConf.h:57
double stepTime
Definition: BridgeConf.h:65
Definition: BridgeConf.h:38
Definition: BridgeConf.h:60
std::string initFuncName
Definition: BridgeConf.h:84
Definition: BridgeConf.h:52
ModuleInfoList moduleInfoList
Definition: BridgeConf.h:114
int dataOwnerId
Definition: BridgeConf.h:64