hekateros::HekXmlTune Class Reference

HekXmlTune Hekateros XML tuning class. More...

#include <hekXmlTune.h>

Inheritance diagram for hekateros::HekXmlTune:

Public Member Functions
	HekXmlTune ()
	Default constructor.
virtual	~HekXmlTune ()
	Destructor.
virtual int	load (HekTunes &tunes, const std::string &strSearchPath=HekSysCfgPath, const std::string &strXmlFileName=HekEtcTune, bool bAllInstances=false)
	Load XML file into DOM and set the Hekateros tuning parameters. More...
virtual int	loadFile (const std::string &strXmlFileName=HekEtcTune)
	Load XML file into DOM. More...
virtual int	loadFile (HekTunes &tunes, const std::string &strXmlFileName=HekEtcTune)
	Load XML file into DOM and set the Hekateros tuning parameters. More...
virtual int	saveFile (const std::string &strXmlFileName=HekEtcTune)
	Save DOM to XML file. More...
virtual int	saveFile (const HekTunes &tunes, const std::string &strXmlFileName=HekEtcTune)
	Set DOM from Hekateros description and save XML file. More...
virtual int	createTemplateFile (const std::string &strXmlFileName=HekEtcTune)
	Create a template Hekateros XML configuration file. root element. More...
virtual int	setTunesFromDOM (HekTunes &tunes)
	Set the tune parameters from the parsed DOM. More...
virtual int	setDOMFromHekTunes (const HekTunes &tunes)
	Set the DOM from the Hekateros tune parameters. More...

Protected Member Functions
int	setGlobalTunes (TiXmlElement *pElemSec, HekTunes &tunes)
	Set the global tune parameters from the parsed DOM. More...
int	setJointTunes (TiXmlElement *pElemSec, HekTunes &tunes)
	Set a joint tune parameters from the parsed DOM. More...
int	setGlobalTrajTunes (TiXmlElement *pElemSubSec, HekTunes &tunes)
	Set the global trajectory tune parameters from the parsed DOM. More...
int	setJointPidTunes (const std::string &strJointName, TiXmlElement *pElemSubSec, HekTunesJoint &tunesJoint)
	Set a joint's PID tune parameters from the parsed DOM. More...
int	strToDoubleWithMinimum (const std::string &strElem, const std::string &strText, const double fMin, double &fVal)
	Convert text to value with a minimum value. More...
int	strToDoubleWithinRange (const std::string &strElem, const std::string &strText, const double fMin, const double fMax, double &fVal)
	Convert text to value within minimum,maximum range. More...
int	strToNorm (const std::string &strElem, const std::string &strText, HekNorm &eNorm)
	Convert text to norm enum. More...
void	warnUnknownElem (const std::string &strElem)
	Warn on unknown element. More...

Protected Attributes
std::string	m_strMajElemTuning
	major element under 'hekateros'
std::string	m_strSecElemGlobal
	global tuning section element
std::string	m_strElemKinHz
	kinematics thread hz
std::string	m_strElemClearTorqueOff
	clear over torque cond. th offset
std::string	m_strElemVelDerate
	derated velocity
std::string	m_strSubSecElemTraj
	trajectory subsection
std::string	m_strElemTrajNorm
	distance norm
std::string	m_strElemTrajEpsilon
	distance epsilon
std::string	m_strSecElemJoint
	joint tuning section element.
std::string	m_strAttrJointId
	joint id attribute name
std::string	m_strElemTolPos
	position tolerance
std::string	m_strElemTolVel
	position tolerance
std::string	m_strElemOverTorqueTh
	over torque condition threshold
std::string	m_strSubSecElemPid
	pos/vel pid subsection
std::string	m_strElemPidKp
	pid proportional constant
std::string	m_strElemPidKi
	pid integral constant
std::string	m_strElemPidKd
	pid derivative constant
std::string	m_strElemPidMaxDeltaV
	pid maximum delta v

Detailed Description

HekXmlTune Hekateros XML tuning class.

Definition at line 72 of file hekXmlTune.h.

Member Function Documentation

int HekXmlTune::createTemplateFile ( const std::string &  strXmlFileName = HekEtcTune )

virtual

Create a template Hekateros XML configuration file. root element.

Any current DOM is not accessed nor altered.

Parameters

strXmlFileName

XML file path name.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 159 of file hekXmlTune.cxx.

Referenced by saveFile().

{
  FILE       *fp;     // opened file pointer

  if( strXmlFileName.empty() )
  {
    setErrorMsg("No file name.");
    LOGERROR("%s", m_bufErrMsg);
    return -HEK_ECODE_XML;
  }

  m_strXmlFileName = strXmlFileName;

  // open file
  if( (fp = fopen(m_strXmlFileName.c_str(), "w+")) == NULL )
  {
    setErrorMsg("%s: %s(errno=%d).",
        m_strXmlFileName.c_str(), strerror(errno), errno);
    LOGERROR("%s", m_bufErrMsg);
    return -HEK_ECODE_XML;
  }

  makeXmlHead();
  makeXmlTail();

  //
  // XML head.
  //
  fprintf(fp, "  <!-- RoadNarrows Hekateros Tuning Configuration -->\n");
  fprintf(fp, "%s", m_strXmlHead.c_str());

  //
  // Robotic base major element.
  //
  fprintf(fp, "  <!-- Hekateros tuning -->\n");
  fprintf(fp, "  <%s>\n", m_strMajElemTuning.c_str());

  fprintf(fp, "    <!-- global tunes -->\n");
  fprintf(fp, "    <%s>\n", m_strSecElemGlobal.c_str());
  fprintf(fp, "      <%s>HZ</%s>\n",
      m_strElemKinHz.c_str(), m_strElemKinHz.c_str());
  fprintf(fp, "      <%s>OFFSET_PCT</%s>\n",
      m_strElemClearTorqueOff.c_str(), m_strElemClearTorqueOff.c_str());
  fprintf(fp, "      <%s>DERATE_PCT</%s>\n",
      m_strElemVelDerate.c_str(), m_strElemVelDerate.c_str());
  fprintf(fp, "      <%s>\n", m_strSubSecElemTraj.c_str());
  fprintf(fp, "        <%s>NORM</%s>\n",
      m_strElemTrajNorm.c_str(), m_strElemTrajNorm.c_str());
  fprintf(fp, "        <%s>E_DEG</%s>\n",
      m_strElemTrajEpsilon.c_str(), m_strElemTrajEpsilon.c_str());
  fprintf(fp, "      </%s>\n", m_strSubSecElemTraj.c_str());
  fprintf(fp, "    </%s>\n", m_strSecElemGlobal.c_str());

  fprintf(fp, "    <!-- joint tunes -->\n");
  fprintf(fp, "    <%s %s=\"JOINT_NAME\">\n",
      m_strSecElemJoint.c_str(), m_strAttrJointId.c_str());
  fprintf(fp, "      <%s>POS_TOL_DEG</%s>\n",
      m_strElemTolPos.c_str(), m_strElemTolPos.c_str());
  fprintf(fp, "      <%s>VEL_TOL_DEG_PER_SEC</%s>\n",
      m_strElemTolVel.c_str(), m_strElemTolVel.c_str());
  fprintf(fp, "      <%s>OVER_TORQUE_TH_PCT</%s>\n",
      m_strElemOverTorqueTh.c_str(), m_strElemOverTorqueTh.c_str());
  fprintf(fp, "      <%s>\n", m_strSubSecElemPid.c_str());
  fprintf(fp, "        <%s>FPN</%s>\n",
      m_strElemPidKp.c_str(), m_strElemPidKp.c_str());
  fprintf(fp, "        <%s>FPN</%s>\n",
      m_strElemPidKi.c_str(), m_strElemPidKi.c_str());
  fprintf(fp, "        <%s>FPN</%s>\n",
      m_strElemPidKd.c_str(), m_strElemPidKd.c_str());
  fprintf(fp, "        <%s>FPN</%s>\n",
      m_strElemPidMaxDeltaV.c_str(), m_strElemPidMaxDeltaV.c_str());
  fprintf(fp, "      </%s>\n", m_strSubSecElemPid.c_str());
  fprintf(fp, "    </%s>\n", m_strSecElemJoint.c_str());

  fprintf(fp, "  </%s>\n\n", m_strMajElemTuning.c_str());

  //
  // XML tail
  //
  fprintf(fp, "%s", m_strXmlTail.c_str());

  fclose(fp);

  LOGDIAG3("Created file %s.", m_strXmlFileName.c_str());

  return HEK_OK;
}

int HekXmlTune::load ( HekTunes &  tunes, const std::string &  strSearchPath = HekSysCfgPath, const std::string &  strXmlFileName = HekEtcTune, bool  bAllInstances = false  )

virtual

Load XML file into DOM and set the Hekateros tuning parameters.

Parameters

[out]

tunes

Definition at line 72 of file hekXmlTune.cxx.

References hekateros::split().

Referenced by hekateros::HekRobot::connect(), hekateros::HekRobot::reload(), and ~HekXmlTune().

{
  vector<string>  vecPath;          // vector of search paths
  string          fqname;           // fully qualified file name
  bool            bFoundInstance;   // [not] found instance
  size_t          i;                // working index
  int             rc;               // return code

  split(strSearchPath, ':', vecPath);

  bFoundInstance  = false;
  rc              = HEK_OK;

  for(i=0; i<vecPath.size(); ++i)
  {
    fqname = vecPath[i] + '/' + strXmlFileName;
    if( access(fqname.c_str(), F_OK) == 0 )
    {
      LOGDIAG3("Loading tune XML file: %s.", fqname.c_str());

      bFoundInstance = true;

      if( (rc = Xml::loadFile(fqname)) < 0 )
      {
        LOGERROR("Parse of tune parameters from XML file %s failed.",
            fqname.c_str());
        rc = -HEK_ECODE_XML;
      }
      else
      {
        rc = setTunesFromDOM(tunes);
      }

      if( rc == HEK_OK )
      {
        LOGDIAG2("Tuning parameters from XML file %s loaded.",
            fqname.c_str());
      }

      if( !bAllInstances )
      {
        break;
      }
    }
  }

  if( !bFoundInstance )
  {
    LOGDIAG2("Optional XML file %s not found - ignoring.",
            strXmlFileName.c_str());
  }

  return rc;
}

int HekXmlTune::loadFile ( const std::string &  strXmlFileName = HekEtcTune )

virtual

Load XML file into DOM.

Parameters

strXmlFileName

XML file path name.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 130 of file hekXmlTune.cxx.

Referenced by loadFile(), and ~HekXmlTune().

{
  int   rc;

  // test existence of optional tuning file
  if( access(strXmlFileName.c_str(), F_OK) < 0 )
  { 
    LOGDIAG2("Optional XML file %s does not exist - ignoring.",
            strXmlFileName.c_str());
    rc = -HEK_ECODE_XML;
  }

  // parse 
  else if( (rc = Xml::loadFile(strXmlFileName)) < 0 )
  {
    LOGERROR("Parse of tune parameters from XML file %s failed - ignoring.",
            strXmlFileName.c_str());
    rc = -HEK_ECODE_XML;
  }

  // success
  else
  {
    rc = HEK_OK;
  }

  return rc;
}

virtual int hekateros::HekXmlTune::loadFile ( HekTunes &  tunes, const std::string &  strXmlFileName = HekEtcTune  )

inlinevirtual

Load XML file into DOM and set the Hekateros tuning parameters.

Parameters

[out]

tunes

Definition at line 147 of file hekXmlTune.h.

References hekateros::HEK_ECODE_XML, hekateros::HEK_OK, loadFile(), and setTunesFromDOM().

    {
      int   rc;

      if( (rc = loadFile(strXmlFileName)) == HEK_OK )
      {
        rc = setTunesFromDOM(tunes);
      }

      return rc < 0? -HEK_ECODE_XML: HEK_OK;
    }

virtual int hekateros::HekXmlTune::saveFile ( const std::string &  strXmlFileName = HekEtcTune )

inlinevirtual

Save DOM to XML file.

Parameters

strXmlFileName

XML file path name.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 167 of file hekXmlTune.h.

References hekateros::HEK_ECODE_XML, and hekateros::HEK_OK.

    {
      int rc = Xml::saveFile(strXmlFileName);

      return rc < 0? -HEK_ECODE_XML: HEK_OK;
    }

virtual int hekateros::HekXmlTune::saveFile ( const HekTunes &  tunes, const std::string &  strXmlFileName = HekEtcTune  )

inlinevirtual

Set DOM from Hekateros description and save XML file.

Parameters

[in]

tunes

Definition at line 182 of file hekXmlTune.h.

References createTemplateFile(), hekateros::HEK_ECODE_XML, hekateros::HEK_OK, hekateros::HekEtcTune, setDOMFromHekTunes(), and setTunesFromDOM().

    {
      int   rc;

      if( (rc = setDOMFromHekTunes(tunes)) == HEK_OK )
      {
        rc = Xml::saveFile(strXmlFileName);
      }

      return rc < 0? -HEK_ECODE_XML: HEK_OK;
    }

int HekXmlTune::setDOMFromHekTunes ( const HekTunes &  tunes )

virtual

Set the DOM from the Hekateros tune parameters.

Parameters

[in]

tunes

Definition at line 313 of file hekXmlTune.cxx.

Referenced by saveFile().

{
  // TODO
  return -HEK_ECODE_GEN;
}

int HekXmlTune::setGlobalTrajTunes ( TiXmlElement *  pElemSubSec, HekTunes &  tunes  )

protected

Set the global trajectory tune parameters from the parsed DOM.

Parameters

	pElemSubSec	Parent enclosing subsection element.
[out]	tunes

Definition at line 501 of file hekXmlTune.cxx.

References hekateros::degToRad(), hekateros::HekTunes::m_eTrajNorm, and hekateros::HekTunes::m_fTrajEpsilon.

{
  TiXmlElement *pElem;    // working xml element
  const char   *sValue;   // working xml element name
  int           rc;       // return code

  //
  // Walk through child elements and convert.
  //
  for(pElem = pElemSubSec->FirstChildElement(), rc = HEK_OK;
      (pElem != NULL) && (rc == HEK_OK);
      pElem = pElem->NextSiblingElement())
  {
    // element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // norm
    else if( !strcasecmp(sValue, m_strElemTrajNorm.c_str()) )
    {
      strToNorm(m_strElemTrajNorm, elemText(pElem), tunes.m_eTrajNorm);
    }

    // epsilon
    else if( !strcasecmp(sValue, m_strElemTrajEpsilon.c_str()) )
    {
      rc = strToDoubleWithMinimum(m_strElemTrajEpsilon, elemText(pElem),
                                  HekTuneTrajEpsilonMin, tunes.m_fTrajEpsilon);

      // xml units are degrees - convert to radians
      if( rc == HEK_OK )
      {
        tunes.m_fTrajEpsilon = degToRad(tunes.m_fTrajEpsilon);
      }
    }

    // unknown
    else
    {
      warnUnknownElem(sValue);
    }
  }

  if( rc == HEK_OK )
  {
    LOGDIAG3("%s: Hekateros global trajectory tune parameters set.",
      m_strXmlFileName.c_str());
  }

  return rc;
}

int HekXmlTune::setGlobalTunes ( TiXmlElement *  pElemSec, HekTunes &  tunes  )

protected

Set the global tune parameters from the parsed DOM.

Parameters

	pElemSec	Parent enclosing section element.
[out]	tunes

Definition at line 319 of file hekXmlTune.cxx.

References hekateros::HekTunes::m_fClearTorqueOffset, hekateros::HekTunes::m_fKinematicsHz, and hekateros::HekTunes::m_fVelDerate.

{
  TiXmlElement *pElem;    // working xml element
  const char   *sValue;   // working xml element name
  int           rc;       // return code

  //
  // Walk through child elements and convert.
  //
  for(pElem = pElemSec->FirstChildElement(), rc = HEK_OK;
      (pElem != NULL) && (rc == HEK_OK);
      pElem = pElem->NextSiblingElement())
  {
    // element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // kinematic hz
    else if( !strcasecmp(sValue, m_strElemKinHz.c_str()) )
    {
      rc = strToDoubleWithMinimum(m_strElemKinHz, elemText(pElem),
                                  HekTuneKinHzMin, tunes.m_fKinematicsHz);
    }

    // clear over torque condition threshold offset
    else if( !strcasecmp(sValue, m_strElemClearTorqueOff.c_str()) )
    {
      rc = strToDoubleWithinRange(m_strElemClearTorqueOff, elemText(pElem),
                    HekTuneClearTorqueOffsetMin, HekTuneClearTorqueOffsetMax,
                    tunes.m_fClearTorqueOffset);

      // xml units are percentages - normalize
      if( rc == HEK_OK )
      {
        tunes.m_fClearTorqueOffset /= 100.0;
      }
    }

    // velocity derate
    else if( !strcasecmp(sValue, m_strElemVelDerate.c_str()) )
    {
      rc = strToDoubleWithinRange(m_strElemVelDerate, elemText(pElem),
                    HekTuneVelDerateMin, HekTuneVelDerateMax,
                    tunes.m_fVelDerate);

      // xml units are percentages - normalize
      if( rc == HEK_OK )
      {
        tunes.m_fVelDerate /= 100.0;
      }
    }

    // trajectory tune parameters
    else if( !strcasecmp(sValue, m_strSubSecElemTraj.c_str()) )
    {
      rc = setGlobalTrajTunes(pElem, tunes);
    }

    // unknown
    else
    {
      warnUnknownElem(sValue);
    }
  }

  if( rc == HEK_OK )
  {
    LOGDIAG3("%s: Hekateros global tune parameters set.",
      m_strXmlFileName.c_str());
  }

  return rc;
}

int HekXmlTune::setJointPidTunes ( const std::string &  strJointName, TiXmlElement *  pElemSubSec, HekTunesJoint &  tunesJoint  )

protected

Set a joint's PID tune parameters from the parsed DOM.

Parameters

	strJointName	Joint name.
	pElemSubSec	Parent enclosing subsection element.
[out]	tunesJoint

Definition at line 555 of file hekXmlTune.cxx.

References hekateros::degToRad(), hekateros::HekTunesJoint::m_fPidKd, hekateros::HekTunesJoint::m_fPidKi, hekateros::HekTunesJoint::m_fPidKp, and hekateros::HekTunesJoint::m_fPidMaxDeltaV.

{
  TiXmlElement *pElem;    // working xml element
  const char   *sValue;   // working xml element name
  int           rc;       // return code

  //
  // Walk through child elements and convert.
  //
  for(pElem = pElemSubSec->FirstChildElement(), rc = HEK_OK;
      (pElem != NULL) && (rc == HEK_OK);
      pElem = pElem->NextSiblingElement())
  {
    // element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // Kp
    else if( !strcasecmp(sValue, m_strElemPidKp.c_str()) )
    {
      rc = strToDoubleWithMinimum(m_strElemPidKp, elemText(pElem),
                                  HekTunePidKMin, tunesJoint.m_fPidKp);
    }

    // Ki
    else if( !strcasecmp(sValue, m_strElemPidKi.c_str()) )
    {
      rc = strToDoubleWithMinimum(m_strElemPidKi, elemText(pElem),
                                  HekTunePidKMin, tunesJoint.m_fPidKi);
    }

    // Kd
    else if( !strcasecmp(sValue, m_strElemPidKd.c_str()) )
    {
      rc = strToDoubleWithMinimum(m_strElemPidKd, elemText(pElem),
                                  HekTunePidKMin, tunesJoint.m_fPidKd);
    }

    // max_delta_v
    else if( !strcasecmp(sValue, m_strElemPidMaxDeltaV.c_str()) )
    {
      rc = strToDoubleWithMinimum(m_strElemPidMaxDeltaV, elemText(pElem),
                                  HekTunePidDeltaVNoMax,
                                  tunesJoint.m_fPidMaxDeltaV);

      // xml units are degrees - convert to radians
      if( rc == HEK_OK )
      {
        tunesJoint.m_fPidMaxDeltaV = degToRad(tunesJoint.m_fPidMaxDeltaV);
      }
    }

    // unknown
    else
    {
      warnUnknownElem(sValue);
    }
  }

  if( rc == HEK_OK )
  {
    LOGDIAG3("%s: Hekateros joint %s PID tune parameters set.",
      m_strXmlFileName.c_str(), strJointName.c_str());
  }

  return rc;
}

int HekXmlTune::setJointTunes ( TiXmlElement *  pElemSec, HekTunes &  tunes  )

protected

Set a joint tune parameters from the parsed DOM.

Parameters

	pElemSec	Parent enclosing section element.
[out]	tunes

Definition at line 395 of file hekXmlTune.cxx.

References hekateros::degToRad(), hekateros::HekTunesJoint::m_fOverTorqueTh, hekateros::HekTunesJoint::m_fTolPos, hekateros::HekTunesJoint::m_fTolVel, and hekateros::HekTunes::m_mapJointTunes.

{
  string        strJointName;   // joint name
  HekTunesJoint tunesJoint;     // initialzed with default defaults
  TiXmlElement *pElem;          // working xml element
  const char   *sValue;         // working xml element name
  int           rc;             // return code

  strJointName = elemAttr(pElemSec, m_strAttrJointId);

  if( strJointName.empty() )
  {
    setErrorMsg("%s: No %s attribute of <%s> found.",
      m_strXmlFileName.c_str(),
      m_strAttrJointId.c_str(),
      m_strSecElemJoint.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -HEK_ECODE_XML;
  }

  // joint tuning entry already present - use as the starting tuning values
  if( tunes.m_mapJointTunes.find(strJointName) != tunes.m_mapJointTunes.end() )
  {
    tunesJoint = tunes.m_mapJointTunes[strJointName];
  }
 
  //
  // Walk through child elements and convert.
  //
  for(pElem = pElemSec->FirstChildElement(), rc = HEK_OK;
      (pElem != NULL) && (rc == HEK_OK);
      pElem = pElem->NextSiblingElement())
  {
    // element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // position tolerance
    else if( !strcasecmp(sValue, m_strElemTolPos.c_str()) )
    {
      rc = strToDoubleWithMinimum(m_strElemTolPos, elemText(pElem),
                                  HekTuneTolPosMin,
                                  tunesJoint.m_fTolPos);

      // xml units are degrees - convert to radians
      if( rc == HEK_OK )
      {
        tunesJoint.m_fTolPos = degToRad(tunesJoint.m_fTolPos);
      }
    }

    // velocity tolerance
    else if( !strcasecmp(sValue, m_strElemTolVel.c_str()) )
    {
      rc = strToDoubleWithMinimum(m_strElemTolVel, elemText(pElem),
                                  HekTuneTolVelMin,
                                  tunesJoint.m_fTolVel);

      // xml units are degrees/second - convert to radians/second
      if( rc == HEK_OK )
      {
        tunesJoint.m_fTolVel = degToRad(tunesJoint.m_fTolVel);
      }
    }

    // over torque threshold
    else if( !strcasecmp(sValue, m_strElemOverTorqueTh.c_str()) )
    {
      rc = strToDoubleWithinRange(m_strElemOverTorqueTh, elemText(pElem),
                    HekTuneOverTorqueThMin, HekTuneOverTorqueThMax,
                    tunesJoint.m_fOverTorqueTh);

      // xml units are percentages - normalize
      if( rc == HEK_OK )
      {
        tunesJoint.m_fOverTorqueTh /= 100.0;
      }
    }

    // position and velocity PID tune parameters
    else if( !strcasecmp(sValue, m_strSubSecElemPid.c_str()) )
    {
      rc = setJointPidTunes(strJointName, pElem, tunesJoint);
    }

    // unknown
    else
    {
      warnUnknownElem(sValue);
    }
  }

  if( rc == HEK_OK )
  {
    // add new joint tuning or overwrite existing
    tunes.m_mapJointTunes[strJointName] = tunesJoint;

    LOGDIAG3("%s: Hekateros joint %s tune parameters set.",
      m_strXmlFileName.c_str(), strJointName.c_str());
  }

  return rc;
}

int HekXmlTune::setTunesFromDOM ( HekTunes &  tunes )

virtual

Set the tune parameters from the parsed DOM.

Parameters

[out]

tunes

Definition at line 247 of file hekXmlTune.cxx.

Referenced by loadFile(), and saveFile().

{
  TiXmlElement *pElem1, *pElem2;    // working xml elements
  const char   *sValue;             // working xml element name
  int           rc;                 // return code

  // root element
  if( m_pElemRoot == NULL )
  {
    setErrorMsg("Missing DOM and/or <%s> root element missing.",
       m_strRootElemName.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -HEK_ECODE_XML;
  }

  // search for major element
  for(pElem1 = m_pElemRoot->FirstChildElement(), rc = HEK_OK;
      (pElem1 != NULL) && (rc == HEK_OK);
      pElem1 = pElem1->NextSiblingElement())
  {
    // element name
    if( (sValue = pElem1->Value()) == NULL )
    {
      continue;
    }

    //
    // Tuning major element. Walk through child elements and convert.
    //
    else if( !strcasecmp(sValue, m_strMajElemTuning.c_str()) )
    {
      // search for section elements
      for(pElem2 = pElem1->FirstChildElement();
          (pElem2 != NULL) && (rc == HEK_OK);
          pElem2 = pElem2->NextSiblingElement())
      {
        // child element name
        if( (sValue = pElem2->Value()) == NULL )
        {
          continue;
        }

        // global tuning section
        else if( !strcasecmp(sValue, m_strSecElemGlobal.c_str()) )
        {
          rc = setGlobalTunes(pElem2, tunes);
        }

        // joint X tuning section
        else if( !strcasecmp(sValue, m_strSecElemJoint.c_str()) )
        {
          rc = setJointTunes(pElem2, tunes);
        }

        // unknown
        else
        {
          warnUnknownElem(sValue);
        }
      }
    }
  }

  return HEK_OK;
}

int HekXmlTune::strToDoubleWithinRange ( const std::string &  strElem, const std::string &  strText, const double  fMin, const double  fMax, double &  fVal  )

protected

Convert text to value within minimum,maximum range.

If the converted value is out of range, it will be set to the appropriate boundry value.

If the text is empty or if a conversion error occurs, the value is not set.

Parameters

	strElem	XML element name.
	strText	XML element text. <elem>TEXT</elem>
	fMin	Minimum value allowed.
	fMax	Maximum value allowed.
[out]	fVal	Converted value.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 656 of file hekXmlTune.cxx.

{
  int   rc = HEK_OK;    // return code

  if( !strText.empty() )
  {
    if( (rc = strToDouble(strText, fVal)) < 0 )
    {
      setErrorMsg("%s: Element <%s> text \"%s\" not a FPN.",
            m_strXmlFileName.c_str(), strElem.c_str(), strText.c_str());
      LOGERROR("%s", m_bufErrMsg);
      rc = -HEK_ECODE_XML;
    }

    else if( fVal < fMin )
    {
      setErrorMsg("%s: Element <%s> value %lf < than minimum of %lf.",
            m_strXmlFileName.c_str(), strElem.c_str(), fVal, fMin);
      LOGWARN("%s", m_bufErrMsg);
      fVal = fMin;
    }

    else if( fVal > fMax )
    {
      setErrorMsg("%s: Element <%s> value %lf > than maximum of %lf.",
            m_strXmlFileName.c_str(), strElem.c_str(), fVal, fMax);
      LOGWARN("%s", m_bufErrMsg);
      fVal = fMax;
    }
  }

  return rc;
}

int HekXmlTune::strToDoubleWithMinimum ( const std::string &  strElem, const std::string &  strText, const double  fMin, double &  fVal  )

protected

Convert text to value with a minimum value.

If the converted value is < the minimum, it will be set to the minimum.

If the text is empty or if a conversion error occurs, the value is not set.

Parameters

	strElem	XML element name.
	strText	XML element text. <elem>TEXT</elem>
	fMin	Minimum value allowed.
[out]	fVal	Converted value.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 627 of file hekXmlTune.cxx.

{
  int   rc = HEK_OK;    // return code

  if( !strText.empty() )
  {
    if( (rc = strToDouble(strText, fVal)) < 0 )
    {
      setErrorMsg("%s: Element <%s> text \"%s\" not a FPN.",
            m_strXmlFileName.c_str(), strElem.c_str(), strText.c_str());
      LOGERROR("%s", m_bufErrMsg);
      rc = -HEK_ECODE_XML;
    }

    else if( fVal < fMin )
    {
      setErrorMsg("%s: Element <%s> value %lf < than minimum of %lf.",
            m_strXmlFileName.c_str(), strElem.c_str(), fVal, fMin);
      LOGWARN("%s", m_bufErrMsg);
      fVal = fMin;
    }
  }

  return rc;
}

int HekXmlTune::strToNorm ( const std::string &  strElem, const std::string &  strText, HekNorm &  eNorm  )

protected

Convert text to norm enum.

If the text is empty or if a conversion error occurs, the value is not set.

Parameters

	strElem	XML element name.
	strText	XML element text. <elem>TEXT</elem>
[out]	eNorm	Converted value.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 694 of file hekXmlTune.cxx.

{
  if( strText.empty() )
  {
    return HEK_OK;
  }
  else if( !strcasecmp(strText.c_str(), "L1") )
  {
    eNorm = HekNormL1;
    return HEK_OK;
  }
  else if( !strcasecmp(strText.c_str(), "L2") )
  {
    eNorm = HekNormL2;
    return HEK_OK;
  }
  else if( !strcasecmp(strText.c_str(), "Linf") )
  {
    eNorm = HekNormLinf;
    return HEK_OK;
  }
  else
  {
    setErrorMsg("%s: Element <%s> text \"%s\" not a recognized norm.",
            m_strXmlFileName.c_str(), strElem.c_str(), strText.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -HEK_ECODE_XML;
  }
}

void hekateros::HekXmlTune::warnUnknownElem ( const std::string &  strElem )

inlineprotected

Warn on unknown element.

Parameters

strElem

Element name.

Definition at line 357 of file hekXmlTune.h.

    {
      setErrorMsg("%s: Element <%s> unknown - ignoring.",
            m_strXmlFileName.c_str(), strElem.c_str());
      LOGWARN("%s", m_bufErrMsg);
    }

---

The documentation for this class was generated from the following files:

• include/Hekateros/hekXmlTune.h
• sw/libhekateros/hekXmlTune.cxx