laelaps::LaeXmlTune Class Reference

LaeXmlTune Laelaps XML tuning class. More...

#include <laeXmlTune.h>

Inheritance diagram for laelaps::LaeXmlTune:

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

Protected Member Functions
int	setGlobalTunes (TiXmlElement *pElemSec, LaeTunes &tunes)
	Set the global tune parameters from the parsed DOM. More...
int	setGlobalThreadTunes (TiXmlElement *pElemSubSec, LaeTunes &tunes)
	Set the global threads tune parameters from the parsed DOM. More...
int	setGlobalTrajTunes (TiXmlElement *pElemSubSec, LaeTunes &tunes)
	Set the global trajectory tune parameters from the parsed DOM. More...
virtual int	setBatteryTunes (TiXmlElement *pElemSec, LaeTunes &tunes)
	Set Laelaps battery tune parameters from the parsed DOM. More...
virtual int	setPowertrainTunes (TiXmlElement *pElemSec, LaeTunes &tunes)
	Set Laelaps powertrain tuning parameters from the parsed DOM. More...
int	setPowertrainVelPidTunes (const std::string &strLoc, TiXmlElement *pElemSubSec, LaeTunes &tunes)
	Set a powertrain pair's velocity PID tune parameters from the parsed DOM. More...
int	setPowertrainTireTunes (const std::string &strLoc, TiXmlElement *pElemSubSec, LaeTunes &tunes)
	Set a powertrain pair's tire tune parameters from the parsed DOM. More...
virtual int	setRangeSensorTunes (TiXmlElement *pElemSec, LaeTunes &tunes)
	Set Laelaps range sensor tuning parameters from DOM. More...
int	setVL6180Tunes (TiXmlElement *pElemSec, std::string &strAttrType, std::string &strAttrLoc, LaeTunes &tunes)
	Set Laelaps VL6180 range sensor tuning parameters from 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 FPN value within minimum,maximum range. More...
int	strToIntWithinRange (const std::string &strElem, const std::string &strText, const int nMin, const int nMax, int &nVal)
	Convert text to integer value within minimum,maximum range. More...
int	strToNorm (const std::string &strElem, const std::string &strText, LaeNorm &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 'laelaps'
std::string	m_strSecElemGlobal
	global tuning section element
std::string	m_strSecElemBattery
	battery section element name
std::string	m_strSecElemPowertrains
	powertrain section element name
std::string	m_strSecElemRangeSensor
	range sensor section elem name

Detailed Description

LaeXmlTune Laelaps XML tuning class.

Definition at line 71 of file laeXmlTune.h.

Member Function Documentation

int LaeXmlTune::createTemplateFile ( const std::string &  strXmlFileName = LaeEtcTune )

virtual

Create a template Laelaps XML configuration file. root element.

Any current DOM is not accessed nor altered.

Parameters

strXmlFileName

XML file path name.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 169 of file laeXmlTune.cxx.

Referenced by saveFile().

{
  FILE       *fp;     // opened file pointer

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

  makeXmlHead();
  makeXmlTail();

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

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

  fprintf(fp, "    <!-- TUNING ELEMENTS HERE -->\n");

  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 LAE_OK;
}

int LaeXmlTune::load ( LaeTunes &  tunes, const std::string &  strSearchPath = LaeSysCfgPath, const std::string &  strXmlFileName = LaeEtcTune, bool  bAllInstances = false  )

virtual

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

Parameters

[out]

tunes

Definition at line 71 of file laeXmlTune.cxx.

References laelaps::split().

Referenced by laelaps::LaeRobot::connect(), laelaps::LaeRobot::reload(), and ~LaeXmlTune().

{
  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              = LAE_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 = -LAE_ECODE_XML;
      }
      else
      {
        rc = setTunesFromDOM(tunes);
      }

      if( rc == LAE_OK )
      {
        LOGDIAG2("Loaded tuning parameters from XML file %s.", fqname.c_str());
      }

      if( !bAllInstances )
      {
        break;
      }
    }
  }

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

  return rc;
}

int LaeXmlTune::loadFile ( const std::string &  strXmlFileName = LaeEtcTune )

virtual

Load XML file into DOM.

Parameters

strXmlFileName

XML file path name.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 128 of file laeXmlTune.cxx.

Referenced by mainInit(), and ~LaeXmlTune().

{
  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 = -LAE_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 = -LAE_ECODE_XML;
  }

  // success
  else
  {
    rc = LAE_OK;
  }

  return rc;
}

int LaeXmlTune::loadFile ( LaeTunes &  tunes, const std::string &  strXmlFileName = LaeEtcTune  )

virtual

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

Parameters

[out]

tunes

Definition at line 157 of file laeXmlTune.cxx.

{
  int   rc;

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

  return rc < 0? -LAE_ECODE_XML: LAE_OK;
}

virtual int laelaps::LaeXmlTune::saveFile ( const std::string &  strXmlFileName = LaeEtcTune )

inlinevirtual

Save DOM to XML file.

Parameters

strXmlFileName

XML file path name.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 141 of file laeXmlTune.h.

References laelaps::LAE_ECODE_XML, and laelaps::LAE_OK.

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

      return rc < 0? -LAE_ECODE_XML: LAE_OK;
    }

virtual int laelaps::LaeXmlTune::saveFile ( const LaeTunes &  tunes, const std::string &  strXmlFileName = LaeEtcTune  )

inlinevirtual

Set DOM from Laelaps tuning parameters and save XML file.

Parameters

[in]

tunes

Definition at line 156 of file laeXmlTune.h.

References createTemplateFile(), laelaps::LAE_ECODE_XML, laelaps::LAE_OK, laelaps::LaeEtcTune, setDOMFromTunes(), and setTunesFromDOM().

    {
      int   rc;

      if( (rc = setDOMFromTunes(tunes)) == LAE_OK )
      {
        rc = Xml::saveFile(strXmlFileName);
      }

      return rc < 0? -LAE_ECODE_XML: LAE_OK;
    }

int LaeXmlTune::setBatteryTunes ( TiXmlElement *  pElemSec, LaeTunes &  tunes  )

protectedvirtual

Set Laelaps battery tune parameters from the parsed DOM.

Parameters

	pElemSec	Parent enclosing section element.
[out]	tunes

Definition at line 517 of file laeXmlTune.cxx.

References laelaps::LaeTunes::m_battery, laelaps::LaeTunesBattery::m_fMaxV, and laelaps::LaeTunesBattery::m_fMinV.

{
  // sub-elements
  string strElemType("type");
  string strElemChem("chemistry");
  string strElemCap("capacity");
  string strElemCells("cells");
  string strElemMax("max");
  string strElemNominal("nominal");
  string strElemMin("min");

  TiXmlElement         *pElem;
  const char           *sValue;
  string                str;
  int                   iVal;
  double                fVal;
  int                   rc;

  //
  // Walk through child elements and convert.
  //
  for(pElem = pElemSec->FirstChildElement(), rc = LAE_OK;
      (pElem != NULL) && (rc == LAE_OK);
      pElem = pElem->NextSiblingElement())
  {
    // no element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // <type> ... </type>
    else if( !strcasecmp(sValue, strElemType.c_str()) )
    {
      // Fixed 
      // tunes.m_battery.strType = elemText(pElem);
    }

    // <chemistry> ... </chemistry>
    else if( !strcasecmp(sValue, strElemChem.c_str()) )
    {
      // Fixed
      // tunes.m_battery.strChem = elemText(pElem);
    }

    // <capacity> ... </capacity>
    else if( !strcasecmp(sValue, strElemCap.c_str()) )
    {
      str = elemText(pElem);
      if( !str.empty() )
      {
        if( (rc = strToDouble(str, fVal)) < 0 )
        {
          setErrorMsg("%s: Element <%s> text \"%s\" not an number.",
            m_strXmlFileName.c_str(), strElemCap.c_str(),
            str.c_str());
          LOGERROR("%s", m_bufErrMsg);
          rc = -LAE_ECODE_XML;
        }
        else if( fVal != LaeTuneBattCapAh )
        {
          setErrorMsg("%s: Element <%s> value is fixed at %.1lfAh.",
            m_strXmlFileName.c_str(), strElemCap.c_str(), LaeTuneBattCapAh);
          LOGWARN("%s", m_bufErrMsg);
        }
      }
    }

    // <cells> ... </cells>
    else if( !strcasecmp(sValue, strElemCells.c_str()) )
    {
      str = elemText(pElem);
      if( !str.empty() )
      {
        if( (rc = strToInt(str, iVal)) < 0 )
        {
          setErrorMsg("%s: Element <%s> text \"%s\" not an number.",
            m_strXmlFileName.c_str(), strElemCells.c_str(),
            str.c_str());
          LOGERROR("%s", m_bufErrMsg);
          rc = -LAE_ECODE_XML;
        }
        else if( iVal != LaeTuneBattCells )
        {
          setErrorMsg("%s: Element <%s> value is fixed at %d cells.",
            m_strXmlFileName.c_str(), strElemCells.c_str(),
            LaeTuneBattCells);
          LOGWARN("%s", m_bufErrMsg);
        }
      }
    }

    // <nominal> ... </nominal>
    else if( !strcasecmp(sValue, strElemNominal.c_str()) )
    {
      str = elemText(pElem);
      if( !str.empty() )
      {
        if( (rc = strToDouble(str, fVal)) < 0 )
        {
          setErrorMsg("%s: Element <%s> text \"%s\" not an number.",
            m_strXmlFileName.c_str(), strElemNominal.c_str(),
            str.c_str());
          LOGERROR("%s", m_bufErrMsg);
          rc = -LAE_ECODE_XML;
        }
        else if( fVal != LaeTuneBattNominalV )
        {
          setErrorMsg("%s: Element <%s> value is fixed at %.1lfV.",
            m_strXmlFileName.c_str(), strElemNominal.c_str(),
            LaeTuneBattNominalV);
          LOGERROR("%s", m_bufErrMsg);
          return -LAE_ECODE_XML;
        }
      }
    }

    // <max> ... </max>
    else if( !strcasecmp(sValue, strElemMax.c_str()) )
    {
      rc = strToDoubleWithinRange(strElemMax, elemText(pElem),
                                  LaeTuneBattNominalV, LaeTuneBattMaxVMax,
                                  tunes.m_battery.m_fMaxV);
    }

    // <min> ... </min>
    else if( !strcasecmp(sValue, strElemMin.c_str()) )
    {
      rc = strToDoubleWithinRange(strElemMin, elemText(pElem),
                                  LaeTuneBattMinVMin, LaeTuneBattNominalV,
                                  tunes.m_battery.m_fMinV);
    }

    else
    {
      warnUnknownElem(sValue);
    }
  }

  if( rc == LAE_OK )
  {
    LOGDIAG3("%s: Laelaps battery tune parameters set.",
      m_strXmlFileName.c_str());
  }

  return rc;
}

int LaeXmlTune::setDOMFromTunes ( const LaeTunes &  tunes )

virtual

Set the DOM from the Laelaps tune parameters.

Parameters

[in]

tunes

Definition at line 302 of file laeXmlTune.cxx.

Referenced by saveFile().

{
  // TODO
  return -LAE_ECODE_GEN;
}

int LaeXmlTune::setGlobalThreadTunes ( TiXmlElement *  pElemSubSec, LaeTunes &  tunes  )

protected

Set the global threads tune parameters from the parsed DOM.

Parameters

	pElemSubSec	Parent enclosing subsection element.
[out]	tunes

Definition at line 393 of file laeXmlTune.cxx.

References laelaps::LaeTunes::m_fImuHz, laelaps::LaeTunes::m_fKinematicsHz, and laelaps::LaeTunes::m_fRangeHz.

{
  // sub-elements
  string strElemImuHz("imu_hz");
  string strElemKinHz("kinematics_hz");
  string strElemRangeHz("range_hz");

  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 = LAE_OK;
      (pElem != NULL) && (rc == LAE_OK);
      pElem = pElem->NextSiblingElement())
  {
    // no element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // <imu_hz> ... </imu_hz>
    else if( !strcasecmp(sValue, strElemImuHz.c_str()) )
    {
      rc = strToDoubleWithMinimum(strElemImuHz, elemText(pElem),
                                  LaeTuneThreadHzMin, tunes.m_fImuHz);
    }

    // <kinematics_hz> ... </kinematics_hz>
    else if( !strcasecmp(sValue, strElemKinHz.c_str()) )
    {
      rc = strToDoubleWithMinimum(strElemKinHz, elemText(pElem),
                                  LaeTuneThreadHzMin, tunes.m_fKinematicsHz);
    }

    // <range_hz> ... </range_hz>
    else if( !strcasecmp(sValue, strElemRangeHz.c_str()) )
    {
      rc = strToDoubleWithMinimum(strElemRangeHz, elemText(pElem),
                                  LaeTuneThreadHzMin, tunes.m_fRangeHz);
    }

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

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

  return rc;
}

int LaeXmlTune::setGlobalTrajTunes ( TiXmlElement *  pElemSubSec, LaeTunes &  tunes  )

protected

Set the global trajectory tune parameters from the parsed DOM.

Parameters

	pElemSubSec	Parent enclosing subsection element.
[out]	tunes

Definition at line 454 of file laeXmlTune.cxx.

References laelaps::degToRad(), laelaps::LaeTunes::m_eTrajNorm, and laelaps::LaeTunes::m_fTrajEpsilon.

{
  // sub-elements
  string strElemTrajNorm("norm");
  string strElemTrajEpsilon("epsilon");

  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 = LAE_OK;
      (pElem != NULL) && (rc == LAE_OK);
      pElem = pElem->NextSiblingElement())
  {
    // no element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

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

    // <epsilon> ... </epsilon>
    else if( !strcasecmp(sValue, strElemTrajEpsilon.c_str()) )
    {
      rc = strToDoubleWithMinimum(strElemTrajEpsilon, elemText(pElem),
                                  LaeTuneTrajEpsilonMin, tunes.m_fTrajEpsilon);

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

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

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

  return rc;
}

int LaeXmlTune::setGlobalTunes ( TiXmlElement *  pElemSec, LaeTunes &  tunes  )

protected

Set the global tune parameters from the parsed DOM.

Parameters

	pElemSec	Parent enclosing section element.
[out]	tunes

Definition at line 313 of file laeXmlTune.cxx.

References laelaps::LaeTunes::m_fVelDerate, and laelaps::LaeTunes::m_fWatchDogTimeout.

{
  // sub-elements
  string strSubSecElemThreads("threads");
  string strSubSecElemTraj("trajectory");
  string strElemVelDerate("velocity_derate");
  string strElemWdTimeout("watchdog_timeout");

  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 = LAE_OK;
      (pElem != NULL) && (rc == LAE_OK);
      pElem = pElem->NextSiblingElement())
  {
    // no element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // <threads> ... </threads> subsection
    else if( !strcasecmp(sValue, strSubSecElemThreads.c_str()) )
    {
      rc = setGlobalThreadTunes(pElem, tunes);
    }

    // <velocity_derate> ... </velocity_derate>
    else if( !strcasecmp(sValue, strElemVelDerate.c_str()) )
    {
      rc = strToDoubleWithinRange(strElemVelDerate, elemText(pElem),
                    LaeTuneVelDerateMin, LaeTuneVelDerateMax,
                    tunes.m_fVelDerate);

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

    // <trajectory> ... </trajectory subsection
    else if( !strcasecmp(sValue, strSubSecElemTraj.c_str()) )
    {
      rc = setGlobalTrajTunes(pElem, tunes);
    }

    // <watchdog_timeout> ... </watchdog_timeout>
    else if( !strcasecmp(sValue, strElemWdTimeout.c_str()) )
    {
      rc = strToDoubleWithinRange(strElemWdTimeout, elemText(pElem),
                    LaeTuneWdTimeoutMin, LaeTuneWdTimeoutMax,
                    tunes.m_fWatchDogTimeout);

      // xml units are percentages - normalize
      if( rc == LAE_OK )
      {
        tunes.m_fVelDerate /= 100.0;
      }
    }
    // unknown
    else
    {
      warnUnknownElem(sValue);
    }
  }

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

  return rc;
}

int LaeXmlTune::setPowertrainTireTunes ( const std::string &  strLoc, TiXmlElement *  pElemSubSec, LaeTunes &  tunes  )

protected

Set a powertrain pair's tire tune parameters from the parsed DOM.

Parameters

	strLoc	Powertrain pair location (and key).
	pElemSubSec	Parent enclosing subsection element.
[out]	tunes

Definition at line 845 of file laeXmlTune.cxx.

References laelaps::LaeTunesPowertrain::m_fTireRadius, laelaps::LaeTunesPowertrain::m_fTireWidth, and laelaps::LaeTunes::m_mapPtp.

{
  // sub-elements
  string strElemTireRadius("radius");
  string strElemTireWidth("width");

  LaeTunesPowertrain  tunesPowertrain;  // powertrain tuning
  TiXmlElement       *pElem;            // working xml element
  const char         *sValue;           // working xml element name
  int                 rc;               // return code

  // tuning parameters
  if( tunes.m_mapPtp.find(strLoc) != tunes.m_mapPtp.end() )
  {
    tunesPowertrain = tunes.m_mapPtp[strLoc];
  }
  else
  {
    LOGERROR("Bug: Cannot find \%s\" powertrain tuning parameters.",
        strLoc.c_str());
    return -LAE_ECODE_INTERNAL;
  }
 
  //
  // Walk through child elements and convert.
  //
  for(pElem = pElemSubSec->FirstChildElement(), rc = LAE_OK;
      (pElem != NULL) && (rc == LAE_OK);
      pElem = pElem->NextSiblingElement())
  {
    // no element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // <radius> .. </radius>
    else if( !strcasecmp(sValue, strElemTireRadius.c_str()) )
    {
      rc = strToDoubleWithMinimum(strElemTireRadius, elemText(pElem),
                                  LaeTuneTireDimMin,
                                  tunesPowertrain.m_fTireRadius);
    }

    // <width> ... </width>
    else if( !strcasecmp(sValue, strElemTireWidth.c_str()) )
    {
      rc = strToDoubleWithMinimum(strElemTireWidth, elemText(pElem),
                                  LaeTuneTireDimMin,
                                  tunesPowertrain.m_fTireWidth);
    }

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

  if( rc == LAE_OK )
  {
    // add back powertrain with new tuning parameters
    tunes.m_mapPtp[strLoc] = tunesPowertrain;

    LOGDIAG3("%s: Laelaps %s powertrain tire dimension tune parameters set.",
      m_strXmlFileName.c_str(), strLoc.c_str());
  }

  return rc;
}

int LaeXmlTune::setPowertrainTunes ( TiXmlElement *  pElemSec, LaeTunes &  tunes  )

protectedvirtual

Set Laelaps powertrain tuning parameters from the parsed DOM.

Parameters

	pElemSec	Parent enclosing section element.
[out]	tunes

Definition at line 670 of file laeXmlTune.cxx.

References laelaps::LaeTunes::m_mapPtp.

{
  // sub-elements
  string strAttrLoc("location");
  string strSubSecElemVelPid("velocity_pid");
  string strSubSecElemTires("tires");

  string        strLoc;   // powertrain location (and key)
  size_t        i;        // working index
  bool          bFound;   // [not] found
  TiXmlElement *pElem;    // working xml element
  const char   *sValue;   // working xml element name
  int           rc;       // return code

  strLoc = elemAttr(pElemSec, strAttrLoc);

  if( strLoc.empty() )
  {
    setErrorMsg("%s: No %s attribute of <%s> found.",
      m_strXmlFileName.c_str(),
      strAttrLoc.c_str(),
      m_strSecElemPowertrains.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -LAE_ECODE_XML;
  }

  for(i = 0, bFound = false; i < LaeNumMotorCtlrs; ++i)
  {
    if( !strcasecmp(strLoc.c_str(), LaeDesc::KeyMotorCtlr[i]) )
    {
      bFound = true;
      break;
    }
  }

  if( !bFound )
  {
    setErrorMsg("%s: Bad %s=\"%s\" attribute value of <%s> found.",
      m_strXmlFileName.c_str(),
      strAttrLoc.c_str(),
      strLoc.c_str(),
      m_strSecElemPowertrains.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -LAE_ECODE_XML;
  }

  // create entry 
  if( tunes.m_mapPtp.find(strLoc) == tunes.m_mapPtp.end() )
  {
    tunes.m_mapPtp[strLoc] = LaeTunesPowertrain();
  }

  //
  // Walk through child elements and convert.
  //
  for(pElem = pElemSec->FirstChildElement(), rc = LAE_OK;
      (pElem != NULL) && (rc == LAE_OK);
      pElem = pElem->NextSiblingElement())
  {
    // no element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // <velocity_pid> ... </velocity_pid>
    else if( !strcasecmp(sValue, strSubSecElemVelPid.c_str()) )
    {
      rc = setPowertrainVelPidTunes(strLoc, pElem, tunes);
    }

    // <tires> ... </tires>
    else if( !strcasecmp(sValue, strSubSecElemTires.c_str()) )
    {
      rc = setPowertrainTireTunes(strLoc, pElem, tunes);
    }

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

  if( rc == LAE_OK )
  {
    LOGDIAG3("%s: Laelaps %s powertrain tune parameters set.",
      m_strXmlFileName.c_str(), strLoc.c_str());
  }

  return rc;
}

int LaeXmlTune::setPowertrainVelPidTunes ( const std::string &  strLoc, TiXmlElement *  pElemSubSec, LaeTunes &  tunes  )

protected

Set a powertrain pair's velocity PID tune parameters from the parsed DOM.

Parameters

	strLoc	Powertrain pair location (and key).
	pElemSubSec	Parent enclosing subsection element.
[out]	tunes

Definition at line 763 of file laeXmlTune.cxx.

References laelaps::LaeTunesPowertrain::m_fVelPidKd, laelaps::LaeTunesPowertrain::m_fVelPidKi, laelaps::LaeTunesPowertrain::m_fVelPidKp, and laelaps::LaeTunes::m_mapPtp.

{
  // sub-elements
  string strElemVelPidKp("Kp");
  string strElemVelPidKi("Ki");
  string strElemVelPidKd("Kd");

  LaeTunesPowertrain  tunesPowertrain;  // powertrain tuning
  TiXmlElement       *pElem;            // working xml element
  const char         *sValue;           // working xml element name
  int                 rc;               // return code

  // tuning parameters
  if( tunes.m_mapPtp.find(strLoc) != tunes.m_mapPtp.end() )
  {
    tunesPowertrain = tunes.m_mapPtp[strLoc];
  }
  else
  {
    LOGERROR("Bug: Cannot find \%s\" powertrain tuning parameters.",
        strLoc.c_str());
    return -LAE_ECODE_INTERNAL;
  }
 
  //
  // Walk through child elements and convert.
  //
  for(pElem = pElemSubSec->FirstChildElement(), rc = LAE_OK;
      (pElem != NULL) && (rc == LAE_OK);
      pElem = pElem->NextSiblingElement())
  {
    // no element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // <Kp> .. </Kp>
    else if( !strcasecmp(sValue, strElemVelPidKp.c_str()) )
    {
      rc = strToDoubleWithMinimum(strElemVelPidKp, elemText(pElem),
                                  LaeTuneVelPidKMin,
                                  tunesPowertrain.m_fVelPidKp);
    }

    // <Ki> ... </Ki>
    else if( !strcasecmp(sValue, strElemVelPidKi.c_str()) )
    {
      rc = strToDoubleWithMinimum(strElemVelPidKi, elemText(pElem),
                                  LaeTuneVelPidKMin,
                                  tunesPowertrain.m_fVelPidKi);
    }

    // <Kd> ... </Kd>
    else if( !strcasecmp(sValue, strElemVelPidKd.c_str()) )
    {
      rc = strToDoubleWithMinimum(strElemVelPidKd, elemText(pElem),
                                  LaeTuneVelPidKMin,
                                  tunesPowertrain.m_fVelPidKd);
    }

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

  if( rc == LAE_OK )
  {
    // add back powertrain with new tuning parameters
    tunes.m_mapPtp[strLoc] = tunesPowertrain;

    LOGDIAG3("%s: Laelaps %s powertrain velocity PID tune parameters set.",
      m_strXmlFileName.c_str(), strLoc.c_str());
  }

  return rc;
}

int LaeXmlTune::setRangeSensorTunes ( TiXmlElement *  pElemSec, LaeTunes &  tunes  )

protectedvirtual

Set Laelaps range sensor tuning parameters from DOM.

Parameters

	pElemSec	Parent enclosing section element.
[out]	tunes

Definition at line 923 of file laeXmlTune.cxx.

{
  // sub-elements
  string strAttrType("type");
  string strAttrLoc("location");

  string strType;  // range sensor type (and key)
  string strLoc;   // range sensor location (and key)

  strType = elemAttr(pElemSec, strAttrType);
  strLoc  = elemAttr(pElemSec, strAttrLoc);

  if( strType.empty() )
  {
    setErrorMsg("%s: No %s attribute of <%s> found.",
      m_strXmlFileName.c_str(),
      strAttrLoc.c_str(),
      m_strSecElemRangeSensor.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -LAE_ECODE_XML;
  }

  else if( strcasecmp(strType.c_str(), "vl6180") )
  {
    setErrorMsg("%s: Bad %s=\"%s\" attribute value of <%s> found.",
      m_strXmlFileName.c_str(),
      strAttrType.c_str(),
      strType.c_str(),
      m_strSecElemRangeSensor.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -LAE_ECODE_XML;
  }

  else
  {
    return setVL6180Tunes(pElemSec, strType, strLoc, tunes);
  }
}

int LaeXmlTune::setTunesFromDOM ( LaeTunes &  tunes )

virtual

Set the tune parameters from the parsed DOM.

Parameters

[out]

tunes

Definition at line 222 of file laeXmlTune.cxx.

Referenced by 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 -LAE_ECODE_XML;
  }

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

    //
    // Tuning major element. Walk through child elements and convert.
    //
    // <tuning> ... </tuning>
    //
    else if( !strcasecmp(sValue, m_strMajElemTuning.c_str()) )
    {
      // search for section elements
      for(pElem2 = pElem1->FirstChildElement();
          (pElem2 != NULL) && (rc == LAE_OK);
          pElem2 = pElem2->NextSiblingElement())
      {
        // no child element name
        if( (sValue = pElem2->Value()) == NULL )
        {
          continue;
        }

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

        // <battery> ... </battery> section
        else if( !strcasecmp(sValue, m_strSecElemBattery.c_str()) )
        {
          rc = setBatteryTunes(pElem2, tunes);
        }

        // <powertrains location=LOC> ... <powertrains> section
        else if( !strcasecmp(sValue, m_strSecElemPowertrains.c_str()) )
        {
          rc = setPowertrainTunes(pElem2, tunes);
        }

        // <range_sensor type=TYPE location=LOC> ... <range_sensor> section
        else if( !strcasecmp(sValue, m_strSecElemRangeSensor.c_str()) )
        {
          rc = setRangeSensorTunes(pElem2, tunes);
        }

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

  return LAE_OK;
}

int LaeXmlTune::setVL6180Tunes ( TiXmlElement *  pElemSec, std::string &  strAttrType, std::string &  strAttrLoc, LaeTunes &  tunes  )

protected

Set Laelaps VL6180 range sensor tuning parameters from DOM.

Parameters

	pElemSec	Parent enclosing section element.
	strAttrType	Type of range sensor.
	strAttrLoc	Location of range sensor (key).
[out]	tunes

Definition at line 962 of file laeXmlTune.cxx.

References laelaps::LaeTunesVL6180::m_fAlsGain, laelaps::LaeTunes::m_mapVL6180, laelaps::LaeTunesVL6180::m_nAlsIntPeriod, laelaps::LaeTunesVL6180::m_nTofCrossTalk, and laelaps::LaeTunesVL6180::m_nTofOffset.

{
  // sub-elements
  string strAttrLoc("location");
  string strElemTofOffset("tof_offset");
  string strElemTofCrossTalk("tof_crosstalk");
  string strElemAlsGain("als_gain");
  string strElemAlsIntPeriod("als_int_period");
  string strValFactory("factory");

  LaeTunesVL6180  tunesSensor;  // VL6180 sensor tuning defaults
  size_t          i;            // working index
  bool            bFound;       // [not] found
  TiXmlElement   *pElem;        // working xml element
  const char     *sValue;       // working xml element name
  string          strText;        // working element text
  int             rc;           // return code

  if( strLoc.empty() )
  {
    setErrorMsg("%s: No %s attribute of <%s> found.",
      m_strXmlFileName.c_str(),
      strAttrLoc.c_str(),
      m_strSecElemRangeSensor.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -LAE_ECODE_XML;
  }

  for(i = 0, bFound = false; i < ToFSensorMaxNumOf; ++i)
  {
    if( !strcasecmp(strLoc.c_str(), LaeDesc::KeyRangeSensorMax[i]) )
    {
      bFound = true;
      break;
    }
  }

  if( !bFound )
  {
    setErrorMsg("%s: Bad %s=\"%s\" attribute value of <%s> found.",
      m_strXmlFileName.c_str(),
      strAttrLoc.c_str(),
      strLoc.c_str(),
      m_strSecElemRangeSensor.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -LAE_ECODE_XML;
  }

  // tuning parameters
  if( tunes.m_mapVL6180.find(strLoc) == tunes.m_mapVL6180.end() )
  {
    tunes.m_mapVL6180[strLoc] = tunesSensor;  // new sensor tunes
  }
  else
  {
    tunesSensor = tunes.m_mapVL6180[strLoc];  // existing sensor tunes
  }

  //
  // Walk through child elements and convert.
  //
  for(pElem = pElemSec->FirstChildElement(), rc = LAE_OK;
      (pElem != NULL) && (rc == LAE_OK);
      pElem = pElem->NextSiblingElement())
  {
    // no element name
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // <tof_offset> ... </tof_offset>
    else if( !strcasecmp(sValue, strElemTofOffset.c_str()) )
    {
      strText = elemText(pElem);
      if( !strcasecmp(strText.c_str(), strValFactory.c_str()) )
      {
        tunesSensor.m_nTofOffset = LaeTuneVL6180TofOffsetDft;
      }
      else
      {
        rc = strToIntWithinRange(strElemTofOffset, strText,
                    LaeTuneVL6180TofOffsetMin, LaeTuneVL6180TofOffsetMax,
                    tunesSensor.m_nTofOffset);
      }
    }

    // <tof_crosstalk> ... </tof_crosstalk>
    else if( !strcasecmp(sValue, strElemTofCrossTalk.c_str()) )
    {
      strText = elemText(pElem);
      if( !strcasecmp(strText.c_str(), strValFactory.c_str()) )
      {
        tunesSensor.m_nTofCrossTalk = LaeTuneVL6180TofXTalkDft;
      }
      else
      {
        rc = strToIntWithinRange(strElemTofCrossTalk, strText,
                    LaeTuneVL6180TofXTalkMin, LaeTuneVL6180TofXTalkMax,
                    tunesSensor.m_nTofCrossTalk);
      }
    }

    // <als_gain> ... </als_gain>
    else if( !strcasecmp(sValue, strElemAlsGain.c_str()) )
    {
      strText = elemText(pElem);
      if( !strcasecmp(strText.c_str(), strValFactory.c_str()) )
      {
        tunesSensor.m_fAlsGain = LaeTuneVL6180AlsGainDft;
      }
      else
      {
        rc = strToDoubleWithinRange(strElemAlsGain, strText,
                    LaeTuneVL6180AlsGainMin, LaeTuneVL6180AlsGainMax,
                    tunesSensor.m_fAlsGain);
      }
    }

    // <als_int_period> ... </als_int_period>
    else if( !strcasecmp(sValue, strElemAlsIntPeriod.c_str()) )
    {
      strText = elemText(pElem);
      if( !strcasecmp(strText.c_str(), strValFactory.c_str()) )
      {
        tunesSensor.m_nAlsIntPeriod = LaeTuneVL6180AlsIntPeriodDft;
      }
      else
      {
        rc = strToIntWithinRange(strElemAlsIntPeriod, strText,
                    LaeTuneVL6180AlsIntPeriodMin, LaeTuneVL6180AlsIntPeriodMax,
                    tunesSensor.m_nAlsIntPeriod);
      }
    }

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

  if( rc == LAE_OK )
  {
    tunes.m_mapVL6180[strLoc] = tunesSensor;  // update
    LOGDIAG3("%s: Laelaps %s VL6180 tune parameters set.",
      m_strXmlFileName.c_str(), strLoc.c_str());
  }

  return rc;
}

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

protected

Convert text to FPN 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, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 1145 of file laeXmlTune.cxx.

{
  int   rc = LAE_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 = -LAE_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 LaeXmlTune::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, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 1117 of file laeXmlTune.cxx.

{
  int   rc = LAE_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 = -LAE_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 LaeXmlTune::strToIntWithinRange ( const std::string &  strElem, const std::string &  strText, const int  nMin, const int  nMax, int &  nVal  )

protected

Convert text to integer 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>
	nMin	Minimum value allowed.
	nMax	Maximum value allowed.
[out]	nVal	Converted value.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 1183 of file laeXmlTune.cxx.

{
  int   rc = LAE_OK;    // return code

  if( !strText.empty() )
  {
    if( (rc = strToInt(strText, nVal)) < 0 )
    {
      setErrorMsg("%s: Element <%s> text \"%s\" Not a Number.",
            m_strXmlFileName.c_str(), strElem.c_str(), strText.c_str());
      LOGERROR("%s", m_bufErrMsg);
      rc = -LAE_ECODE_XML;
    }

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

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

  return rc;
}

int LaeXmlTune::strToNorm ( const std::string &  strElem, const std::string &  strText, LaeNorm &  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, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 1221 of file laeXmlTune.cxx.

{
  if( strText.empty() )
  {
    return LAE_OK;
  }
  else if( !strcasecmp(strText.c_str(), "L1") )
  {
    eNorm = LaeNormL1;
    return LAE_OK;
  }
  else if( !strcasecmp(strText.c_str(), "L2") )
  {
    eNorm = LaeNormL2;
    return LAE_OK;
  }
  else if( !strcasecmp(strText.c_str(), "Linf") )
  {
    eNorm = LaeNormLinf;
    return LAE_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 -LAE_ECODE_XML;
  }
}

void laelaps::LaeXmlTune::warnUnknownElem ( const std::string &  strElem )

inlineprotected

Warn on unknown element.

Parameters

strElem

Element name.

Definition at line 399 of file laeXmlTune.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/Laelaps/laeXmlTune.h
• sw/liblaelaps/laeXmlTune.cxx