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<h1>kmlFactories.h</h1> </div>
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<a href="kmlFactories_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
<a name="l00002"></a>00002 <span class="preprocessor">#ifndef KMLFACTORIES_H</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span><span class="preprocessor">#define KMLFACTORIES_H</span>
<a name="l00004"></a>00004 <span class="preprocessor"></span>
<a name="l00005"></a>00005 <span class="preprocessor">#include "common/exception.h"</span>
<a name="l00006"></a>00006
<a name="l00007"></a>00007 <span class="preprocessor">#include "KNI/kmlBase.h"</span>
<a name="l00008"></a>00008 <span class="preprocessor">#include "KNI/kmlMotBase.h"</span>
<a name="l00009"></a>00009 <span class="preprocessor">#include "KNI/kmlSctBase.h"</span>
<a name="l00010"></a>00010
<a name="l00011"></a>00011 <span class="preprocessor">#include <string></span>
<a name="l00012"></a>00012 <span class="preprocessor">#include <fstream></span>
<a name="l00013"></a>00013
<a name="l00018"></a>00018
<a name="l00022"></a><a class="code" href="classConfigFileStateException.html">00022</a> <span class="keyword">class </span><a class="code" href="classConfigFileStateException.html" title="The state of the configuration file wasn&#39;t &quot;good&quot;.">ConfigFileStateException</a> : <span class="keyword">public</span> <a class="code" href="classException.html">Exception</a> {
<a name="l00023"></a>00023 <span class="keyword">public</span>:
<a name="l00024"></a><a class="code" href="classConfigFileStateException.html#a37f6b628115e1b5aa86629d606247006">00024</a> <a class="code" href="classConfigFileStateException.html#a37f6b628115e1b5aa86629d606247006">ConfigFileStateException</a>() throw ():
<a name="l00025"></a>00025 <a class="code" href="classException.html">Exception</a>("ConfigFile is not open or other failure", -41) {}
<a name="l00026"></a>00026 };
<a name="l00027"></a>00027
<a name="l00031"></a><a class="code" href="classConfigFileSectionNotFoundException.html">00031</a> <span class="keyword">class </span><a class="code" href="classConfigFileSectionNotFoundException.html" title="The requested section could not be found.">ConfigFileSectionNotFoundException</a> : <span class="keyword">public</span> <a class="code" href="classException.html">Exception</a> {
<a name="l00032"></a>00032 <span class="keyword">public</span>:
<a name="l00033"></a><a class="code" href="classConfigFileSectionNotFoundException.html#a18f69d90fcb7d8bbba6d1ac18523da64">00033</a> <a class="code" href="classConfigFileSectionNotFoundException.html#a18f69d90fcb7d8bbba6d1ac18523da64">ConfigFileSectionNotFoundException</a>(<span class="keyword">const</span> std::string & attribute) <span class="keywordflow">throw</span> ():
<a name="l00034"></a>00034 <a class="code" href="classException.html#a1e7d40687c861dba563a3e0275b3cede">Exception</a>(<span class="stringliteral">"Could not find section '"</span> + attribute + <span class="stringliteral">"' in configfile"</span>, -42) {}
<a name="l00035"></a>00035 };
<a name="l00036"></a>00036
<a name="l00040"></a><a class="code" href="classConfigFileSubsectionNotFoundException.html">00040</a> <span class="keyword">class </span><a class="code" href="classConfigFileSubsectionNotFoundException.html" title="The requested subsection could not be found.">ConfigFileSubsectionNotFoundException</a> : <span class="keyword">public</span> <a class="code" href="classException.html">Exception</a> {
<a name="l00041"></a>00041 <span class="keyword">public</span>:
<a name="l00042"></a><a class="code" href="classConfigFileSubsectionNotFoundException.html#a1d59230c79e8f3b25a7d73cd3f3a4def">00042</a> <a class="code" href="classConfigFileSubsectionNotFoundException.html#a1d59230c79e8f3b25a7d73cd3f3a4def">ConfigFileSubsectionNotFoundException</a>(<span class="keyword">const</span> std::string & attribute) <span class="keywordflow">throw</span> ():
<a name="l00043"></a>00043 <a class="code" href="classException.html#a1e7d40687c861dba563a3e0275b3cede">Exception</a>(<span class="stringliteral">"Could not find subsection '"</span> + attribute + <span class="stringliteral">"' in configfile"</span>, -43) {}
<a name="l00044"></a>00044 };
<a name="l00045"></a>00045
<a name="l00049"></a><a class="code" href="classConfigFileEntryNotFoundException.html">00049</a> <span class="keyword">class </span><a class="code" href="classConfigFileEntryNotFoundException.html" title="The requested entry could not be found.">ConfigFileEntryNotFoundException</a> : <span class="keyword">public</span> <a class="code" href="classException.html">Exception</a> {
<a name="l00050"></a>00050 <span class="keyword">public</span>:
<a name="l00051"></a><a class="code" href="classConfigFileEntryNotFoundException.html#a81617da02706260ddcdd4a10a55e6332">00051</a> <a class="code" href="classConfigFileEntryNotFoundException.html#a81617da02706260ddcdd4a10a55e6332">ConfigFileEntryNotFoundException</a>(<span class="keyword">const</span> std::string & attribute) <span class="keywordflow">throw</span> ():
<a name="l00052"></a>00052 <a class="code" href="classException.html#a1e7d40687c861dba563a3e0275b3cede">Exception</a>(<span class="stringliteral">"Could not find entry '"</span> + attribute + <span class="stringliteral">"' in configfile"</span>, -44) {}
<a name="l00053"></a>00053 };
<a name="l00054"></a>00054
<a name="l00058"></a><a class="code" href="classConfigFileSyntaxErrorException.html">00058</a> <span class="keyword">class </span><a class="code" href="classConfigFileSyntaxErrorException.html" title="There was a syntax error in the configuration file.">ConfigFileSyntaxErrorException</a> : <span class="keyword">public</span> <a class="code" href="classException.html">Exception</a> {
<a name="l00059"></a>00059 <span class="keyword">public</span>:
<a name="l00060"></a><a class="code" href="classConfigFileSyntaxErrorException.html#a3943aa8a77e5c535bb56adce8a170431">00060</a> <a class="code" href="classConfigFileSyntaxErrorException.html#a3943aa8a77e5c535bb56adce8a170431">ConfigFileSyntaxErrorException</a>(<span class="keyword">const</span> std::string & line) <span class="keywordflow">throw</span> ():
<a name="l00061"></a>00061 <a class="code" href="classException.html#a1e7d40687c861dba563a3e0275b3cede">Exception</a>(<span class="stringliteral">"Syntax error in this line: '"</span> + line + <span class="stringliteral">"'"</span>, -45) {}
<a name="l00062"></a>00062 };
<a name="l00063"></a>00063
<a name="l00067"></a>00067
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="keyword">namespace </span>KNI {
<a name="l00070"></a>00070
<a name="l00075"></a><a class="code" href="classKNI_1_1kmlFactory.html">00075</a> <span class="keyword">class </span><a class="code" href="dllexport_8h.html#af6e7daabccc187ef1005a8e9a68ecce4">DLLDIR</a> <a class="code" href="classKNI_1_1kmlFactory.html" title="This class is for internal use only It may change at any time It shields the configuration file parsi...">kmlFactory</a> {
<a name="l00076"></a>00076 <span class="keyword">private</span>:
<a name="l00077"></a><a class="code" href="classKNI_1_1kmlFactory.html#a5124c47a5835b13adce7917110ce8a54">00077</a> std::ifstream <a class="code" href="classKNI_1_1kmlFactory.html#a5124c47a5835b13adce7917110ce8a54">_configfile</a>;
<a name="l00078"></a>00078 <span class="keywordtype">void</span> _readEntry(<span class="keywordtype">char</span>* dest, <span class="keywordtype">int</span> destsz, <span class="keyword">const</span> <span class="keywordtype">char</span>* section, <span class="keyword">const</span> <span class="keywordtype">char</span>* subsection, <span class="keyword">const</span> <span class="keywordtype">char</span>* entry);
<a name="l00079"></a>00079 <span class="keyword">public</span>:
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <a class="code" href="classKNI_1_1kmlFactory.html" title="This class is for internal use only It may change at any time It shields the configuration file parsi...">kmlFactory</a>();
<a name="l00082"></a>00082
<a name="l00083"></a><a class="code" href="classKNI_1_1kmlFactory.html#aa1de274f0ea50ea0d7429ad616ff024c">00083</a> <span class="keywordtype">bool</span> <a class="code" href="classKNI_1_1kmlFactory.html#aa1de274f0ea50ea0d7429ad616ff024c">openFile</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* filepath) {
<a name="l00084"></a>00084 _configfile.open(filepath);
<a name="l00085"></a>00085 <span class="keywordflow">return</span> _configfile.fail() ? <span class="keyword">false</span> : <span class="keyword">true</span>;
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087 <span class="preprocessor">#ifdef _UNICODE</span>
<a name="l00088"></a>00088 <span class="preprocessor"></span> <span class="keywordtype">bool</span> openFile(<span class="keyword">const</span> <span class="keywordtype">wchar_t</span>* filepath) {
<a name="l00089"></a>00089 _configfile.open(filepath);
<a name="l00090"></a>00090 <span class="keywordflow">return</span> _configfile.fail() ? <span class="keyword">false</span> : <span class="keyword">true</span>;
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092 <span class="preprocessor">#endif</span>
<a name="l00093"></a>00093 <span class="preprocessor"></span>
<a name="l00094"></a>00094 <a class="code" href="structTKatGNL.html" title="[GNL] general robot attributes">TKatGNL</a> getGNL();
<a name="l00095"></a>00095 <a class="code" href="structTKatMOT.html" title="[MOT] every motor&#39;s attributes">TKatMOT</a> getMOT();
<a name="l00096"></a>00096 <a class="code" href="structTKatSCT.html" title="[SCT] every sens ctrl&#39;s attributes">TKatSCT</a> getSCT();
<a name="l00097"></a>00097 <a class="code" href="structTKatEFF.html" title="Inverse Kinematics structure of the endeffektor.">TKatEFF</a> getEFF();
<a name="l00098"></a>00098 <a class="code" href="structTMotDesc.html" title="motor description (partly)">TMotDesc</a>* getMotDesc(<span class="keywordtype">short</span> count);
<a name="l00099"></a>00099 <a class="code" href="structTSctDesc.html" title="sensor controller description (partly)">TSctDesc</a>* getSctDesc(<span class="keywordtype">short</span> count);
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <a class="code" href="structTMotCLB.html" title="Calibration structure for single motors.">TMotCLB</a> getMotCLB(<span class="keywordtype">short</span> number);
<a name="l00102"></a>00102 <a class="code" href="structTMotSCP.html" title="[SCP] static controller parameters">TMotSCP</a> getMotSCP(<span class="keywordtype">short</span> number);
<a name="l00103"></a>00103 <a class="code" href="structTMotDYL.html" title="[DYL] dynamic limits">TMotDYL</a> getMotDYL(<span class="keywordtype">short</span> number);
<a name="l00106"></a>00106 <span class="keywordtype">int</span> getType();
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <a class="code" href="structTMotInit.html" title="Initial motor parameters.">TMotInit</a> getMotInit(<span class="keywordtype">short</span> number);
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="keywordtype">void</span> getGripperParameters(<span class="keywordtype">bool</span>& isPresent, <span class="keywordtype">int</span>& openEncoders, <span class="keywordtype">int</span>& closeEncoders);
<a name="l00111"></a>00111 };
<a name="l00112"></a>00112
<a name="l00113"></a>00113
<a name="l00114"></a>00114
<a name="l00115"></a>00115 }
<a name="l00116"></a>00116
<a name="l00117"></a>00117 <span class="preprocessor">#endif</span>
</pre></div></div>
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