yaml_config_reader.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <fstream>
#include <sstream>
 
#include <yaml-cpp/yaml.h>
#include <rviz/yaml_config_reader.h>
 
namespace rviz
{
YamlConfigReader::YamlConfigReader() : error_(false)
{
}
 
void YamlConfigReader::readFile(Config& config, const QString& filename)
{
  std::ifstream in(qPrintable(filename));
  readStream(config, in, filename);
}
 
void YamlConfigReader::readString(Config& config, const QString& data, const QString& filename)
{
  std::stringstream ss(data.toStdString());
  readStream(config, ss, filename);
}
 
void YamlConfigReader::readStream(Config& config, std::istream& in, const QString& /*filename*/)
{
  try
  {
    YAML::Node yaml_node;
    yaml_node = YAML::Load(in);
    error_ = false;
    message_ = "";
    readYamlNode(config, yaml_node);
  }
  catch (YAML::ParserException& ex)
  {
    message_ = ex.what();
    error_ = true;
  }
}
 
void YamlConfigReader::readYamlNode(Config& config, const YAML::Node& yaml_node)
{
  switch (yaml_node.Type())
  {
  case YAML::NodeType::Map:
  {
    for (YAML::const_iterator it = yaml_node.begin(); it != yaml_node.end(); ++it)
    {
      std::string key;
      key = it->first.as<std::string>();
      Config child = config.mapMakeChild(QString::fromStdString(key));
      readYamlNode(child, it->second);
    }
    break;
  }
  case YAML::NodeType::Sequence:
  {
    for (YAML::const_iterator it = yaml_node.begin(); it != yaml_node.end(); ++it)
    {
      Config child = config.listAppendNew();
      readYamlNode(child, *it);
    }
    break;
  }
  case YAML::NodeType::Scalar:
  {
    std::string s;
    s = yaml_node.as<std::string>();
    config.setValue(QString::fromStdString(s));
    break;
  }
  case YAML::NodeType::Null:
  default:
    break;
  }
}
 
bool YamlConfigReader::error()
{
  return error_;
}
 
QString YamlConfigReader::errorMessage()
{
  return message_;
}
 
} // end namespace rviz