kmlFactories.h

Go to the documentation of this file.

#ifndef KMLFACTORIES_H
#define KMLFACTORIES_H

#include "common/exception.h"

#include "KNI/kmlBase.h"
#include "KNI/kmlMotBase.h"
#include "KNI/kmlSctBase.h"

//<tfromm date="22.05.2009">
#include <cstdlib>
//</tfromm>
#include <string>
#include <fstream>


class ConfigFileStateException : public Exception {
public:
        ConfigFileStateException() throw ():
                Exception("ConfigFile is not open or other failure", -41) {}
};

class ConfigFileSectionNotFoundException : public Exception {
public:
        ConfigFileSectionNotFoundException(const std::string & attribute) throw ():
                Exception("Could not find section '" + attribute + "' in configfile", -42) {}
};

class ConfigFileSubsectionNotFoundException : public Exception {
public:
        ConfigFileSubsectionNotFoundException(const std::string & attribute) throw ():
                Exception("Could not find subsection '" + attribute + "' in configfile", -43) {}
};

class ConfigFileEntryNotFoundException : public Exception {
public:
        ConfigFileEntryNotFoundException(const std::string & attribute) throw ():
                Exception("Could not find entry '" + attribute + "' in configfile", -44) {}
};

class ConfigFileSyntaxErrorException : public Exception {
public:
        ConfigFileSyntaxErrorException(const std::string & line) throw ():
                Exception("Syntax error in this line: '" + line + "'", -45) {}
};



namespace KNI {

        class DLLDIR kmlFactory {
        private:
                std::ifstream _configfile;
                void _readEntry(char* dest, int destsz, const char* section, const char* subsection, const char* entry);
        public:
                
                kmlFactory();

                bool openFile(const char* filepath) {
                        _configfile.open(filepath);
                        return _configfile.fail() ? false : true;
                }
#ifdef _UNICODE
                bool openFile(const wchar_t* filepath) {
                        _configfile.open(filepath);
                        return _configfile.fail() ? false : true;
                }
#endif
                
                TKatGNL   getGNL();
                TKatMOT   getMOT();
                TKatSCT   getSCT();
                TKatEFF   getEFF();
                TMotDesc* getMotDesc(short count);
                TSctDesc* getSctDesc(short count);

                TMotCLB getMotCLB(short number);
                TMotSCP getMotSCP(short number);
                TMotDYL getMotDYL(short number);
                
                int getType();
                int getKinematics();

                TMotInit getMotInit(short number);
                
                void getGripperParameters(bool& isPresent, int& openEncoders, int& closeEncoders);
        };

        

}

#endif