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C++编写Config类&ROS动态参数总结_c++config

作者：不正经 | 2024-02-15 11:15:12

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c++config

文章目录

1.C++编写Config类

1.1Config的头文件

//Config.h  
#pragma once  
  
#include <string>  
#include <map>  
#include <iostream>  
#include <fstream>  
#include <sstream>  
  
  
/* 
* \brief Generic configuration Class 
* 
*/  
class Config {  
    // Data  
protected:  
    std::string m_Delimiter;  //!< separator between key and value  
    std::string m_Comment;    //!< separator between value and comments  
    std::map<std::string,std::string> m_Contents;  //!< extracted keys and values  
  
    typedef std::map<std::string,std::string>::iterator mapi;  
    typedef std::map<std::string,std::string>::const_iterator mapci;  
    // Methods  
public:  
  
    Config( std::string filename,std::string delimiter = "=",std::string comment = "#" );  
    Config();  
    template<class T> T Read( const std::string& in_key ) const;  //!<Search for key and read value or optional default value, call as read<T>  
    template<class T> T Read( const std::string& in_key, const T& in_value ) const;  
    template<class T> bool ReadInto( T& out_var, const std::string& in_key ) const;  
    template<class T>  
    bool ReadInto( T& out_var, const std::string& in_key, const T& in_value ) const;  
    bool FileExist(std::string filename);  
    void ReadFile(std::string filename,std::string delimiter = "=",std::string comment = "#" );  
  
    // Check whether key exists in configuration  
    bool KeyExists( const std::string& in_key ) const;  
  
    // Modify keys and values  
    template<class T> void Add( const std::string& in_key, const T& in_value );  
    void Remove( const std::string& in_key );  
  
    // Check or change configuration syntax  
    std::string GetDelimiter() const { return m_Delimiter; }  
    std::string GetComment() const { return m_Comment; }  
    std::string SetDelimiter( const std::string& in_s )  
    { std::string old = m_Delimiter;  m_Delimiter = in_s;  return old; }    
    std::string SetComment( const std::string& in_s )  
    { std::string old = m_Comment;  m_Comment =  in_s;  return old; }  
  
    // Write or read configuration  
    friend std::ostream& operator<<( std::ostream& os, const Config& cf );  
    friend std::istream& operator>>( std::istream& is, Config& cf );  
  
protected:  
    template<class T> static std::string T_as_string( const T& t );  
    template<class T> static T string_as_T( const std::string& s );  
    static void Trim( std::string& inout_s );  
  
  
    // Exception types  
public:  
    struct File_not_found {  
        std::string filename;  
        File_not_found( const std::string& filename_ = std::string() )  
            : filename(filename_) {} };  
        struct Key_not_found {  // thrown only by T read(key) variant of read()  
            std::string key;  
            Key_not_found( const std::string& key_ = std::string() )  
                : key(key_) {} };  
};  
  
  
/* static */  
template<class T>  
std::string Config::T_as_string( const T& t )  
{  
    // Convert from a T to a string  
    // Type T must support << operator  
    std::ostringstream ost;  
    ost << t;  
    return ost.str();  
}  
  
  
/* static */  
template<class T>  
T Config::string_as_T( const std::string& s )  
{  
    // Convert from a string to a T  
    // Type T must support >> operator  
    T t;  
    std::istringstream ist(s);  
    ist >> t;  
    return t;  
}  
  
  
/* static */  
template<>  
inline std::string Config::string_as_T<std::string>( const std::string& s )  
{  
    // Convert from a string to a string  
    // In other words, do nothing  
    return s;  
}  
  
  
/* static */  
template<>  
inline bool Config::string_as_T<bool>( const std::string& s )  
{  
    // Convert from a string to a bool  
    // Interpret "false", "F", "no", "n", "0" as false  
    // Interpret "true", "T", "yes", "y", "1", "-1", or anything else as true  
    bool b = true;  
    std::string sup = s;  
    for( std::string::iterator p = sup.begin(); p != sup.end(); ++p )  
        *p = toupper(*p);  // make string all caps  
    if( sup==std::string("FALSE") || sup==std::string("F") ||  
        sup==std::string("NO") || sup==std::string("N") ||  
        sup==std::string("0") || sup==std::string("NONE") )  
        b = false;  
    return b;  
}  
  
  
template<class T>  
T Config::Read( const std::string& key ) const  
{  
    // Read the value corresponding to key  
    mapci p = m_Contents.find(key);  
    if( p == m_Contents.end() ) throw Key_not_found(key);  
    return string_as_T<T>( p->second );  
}  
  
  
template<class T>  
T Config::Read( const std::string& key, const T& value ) const  
{  
    // Return the value corresponding to key or given default value  
    // if key is not found  
    mapci p = m_Contents.find(key);  
    if( p == m_Contents.end() ) return value;  
    return string_as_T<T>( p->second );  
}  
  
  
template<class T>  
bool Config::ReadInto( T& var, const std::string& key ) const  
{  
    // Get the value corresponding to key and store in var  
    // Return true if key is found  
    // Otherwise leave var untouched  
    mapci p = m_Contents.find(key);  
    bool found = ( p != m_Contents.end() );  
    if( found ) var = string_as_T<T>( p->second );  
    return found;  
}  
  
  
template<class T>  
bool Config::ReadInto( T& var, const std::string& key, const T& value ) const  
{  
    // Get the value corresponding to key and store in var  
    // Return true if key is found  
    // Otherwise set var to given default  
    mapci p = m_Contents.find(key);  
    bool found = ( p != m_Contents.end() );  
    if( found )  
        var = string_as_T<T>( p->second );  
    else  
        var = value;  
    return found;  
}  
  
  
template<class T>  
void Config::Add( const std::string& in_key, const T& value )  
{  
    // Add a key with given value  
    std::string v = T_as_string( value );  
    std::string key=in_key;  
    Trim(key);  
    Trim(v);  
    m_Contents[key] = v;  
    return;  
}

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1.2Config的cpp文件

// Config.cpp  
  
#include "Config.h"  
  
using namespace std;  
  
  
Config::Config( string filename, string delimiter,  
               string comment )  
               : m_Delimiter(delimiter), m_Comment(comment)  
{  
    // Construct a Config, getting keys and values from given file  
  
    std::ifstream in( filename.c_str() );  
  
    if( !in ) throw File_not_found( filename );   
  
    in >> (*this);  
}  
  
  
Config::Config()  
: m_Delimiter( string(1,'=') ), m_Comment( string(1,'#') )  
{  
    // Construct a Config without a file; empty  
}  
  
  
  
bool Config::KeyExists( const string& key ) const  
{  
    // Indicate whether key is found  
    mapci p = m_Contents.find( key );  
    return ( p != m_Contents.end() );  
}  
  
  
/* static */  
void Config::Trim( string& inout_s )  
{  
    // Remove leading and trailing whitespace  
    static const char whitespace[] = " \n\t\v\r\f";  
    inout_s.erase( 0, inout_s.find_first_not_of(whitespace) );  
    inout_s.erase( inout_s.find_last_not_of(whitespace) + 1U );  
}  
  
  
std::ostream& operator<<( std::ostream& os, const Config& cf )  
{  
    // Save a Config to os  
    for( Config::mapci p = cf.m_Contents.begin();  
        p != cf.m_Contents.end();  
        ++p )  
    {  
        os << p->first << " " << cf.m_Delimiter << " ";  
        os << p->second << std::endl;  
    }  
    return os;  
}  
  
void Config::Remove( const string& key )  
{  
    // Remove key and its value  
    m_Contents.erase( m_Contents.find( key ) );  
    return;  
}  
  
std::istream& operator>>( std::istream& is, Config& cf )  
{  
    // Load a Config from is  
    // Read in keys and values, keeping internal whitespace  
    typedef string::size_type pos;  
    const string& delim  = cf.m_Delimiter;  // separator  
    const string& comm   = cf.m_Comment;    // comment  
    const pos skip = delim.length();        // length of separator  
  
    string nextline = "";  // might need to read ahead to see where value ends  
  
    while( is || nextline.length() > 0 )  
    {  
        // Read an entire line at a time  
        string line;  
        if( nextline.length() > 0 )  
        {  
            line = nextline;  // we read ahead; use it now  
            nextline = "";  
        }  
        else  
        {  
            std::getline( is, line );  
        }  
  
        // Ignore comments  
        line = line.substr( 0, line.find(comm) );  
  
        // Parse the line if it contains a delimiter  
        pos delimPos = line.find( delim );  
        if( delimPos < string::npos )  
        {  
            // Extract the key  
            string key = line.substr( 0, delimPos );  
            line.replace( 0, delimPos+skip, "" );  
  
            // See if value continues on the next line  
            // Stop at blank line, next line with a key, end of stream,  
            // or end of file sentry  
            bool terminate = false;  
            while( !terminate && is )  
            {  
                std::getline( is, nextline );  
                terminate = true;  
  
                string nlcopy = nextline;  
                Config::Trim(nlcopy);  
                if( nlcopy == "" ) continue;  
  
                nextline = nextline.substr( 0, nextline.find(comm) );  
                if( nextline.find(delim) != string::npos )  
                    continue;  
  
                nlcopy = nextline;  
                Config::Trim(nlcopy);  
                if( nlcopy != "" ) line += "\n";  
                line += nextline;  
                terminate = false;  
            }  
  
            // Store key and value  
            Config::Trim(key);  
            Config::Trim(line);  
            cf.m_Contents[key] = line;  // overwrites if key is repeated  
        }  
    }  
  
    return is;  
}  
bool Config::FileExist(std::string filename)  
{  
    bool exist= false;  
    std::ifstream in( filename.c_str() );  
    if( in )   
        exist = true;  
    return exist;  
}  
  
void Config::ReadFile( string filename, string delimiter,  
                      string comment )  
{  
    m_Delimiter = delimiter;  
    m_Comment = comment;  
    std::ifstream in( filename.c_str() );  
  
    if( !in ) throw File_not_found( filename );   
  
    in >> (*this);  
}

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1.3调用Config的类读取txt

//main.cpp  
#include "Config.h"  
int main()  
{  
    int port;  
    std::string ipAddress;  
    std::string username;  
    std::string password;  
    const char ConfigFile[]= "..//src//config.txt";   
    Config configSettings(ConfigFile);  
      
    port = configSettings.Read("port", 0);  
    ipAddress = configSettings.Read("ipAddress", ipAddress);  
    username = configSettings.Read("username", username);  
    password = configSettings.Read("password", password);  
    std::cout<<"port:"<<port<<std::endl;  
    std::cout<<"ipAddress:"<<ipAddress<<std::endl;  
    std::cout<<"username:"<<username<<std::endl;  
    std::cout<<"password:"<<password<<std::endl;  
    //
    float level = configSettings.Read("level", level);  
    std::cout<<"level:"<<level<<std::endl;  
  
    return 0;  
}

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这里是引用

2.ROS中的Config动态参数

2.1动态参数编写

在ROS系统中实现某个功能时，时常需要外部动态调整参数。例如控制中PID参数的调节，或者需要查看机器人在不同参数下的性能表现，此时外部参数的动态调节显得极其便利。在ROS中可以通过动态参数功能来实现。接下讲解ROS中动态参数的应用。
msf_core中的imu的噪声和漂移参数设置文件如下:

1.利用python语言编写.cfg文件,设置动态参数
#! /usr/bin/env python
PACKAGE='msf_core'
import roslib; roslib.load_manifest(PACKAGE)
#from driver_base.msg import SensorLevels
from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()#以上代码初始化ROS并导入参数生成器

#       Name                 Type      Reconfiguration level                Description   Default   Min   Max
gen.add("core_fixed_bias",        bool_t,   0,                           "fix biases",                    False)
gen.add("core_noise_acc",         double_t, 0,                           "accelerations noise spectral density (nsd) [m/s^2/sqrt(Hz)]",       6.93e-4,   	1.0e-5, 	1.0e-3)
gen.add("core_noise_accbias",     double_t, 0,                           "acceleration biases random walk [m/s^3/sqrt(Hz)]", 2e-8, 	1.0e-8, 	1.0e-3)
gen.add("core_noise_gyr",         double_t, 0,                           "gyros noise spectral density (nsd) [rad/s/sqrt(Hz)]",                 1.39e-5,  	1.0e-6,   	1.0e-3)
gen.add("core_noise_gyrbias",     double_t, 0,                           "gyro biases random walk [rad/s^2/sqrt(Hz)]",                 3e-6, 	1.0e-7, 	1.0e-3)

exit(gen.generate(PACKAGE, "Config", "MSF_Core"))

#以上代码为加入不同的参数。其中gen.add(...)格式如下：
# gen.add(name, type, level, description, default, min, max)
# name: 参数的名称
# type: 参数类型
 #level:一个传递给回调的位掩码
 #description: 一个描述参数
 #default: 节点启动的初始值
# min: 参数最小值
# max: 参数最大值

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2.2动态参数生成

2. 编辑CMakeLists.txt文件

 加入以下代码

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  message_generation
  dynamic_reconfigure#加入所需要的包
)

generate_dynamic_reconfigure_options(cfg/MSF_Core.cfg)#生成动态参数


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2.3调用动态参数

在MSF_SensorManagerROS.h文件中调用了该动态参数


#include <ros/ros.h>
#include <dynamic_reconfigure/server.h>
#include <msf_core/MSF_CoreConfig.h>//消息类型

typedef dynamic_reconfigure::Server<msf_core::MSF_CoreConfig> ReconfigureServer;//重命名

#在自定义的结构体MSF_SensorManagerROS中进行调用
struct MSF_SensorManagerROS : public msf_core::MSF_SensorManager<EKFState_T> {
....

MSF_SensorManagerROS(ros::NodeHandle pnh = ros::NodeHandle("~core")) {//构造函数
    reconfServer_ = new ReconfigureServer(pnh);// 初始化服务器,忽略config的配置
    
    ReconfigureServer::CallbackType f = boost::bind(
        &MSF_SensorManagerROS::Config, this, _1, _2);//Config将会输出参数的新值
    reconfServer_->setCallback(f);//向服务器发送Config函数,进行回调触发
    //当服务器得到重新配置请求,一般运行$rosrun rqt_reconfigure rqt_reconfigure
    //会调用回调函数f

}
....


//回调函数实现,把Gui的参数从新赋值个config_(结构体中的私有成员变量)
  void Config(msf_core::MSF_CoreConfig &config, uint32_t level) {
    config_ = config;//私有成员变量msf_core::MSF_CoreConfig config_;  ///< Dynamic reconfigure config.
    CoreConfigCallback(config, level);
  }
  .......
}


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$rosrun rqt_reconfigure rqt_reconfigure
运行显示
这里是引用

参考博客

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