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This commit is contained in:
acki
2025-05-02 13:39:17 -04:00
parent 2b2e64b17c
commit 7c82db862d
3 changed files with 49 additions and 54 deletions
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4
src/modelec_strat/CMakeLists.txt
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@@ -16,7 +16,7 @@ find_package(ament_index_cpp REQUIRED)
find_package(modelec_interfaces REQUIRED)
find_package(modelec_utils REQUIRED)
add_executable(strat_fsm src/strat_fms.cpp src/navigation_helper.cpp src/pathfinding.cpp src/action_executor.cpp src/mission_manager.cpp src/missions/prepare_concert_mission.cpp src/missions/promotion_mission.cpp src/missions/go_home_mission.cpp src/obstacle.cpp src/config.cpp)
add_executable(strat_fsm src/strat_fms.cpp src/navigation_helper.cpp src/pathfinding.cpp src/action_executor.cpp src/mission_manager.cpp src/missions/prepare_concert_mission.cpp src/missions/promotion_mission.cpp src/missions/go_home_mission.cpp src/obstacle.cpp)
ament_target_dependencies(strat_fsm rclcpp std_msgs std_srvs modelec_interfaces ament_index_cpp)
target_link_libraries(strat_fsm modelec_utils::modelec_utils tinyxml2::tinyxml2)
target_include_directories(strat_fsm PUBLIC
@@ -24,7 +24,7 @@ target_include_directories(strat_fsm PUBLIC
$<INSTALL_INTERFACE:include>
)
add_executable(enemy_manager src/enemy_manager.cpp src/config.cpp)
add_executable(enemy_manager src/enemy_manager.cpp)
ament_target_dependencies(enemy_manager rclcpp std_msgs sensor_msgs std_srvs modelec_interfaces ament_index_cpp)
target_link_libraries(enemy_manager modelec_utils::modelec_utils tinyxml2::tinyxml2)
target_include_directories(enemy_manager PUBLIC

47
src/modelec_strat/include/modelec_strat/config.hpp
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@@ -24,6 +24,53 @@ namespace Modelec
static inline std::unordered_map<std::string, std::string> values_;
};
inline bool Config::load(const std::string& filepath)
{
tinyxml2::XMLDocument doc;
if (doc.LoadFile(filepath.c_str()) != tinyxml2::XML_SUCCESS) {
RCLCPP_ERROR(rclcpp::get_logger("Config"), "Failed to load XML file: %s", doc.ErrorName());
return false;
}
auto* root = doc.RootElement();
if (!root)
{
RCLCPP_ERROR(rclcpp::get_logger("Config"), "No root element found in XML file");
return false;
}
parseNode(root, "");
return true;
}
inline void Config::parseNode(tinyxml2::XMLElement* element, const std::string& prefix) {
std::string key_prefix = prefix.empty() ? element->Name() : prefix + "." + element->Name();
const char* text = element->GetText();
if (text && std::string(text).find_first_not_of(" \n\t") != std::string::npos) {
values_[key_prefix] = text;
}
const tinyxml2::XMLAttribute* attr = element->FirstAttribute();
while (attr) {
std::string attr_key = key_prefix + "@" + attr->Name();
values_[attr_key] = attr->Value();
attr = attr->Next();
}
for (tinyxml2::XMLElement* child = element->FirstChildElement(); child; child = child->NextSiblingElement()) {
parseNode(child, key_prefix);
}
}
inline void Config::printAll()
{
RCLCPP_INFO(rclcpp::get_logger("Config"), "Loaded %zu configuration values", values_.size());
for (const auto& pair : values_) {
RCLCPP_INFO(rclcpp::get_logger("Config"), "%s: %s", pair.first.c_str(), pair.second.c_str());
}
}
template<typename T>
T Config::get(const std::string& key, const T& default_value) {

52
src/modelec_strat/src/config.cpp
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@@ -1,52 +0,0 @@
#include <modelec_strat/config.hpp>
namespace Modelec
{
bool Config::load(const std::string& filepath)
{
tinyxml2::XMLDocument doc;
if (doc.LoadFile(filepath.c_str()) != tinyxml2::XML_SUCCESS) {
RCLCPP_ERROR(rclcpp::get_logger("Config"), "Failed to load XML file: %s", doc.ErrorName());
return false;
}
auto* root = doc.RootElement();
if (!root)
{
RCLCPP_ERROR(rclcpp::get_logger("Config"), "No root element found in XML file");
return false;
}
parseNode(root, "");
return true;
}
void Config::parseNode(tinyxml2::XMLElement* element, const std::string& prefix) {
std::string key_prefix = prefix.empty() ? element->Name() : prefix + "." + element->Name();
const char* text = element->GetText();
if (text && std::string(text).find_first_not_of(" \n\t") != std::string::npos) {
values_[key_prefix] = text;
}
const tinyxml2::XMLAttribute* attr = element->FirstAttribute();
while (attr) {
std::string attr_key = key_prefix + "@" + attr->Name();
values_[attr_key] = attr->Value();
attr = attr->Next();
}
for (tinyxml2::XMLElement* child = element->FirstChildElement(); child; child = child->NextSiblingElement()) {
parseNode(child, key_prefix);
}
}
void Config::printAll()
{
RCLCPP_INFO(rclcpp::get_logger("Config"), "Loaded %zu configuration values", values_.size());
for (const auto& pair : values_) {
RCLCPP_INFO(rclcpp::get_logger("Config"), "%s: %s", pair.first.c_str(), pair.second.c_str());
}
}
}