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;
}

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);
}

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;
}

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

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 COMPONENTSroscppstd_msgsmessage_generationdynamic_reconfigure#加入所需要的包
)generate_dynamic_reconfigure_options(cfg/MSF_Core.cfg)#生成动态参数

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);}.......
}

$rosrun rqt_reconfigure rqt_reconfigure
运行显示

参考博客

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C++编写Config类ROS动态参数总结

文章目录

1.C++编写Config类

1.1Config的头文件

1.2Config的cpp文件

1.3调用Config的类读取txt

2.ROS中的Config动态参数

2.1动态参数编写

2.2动态参数生成

2.3调用动态参数

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