From 73310d73a84b93fd6d6551d759cf53b4066c4740 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Sun, 22 Jun 2014 10:19:09 +0000
Subject: [PATCH] Removed some files no longer necessary. They have been moved
to a new fodler.
---
src/bin/CMakeLists.txt | 7 --
src/bin/bin_file_parser.cpp | 79 --------------
src/bin/bin_file_parser.h | 55 ----------
src/mtn/CMakeLists.txt | 34 ------
src/mtn/mtn_file.l | 37 -------
src/mtn/mtn_file.y | 157 ----------------------------
src/mtn/mtn_file_parser.cpp | 92 -----------------
src/mtn/mtn_file_parser.hpp | 33 ------
src/mtn/mtn_file_scanner.hpp | 35 -------
src/parser/CMakeLists.txt | 33 ------
src/parser/mtn_file.cpp | 154 ---------------------------
src/parser/mtn_file.h | 36 -------
src/parser/mtn_file.l | 37 -------
src/parser/mtn_file.y | 157 ----------------------------
src/parser/mtn_file_parser.cpp | 92 -----------------
src/parser/mtn_file_parser.hpp | 31 ------
src/parser/mtn_file_scanner.hpp | 35 -------
src/parser/mtn_page.cpp | 178 --------------------------------
src/parser/mtn_page.h | 42 --------
src/parser/mtn_step.cpp | 86 ---------------
src/parser/mtn_step.h | 25 -----
21 files changed, 1435 deletions(-)
delete mode 100644 src/bin/CMakeLists.txt
delete mode 100644 src/bin/bin_file_parser.cpp
delete mode 100644 src/bin/bin_file_parser.h
delete mode 100644 src/mtn/CMakeLists.txt
delete mode 100644 src/mtn/mtn_file.l
delete mode 100644 src/mtn/mtn_file.y
delete mode 100644 src/mtn/mtn_file_parser.cpp
delete mode 100644 src/mtn/mtn_file_parser.hpp
delete mode 100644 src/mtn/mtn_file_scanner.hpp
delete mode 100644 src/parser/CMakeLists.txt
delete mode 100644 src/parser/mtn_file.cpp
delete mode 100644 src/parser/mtn_file.h
delete mode 100644 src/parser/mtn_file.l
delete mode 100644 src/parser/mtn_file.y
delete mode 100644 src/parser/mtn_file_parser.cpp
delete mode 100644 src/parser/mtn_file_parser.hpp
delete mode 100644 src/parser/mtn_file_scanner.hpp
delete mode 100644 src/parser/mtn_page.cpp
delete mode 100644 src/parser/mtn_page.h
delete mode 100644 src/parser/mtn_step.cpp
delete mode 100644 src/parser/mtn_step.h
diff --git a/src/bin/CMakeLists.txt b/src/bin/CMakeLists.txt
deleted file mode 100644
index 6cee083..0000000
--- a/src/bin/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-SET(bin_SRCS bin_file_parser.cpp ../mtn_file.cpp ../mtn_page.cpp ../mtn_step.cpp)
-
-include_directories(.)
-include_directories(../)
-
-add_library(bin_parser SHARED ${bin_SRCS})
-
diff --git a/src/bin/bin_file_parser.cpp b/src/bin/bin_file_parser.cpp
deleted file mode 100644
index 392de6d..0000000
--- a/src/bin/bin_file_parser.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-#include "bin_file_parser.h"
-#include <fstream>
-#include <string.h>
-#include <iostream>
-#include <stdlib.h>
-
-CBinFileParser::CBinFileParser()
-{
- memset(this->pages,0x00,sizeof(this->pages));
-}
-
-void CBinFileParser::parse(const char *filename)
-{
- std::vector<unsigned short int> angles;
- std::string motion_type="motion",name;
- std::vector<unsigned int> compliance;
- std::ifstream in_file(filename);
- int length=0,i=0,j=0,k=0;
- CMtnPage *page;
- CMtnStep *step;
-
- if(!in_file.good())
- {
- std::cout << " File << " << filename << " not found" << std::endl;
- exit(EXIT_FAILURE);
- }
- in_file.seekg (0, in_file.end);
- length = in_file.tellg();
- in_file.seekg (0, in_file.beg);
- if(length!=sizeof(this->pages))
- {
- std::cout << "Invalid binary motion file" << std::endl;
- exit(EXIT_FAILURE);
- }
- in_file.read((char *)this->pages,length);
- in_file.close();
- // initialize the CMtnFile class
- this->motions.set_type(motion_type);
- this->motions.set_version(1.0);
- this->motions.set_num_servos(PAGE_MAX_NUM_SERVOS);
- for(i=0;i<MAX_NUM_PAGES;i++)
- {
- page=new CMtnPage(PAGE_MAX_NUM_SERVOS);
- name=std::string((char *)this->pages[i].header.name);
- page->set_name(name);
- compliance.resize(PAGE_MAX_NUM_SERVOS);
- for(j=0;j<PAGE_MAX_NUM_SERVOS;j++)
- compliance[j]=this->pages[i].header.slope[j];
- page->set_compliances(compliance);
- page->set_next_page(this->pages[i].header.next);
- page->set_exit_page(this->pages[i].header.exit);
- page->set_repetitions(this->pages[i].header.repeat);
- page->set_speed_rate(this->pages[i].header.speed);
- page->set_inertial(this->pages[i].header.accel);
- for(j=0;j<this->pages[i].header.stepnum;j++)
- {
- step=new CMtnStep(PAGE_MAX_NUM_SERVOS);
- step->set_pause_time(this->pages[i].steps[j].pause);
- step->set_step_time(this->pages[i].steps[j].time);
- angles.resize(PAGE_MAX_NUM_SERVOS);
- for(k=0;k<PAGE_MAX_NUM_SERVOS;k++)
- angles[k]=this->pages[i].steps[j].position[k];
- step->set_angles(angles);
- page->add_step(step);
- }
- this->motions.add_page(page);
- }
-}
-
-CMtnFile *CBinFileParser::get_motions(void)
-{
- return &(this->motions);
-}
-
-CBinFileParser::~CBinFileParser()
-{
- memset(this->pages,0x00,sizeof(this->pages));
-}
-
diff --git a/src/bin/bin_file_parser.h b/src/bin/bin_file_parser.h
deleted file mode 100644
index ba2e673..0000000
--- a/src/bin/bin_file_parser.h
+++ /dev/null
@@ -1,55 +0,0 @@
-#ifndef _BIN_FILE_PARSER_H
-#define _BIN_FILE_PARSER_H
-
-#include "mtn_file.h"
-
-#define MAX_NUM_PAGES 256
-#define PAGE_MAX_NUM_SERVOS 31
-#define POSE_NUMBER_OF_POSES_PER_PAGE 7
-
-typedef struct // Header Structure (total 64unsigned char)
-{
- unsigned char name[13]; // Name 0~13
- unsigned char reserved1; // Reserved1 14
- unsigned char repeat; // Repeat count 15
- unsigned char schedule; // schedule 16
- unsigned char reserved2[3]; // reserved2 17~19
- unsigned char stepnum; // Number of step 20
- unsigned char reserved3; // reserved3 21
- unsigned char speed; // Speed 22
- unsigned char reserved4; // reserved4 23
- unsigned char accel; // Acceleration time 24
- unsigned char next; // Link to next 25
- unsigned char exit; // Link to exit 26
- unsigned char reserved5[4]; // reserved5 27~30
- unsigned char checksum; // checksum 31
- unsigned char slope[PAGE_MAX_NUM_SERVOS]; // CW/CCW compliance slope 32~62
- unsigned char reserved6; // reserved6 63
-} TPageHeader;
-
-typedef struct // Step Structure (total 64unsigned char)
-{
- unsigned short int position[PAGE_MAX_NUM_SERVOS]; // Joint position 0~61
- unsigned char pause; // Pause time 62
- unsigned char time; // Time 63
-} TStep;
-
-typedef struct // Page Structure (total 512unsigned char)
-{
- TPageHeader header; // Page header 0~64
- TStep steps[POSE_NUMBER_OF_POSES_PER_PAGE]; // Page step 65~511
-} TPage;
-
-class CBinFileParser
-{
- private:
- CMtnFile motions;
- TPage pages[MAX_NUM_PAGES];
- public:
- CBinFileParser();
- void parse(const char *filename);
- CMtnFile *get_motions(void);
- ~CBinFileParser();
-};
-
-#endif
diff --git a/src/mtn/CMakeLists.txt b/src/mtn/CMakeLists.txt
deleted file mode 100644
index c79dab9..0000000
--- a/src/mtn/CMakeLists.txt
+++ /dev/null
@@ -1,34 +0,0 @@
-# Create target for the parser
-FIND_PACKAGE(BISON REQUIRED)
-FIND_PACKAGE(FLEX REQUIRED)
-
-SET(BisonOutput mtn_parser.cpp)
-IF(BISON_FOUND)
- ADD_CUSTOM_COMMAND(
- OUTPUT ${BisonOutput}
- COMMAND ${BISON_EXECUTABLE}
- --output=${BisonOutput}
- ${CMAKE_CURRENT_SOURCE_DIR}/mtn_file.y
- COMMENT "Generating mtn_parser.cpp"
- )
-ENDIF()
-
-FIND_PACKAGE(FLEX REQUIRED)
-SET(FlexOutput mtn_scanner.cpp)
-IF(FLEX_FOUND)
- ADD_CUSTOM_COMMAND(
- OUTPUT ${FlexOutput}
- COMMAND ${FLEX_EXECUTABLE}
- --outfile=${FlexOutput}
- ${CMAKE_CURRENT_SOURCE_DIR}/mtn_file.l
- COMMENT "Generating mtn_scanner.cpp"
- )
-ENDIF()
-
-SET(mtn_SRCS mtn_file_parser.cpp ../mtn_file.cpp ../mtn_page.cpp ../mtn_step.cpp)
-
-include_directories(.)
-include_directories(..)
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
-add_library(mtn_parser SHARED ${BisonOutput} ${FlexOutput} ${mtn_SRCS})
-
diff --git a/src/mtn/mtn_file.l b/src/mtn/mtn_file.l
deleted file mode 100644
index 3527fd8..0000000
--- a/src/mtn/mtn_file.l
+++ /dev/null
@@ -1,37 +0,0 @@
-%{
-/* Implementation of yyFlexScanner */
-#include "mtn_file_scanner.hpp"
-#include "mtn_parser.hpp"
-
-/* typedef to make the returns for the tokens shorter */
-typedef MTN::MTN_Parser::token token;
-
-%}
-
-%option debug
-%option nodefault
-%option yyclass="MTN_File_Scanner"
-%option noyywrap
-%option c++
-%option yylineno
-
-%%
-[ \t\n] ;
-"type" { return token::TYPE; }
-"version" { return token::VERSION; }
-"enable" { return token::ENABLE; }
-"motor_type" { return token::MOTOR_TYPE; }
-"page_begin" { return token::BEGIN_PAGE; }
-"name" { return token::NAME; }
-"compliance" { return token::COMPLIANCE; }
-"play_param" { return token::PLAY_PARAMS; }
-"step" { return token::STEP; }
-"page_end" { return token::END_PAGE; }
-"=" { return token::EQUAL; }
-[0-9]+"."[0-9]+ { yylval->fval=atof(yytext); return token::FLOAT; }
-[0-9]+ { yylval->ival=atoi(yytext); return token::INT; }
-[a-zA-Z0-9]+|_ { yylval->sval=new std::string(yytext);
- return token::STRING; }
-. { std::cout << "bad input character " << yytext << " at line " << yylineno << std::endl; }
-%%
-
diff --git a/src/mtn/mtn_file.y b/src/mtn/mtn_file.y
deleted file mode 100644
index 020d8f9..0000000
--- a/src/mtn/mtn_file.y
+++ /dev/null
@@ -1,157 +0,0 @@
-%skeleton "lalr1.cc"
-%require "2.5"
-%debug
-%defines
-%define namespace "MTN"
-%define parser_class_name "MTN_Parser"
-
-%code requires
-{
- namespace MTN
- {
- class MTN_File_Parser;
- class MTN_File_Scanner;
- }
-}
-
-%lex-param { MTN_File_Scanner &scanner }
-%parse-param { MTN_File_Scanner &scanner }
-
-%lex-param { MTN_File_Parser &parser }
-%parse-param { MTN_File_Parser &parser }
-
-%code
-{
- #include <iostream>
- #include <cstdlib>
- #include <fstream>
- /* include for all driver functions */
- #include "mtn_file_parser.hpp"
-
- /* motion files variables */
- int num_servos=0;
- std::vector<bool> enables;
- std::vector<int> motor_types;
- CMtnPage *page;
- std::vector<unsigned int> compliances;
- std::string motion_name;
- CMtnStep *step;
- std::vector<unsigned short int> angles;
-
- /* this is silly, but I can't figure out a way around */
- static int yylex(MTN::MTN_Parser::semantic_type *yylval,MTN::MTN_File_Scanner &scanner,MTN::MTN_File_Parser &parser);
-}
-
-/* token types */
-%union {
- int ival;
- float fval;
- std::string *sval;
-}
-
-%token TYPE VERSION ENABLE MOTOR_TYPE BEGIN_PAGE END_PAGE
-%token NAME COMPLIANCE PLAY_PARAMS STEP
-%token EQUAL
-%token <ival> INT
-%token <fval> FLOAT
-%token <sval> STRING
-
-/* destructor rule for <sval> objects */
-%destructor { if ($$) { delete ($$); ($$) = NULL; } } <sval>
-
-%%
-motion_file: type version enables motor_types pages
- ;
-
-type: TYPE EQUAL STRING { parser.set_type(*($3)); }
- ;
-
-version: VERSION EQUAL FLOAT { parser.set_version($3); }
- ;
-
-enables: ENABLE EQUAL enable { parser.set_num_servos(num_servos);
- parser.set_enables(enables);
- std::cout << num_servos << std::endl;}
- ;
-
-enable: enable INT { num_servos++;
- enables.push_back($2); }
- | INT { num_servos++;
- enables.push_back($1); }
- ;
-
-motor_types:
- | MOTOR_TYPE EQUAL motor_type { parser.set_motor_types(motor_types); }
- ;
-
-motor_type: motor_type INT { motor_types.push_back($2); }
- | INT { motor_types.push_back($1); }
- ;
-
-pages: pages page
- | page
- ;
-
-page: BEGIN_PAGE name compliances params steps END_PAGE { parser.add_page(page);
- motion_name="";
- compliances.clear(); }
- | BEGIN_PAGE name compliances params END_PAGE { parser.add_page(page);
- motion_name="";
- compliances.clear(); }
- ;
-
-name: NAME EQUAL { page=new CMtnPage(num_servos);
- motion_name="";
- page->set_name(motion_name); }
- | NAME EQUAL strings { page=new CMtnPage(num_servos);
- page->set_name(motion_name); }
- ;
-
-strings: strings STRING { motion_name+=" "+*($2); }
- | STRING { motion_name+=*($1); }
- ;
-
-compliances: COMPLIANCE EQUAL compliance { page->set_compliances(compliances); }
- ;
-
-compliance: compliance INT { compliances.push_back($2); }
- | INT { compliances.push_back($1); }
- ;
-
-params: PLAY_PARAMS EQUAL INT INT INT FLOAT INT { page->set_next_page($3);
- page->set_exit_page($4);
- page->set_repetitions($5);
- page->set_speed_rate($6);
- page->set_inertial($7); }
- ;
-
-steps: steps step
- | step
- ;
-
-
-step: STEP EQUAL angles FLOAT FLOAT { step=new CMtnStep(num_servos);
- step->set_angles(angles);
- angles.clear();
- step->set_pause_time($4);
- step->set_step_time($5);
- page->add_step(step); }
- ;
-
-angles: angles INT { angles.push_back($2); }
- | INT { angles.push_back($1); }
- ;
-%%
-void
-MTN::MTN_Parser::error(const MTN::MTN_Parser::location_type &l,const std::string &err_message )
-{
- std::cerr << "Error: " << err_message << "\n";
-}
-
-/* include for access to scanner.yylex */
-#include "mtn_file_scanner.hpp"
-
-static int yylex(MTN::MTN_Parser::semantic_type *yylval,MTN::MTN_File_Scanner &scanner,MTN::MTN_File_Parser &parser)
-{
- return(scanner.yylex(yylval));
-}
diff --git a/src/mtn/mtn_file_parser.cpp b/src/mtn/mtn_file_parser.cpp
deleted file mode 100644
index 7d33019..0000000
--- a/src/mtn/mtn_file_parser.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-#include <cctype>
-#include <fstream>
-#include <cassert>
-
-#include "mtn_file_parser.hpp"
-#include "mtn_parser.hpp"
-
-MTN::MTN_File_Parser::MTN_File_Parser()
-{
- this->scanner=NULL;
- this->parser=NULL;
-}
-
-MTN::MTN_File_Parser::~MTN_File_Parser()
-{
- if(this->scanner!=NULL)
- {
- delete this->scanner;
- this->scanner=NULL;
- }
- if(this->parser!=NULL)
- {
- delete this->parser;
- this->parser=NULL;
- }
-}
-
-void MTN::MTN_File_Parser::parse(const char *filename)
-{
- std::ifstream in_file(filename);
- if(!in_file.good())
- exit( EXIT_FAILURE );
- if(this->scanner!=NULL)
- delete this->scanner;
- try
- {
- scanner=new MTN::MTN_File_Scanner(&in_file);
- }catch(std::bad_alloc &ba){
- std::cerr << "Failed to allocate scanner: (" << ba.what() << "), exiting!!\n";
- exit( EXIT_FAILURE );
- }
- if(this->parser!=NULL)
- delete this->parser;
- try
- {
- parser = new MTN::MTN_Parser((*scanner),(*this));
- }catch(std::bad_alloc &ba){
- std::cerr << "Failed to allocate parser: (" << ba.what() << "), exiting!!\n";
- exit( EXIT_FAILURE );
- }
-
- const int accept(0);
- if(parser->parse()!=accept)
- {
- std::cerr << "Parse failed!!\n";
- }
-}
-
-void MTN::MTN_File_Parser::set_type(std::string &type)
-{
- this->motions.set_type(type);
-}
-
-void MTN::MTN_File_Parser::set_version(double version)
-{
- this->motions.set_version(version);
-}
-
-void MTN::MTN_File_Parser::set_num_servos(unsigned int num_servos)
-{
- this->motions.set_num_servos(num_servos);
-}
-
-void MTN::MTN_File_Parser::set_enables(std::vector<bool> &enables)
-{
- this->motions.set_enables(enables);
-}
-
-void MTN::MTN_File_Parser::set_motor_types(std::vector<int> &motor_types)
-{
- this->motions.set_motor_types(motor_types);
-}
-
-void MTN::MTN_File_Parser::add_page(CMtnPage *page)
-{
- this->motions.add_page(page);
-}
-
-CMtnFile *MTN::MTN_File_Parser::get_motions(void)
-{
- return &(this->motions);
-}
diff --git a/src/mtn/mtn_file_parser.hpp b/src/mtn/mtn_file_parser.hpp
deleted file mode 100644
index 3c2df7d..0000000
--- a/src/mtn/mtn_file_parser.hpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#ifndef _MTN_FILE_PARSER_HPP
-#define _MTN_FILE_PARSER_HPP
-
-#include <string>
-#include "mtn_file_scanner.hpp"
-#include "mtn_file.h"
-
-namespace MTN
-{
- class MTN_File_Parser
- {
- friend class MTN_Parser;
- private:
- MTN::MTN_Parser *parser;
- MTN::MTN_File_Scanner *scanner;
- CMtnFile motions;
- protected:
- // motion files functions
- void set_type(std::string &type);
- void set_version(double version);
- void set_num_servos(unsigned int num_servos);
- void set_enables(std::vector<bool> &enables);
- void set_motor_types(std::vector<int> &motor_types);
- void add_page(CMtnPage *page);
- public:
- MTN_File_Parser();
- void parse(const char *filename);
- virtual ~MTN_File_Parser();
- CMtnFile *get_motions(void);
- };
-}
-
-#endif
diff --git a/src/mtn/mtn_file_scanner.hpp b/src/mtn/mtn_file_scanner.hpp
deleted file mode 100644
index eb944ed..0000000
--- a/src/mtn/mtn_file_scanner.hpp
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef _MTN_FILE_SCANNER_HPP
-#define _MTN_FILE_SCANNER_HPP
-
-#if !defined(yyFlexLexerOnce)
-#include <FlexLexer.h>
-#endif
-
-#undef YY_DECL
-#define YY_DECL int MTN::MTN_File_Scanner::yylex()
-
-#include "mtn_parser.hpp"
-
-namespace MTN
-{
- class MTN_File_Scanner : public yyFlexLexer
- {
- public:
- MTN_File_Scanner(std::istream *in) : yyFlexLexer(in), yylval( NULL )
- {
- };
- int yylex(MTN::MTN_Parser::semantic_type *lval)
- {
- yylval = lval;
- return( yylex() );
- }
-
- private:
- /* hide this one from public view */
- int yylex();
- /* yyval ptr */
- MTN::MTN_Parser::semantic_type *yylval;
- };
-} /* end namespace MC */
-
-#endif
diff --git a/src/parser/CMakeLists.txt b/src/parser/CMakeLists.txt
deleted file mode 100644
index 2c36ec5..0000000
--- a/src/parser/CMakeLists.txt
+++ /dev/null
@@ -1,33 +0,0 @@
-# Create target for the parser
-FIND_PACKAGE(BISON REQUIRED)
-FIND_PACKAGE(FLEX REQUIRED)
-
-SET(BisonOutput mtn_parser.cpp)
-IF(BISON_FOUND)
- ADD_CUSTOM_COMMAND(
- OUTPUT ${BisonOutput}
- COMMAND ${BISON_EXECUTABLE}
- --output=${BisonOutput}
- ${CMAKE_CURRENT_SOURCE_DIR}/mtn_file.y
- COMMENT "Generating mtn_parser.cpp"
- )
-ENDIF()
-
-FIND_PACKAGE(FLEX REQUIRED)
-SET(FlexOutput mtn_scanner.cpp)
-IF(FLEX_FOUND)
- ADD_CUSTOM_COMMAND(
- OUTPUT ${FlexOutput}
- COMMAND ${FLEX_EXECUTABLE}
- --outfile=${FlexOutput}
- ${CMAKE_CURRENT_SOURCE_DIR}/mtn_file.l
- COMMENT "Generating mtn_scanner.cpp"
- )
-ENDIF()
-
-SET(mtn_SRCS mtn_file_parser.cpp mtn_file.cpp mtn_page.cpp mtn_step.cpp)
-
-include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
-add_library(mtn_parser SHARED ${BisonOutput} ${FlexOutput} ${mtn_SRCS})
-
diff --git a/src/parser/mtn_file.cpp b/src/parser/mtn_file.cpp
deleted file mode 100644
index 7fe8e0d..0000000
--- a/src/parser/mtn_file.cpp
+++ /dev/null
@@ -1,154 +0,0 @@
-#include "mtn_file.h"
-
-CMtnFile::CMtnFile()
-{
- this->type="";
- this->version=0.0;
- this->enable.clear();
- this->motor_type.clear();
- this->pages.clear();
-}
-
-void CMtnFile::set_type(std::string &type)
-{
- this->type=type;
-}
-
-void CMtnFile::set_version(double version)
-{
- this->version=version;
-}
-
-void CMtnFile::set_num_servos(unsigned int num_servos)
-{
- this->enable.resize(num_servos);
- this->motor_type.resize(num_servos);
-}
-
-void CMtnFile::set_enable(unsigned int servo,bool enable)
-{
- if(servo>this->enable.size())
- {
- /* handle errors */
- }
- else
- this->enable[servo]=enable;
-}
-
-void CMtnFile::set_enables(std::vector<bool> &enables)
-{
- unsigned int i=0;
-
- if(this->enable.size()!=enables.size())
- {
- /* handle errors */
- }
- else
- for(i=0;i<this->enable.size();i++)
- this->enable[i]=enables[i];
-}
-
-void CMtnFile::set_motor_type(unsigned int servo, int motor_type)
-{
- if(servo>this->motor_type.size())
- {
- /* handle errors */
- }
- else
- this->motor_type[servo]=motor_type;
-}
-
-void CMtnFile::set_motor_types(std::vector<int> &motor_types)
-{
- unsigned int i=0;
-
- if(this->motor_type.size()!=motor_types.size())
- {
- /* handle errors */
- }
- else
- for(i=0;i<this->motor_type.size();i++)
- this->motor_type[i]=motor_types[i];
-}
-
-void CMtnFile::add_page(CMtnPage *page)
-{
- this->pages.push_back(page);
-}
-
-std::string CMtnFile::get_type(void)
-{
- return this->type;
-}
-
-double CMtnFile::get_version(void)
-{
- return this->version;
-}
-
-unsigned int CMtnFile::get_num_servos(void)
-{
- return this->enable.size();
-}
-
-bool CMtnFile::get_enable(unsigned int servo)
-{
- if(servo>this->enable.size())
- {
- /* handle errors */
- }
- else
- return this->enable[servo];
-}
-
-std::vector<bool> CMtnFile::get_enables(void)
-{
- return this->enable;
-}
-
-int CMtnFile::get_motor_type(unsigned int servo)
-{
- if(servo>this->motor_type.size())
- {
- /* handle errors */
- }
- else
- return this->motor_type[servo];
-}
-
-std::vector<int> CMtnFile::get_motor_types(void)
-{
- return this->motor_type;
-}
-
-unsigned int CMtnFile::get_num_pages(void)
-{
- return this->pages.size();
-}
-
-CMtnPage *CMtnFile::get_page(unsigned int page)
-{
- if(page>this->pages.size())
- {
- /* handle errors */
- }
- else
- return this->pages[page];
-}
-
-CMtnFile::~CMtnFile()
-{
- unsigned int i=0;
-
- this->type="";
- this->version=0.0;
- this->enable.clear();
- this->motor_type.clear();
- for(i=0;i<this->pages.size();i++)
- {
- delete this->pages[i];
- this->pages[i]=NULL;
- }
- this->pages.clear();
-}
-
diff --git a/src/parser/mtn_file.h b/src/parser/mtn_file.h
deleted file mode 100644
index edd2f55..0000000
--- a/src/parser/mtn_file.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef _MTN_FILE_H
-#define _MTN_FILE_H
-
-#include "mtn_page.h"
-
-class CMtnFile
-{
- private:
- std::string type;
- double version;
- std::vector<bool> enable;
- std::vector<int> motor_type;
- std::vector<CMtnPage *> pages;
- public:
- CMtnFile();
- void set_type(std::string &type);
- void set_version(double version);
- void set_num_servos(unsigned int num_servos);
- void set_enable(unsigned int servo,bool enable);
- void set_enables(std::vector<bool> &enables);
- void set_motor_type(unsigned int servo, int motor_type);
- void set_motor_types(std::vector<int> &motor_types);
- void add_page(CMtnPage *page);
- std::string get_type(void);
- double get_version(void);
- unsigned int get_num_servos(void);
- bool get_enable(unsigned int servo);
- std::vector<bool> get_enables(void);
- int get_motor_type(unsigned int servo);
- std::vector<int> get_motor_types(void);
- unsigned int get_num_pages(void);
- CMtnPage *get_page(unsigned int page);
- ~CMtnFile();
-};
-
-#endif
diff --git a/src/parser/mtn_file.l b/src/parser/mtn_file.l
deleted file mode 100644
index 3527fd8..0000000
--- a/src/parser/mtn_file.l
+++ /dev/null
@@ -1,37 +0,0 @@
-%{
-/* Implementation of yyFlexScanner */
-#include "mtn_file_scanner.hpp"
-#include "mtn_parser.hpp"
-
-/* typedef to make the returns for the tokens shorter */
-typedef MTN::MTN_Parser::token token;
-
-%}
-
-%option debug
-%option nodefault
-%option yyclass="MTN_File_Scanner"
-%option noyywrap
-%option c++
-%option yylineno
-
-%%
-[ \t\n] ;
-"type" { return token::TYPE; }
-"version" { return token::VERSION; }
-"enable" { return token::ENABLE; }
-"motor_type" { return token::MOTOR_TYPE; }
-"page_begin" { return token::BEGIN_PAGE; }
-"name" { return token::NAME; }
-"compliance" { return token::COMPLIANCE; }
-"play_param" { return token::PLAY_PARAMS; }
-"step" { return token::STEP; }
-"page_end" { return token::END_PAGE; }
-"=" { return token::EQUAL; }
-[0-9]+"."[0-9]+ { yylval->fval=atof(yytext); return token::FLOAT; }
-[0-9]+ { yylval->ival=atoi(yytext); return token::INT; }
-[a-zA-Z0-9]+|_ { yylval->sval=new std::string(yytext);
- return token::STRING; }
-. { std::cout << "bad input character " << yytext << " at line " << yylineno << std::endl; }
-%%
-
diff --git a/src/parser/mtn_file.y b/src/parser/mtn_file.y
deleted file mode 100644
index 020d8f9..0000000
--- a/src/parser/mtn_file.y
+++ /dev/null
@@ -1,157 +0,0 @@
-%skeleton "lalr1.cc"
-%require "2.5"
-%debug
-%defines
-%define namespace "MTN"
-%define parser_class_name "MTN_Parser"
-
-%code requires
-{
- namespace MTN
- {
- class MTN_File_Parser;
- class MTN_File_Scanner;
- }
-}
-
-%lex-param { MTN_File_Scanner &scanner }
-%parse-param { MTN_File_Scanner &scanner }
-
-%lex-param { MTN_File_Parser &parser }
-%parse-param { MTN_File_Parser &parser }
-
-%code
-{
- #include <iostream>
- #include <cstdlib>
- #include <fstream>
- /* include for all driver functions */
- #include "mtn_file_parser.hpp"
-
- /* motion files variables */
- int num_servos=0;
- std::vector<bool> enables;
- std::vector<int> motor_types;
- CMtnPage *page;
- std::vector<unsigned int> compliances;
- std::string motion_name;
- CMtnStep *step;
- std::vector<unsigned short int> angles;
-
- /* this is silly, but I can't figure out a way around */
- static int yylex(MTN::MTN_Parser::semantic_type *yylval,MTN::MTN_File_Scanner &scanner,MTN::MTN_File_Parser &parser);
-}
-
-/* token types */
-%union {
- int ival;
- float fval;
- std::string *sval;
-}
-
-%token TYPE VERSION ENABLE MOTOR_TYPE BEGIN_PAGE END_PAGE
-%token NAME COMPLIANCE PLAY_PARAMS STEP
-%token EQUAL
-%token <ival> INT
-%token <fval> FLOAT
-%token <sval> STRING
-
-/* destructor rule for <sval> objects */
-%destructor { if ($$) { delete ($$); ($$) = NULL; } } <sval>
-
-%%
-motion_file: type version enables motor_types pages
- ;
-
-type: TYPE EQUAL STRING { parser.set_type(*($3)); }
- ;
-
-version: VERSION EQUAL FLOAT { parser.set_version($3); }
- ;
-
-enables: ENABLE EQUAL enable { parser.set_num_servos(num_servos);
- parser.set_enables(enables);
- std::cout << num_servos << std::endl;}
- ;
-
-enable: enable INT { num_servos++;
- enables.push_back($2); }
- | INT { num_servos++;
- enables.push_back($1); }
- ;
-
-motor_types:
- | MOTOR_TYPE EQUAL motor_type { parser.set_motor_types(motor_types); }
- ;
-
-motor_type: motor_type INT { motor_types.push_back($2); }
- | INT { motor_types.push_back($1); }
- ;
-
-pages: pages page
- | page
- ;
-
-page: BEGIN_PAGE name compliances params steps END_PAGE { parser.add_page(page);
- motion_name="";
- compliances.clear(); }
- | BEGIN_PAGE name compliances params END_PAGE { parser.add_page(page);
- motion_name="";
- compliances.clear(); }
- ;
-
-name: NAME EQUAL { page=new CMtnPage(num_servos);
- motion_name="";
- page->set_name(motion_name); }
- | NAME EQUAL strings { page=new CMtnPage(num_servos);
- page->set_name(motion_name); }
- ;
-
-strings: strings STRING { motion_name+=" "+*($2); }
- | STRING { motion_name+=*($1); }
- ;
-
-compliances: COMPLIANCE EQUAL compliance { page->set_compliances(compliances); }
- ;
-
-compliance: compliance INT { compliances.push_back($2); }
- | INT { compliances.push_back($1); }
- ;
-
-params: PLAY_PARAMS EQUAL INT INT INT FLOAT INT { page->set_next_page($3);
- page->set_exit_page($4);
- page->set_repetitions($5);
- page->set_speed_rate($6);
- page->set_inertial($7); }
- ;
-
-steps: steps step
- | step
- ;
-
-
-step: STEP EQUAL angles FLOAT FLOAT { step=new CMtnStep(num_servos);
- step->set_angles(angles);
- angles.clear();
- step->set_pause_time($4);
- step->set_step_time($5);
- page->add_step(step); }
- ;
-
-angles: angles INT { angles.push_back($2); }
- | INT { angles.push_back($1); }
- ;
-%%
-void
-MTN::MTN_Parser::error(const MTN::MTN_Parser::location_type &l,const std::string &err_message )
-{
- std::cerr << "Error: " << err_message << "\n";
-}
-
-/* include for access to scanner.yylex */
-#include "mtn_file_scanner.hpp"
-
-static int yylex(MTN::MTN_Parser::semantic_type *yylval,MTN::MTN_File_Scanner &scanner,MTN::MTN_File_Parser &parser)
-{
- return(scanner.yylex(yylval));
-}
diff --git a/src/parser/mtn_file_parser.cpp b/src/parser/mtn_file_parser.cpp
deleted file mode 100644
index 7d33019..0000000
--- a/src/parser/mtn_file_parser.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-#include <cctype>
-#include <fstream>
-#include <cassert>
-
-#include "mtn_file_parser.hpp"
-#include "mtn_parser.hpp"
-
-MTN::MTN_File_Parser::MTN_File_Parser()
-{
- this->scanner=NULL;
- this->parser=NULL;
-}
-
-MTN::MTN_File_Parser::~MTN_File_Parser()
-{
- if(this->scanner!=NULL)
- {
- delete this->scanner;
- this->scanner=NULL;
- }
- if(this->parser!=NULL)
- {
- delete this->parser;
- this->parser=NULL;
- }
-}
-
-void MTN::MTN_File_Parser::parse(const char *filename)
-{
- std::ifstream in_file(filename);
- if(!in_file.good())
- exit( EXIT_FAILURE );
- if(this->scanner!=NULL)
- delete this->scanner;
- try
- {
- scanner=new MTN::MTN_File_Scanner(&in_file);
- }catch(std::bad_alloc &ba){
- std::cerr << "Failed to allocate scanner: (" << ba.what() << "), exiting!!\n";
- exit( EXIT_FAILURE );
- }
- if(this->parser!=NULL)
- delete this->parser;
- try
- {
- parser = new MTN::MTN_Parser((*scanner),(*this));
- }catch(std::bad_alloc &ba){
- std::cerr << "Failed to allocate parser: (" << ba.what() << "), exiting!!\n";
- exit( EXIT_FAILURE );
- }
-
- const int accept(0);
- if(parser->parse()!=accept)
- {
- std::cerr << "Parse failed!!\n";
- }
-}
-
-void MTN::MTN_File_Parser::set_type(std::string &type)
-{
- this->motions.set_type(type);
-}
-
-void MTN::MTN_File_Parser::set_version(double version)
-{
- this->motions.set_version(version);
-}
-
-void MTN::MTN_File_Parser::set_num_servos(unsigned int num_servos)
-{
- this->motions.set_num_servos(num_servos);
-}
-
-void MTN::MTN_File_Parser::set_enables(std::vector<bool> &enables)
-{
- this->motions.set_enables(enables);
-}
-
-void MTN::MTN_File_Parser::set_motor_types(std::vector<int> &motor_types)
-{
- this->motions.set_motor_types(motor_types);
-}
-
-void MTN::MTN_File_Parser::add_page(CMtnPage *page)
-{
- this->motions.add_page(page);
-}
-
-CMtnFile *MTN::MTN_File_Parser::get_motions(void)
-{
- return &(this->motions);
-}
diff --git a/src/parser/mtn_file_parser.hpp b/src/parser/mtn_file_parser.hpp
deleted file mode 100644
index 5768ba6..0000000
--- a/src/parser/mtn_file_parser.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef _MTN_FILE_PARSER_HPP
-#define _MTN_FILE_PARSER_HPP
-
-#include <string>
-#include "mtn_file_scanner.hpp"
-#include "mtn_file.h"
-
-namespace MTN
-{
- class MTN_File_Parser
- {
- public:
- MTN_File_Parser();
- void parse(const char *filename);
- virtual ~MTN_File_Parser();
- // motion files functions
- void set_type(std::string &type);
- void set_version(double version);
- void set_num_servos(unsigned int num_servos);
- void set_enables(std::vector<bool> &enables);
- void set_motor_types(std::vector<int> &motor_types);
- void add_page(CMtnPage *page);
- CMtnFile *get_motions(void);
- private:
- MTN::MTN_Parser *parser;
- MTN::MTN_File_Scanner *scanner;
- CMtnFile motions;
- };
-}
-
-#endif
diff --git a/src/parser/mtn_file_scanner.hpp b/src/parser/mtn_file_scanner.hpp
deleted file mode 100644
index eb944ed..0000000
--- a/src/parser/mtn_file_scanner.hpp
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef _MTN_FILE_SCANNER_HPP
-#define _MTN_FILE_SCANNER_HPP
-
-#if !defined(yyFlexLexerOnce)
-#include <FlexLexer.h>
-#endif
-
-#undef YY_DECL
-#define YY_DECL int MTN::MTN_File_Scanner::yylex()
-
-#include "mtn_parser.hpp"
-
-namespace MTN
-{
- class MTN_File_Scanner : public yyFlexLexer
- {
- public:
- MTN_File_Scanner(std::istream *in) : yyFlexLexer(in), yylval( NULL )
- {
- };
- int yylex(MTN::MTN_Parser::semantic_type *lval)
- {
- yylval = lval;
- return( yylex() );
- }
-
- private:
- /* hide this one from public view */
- int yylex();
- /* yyval ptr */
- MTN::MTN_Parser::semantic_type *yylval;
- };
-} /* end namespace MC */
-
-#endif
diff --git a/src/parser/mtn_page.cpp b/src/parser/mtn_page.cpp
deleted file mode 100644
index ea95321..0000000
--- a/src/parser/mtn_page.cpp
+++ /dev/null
@@ -1,178 +0,0 @@
-#include "mtn_page.h"
-
-CMtnPage::CMtnPage(unsigned int num_servos)
-{
- this->name="";
- this->compliance.resize(num_servos);
- this->next_page=-1;
- this->exit_page=-1;
- this->repetitions=0;
- this->speed_rate=0;
- this->inertial=-1;
- this->steps.clear();
-}
-
-void CMtnPage::set_name(std::string &name)
-{
- this->name=name;
-}
-
-void CMtnPage::set_compliance(unsigned int servo,unsigned int compliance)
-{
- if(servo>this->compliance.size())
- {
- /* handle errors */
- }
- else
- this->compliance[servo]=compliance;
-}
-
-void CMtnPage::set_compliances(std::vector<unsigned int> compliances)
-{
- unsigned int i=0;
-
- if(this->compliance.size()!=compliances.size())
- {
- /* handle errors */
- }
- else
- {
- for(i=0;i<this->compliance.size();i++)
- this->compliance[i]=compliances[i];
- }
-}
-
-void CMtnPage::set_next_page(unsigned int page)
-{
- if(page>=256)
- {
- /* handle errors */
- }
- else
- this->next_page=page;
-}
-
-void CMtnPage::set_exit_page(unsigned int page)
-{
- if(page>=256)
- {
- /* handle errors */
- }
- else
- this->exit_page=page;
-}
-
-void CMtnPage::set_repetitions(unsigned int num)
-{
- if(num>=256)
- {
- /* handle errors */
- }
- else
- this->repetitions=num;
-}
-
-void CMtnPage::set_speed_rate(double rate)
-{
- this->speed_rate=rate;
-}
-
-void CMtnPage::set_inertial(unsigned int inertia)
-{
- if(inertia>=256)
- {
- /* handle errors */
- }
- else
- this->inertial=inertia;
-}
-
-void CMtnPage::add_step(CMtnStep *step)
-{
- if(this->steps.size()>=7)
- {
- /* handle errors */
- }
- else
- this->steps.push_back(step);
-}
-
-std::string CMtnPage::get_name(void)
-{
- return this->name;
-}
-
-unsigned int CMtnPage::get_compliance(unsigned int servo)
-{
- if(servo>this->compliance.size())
- {
- /* handle errors */
- }
- else
- return this->compliance[servo];
-}
-
-std::vector<unsigned int> CMtnPage::get_compliances(void)
-{
- return this->compliance;
-}
-
-unsigned int CMtnPage::get_next_page(void)
-{
- return this->next_page;
-}
-
-unsigned int CMtnPage::get_exit_page(void)
-{
- return this->exit_page;
-}
-
-unsigned int CMtnPage::get_repetitions(void)
-{
- return this->repetitions;
-}
-
-double CMtnPage::get_speed_rate(void)
-{
- return this->speed_rate;
-}
-
-unsigned int CMtnPage::get_inertial(void)
-{
- return this->inertial;
-}
-
-unsigned int CMtnPage::get_num_steps(void)
-{
- return this->steps.size();
-}
-
-CMtnStep *CMtnPage::get_step(unsigned int step)
-{
- if(step>this->steps.size())
- {
- /* handle error */
- }
- else
- return this->steps[step];
-}
-
-CMtnPage::~CMtnPage()
-{
- unsigned int i=0;
-
- this->name.clear();
- this->compliance.clear();
- this->next_page=-1;
- this->exit_page=-1;
- this->repetitions=0;
- this->speed_rate=0;
- this->inertial=-1;
- for(i=0;i<this->steps.size();i++)
- {
- delete this->steps[i];
- this->steps[i]=NULL;
- }
- this->steps.clear();
-}
-
diff --git a/src/parser/mtn_page.h b/src/parser/mtn_page.h
deleted file mode 100644
index 22549e1..0000000
--- a/src/parser/mtn_page.h
+++ /dev/null
@@ -1,42 +0,0 @@
-#ifndef _MTN_PAGE_H
-#define _MTN_PAGE_H
-
-#include "mtn_step.h"
-#include <string>
-
-class CMtnPage
-{
- private:
- std::string name;
- std::vector<unsigned int> compliance;
- unsigned int next_page;
- unsigned int exit_page;
- unsigned int repetitions;
- double speed_rate;
- unsigned int inertial;
- std::vector<CMtnStep *> steps;
- public:
- CMtnPage(unsigned int num_servos);
- void set_name(std::string &name);
- void set_compliance(unsigned int servo,unsigned int compliance);
- void set_compliances(std::vector<unsigned int> compliances);
- void set_next_page(unsigned int page);
- void set_exit_page(unsigned int page);
- void set_repetitions(unsigned int num);
- void set_speed_rate(double rate);
- void set_inertial(unsigned int inertia);
- void add_step(CMtnStep *step);
- std::string get_name(void);
- unsigned int get_compliance(unsigned int servo);
- std::vector<unsigned int> get_compliances(void);
- unsigned int get_next_page(void);
- unsigned int get_exit_page(void);
- unsigned int get_repetitions(void);
- double get_speed_rate(void);
- unsigned int get_inertial(void);
- unsigned int get_num_steps(void);
- CMtnStep *get_step(unsigned int step);
- ~CMtnPage();
-};
-
-#endif
diff --git a/src/parser/mtn_step.cpp b/src/parser/mtn_step.cpp
deleted file mode 100644
index 377cf35..0000000
--- a/src/parser/mtn_step.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-#include "mtn_step.h"
-
-CMtnStep::CMtnStep(unsigned int num_servos)
-{
- this->angles.resize(num_servos);
- this->pause_time=0.0;
- this->step_time=0.0;
-}
-
-void CMtnStep::set_angle(unsigned int servo,unsigned short int angle)
-{
- if(servo>this->angles.size())
- {
- /* handle errors */
- }
- else
- this->angles[servo]=angle;
-}
-
-void CMtnStep::set_angles(std::vector<unsigned short int> &angles)
-{
- unsigned int i=0;
-
- if(angles.size()!=this->angles.size())
- {
- /* handle errors */
- }
- else
- {
- for(i=0;i<angles.size();i++)
- this->angles[i]=angles[i];
- }
-}
-
-void CMtnStep::set_pause_time(double time)
-{
- if(time<0.0)
- {
- /* handle errors */
- }
- else
- this->pause_time=time;
-}
-
-void CMtnStep::set_step_time(double time)
-{
- if(time<0.0)
- {
- /* handle errors */
- }
- else
- this->step_time=time;
-}
-
-unsigned short int CMtnStep::get_angle(unsigned int servo)
-{
- if(servo>this->angles.size())
- {
- /* handler errors */
- }
- else
- return this->angles[servo];
-}
-
-std::vector<unsigned short int> CMtnStep::get_angles(void)
-{
- return this->angles;
-}
-
-double CMtnStep::get_pause_time(void)
-{
- return this->pause_time;
-}
-
-double CMtnStep::get_step_time(void)
-{
- return this->step_time;
-}
-
-CMtnStep::~CMtnStep()
-{
- this->angles.clear();
- this->pause_time=0.0;
- this->step_time=0.0;
-}
-
diff --git a/src/parser/mtn_step.h b/src/parser/mtn_step.h
deleted file mode 100644
index f85b4f1..0000000
--- a/src/parser/mtn_step.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef _MTN_STEP_H
-#define _MTN_STEP_H
-
-#include <vector>
-
-class CMtnStep
-{
- private:
- std::vector<unsigned short int> angles;
- double pause_time;
- double step_time;
- public:
- CMtnStep(unsigned int num_servos);
- void set_angle(unsigned int servo,unsigned short int angle);
- void set_angles(std::vector<unsigned short int> &angles);
- void set_pause_time(double time);
- void set_step_time(double time);
- unsigned short int get_angle(unsigned int servo);
- std::vector<unsigned short int> get_angles(void);
- double get_pause_time(void);
- double get_step_time(void);
- ~CMtnStep();
-};
-
-#endif
--
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