diff --git a/include/core/utils/converter.h b/include/core/utils/converter.h
index a614fe042026cf787c80343a02f0160a4429aa2b..a1b4a5a86ee2082b6f44bd3eb8d37e0c3a5c88d3 100644
--- a/include/core/utils/converter.h
+++ b/include/core/utils/converter.h
@@ -189,7 +189,7 @@ struct converter<Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCo
int ncols = (int) values.size() / _Rows;
m.resize(_Rows, ncols);
}
- if(m.rows()*m.cols() != values.size()) throw std::runtime_error("The literal string provides " + std::to_string(values.size()) + " values but "
+ if(m.rows()*m.cols() != (int) values.size()) throw std::runtime_error("The literal string provides " + std::to_string(values.size()) + " values but "
+ "the Eigen matrix is of dimensions "
+ std::to_string(m.rows()) + "x" + std::to_string(m.cols()));
else{
diff --git a/include/core/yaml/parser_yaml.hpp b/include/core/yaml/parser_yaml.hpp
index be1681a777cad5cc2f64b30928c86e251a31f94b..99c1c8c10180318e3a84f0e307ef80be97d85c76 100644
--- a/include/core/yaml/parser_yaml.hpp
+++ b/include/core/yaml/parser_yaml.hpp
@@ -191,10 +191,8 @@ class ParserYAML {
std::string _active_name;
std::vector<ParamsInitSensor> _paramsSens;
std::vector<ParamsInitProcessor> _paramsProc;
- std::vector<std::string> _raw_libs;
std::stack<std::string> _parsing_file;
std::string _file;
- bool _relative_path;
std::string _path_root;
std::vector<SubscriberManager> _subscriber_managers;
YAML::Node problem;
@@ -202,34 +200,27 @@ class ParserYAML {
YAML::Node loadYAML(std::string);
void insert_register(std::string, std::string);
public:
- ParserYAML(bool freely_parse = false): ParserYAML("", "", freely_parse){
- }
- ParserYAML(std::string file, bool freely_parse = false)
- : ParserYAML(file, "", freely_parse) {}
- ParserYAML(std::string file, std::string path_root,
+ ParserYAML(std::string file, std::string path_root = "",
bool freely_parse = false) {
_params = std::map<std::string, std::string>();
_active_name = "";
_paramsSens = std::vector<ParamsInitSensor>();
_paramsProc = std::vector<ParamsInitProcessor>();
_subscriber_managers = std::vector<SubscriberManager>();
- _raw_libs = std::vector<std::string>();
_parsing_file = std::stack<std::string>();
_file = file;
if (path_root != "") {
- std::regex r("/$");
+ std::regex r(".*/ *$");
if (not std::regex_match(path_root, r))
_path_root = path_root + "/";
else
_path_root = path_root;
- _relative_path = true;
- } else {
- _relative_path = false;
}
if(not freely_parse) this->parse();
else this->parse_freely();
}
- ~ParserYAML(){
+ ~ParserYAML()
+ {
//
}
void parse_freely();
@@ -245,12 +236,12 @@ public:
std::string tagsToString(std::vector<std::string>& tags);
void parse();
};
-std::string ParserYAML::generatePath(std::string path){
+std::string ParserYAML::generatePath(std::string file){
std::regex r("^/.*");
- if(std::regex_match(path, r)){
- return path;
+ if(std::regex_match(file, r)){
+ return file;
}else{
- return _path_root + path;
+ return _path_root + file;
}
}
YAML::Node ParserYAML::loadYAML(std::string file){
@@ -430,15 +421,8 @@ void ParserYAML::parseFirstLevel(std::string file){
insert_register("ROS subscriber managers", wolf::converter<std::string>::convert(map_container));
map_container.clear();
} catch (YAML::InvalidNode &e) {
- throw std::runtime_error("Error parsing subscriber managers @" + generatePath(file) + ". Please make sure that each manager has 'package', 'subscriber', 'topic' and 'sensor_name' entries.");
- }
-
- //TODO: Defined for testing purposes, maybe should be removed when releasing
- YAML::Node n_raw_libs = n["raw_libs"];
- for (const auto &kv : n_raw_libs) {
- _raw_libs.push_back(kv.Scalar());
+ throw std::runtime_error("Error parsing subscriber managers @" + generatePath(file) + ". Please make sure that each manager has 'package', 'type', 'topic' and 'sensor_name' entries.");
}
- insert_register("raw_libs", wolf::converter<std::string>::convert(_raw_libs));
}
std::map<std::string,std::string> ParserYAML::getParams(){
std::map<std::string,std::string> rtn = _params;
@@ -463,17 +447,52 @@ void ParserYAML::parse(){
this->walkTreeR(it.n , tags , "processor/" + it._name);
}
std::list<std::string> plugins, packages;
- for(const auto &it : this->_paramsSens) plugins.push_back(it._plugin);
- for (const auto &it : this->_paramsProc) plugins.push_back(it._plugin);
- for(const auto &it : this->_subscriber_managers) packages.push_back(it._package);
+ for (const auto& it : this->_paramsSens)
+ plugins.push_back(it._plugin);
+ for (const auto& it : this->_paramsProc)
+ plugins.push_back(it._plugin);
+ for (const auto& it : this->_subscriber_managers)
+ packages.push_back(it._package);
plugins.sort();
plugins.unique();
packages.sort();
packages.unique();
insert_register("plugins", wolf::converter<std::string>::convert(plugins));
insert_register("packages", wolf::converter<std::string>::convert(packages));
+
+ YAML::Node n;
+ n = loadYAML(generatePath(this->_file));
+
+ if (n.Type() == YAML::NodeType::Map)
+ {
+ for (auto it : n)
+ {
+ auto node = it.second;
+ // WOLF_INFO("WUT ", it.first);
+ std::vector<std::string> tags = std::vector<std::string>();
+ if(it.first.as<std::string>() != "config")
+ this->walkTreeR(node, tags, it.first.as<std::string>());
+ else
+ {
+ for (auto itt : node)
+ {
+ std::string node_key = itt.first.as<std::string>();
+ // WOLF_INFO("node_key ", node_key);
+ if (node_key != "problem" and node_key != "sensors" and node_key != "processors" and
+ node_key != "ROS subscriber managers")
+ {
+ this->walkTreeR(itt.second, tags, node_key);
+ }
+ }
+ }
+ }
+ }else
+ {
+ std::vector<std::string> tags = std::vector<std::string>();
+ this->walkTreeR(n, tags, "");
+ }
this->_parsing_file.pop();
-}
+ }
void ParserYAML::parse_freely(){
this->_parsing_file.push(generatePath(this->_file));
std::vector<std::string> tags = std::vector<std::string>();
@@ -481,6 +500,7 @@ void ParserYAML::parse_freely(){
this->_parsing_file.pop();
}
void ParserYAML::insert_register(std::string key, std::string value){
+ if(key.substr(0,1) == "/") key = key.substr(1,key.size()-1);
auto inserted_it = _params.insert(std::pair<std::string, std::string>(key, value));
if(not inserted_it.second) WOLF_WARN("Skipping key '", key, "' with value '", value, "'. There already exists the register: (", inserted_it.first->first, ",", inserted_it.first->second, ")");
}