Detailed Description

This class allows loading and storing values and vectors of different types from ".ini" files easily.

The contents of the file will be modified by "write" operations in memory, and will be saved back to the file at the destructor, and only if at least one write operation has been applied.

Use base class CConfigFileBase's methods read_{int,float,double,string,...}() and write() to actually read and write values.

See: Configuration file format in MRPT

Definition at line 31 of file config/CConfigFile.h.

#include <mrpt/config/CConfigFile.h>

Inheritance diagram for mrpt::config::CConfigFile:

Classes
struct	Impl

Public Member Functions
	CConfigFile (const std::string &fileName)
	Constructor that opens a configuration file. More...

	CConfigFile ()
	Constructor, does not open any file. More...

void	setFileName (const std::string &fil_path)
	Associate this object with the given file, so future read/write operations will be applied to that file (it's synchronized at destruction) More...

void	writeNow ()
	Dumps the changes to the physical configuration file now, not waiting until destruction. More...

void	discardSavingChanges ()
	Discard saving (current) changes to physical file upon destruction. More...

std::string	getAssociatedFile () const
	Returns the file currently open by this object. More...

	~CConfigFile () override
	Destructor. More...

void	getAllSections (std::vector< std::string > &sections) const override
	Returns a list with all the section names. More...

void	clear () override
	Empties the "config file". More...

void	getAllKeys (const std::string &section, std::vector< std::string > &keys) const override
	Returs a list with all the keys into a section. More...

bool	sectionExists (const std::string &section_name) const
	Checks if a given section exists (name is case insensitive) More...

bool	keyExists (const std::string &section, const std::string &key) const
	Checks if a given key exists inside a section (case insensitive) More...

void	setContentFromYAML (const std::string &yaml_block)
	Changes the contents of the virtual "config file" from a text block containing a YAML configuration text. More...

std::string	getContentAsYAML () const
	Returns a text block representing the contents of the config file in YAML format. More...

template<typename enum_t , typename = std::enable_if_t<std::is_enum<enum_t>::value>>
void	write (const std::string &section, const std::string &name, enum_t value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())

Save a configuration parameter. Optionally pads with spaces up to
the desired width in number of characters (-1: no fill), and add a final comment field at the end of the line (a "// " prefix is automatically inserted).
template<typename data_t , typename = std::enable_if_t<!std::is_enum<data_t>::value>>
void	write (const std::string &section, const std::string &name, const data_t &value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())

template<typename data_t >
void	write (const std::string &section, const std::string &name, const std::vector< data_t > &value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())

void	write (const std::string &section, const std::string &name, double value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())

void	write (const std::string &section, const std::string &name, float value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())

Read a configuration parameter, launching exception if key name is
not found and `failIfNotFound`=true
double	read_double (const std::string &section, const std::string &name, double defaultValue, bool failIfNotFound=false) const

float	read_float (const std::string &section, const std::string &name, float defaultValue, bool failIfNotFound=false) const

bool	read_bool (const std::string &section, const std::string &name, bool defaultValue, bool failIfNotFound=false) const

int	read_int (const std::string &section, const std::string &name, int defaultValue, bool failIfNotFound=false) const

uint64_t	read_uint64_t (const std::string &section, const std::string &name, uint64_t defaultValue, bool failIfNotFound=false) const

std::string	read_string (const std::string &section, const std::string &name, const std::string &defaultValue, bool failIfNotFound=false) const

std::string	read_string_first_word (const std::string &section, const std::string &name, const std::string &defaultValue, bool failIfNotFound=false) const
	Reads a configuration parameter of type "string", and keeps only the first word (this can be used to eliminate possible comments at the end of the line) More...

template<class VECTOR_TYPE >
void	read_vector (const std::string &section, const std::string &name, const VECTOR_TYPE &defaultValue, VECTOR_TYPE &outValues, bool failIfNotFound=false) const
	Reads a configuration parameter of type vector, stored in the file as a string: "[v1 v2 v3 ... ]", where spaces could also be commas. More...

template<class MATRIX_TYPE >
void	read_matrix (const std::string &section, const std::string &name, MATRIX_TYPE &outMatrix, const MATRIX_TYPE &defaultMatrix=MATRIX_TYPE(), bool failIfNotFound=false) const
	Reads a configuration parameter as a matrix written in a matlab-like format - for example: "[2 3 4 ; 7 8 9]". More...

template<typename ENUMTYPE >
ENUMTYPE	read_enum (const std::string &section, const std::string &name, const ENUMTYPE &defaultValue, bool failIfNotFound=false) const
	Reads an "enum" value, where the value in the config file can be either a numerical value or the symbolic name, for example: In the code: More...

Protected Member Functions
void	writeString (const std::string &section, const std::string &name, const std::string &str) override
	A virtual method to write a generic string. More...

std::string	readString (const std::string &section, const std::string &name, const std::string &defaultStr, bool failIfNotFound=false) const override
	A virtual method to read a generic string. More...

void	writeString (const std::string &section, const std::string &name, const std::string &str, const int name_padding_width, const int value_padding_width, const std::string &comment)
	Write a generic string with optional padding and a comment field ("// ...") at the end of the line. More...

Private Attributes
std::string	m_file
	The name of the file. More...

mrpt::pimpl< Impl >	m_impl

bool	m_modified
	If modified since load. More...

Constructor & Destructor Documentation

◆ CConfigFile() [1/2]

CConfigFile::CConfigFile ( const std::string & fileName )

Constructor that opens a configuration file.

Definition at line 29 of file CConfigFile.cpp.

References m_file, m_impl, m_modified, MRPT_END, and MRPT_START.

◆ CConfigFile() [2/2]

CConfigFile::CConfigFile ( )

Constructor, does not open any file.

You should call "setFileName" before reading or writting or otherwise nothing will be read and write operations will be eventually lost. However, it's perfectly right to use this object without an associated file, in which case it will behave as an "in-memory" file.

Definition at line 44 of file CConfigFile.cpp.

References m_file, m_modified, MRPT_END, and MRPT_START.

◆ ~CConfigFile()

CConfigFile::~CConfigFile ( )

override

Destructor.

Definition at line 84 of file CConfigFile.cpp.

References mrpt::exception_to_str(), and writeNow().

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Member Function Documentation

◆ clear()

void CConfigFile::clear ( )

overridevirtual

Empties the "config file".

Implements mrpt::config::CConfigFileBase.

Definition at line 175 of file CConfigFile.cpp.

References m_impl.

◆ discardSavingChanges()

void CConfigFile::discardSavingChanges ( )

Discard saving (current) changes to physical file upon destruction.

Definition at line 82 of file CConfigFile.cpp.

References m_modified.

Referenced by run_rnav_test().

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◆ getAllKeys()

void CConfigFile::getAllKeys	(	const std::string &	section,
		std::vector< std::string > &	keys
	)		const

overridevirtual

Returs a list with all the keys into a section.

Implements mrpt::config::CConfigFileBase.

Definition at line 162 of file CConfigFile.cpp.

References m_impl, and names.

◆ getAllSections()

void CConfigFile::getAllSections ( std::vector< std::string > & sections ) const

overridevirtual

Returns a list with all the section names.

Implements mrpt::config::CConfigFileBase.

Definition at line 147 of file CConfigFile.cpp.

References m_impl, and names.

◆ getAssociatedFile()

std::string mrpt::config::CConfigFile::getAssociatedFile ( ) const

inline

Returns the file currently open by this object.

Definition at line 81 of file config/CConfigFile.h.

References m_file.

◆ getContentAsYAML()

std::string CConfigFileBase::getContentAsYAML ( ) const

inherited

Returns a text block representing the contents of the config file in YAML format.

See also: setContentFromYAML()

Definition at line 277 of file CConfigFileBase.cpp.

References MRPT_END, MRPT_START, sect, THROW_EXCEPTION, and val.

◆ keyExists()

bool CConfigFileBase::keyExists	(	const std::string &	section,
		const std::string &	key
	)		const

inherited

Checks if a given key exists inside a section (case insensitive)

See also: sectionExists()

Definition at line 215 of file CConfigFileBase.cpp.

References mrpt::system::os::_strcmpi().

Referenced by mrpt::apps::ICP_SLAM_App_Base::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and TEST().

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◆ read_bool()

bool CConfigFileBase::read_bool	(	const std::string &	section,
		const std::string &	name,
		bool	defaultValue,
		bool	failIfNotFound = `false`
	)		const

inherited

Definition at line 155 of file CConfigFileBase.cpp.

References mrpt::system::lowerCase(), and trim().

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◆ read_double()

double CConfigFileBase::read_double	(	const std::string &	section,
		const std::string &	name,
		double	defaultValue,
		bool	failIfNotFound = `false`
	)		const

inherited

Definition at line 106 of file CConfigFileBase.cpp.

References mrpt::format().

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◆ read_enum()

template<typename ENUMTYPE >

ENUMTYPE mrpt::config::CConfigFileBase::read_enum	(	const std::string &	section,
		const std::string &	name,
		const ENUMTYPE &	defaultValue,
		bool	failIfNotFound = `false`
	)		const

inlineinherited

Reads an "enum" value, where the value in the config file can be either a numerical value or the symbolic name, for example: In the code:

enum my_type_t { type_foo=0, type_bar };

In the config file:

   [section]
   type   = type_bar   // Use the symbolic name, or
   type   = 1          // use the numerical value (both lines will be
equivalent)

Which can be loaded with:

cfgfile.read_enum<my_type_t>("section","type", type_foo );

Note: For an enum type to work with this template it is required that it defines a specialization of mrpt::typemeta::TEnumType

Definition at line 269 of file config/CConfigFileBase.h.

References MRPT_END, MRPT_START, mrpt::typemeta::TEnumType< ENUMTYPE >::name2value(), mrpt::config::CConfigFileBase::read_string_first_word(), and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CVelodyneScanner::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::maps::CColouredPointsMap::TColourOptions::loadFromConfigFile(), mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CHeightGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::apps::ICP_SLAM_App_Base::run(), and mrpt::apps::RBPF_SLAM_App_Base::run().

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◆ read_float()

float CConfigFileBase::read_float	(	const std::string &	section,
		const std::string &	name,
		float	defaultValue,
		bool	failIfNotFound = `false`
	)		const

inherited

Definition at line 118 of file CConfigFileBase.cpp.

References mrpt::format().

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◆ read_int()

int CConfigFileBase::read_int	(	const std::string &	section,
		const std::string &	name,
		int	defaultValue,
		bool	failIfNotFound = `false`
	)		const

inherited

Definition at line 130 of file CConfigFileBase.cpp.

References mrpt::format().

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◆ read_matrix()

template<class MATRIX_TYPE >

void mrpt::config::CConfigFileBase::read_matrix	(	const std::string &	section,
		const std::string &	name,
		MATRIX_TYPE &	outMatrix,
		const MATRIX_TYPE &	defaultMatrix = `MATRIX_TYPE()`,
		bool	failIfNotFound = `false`
	)		const

inlineinherited

Reads a configuration parameter as a matrix written in a matlab-like format - for example: "[2 3 4 ; 7 8 9]".

This template method can be instantiated for matrices of the types: int, long, unsinged int, unsigned long, float, double, long double

Exceptions

std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.

Definition at line 230 of file config/CConfigFileBase.h.

References mrpt::config::CConfigFileBase::readString(), and THROW_EXCEPTION_FMT.

Referenced by mrpt::topography::path_from_rtk_gps().

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◆ read_string()

std::string CConfigFileBase::read_string	(	const std::string &	section,
		const std::string &	name,
		const std::string &	defaultValue,
		bool	failIfNotFound = `false`
	)		const

inherited

Definition at line 171 of file CConfigFileBase.cpp.

References mrpt::system::trim().

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◆ read_string_first_word()

std::string CConfigFileBase::read_string_first_word	(	const std::string &	section,
		const std::string &	name,
		const std::string &	defaultValue,
		bool	failIfNotFound = `false`
	)		const

inherited

Reads a configuration parameter of type "string", and keeps only the first word (this can be used to eliminate possible comments at the end of the line)

Definition at line 182 of file CConfigFileBase.cpp.

References mrpt::format(), THROW_EXCEPTION, and mrpt::system::tokenize().

Referenced by mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), and mrpt::config::CConfigFileBase::read_enum().

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◆ read_uint64_t()

uint64_t CConfigFileBase::read_uint64_t	(	const std::string &	section,
		const std::string &	name,
		uint64_t	defaultValue,
		bool	failIfNotFound = `false`
	)		const

inherited

Definition at line 142 of file CConfigFileBase.cpp.

References mrpt::system::os::_strtoull(), and mrpt::format().

Referenced by mrpt::hwdrivers::CEnoseModular::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardENoses::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CNationalInstrumentsDAQ::loadConfig_sensorSpecific(), mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), and mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom().

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◆ read_vector()

template<class VECTOR_TYPE >

void mrpt::config::CConfigFileBase::read_vector	(	const std::string &	section,
		const std::string &	name,
		const VECTOR_TYPE &	defaultValue,
		VECTOR_TYPE &	outValues,
		bool	failIfNotFound = `false`
	)		const

inlineinherited

Reads a configuration parameter of type vector, stored in the file as a string: "[v1 v2 v3 ... ]", where spaces could also be commas.

Exceptions

std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.

Definition at line 194 of file config/CConfigFileBase.h.

References mrpt::config::CConfigFileBase::readString(), mrpt::system::tokenize(), and val.

Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::CRoboticHeadInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardENoses::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardSonars::loadConfig_sensorSpecific(), mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::img::TCamera::loadFromConfigFile(), mrpt::nav::CHolonomicND::TOptions::loadFromConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), and mrpt::vision::TMultiResDescOptions::loadFromConfigFile().

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◆ readString()

std::string CConfigFile::readString	(	const std::string &	section,
		const std::string &	name,
		const std::string &	defaultStr,
		bool	failIfNotFound = `false`
	)		const

overrideprotectedvirtual

A virtual method to read a generic string.

Exceptions

std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.

Implements mrpt::config::CConfigFileBase.

Definition at line 113 of file CConfigFile.cpp.

References mrpt::format(), m_file, m_impl, MRPT_END, MRPT_START, and THROW_EXCEPTION.

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◆ sectionExists()

bool CConfigFileBase::sectionExists ( const std::string & section_name ) const

inherited

Checks if a given section exists (name is case insensitive)

See also: keyExists()

Definition at line 205 of file CConfigFileBase.cpp.

References mrpt::system::os::_strcmpi(), and sect.

Referenced by mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::apps::CGridMapAlignerApp::run(), and TEST().

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◆ setContentFromYAML()

void CConfigFileBase::setContentFromYAML ( const std::string & yaml_block )

inherited

Changes the contents of the virtual "config file" from a text block containing a YAML configuration text.

Refer to unit test yaml2config_unittest.cpp for examples of use.

See also: getContentAsYAML()

Definition at line 225 of file CConfigFileBase.cpp.

References mrpt::containers::clear(), MRPT_END, MRPT_START, sect, THROW_EXCEPTION, and val.

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◆ setFileName()

void CConfigFile::setFileName ( const std::string & fil_path )

Associate this object with the given file, so future read/write operations will be applied to that file (it's synchronized at destruction)

Definition at line 57 of file CConfigFile.cpp.

References m_file, m_impl, m_modified, MRPT_END, and MRPT_START.

◆ write() [1/5]

template<typename enum_t , typename = std::enable_if_t<std::is_enum<enum_t>::value>>

void mrpt::config::CConfigFileBase::write	(	const std::string &	section,
		const std::string &	name,
		enum_t	value,
		const int	name_padding_width = `-1`,
		const int	value_padding_width = `-1`,
		const std::string &	comment = `std::string()`
	)

inlineinherited

Definition at line 107 of file config/CConfigFileBase.h.

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◆ write() [2/5]

template<typename data_t , typename = std::enable_if_t<!std::is_enum<data_t>::value>>

void mrpt::config::CConfigFileBase::write	(	const std::string &	section,
		const std::string &	name,
		const data_t &	value,
		const int	name_padding_width = `-1`,
		const int	value_padding_width = `-1`,
		const std::string &	comment = `std::string()`
	)

inlineinherited

Definition at line 124 of file config/CConfigFileBase.h.

References mrpt::to_string(), and mrpt::config::CConfigFileBase::writeString().

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◆ write() [3/5]

template<typename data_t >

void mrpt::config::CConfigFileBase::write	(	const std::string &	section,
		const std::string &	name,
		const std::vector< data_t > &	value,
		const int	name_padding_width = `-1`,
		const int	value_padding_width = `-1`,
		const std::string &	comment = `std::string()`
	)

inlineinherited

Definition at line 135 of file config/CConfigFileBase.h.

References mrpt::to_string(), and mrpt::config::CConfigFileBase::writeString().

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◆ write() [4/5]

void CConfigFileBase::write	(	const std::string &	section,
		const std::string &	name,
		double	value,
		const int	name_padding_width = `-1`,
		const int	value_padding_width = `-1`,
		const std::string &	comment = `std::string()`
	)

inherited

Definition at line 38 of file CConfigFileBase.cpp.

References mrpt::format().

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◆ write() [5/5]

void CConfigFileBase::write	(	const std::string &	section,
		const std::string &	name,
		float	value,
		const int	name_padding_width = `-1`,
		const int	value_padding_width = `-1`,
		const std::string &	comment = `std::string()`
	)

inherited

Definition at line 52 of file CConfigFileBase.cpp.

References mrpt::format().

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◆ writeNow()

void CConfigFile::writeNow ( )

Dumps the changes to the physical configuration file now, not waiting until destruction.

Definition at line 71 of file CConfigFile.cpp.

References m_file, m_impl, m_modified, MRPT_END, and MRPT_START.

Referenced by ~CConfigFile().

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◆ writeString() [1/2]

void CConfigFile::writeString	(	const std::string &	section,
		const std::string &	name,
		const std::string &	str
	)

overrideprotectedvirtual

A virtual method to write a generic string.

Implements mrpt::config::CConfigFileBase.

Definition at line 96 of file CConfigFile.cpp.

References m_impl, m_modified, MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ writeString() [2/2]

void CConfigFileBase::writeString	(	const std::string &	section,
		const std::string &	name,
		const std::string &	str,
		const int	name_padding_width,
		const int	value_padding_width,
		const std::string &	comment
	)

protectedinherited

Write a generic string with optional padding and a comment field ("// ...") at the end of the line.

Definition at line 70 of file CConfigFileBase.cpp.

References mrpt::format().

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Member Data Documentation

◆ m_file

std::string mrpt::config::CConfigFile::m_file

private

The name of the file.

Definition at line 35 of file config/CConfigFile.h.

Referenced by CConfigFile(), getAssociatedFile(), readString(), setFileName(), and writeNow().

◆ m_impl

mrpt::pimpl<Impl> mrpt::config::CConfigFile::m_impl

private

Definition at line 37 of file config/CConfigFile.h.

Referenced by CConfigFile(), clear(), getAllKeys(), getAllSections(), readString(), setFileName(), writeNow(), and writeString().

◆ m_modified

bool mrpt::config::CConfigFile::m_modified

private

If modified since load.

Definition at line 40 of file config/CConfigFile.h.

Referenced by CConfigFile(), discardSavingChanges(), setFileName(), writeNow(), and writeString().

Detailed Description

Classes

Public Member Functions

Protected Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ CConfigFile() [1/2]

◆ CConfigFile() [2/2]

◆ ~CConfigFile()

Member Function Documentation

◆ clear()

◆ discardSavingChanges()

◆ getAllKeys()

◆ getAllSections()

◆ getAssociatedFile()

◆ getContentAsYAML()

◆ keyExists()

◆ read_bool()

◆ read_double()

◆ read_enum()

◆ read_float()

◆ read_int()

◆ read_matrix()

◆ read_string()

◆ read_string_first_word()

◆ read_uint64_t()

◆ read_vector()

◆ readString()

◆ sectionExists()

◆ setContentFromYAML()

◆ setFileName()

◆ write() [1/5]

◆ write() [2/5]

◆ write() [3/5]

◆ write() [4/5]

◆ write() [5/5]

◆ writeNow()

◆ writeString() [1/2]

◆ writeString() [2/2]

Member Data Documentation

◆ m_file

◆ m_impl

◆ m_modified