property/main.cpp

How to read a configuration file. This example is designed to read a file like the following (property/config.txt):

/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <stdio.h>
#include <stdlib.h>
 
#include <yarp/os/Property.h>
 
using namespace yarp::os;
 
int main(int argc, char *argv[]) {
    Property cmdLine;
    cmdLine.fromCommand(argc,argv);
 
    if (!cmdLine.check("file")) {
        printf("Please call with: --file config.txt\n");
        exit(1);
    }
    std::string fname = cmdLine.find("file").asString();
    printf("Working with config file %s\n", fname.c_str());
 
    Property robot;
    robot.fromConfigFile(fname.c_str());
    if (!robot.check("GENERAL")) {
        printf("Cannot understand config file\n");
        exit(1);
    }
 
    int joints = robot.findGroup("GENERAL").find("Joints").asInt32();
    printf("Robot has %d joints\n", joints);
 
    Bottle& maxes = robot.findGroup("LIMITS").findGroup("Max");
    printf("Robot has limits: ");
    for (int i=1; i<maxes.size(); i++) {
        printf("%d ", maxes.get(i).asInt32());
    }
    printf("\n");
 
    //printf("If you wanted to transmit this configuration, here it is in Bottle format:\n");
    //printf("%s\n", robot.toString().c_str());
 
    return 0;
}