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include
KNI
kmlFactories.h
Go to the documentation of this file.
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#ifndef KMLFACTORIES_H
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#define KMLFACTORIES_H
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#include "
common/exception.h
"
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#include "
KNI/kmlBase.h
"
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#include "
KNI/kmlMotBase.h
"
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#include "
KNI/kmlSctBase.h
"
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#include <string>
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#include <fstream>
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class
ConfigFileStateException
:
public
Exception
{
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public
:
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ConfigFileStateException
() throw ():
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Exception
("ConfigFile is not open or other failure", -41) {}
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};
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class
ConfigFileSectionNotFoundException
:
public
Exception
{
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public
:
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ConfigFileSectionNotFoundException
(
const
std::string & attribute)
throw
():
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Exception
(
"Could not find section '"
+ attribute +
"' in configfile"
, -42) {}
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};
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class
ConfigFileSubsectionNotFoundException
:
public
Exception
{
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public
:
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ConfigFileSubsectionNotFoundException
(
const
std::string & attribute)
throw
():
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Exception
(
"Could not find subsection '"
+ attribute +
"' in configfile"
, -43) {}
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};
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class
ConfigFileEntryNotFoundException
:
public
Exception
{
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public
:
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ConfigFileEntryNotFoundException
(
const
std::string & attribute)
throw
():
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Exception
(
"Could not find entry '"
+ attribute +
"' in configfile"
, -44) {}
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};
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class
ConfigFileSyntaxErrorException
:
public
Exception
{
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public
:
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ConfigFileSyntaxErrorException
(
const
std::string & line)
throw
():
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Exception
(
"Syntax error in this line: '"
+ line +
"'"
, -45) {}
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};
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namespace
KNI {
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class
DLLDIR
kmlFactory
{
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private
:
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std::ifstream
_configfile
;
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void
_readEntry(
char
* dest,
int
destsz,
const
char
* section,
const
char
* subsection,
const
char
* entry);
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public
:
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kmlFactory
();
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bool
openFile
(
const
char
* filepath) {
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_configfile.open(filepath);
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return
_configfile.fail() ?
false
:
true
;
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}
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#ifdef _UNICODE
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bool
openFile(
const
wchar_t
* filepath) {
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_configfile.open(filepath);
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return
_configfile.fail() ?
false
:
true
;
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}
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#endif
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TKatGNL
getGNL();
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TKatMOT
getMOT();
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TKatSCT
getSCT();
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TKatEFF
getEFF();
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TMotDesc
* getMotDesc(
short
count);
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TSctDesc
* getSctDesc(
short
count);
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TMotCLB
getMotCLB(
short
number);
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TMotSCP
getMotSCP(
short
number);
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TMotDYL
getMotDYL(
short
number);
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int
getType();
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TMotInit
getMotInit(
short
number);
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void
getGripperParameters(
bool
& isPresent,
int
& openEncoders,
int
& closeEncoders);
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};
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}
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#endif
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