Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.

Dependencies:   Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed

CSV.cpp@12:6cd135bf03bd, 2013-02-03 (annotated)

Committer:
syundo0730
Date:
Sun Feb 03 04:53:44 2013 +0000
Revision:
12:6cd135bf03bd
Child:
13:711f74b2fa33
file reading, motion selecting, serial communication

Who changed what in which revision?

UserRevisionLine numberNew contents of line
syundo0730 12:6cd135bf03bd 1 #include <iostream>
syundo0730 12:6cd135bf03bd 2 #include <fstream>
syundo0730 12:6cd135bf03bd 3 #include <sstream>
syundo0730 12:6cd135bf03bd 4 #include <string>
syundo0730 12:6cd135bf03bd 5 #include <vector>
syundo0730 12:6cd135bf03bd 6 #include "CSV.h"
syundo0730 12:6cd135bf03bd 7
syundo0730 12:6cd135bf03bd 8 using namespace std;
syundo0730 12:6cd135bf03bd 9
syundo0730 12:6cd135bf03bd 10 bool CSV::read(string filename, uint16_t* p, int* servo_size, int* motion_size, int* pose_size) {
syundo0730 12:6cd135bf03bd 11 fstream file;
syundo0730 12:6cd135bf03bd 12 string str;
syundo0730 12:6cd135bf03bd 13 int id = 0;
syundo0730 12:6cd135bf03bd 14
syundo0730 12:6cd135bf03bd 15 file.open(filename.c_str(), ios::in);
syundo0730 12:6cd135bf03bd 16 if(! file.is_open()) {
syundo0730 12:6cd135bf03bd 17 return false;
syundo0730 12:6cd135bf03bd 18 }
syundo0730 12:6cd135bf03bd 19
syundo0730 12:6cd135bf03bd 20 while(getline(file, str)) {
syundo0730 12:6cd135bf03bd 21 vector<string> str_line = split(str, (string)",");
syundo0730 12:6cd135bf03bd 22 stringstream sstr;
syundo0730 12:6cd135bf03bd 23
syundo0730 12:6cd135bf03bd 24 if (str_line[0] == "servo_size") {
syundo0730 12:6cd135bf03bd 25 sstr << str_line[1];
syundo0730 12:6cd135bf03bd 26 sstr >> *servo_size;
syundo0730 12:6cd135bf03bd 27 } else if (str_line[0] == "motion_size") {
syundo0730 12:6cd135bf03bd 28 sstr << str_line[1];
syundo0730 12:6cd135bf03bd 29 sstr >> *motion_size;
syundo0730 12:6cd135bf03bd 30 } else if (str_line[0] == "pose_size") {
syundo0730 12:6cd135bf03bd 31 sstr << str_line[1];
syundo0730 12:6cd135bf03bd 32 sstr >> pose_size[id];
syundo0730 12:6cd135bf03bd 33 ++ id;
syundo0730 12:6cd135bf03bd 34 } else {
syundo0730 12:6cd135bf03bd 35 int size = str_line.size();
syundo0730 12:6cd135bf03bd 36 for(int i = 0; i < size; ++i) {
syundo0730 12:6cd135bf03bd 37 sstr << str_line[i];
syundo0730 12:6cd135bf03bd 38 sstr >> p[i];
syundo0730 12:6cd135bf03bd 39 }
syundo0730 12:6cd135bf03bd 40 p += size;
syundo0730 12:6cd135bf03bd 41 }
syundo0730 12:6cd135bf03bd 42 }
syundo0730 12:6cd135bf03bd 43 file.close();
syundo0730 12:6cd135bf03bd 44 return true;
syundo0730 12:6cd135bf03bd 45 }
syundo0730 12:6cd135bf03bd 46
syundo0730 12:6cd135bf03bd 47 std::vector<string> CSV::split(string &src, string key) {
syundo0730 12:6cd135bf03bd 48
syundo0730 12:6cd135bf03bd 49 string str = src;
syundo0730 12:6cd135bf03bd 50 vector<string> str_line;
syundo0730 12:6cd135bf03bd 51 int str_len = str.length();
syundo0730 12:6cd135bf03bd 52 int key_len = key.length();
syundo0730 12:6cd135bf03bd 53
syundo0730 12:6cd135bf03bd 54 int index = 0;
syundo0730 12:6cd135bf03bd 55 while(index < str_len) {
syundo0730 12:6cd135bf03bd 56 int oldindex = index;
syundo0730 12:6cd135bf03bd 57 index = str.find(key, index);
syundo0730 12:6cd135bf03bd 58 index = (index == string::npos ? str_len : index);
syundo0730 12:6cd135bf03bd 59 string tmp = str.substr(oldindex, index - oldindex);
syundo0730 12:6cd135bf03bd 60 str_line.push_back(tmp);
syundo0730 12:6cd135bf03bd 61 index += key_len;
syundo0730 12:6cd135bf03bd 62 }
syundo0730 12:6cd135bf03bd 63 return str_line;
syundo0730 12:6cd135bf03bd 64 }