Merge branch 'master-mirror' into estimation-student

Author: adrnp

Diff for: config/X_Scenarios.txt

@@ -1,4 +1,5 @@
 X_DebugAttitudeInterp
 X_TestMavlink
 X_TestManyQuads
-X_MonteCarloTest
+X_MonteCarloTest
+X_ParamTests

Diff for: src/Drawing/GraphManager.cpp

@@ -191,45 +191,6 @@ vector<string> GraphManager::GetGraphableStrings()
   return ret;
 }
 
-vector<string> ParseFunction(string cmd)
-{
-  vector<string> ret;
-
-  if (cmd.empty()) return ret;
-  if (cmd[cmd.size() - 1] != ')') return ret;
-
-  string f = SLR::LeftOf(cmd, '(');
-  if (f.find_first_of('"') != string::npos) return ret;
-
-  string args = cmd.substr(f.size() + 1, cmd.size() - f.size() - 2);
-
-  ret.push_back(f);
-
-  bool quote = false;
-  unsigned int i=0, s = 0;
-  for (i = 0; i < args.size(); i++)
-  {
-    if (args[i] == '"')
-    {
-      quote = !quote;
-      if (quote) s = i;
-      continue;
-    }
-    if (args[i] == ',' && !quote)
-    {
-      ret.push_back(SLR::Trim(args.substr(s, i - s)));
-      s = i+1;
-    }
-  }
-
-  if (s != i)
-  {
-    ret.push_back(SLR::Trim(args.substr(s, i - s)));
-  }
-
-  return ret;
-}
-
 void GraphManager::GraphCommand(string cmd)
 {
   // old-style commands
@@ -244,7 +205,7 @@ void GraphManager::GraphCommand(string cmd)
     return;
   }
 
-  vector<string> s = ParseFunction(cmd);
+  vector<string> s = SimpleFunctionParser(cmd);
 
   if (s.size() == 3 && s[0] == "SetTitle")
   {

Diff for: src/Drawing/Visualizer_GLUT.cpp

@@ -825,6 +825,7 @@ void Visualizer_GLUT::InitializeMenu(const vector<string>& strings)
 
 void Visualizer_GLUT::OnMenu(string cmd)
 {
+  vector<string> s = SimpleFunctionParser(cmd);
   if (cmd == "Toggle.RefTrajectory")
   {
     showRefTrajectory = !showRefTrajectory;
@@ -842,6 +843,24 @@ void Visualizer_GLUT::OnMenu(string cmd)
     string name = string("../config/")+cmd.substr(9)+".txt";
     _delayedScenarioLoader = name;
   }
+  else if (s.size() == 3 && s[0] == "PrintParam")
+  {
+    ParamsHandle config = SimpleConfig::GetInstance();
+
+    if (s[1] == "V3F")
+    {
+      V3F p;
+      if (!config->GetV3F(s[2], p))
+      {
+        printf("Command [%s] error: parameter get failed\n", cmd.c_str());
+      }
+      else
+      {
+        printf("V3F %s = %lf %lf %lf\n", s[2].c_str(), p.x, p.y, p.z);
+      }
+    }
+
+  }
   else
   {
     graph->GraphCommand(cmd);

Diff for: src/Utility/SimpleConfig.cpp

@@ -69,8 +69,11 @@ void SimpleConfig::ReadFile(const string& filename, int depth)
   fclose(f);
 }
 
-void SimpleConfig::ParseLine(const string& filename, const string& s, int lineNum, string& curNamespace, int depth)
+void SimpleConfig::ParseLine(const string& filename, const string& line, int lineNum, string& curNamespace, int depth)
 {
+  // primitive trailing removal
+  string s = SLR::LeftOf(line, '#');
+
   std::size_t firstNonWS = s.find_first_not_of("\n\t ");
 
   // is it a comment?

Diff for: src/Utility/StringUtils.h

@@ -86,6 +86,45 @@ inline std::string UnQuote(const std::string& s)
   return arg;
 }
 
+inline std::vector<string> SimpleFunctionParser(string cmd)
+{
+  std::vector<string> ret;
+
+  if (cmd.empty()) return ret;
+  if (cmd[cmd.size() - 1] != ')') return ret;
+
+  string f = SLR::LeftOf(cmd, '(');
+  if (f.find_first_of('"') != string::npos) return ret;
+
+  string args = cmd.substr(f.size() + 1, cmd.size() - f.size() - 2);
+
+  ret.push_back(f);
+
+  bool quote = false;
+  unsigned int i = 0, s = 0;
+  for (i = 0; i < args.size(); i++)
+  {
+    if (args[i] == '"')
+    {
+      quote = !quote;
+      if (quote) s = i;
+      continue;
+    }
+    if (args[i] == ',' && !quote)
+    {
+      ret.push_back(SLR::Trim(args.substr(s, i - s)));
+      s = i + 1;
+    }
+  }
+
+  if (s != i)
+  {
+    ret.push_back(SLR::Trim(args.substr(s, i - s)));
+  }
+
+  return ret;
+}
+
 inline std::vector<string> Split(const char* str, char c = ' ')
 {
   std::vector<std::string> result;