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+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+public class Config : KeyFile {
+ public Config() throws Error {
+ if(!load_from_file("microcopter.cfg", KeyFileFlags.NONE)) {
+ throw new FileError.FAILED("Could not load configuration file");;
+ }
+ }
+
+ public MotorController get_motor_controller() throws Error {
+ string name = get_string("config", "motorcontroller");
+ string path = Path.build_path("/", Environment.get_variable("PWD"), "actuators", "motor", "%s.so".printf(name));
+
+ var plugin = new PluginLoader<MotorController>(path);
+ if(!plugin.load())
+ throw new KeyFileError.INVALID_VALUE("Could not load Plugin");
+
+ var result = plugin.new_object();
+ result.init(this);
+
+ return result;
+ }
+
+ public Gyroscope get_gyroscope() throws Error {
+ string name = get_string("config", "gyroscope");
+ string path = Path.build_path("/", Environment.get_variable("PWD"), "sensors", "gyroscope", "%s.so".printf(name));
+ var plugin = new PluginLoader<Gyroscope>(path);
+ if(!plugin.load())
+ throw new KeyFileError.INVALID_VALUE("Could not load Plugin");
+
+ var result = plugin.new_object();
+ result.init(this);
+
+ return result;
+ }
+
+ public Barometer get_barometer() throws Error {
+ string name = get_string("config", "barometer");
+ string path = Path.build_path("/", Environment.get_variable("PWD"), "sensors", "barometer", "%s.so".printf(name));
+ var plugin = new PluginLoader<Barometer>(path);
+ if(!plugin.load())
+ throw new KeyFileError.INVALID_VALUE("Could not load Plugin");
+
+ var result = plugin.new_object();
+ result.init(this);
+
+ return result;
+ }
+
+ public Accelerometer get_accelerometer() throws Error {
+ string name = get_string("config", "accelerometer");
+ string path = Path.build_path("/", Environment.get_variable("PWD"), "sensors", "accelerometer", "%s.so".printf(name));
+ var plugin = new PluginLoader<Accelerometer>(path);
+ if(!plugin.load())
+ throw new KeyFileError.INVALID_VALUE("Could not load Plugin");
+
+ var result = plugin.new_object();
+ result.init(this);
+
+ return result;
+ }
+
+ public Compass get_compass() throws Error {
+ string name = get_string("config", "compass");
+ string path = Path.build_path("/", Environment.get_variable("PWD"), "sensors", "compass", "%s.so".printf(name));
+ var plugin = new PluginLoader<Compass>(path);
+ if(!plugin.load())
+ throw new KeyFileError.INVALID_VALUE("Could not load Plugin");
+
+ var result = plugin.new_object();
+ result.init(this);
+
+ return result;
+ }
+
+ public CopterModel get_model() throws Error {
+ string name = get_string("config", "model");
+ string path = Path.build_path("/", Environment.get_variable("PWD"), "ctrl", "models", "%s.so".printf(name));
+ var plugin = new PluginLoader<CopterModel>(path);
+ if(!plugin.load())
+ throw new KeyFileError.INVALID_VALUE("Could not load Plugin");
+
+ var result = plugin.new_object();
+ result.init(this);
+
+ return result;
+ }
+
+ public Receiver get_receiver() throws Error {
+ string name = get_string("config", "receiver");
+ string path = Path.build_path("/", Environment.get_variable("PWD"), "receiver", "%s.so".printf(name));
+ var plugin = new PluginLoader<Receiver>(path);
+ if(!plugin.load())
+ throw new KeyFileError.INVALID_VALUE("Could not load Plugin");
+
+ var result = plugin.new_object();
+ result.init(this);
+
+ return result;
+ }
+}