From 8a08b9dce9cfc161494ddb07a1c979c7796780ff Mon Sep 17 00:00:00 2001
From: Sebastian Reichel <sre@ring0.de>
Date: Fri, 15 Jun 2012 22:56:00 +0200
Subject: restructure code

it is now loading its components from plugins
---
 config.vala | 114 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 114 insertions(+)
 create mode 100644 config.vala

(limited to 'config.vala')

diff --git a/config.vala b/config.vala
new file mode 100644
index 0000000..4b28296
--- /dev/null
+++ b/config.vala
@@ -0,0 +1,114 @@
+/* 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;
+	}
+}
-- 
cgit v1.2.3