ethParser.cpp

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// -*- Mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
 
/*
 * Copyright (C) 2017 iCub Facility - Istituto Italiano di Tecnologia
 * Author:  Marco Accame
 * email:   marco.accame@iit.it
 * website: www.robotcub.org
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/
 
 
// --------------------------------------------------------------------------------------------------------------------
// - public interface
// --------------------------------------------------------------------------------------------------------------------
 
#include "ethParser.h"
 
 
 
// --------------------------------------------------------------------------------------------------------------------
// - external dependencies
// --------------------------------------------------------------------------------------------------------------------
 
 
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
using yarp::os::Log;
 
#include <yarp/os/Bottle.h>
#include <yarp/os/Value.h>
 
using namespace yarp::os;
 
 
// --------------------------------------------------------------------------------------------------------------------
// - pimpl: private implementation (see scott meyers: item 22 of effective modern c++, item 31 of effective c++
// --------------------------------------------------------------------------------------------------------------------
 
 
 
// --------------------------------------------------------------------------------------------------------------------
// - the class
// --------------------------------------------------------------------------------------------------------------------
 
 
bool eth::parser::print(const pc104Data &pc104data)
{
 
    yDebug() << "eth::parser::print(pc104Data) for PC104:";
 
    yDebug() << "PC104/PC104IpAddress:PC104IpPort = " << pc104data.addressingstring;
    yDebug() << "PC104/PC104TXrate = " << pc104data.txrate;
    yDebug() << "PC104/PC104RXrate = " << pc104data.rxrate;
 
    return true;
}
bool eth::parser::print(const pc104Data &pc104data) {…}
 
bool eth::parser::print(const boardData &boarddata)
{
 
    yDebug() << "eth::parser::print(boardData) for BOARD" << boarddata.settings.name;
 
    yDebug() << "ETH_BOARD/ETH_BOARD_PROPERTIES:";
    yDebug() << "ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = " << boarddata.properties.ipv4string;
    yDebug() << "ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = " << boarddata.properties.ipv4addressing.port;
    yDebug() << "ETH_BOARD/ETH_BOARD_PROPERTIES/Type = " << boarddata.properties.typestring;
    yDebug() << "ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = " << boarddata.properties.maxSizeRXpacket;
    yDebug() << "ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = " << boarddata.properties.maxSizeROP;
 
    yDebug() << "ETH_BOARD/ETH_BOARD_SETTINGS:";
    yDebug() << "ETH_BOARD/ETH_BOARD_SETTINGS/Name = " << boarddata.settings.name;
    yDebug() << "ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = " <<
                boarddata.settings.txconfig.cycletime << boarddata.settings.txconfig.maxtimeRX << boarddata.settings.txconfig.maxtimeDO << boarddata.settings.txconfig.maxtimeTX << boarddata.settings.txconfig.txratedivider;
    yDebug() << "ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE";
    yDebug() << "ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = " <<
                boarddata.actions.monitorpresence_enabled << boarddata.actions.monitorpresence_timeout << boarddata.actions.monitorpresence_periodofmissingreport;
 
    return true;
}
bool eth::parser::print(const boardData &boarddata) {…}
 
bool eth::parser::read(yarp::os::Searchable &cfgtotal, pc104Data &pc104data)
{
    pc104data.setdefault();
 
    Bottle groupDEBUG  = cfgtotal.findGroup("DEBUG");
    if ((! groupDEBUG.isNull()) && (groupDEBUG.check("embBoardsConnected")))
    {
        pc104data.embBoardsConnected = groupDEBUG.find("embBoardsConnected").asBool();
    }
 
    if(!pc104data.embBoardsConnected)
    {
        yDebug() << "ATTENTION: NO EMBEDDED BOARDS CONNECTED. YOU ARE IN DEBUG MODE";
    }
 
    // localaddress
 
    Bottle groupPC104  = Bottle(cfgtotal.findGroup("PC104"));
    if (groupPC104.isNull())
    {
        yError() << "eth::parser::read() cannot find PC104 group in config files";
        return false;
    }
 
    Value *value;
 
    if (!groupPC104.check("PC104IpAddress", value))
    {
        yError() << "eth::parser::read(): missing PC104/PC104IpAddress in config files";
        return false;
    }
    if (!groupPC104.check("PC104IpPort", value))
    {
        yError() << "eth::parser::read(): missing PC104/PC104IpPort in config files";
        return false;
    }
 
    Bottle paramIPaddress(groupPC104.find("PC104IpAddress").asString());
    uint16_t port = groupPC104.find("PC104IpPort").asInt32();              // .get(1).asInt32();
    char strIP[64] = {0};
 
 
    snprintf(strIP, sizeof(strIP), "%s", paramIPaddress.toString().c_str());
    // strIP is now "10.0.1.104" ... i want to remove the "".... VERY IMPORTANT: use \" in sscanf
    int ip1, ip2, ip3, ip4;
    sscanf(strIP, "\"%d.%d.%d.%d", &ip1, &ip2, &ip3, &ip4);
 
    pc104data.localaddressing.addr = eo_common_ipv4addr(ip1, ip2, ip3, ip4);
    pc104data.localaddressing.port = port;
 
    char ss[30];
    snprintf(ss, sizeof(ss), "%d.%d.%d.%d:%d", ip1, ip2, ip3, ip4, port);
 
    pc104data.addressingstring = ss;
 
 
    // txrate
    if(cfgtotal.findGroup("PC104").check("PC104TXrate"))
    {
        int value = cfgtotal.findGroup("PC104").find("PC104TXrate").asInt32();
        if(value > 0)
        {
            pc104data.txrate = value;
        }
    }
    else
    {
        yWarning () << "eth::parser::read() cannot find ETH/PC104TXrate. thus using default value" << pc104data.txrate;
    }
 
    // rxrate
    if(cfgtotal.findGroup("PC104").check("PC104RXrate"))
    {
        int value = cfgtotal.findGroup("PC104").find("PC104RXrate").asInt32();
        if(value > 0)
        {
            pc104data.rxrate = value;
        }
    }
    else
    {
        yWarning () << "eth::parser::read() cannot find ETH/PC104RXrate. thus using default value" << pc104data.rxrate;
    }
 
    // now i print all the found values
 
    //print(pc104data);
 
    return true;
}
bool eth::parser::read(yarp::os::Searchable &cfgtotal, pc104Data &pc104data) {…}
 
 
bool eth::parser::read(yarp::os::Searchable &cfgtotal, boardData &boarddata)
{
    Bottle groupEthBoard  = Bottle(cfgtotal.findGroup("ETH_BOARD"));
    if(groupEthBoard.isNull())
    {
        yError() << "eth::parser::read() cannot find ETH_BOARD group in config files";
        return false;
    }
    Bottle groupEthBoardProps = Bottle(groupEthBoard.findGroup("ETH_BOARD_PROPERTIES"));
    if(groupEthBoardProps.isNull())
    {
        yError() << "eth::parser::read() cannot find ETH_BOARD_PROPERTIES group in config files";
        return false;
    }
    Bottle groupEthBoardSettings = Bottle(groupEthBoard.findGroup("ETH_BOARD_SETTINGS"));
    if(groupEthBoardSettings.isNull())
    {
        yError() << "eth::parser::read() cannot find ETH_BOARD_PROPERTIES group in config files";
        return false;
    }
 
    // -> ETH_BOARD/ETH_BOARD_PROPERTIES
 
    boarddata.properties.reset();
 
    // IpAddress:
    if(true == groupEthBoardProps.check("IpAddress"))
    {
        Bottle paramIPboard(groupEthBoardProps.find("IpAddress").asString());
        char str[64] = {0};
        strcpy(str, paramIPboard.toString().c_str());
        int ip1, ip2, ip3, ip4;
        sscanf(str, "\"%d.%d.%d.%d", &ip1, &ip2, &ip3, &ip4);
        boarddata.properties.ipv4addressing.addr = eo_common_ipv4addr(ip1, ip2, ip3, ip4);
    }
    else
    {
        yError() << "eth::parser::read() cannot find ETH_BOARD_PROPERTIES/IpAddress group in config files";
        return false;
    }
 
    char ipinfo[20] = {0};
    eo_common_ipv4addr_to_string(boarddata.properties.ipv4addressing.addr, ipinfo, sizeof(ipinfo));
    boarddata.properties.ipv4string = ipinfo;
 
 
    // IpPort:
    if(true == groupEthBoardProps.check("IpPort"))
    {
        boarddata.properties.ipv4addressing.port = groupEthBoardProps.find("IpPort").asInt32();;
    }
    else
    {
        boarddata.properties.ipv4addressing.port = 12345;
        yWarning() << "eth::parser::read() cannot find ETH_BOARD_PROPERTIES/IpPort group in config files." << " using:" << boarddata.properties.ipv4addressing.port;
    }
 
    snprintf(ipinfo, sizeof(ipinfo), ":%d", boarddata.properties.ipv4addressing.port);
    boarddata.properties.ipv4addressingstring = boarddata.properties.ipv4string + ipinfo;
 
 
    // Type:
    Bottle b_ETH_BOARD_PROPERTIES_Type = groupEthBoardProps.findGroup("Type");
    std::string Type = b_ETH_BOARD_PROPERTIES_Type.get(1).asString();
    const char *strType = Type.c_str();
    // 1. compare with the exceptions which may be in some old xml files ("EMS4", "MC4PLUS", "MC2PLUS"), and then then call proper functions
    if(0 == strcmp(strType, "EMS4"))
    {
        boarddata.properties.type = eobrd_ethtype_ems4;
    }
    else if(0 == strcmp(strType, "MC4PLUS"))
    {
        boarddata.properties.type = eobrd_ethtype_mc4plus;
    }
    else if(0 == strcmp(strType, "MC2PLUS"))
    {
        boarddata.properties.type = eobrd_ethtype_mc2plus;
    }
    else
    {
        eObrd_type_t brd = eobrd_unknown;
        if(eobrd_unknown == (brd = eoboards_string2type2(strType, eobool_true)))
        {
            brd = eoboards_string2type2(strType, eobool_false);
        }
 
        // if not found in compact or extended string format, we accept that the board is unknown
 
        boarddata.properties.type = eoboards_type2ethtype(brd);
    }
    char boardTypeString[30];
    snprintf(boardTypeString, sizeof(boardTypeString), "%s", eoboards_type2string2(eoboards_ethtype2type(boarddata.properties.type), eobool_true));
 
    boarddata.properties.typestring = boardTypeString;
 
    // maxSizeRXpacket:
    if(true == groupEthBoardProps.check("maxSizeRXpacket"))
    {
        boarddata.properties.maxSizeRXpacket = groupEthBoardProps.find("maxSizeRXpacket").asInt32();
        //yDebug() << "eth::parser::read() has detected capacityofTXpacket =" << boarddata.properties.maxSizeRXpacket << "for BOARD w/ IP" << boarddata.properties.ipv4string;
    }
    else
    {
        boarddata.properties.maxSizeRXpacket = 768;
        yWarning() << "eth::parser::read() in BOARD w/ IP" << boarddata.properties.ipv4string << "cannot find: capacityofTXpacket. using:" << boarddata.properties.maxSizeRXpacket;
    }
 
    // maxSizeROP:
    if(true == groupEthBoardProps.check("maxSizeROP"))
    {
        boarddata.properties.maxSizeROP = groupEthBoardProps.find("maxSizeROP").asInt32();
        //yDebug() << "eth::parser::read() has detected maxSizeOfROP =" << boarddata.properties.maxSizeROP << "for BOARD w/ IP" << boarddata.properties.ipv4string;
    }
    else
    {
        boarddata.properties.maxSizeROP = 384;
        yWarning() << "eth::parser::read() in BOARD w/ IP" << boarddata.properties.ipv4string << "cannot find: maxSizeROP. using:" << boarddata.properties.maxSizeROP;
    }
 
 
 
    // <- ETH_BOARD/ETH_BOARD_PROPERTIES
 
 
    // -> ETH_BOARD/ETH_BOARD_SETTINGS
 
    Bottle paramNameBoard(groupEthBoardSettings.find("Name").asString());
    char xmlboardname[64] = {0};
    snprintf(xmlboardname, sizeof(xmlboardname), "%s", paramNameBoard.toString().c_str());
 
 
    if(0 != strlen(xmlboardname))
    {
        boarddata.settings.name = xmlboardname;
    }
    else
    {
        boarddata.settings.name = "NOT-NAMED";
    }
 
 
    // -> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE
 
    Bottle groupEthBoardSettings_RunningMode = Bottle(groupEthBoardSettings.findGroup("RUNNINGMODE"));
    if(groupEthBoardSettings_RunningMode.isNull())
    {
        yWarning() << "eth::parser::read(): cannot find ETH_BOARD_PROPERTIES/RUNNINGMODE group in config files for BOARD w/ IP" << boarddata.properties.ipv4string << " and will use default values";
        yWarning() << "Default values for ETH_BOARD_PROPERTIES/RUNNINGMODE group: (period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = " <<
                      boarddata.settings.txconfig.cycletime << boarddata.settings.txconfig.maxtimeRX << boarddata.settings.txconfig.maxtimeDO << boarddata.settings.txconfig.maxtimeTX << boarddata.settings.txconfig.txratedivider;
    }
    else
    {
 
        if(true == groupEthBoardSettings_RunningMode.check("period"))
        {
            int tmp = groupEthBoardSettings_RunningMode.find("period").asInt32();
 
            if(1000 != tmp)
            {
                yWarning() << "eth::parser::read() for BOARD" << boarddata.properties.ipv4string << "ETH_BOARD_SETTINGS::RUNNINGMODE::period can be only 1000 (so far) and it was:" << tmp;
                tmp = 1000;
            }
            boarddata.settings.txconfig.cycletime = tmp;
        }
 
        if(true == groupEthBoardSettings_RunningMode.check("maxTimeOfRXactivity"))
        {
            int tmp = groupEthBoardSettings_RunningMode.find("maxTimeOfRXactivity").asInt32();
 
            if((tmp < 5) || (tmp > 990))
            {
                yWarning() << "eth::parser::read() for BOARD" << boarddata.properties.ipv4string << "ETH_BOARD_SETTINGS::RUNNINGMODE::maxTimeOfRXactivity must be in [5, 990] (so far) and it was:" << tmp << "Using default value";
                tmp = 400;
            }
 
            boarddata.settings.txconfig.maxtimeRX = tmp;
        }
 
        if(true == groupEthBoardSettings_RunningMode.check("maxTimeOfDOactivity"))
        {
            int tmp = groupEthBoardSettings_RunningMode.find("maxTimeOfDOactivity").asInt32();
 
            if((tmp < 5) || (tmp > 990))
            {
                yWarning() << "eth::parser::read() for BOARD" << boarddata.properties.ipv4string << "ETH_BOARD_SETTINGS::RUNNINGMODE::maxtimeOfDOactivity must be in [5, 990] (so far) and it was:" << tmp << "Using default value";
                tmp = 300;
            }
 
            boarddata.settings.txconfig.maxtimeDO = tmp;
        }
 
        if(true == groupEthBoardSettings_RunningMode.check("maxTimeOfTXactivity"))
        {
            int tmp = groupEthBoardSettings_RunningMode.find("maxTimeOfTXactivity").asInt32();
 
            if((tmp < 5) || (tmp > 990))
            {
                yWarning() << "eth::parser::read() for BOARD" << boarddata.properties.ipv4string << "ETH_BOARD_SETTINGS::RUNNINGMODE::maxTimeOfTXactivity must be in [5, 990] (so far) and it was:" << tmp << "Using default value";
                tmp = 300;
            }
 
            boarddata.settings.txconfig.maxtimeTX = tmp;
        }
 
 
        if(true == groupEthBoardSettings_RunningMode.check("TXrateOfRegularROPs"))
        {
            int tmp = groupEthBoardSettings_RunningMode.find("TXrateOfRegularROPs").asInt32();
 
            if(tmp <=0)
            {
                yWarning() << "eth::parser::read() for BOARD" << boarddata.properties.ipv4string << "ETH_BOARD_SETTINGS::RUNNINGMODE::TXrateOfRegularROPs must be in [1, 20] and it was:" << tmp << "Using value = 1";
                tmp = 1;
            }
            if(tmp >200)
            {
                yWarning() << "eth::parser::read() for BOARD" << boarddata.properties.ipv4string << "ETH_BOARD_SETTINGS::RUNNINGMODE::TXrateOfRegularROPs must be in [1, 20] and it was:" << tmp << "Using value = 20";
                tmp = 20;
            }
            boarddata.settings.txconfig.txratedivider = tmp;
        }
 
        // consistency check
        if((boarddata.settings.txconfig.maxtimeRX+boarddata.settings.txconfig.maxtimeDO+boarddata.settings.txconfig.maxtimeTX) != boarddata.settings.txconfig.cycletime)
        {
            yWarning() << "eth::parser::read() for BOARD" << boarddata.properties.ipv4string << "In ETH_BOARD_SETTINGS::RUNNINGMODE sum(maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity) != period !!! Using default values";
 
            yError() << boarddata.settings.txconfig.maxtimeRX+boarddata.settings.txconfig.maxtimeDO+boarddata.settings.txconfig.maxtimeTX;
            boarddata.settings.txconfig.cycletime = 1000;
            boarddata.settings.txconfig.maxtimeRX = 400;
            boarddata.settings.txconfig.maxtimeDO = 300;
            boarddata.settings.txconfig.maxtimeTX = 300;
        }
        
        
        // set initial values.
        
        // in here i store the final values of the parsing
        // they muts have the default values already in here
        struct parseLOGGING
        {
            struct IMM
            {
                bool sigOVRFL {true};
            };
            struct PER
            {
                double period {0.0};
                bool sigSTATS {false};
            };
 
            IMM immediate {};
            PER periodic {};
 
            void setdefault()
            {
                immediate.sigOVRFL = true;
                periodic.period = 0;
                periodic.sigSTATS = false;
            }
        };
 
        parseLOGGING pLOG {};
 
        pLOG.setdefault();
 
        //bool log_imm_sigOVF {true};
        //bool log_per_sigSTA {false};
        //float log_per_periodSEC = 0.0;
        
        Bottle groupEthBoardSettings_RunningMode_Logging = Bottle(groupEthBoardSettings_RunningMode.findGroup("LOGGING"));
        if(groupEthBoardSettings_RunningMode_Logging.isNull())
        {
            yWarning() << "eth::parser::read(): cannot find ETH_BOARD_PROPERTIES/RUNNINGMODE/LOGGING group in config files for BOARD w/ IP" << boarddata.properties.ipv4string << " and will use default values";
            yWarning() << "Default values for ETH_BOARD_PROPERTIES/RUNNINGMODE/LOGGING group: (IMMEDIATE.emitRXDOTXoverflow = true, PERIODIC.period = 0, PERIODIC.emitRXDOTXstatistics = false";
        }
        else
        {
            // find groups: IMMEDIATE and PERIODIC
            
            Bottle groupEthBoardSettings_RunningMode_Logging_Immediate = Bottle(groupEthBoardSettings_RunningMode_Logging.findGroup("IMMEDIATE"));
            if(groupEthBoardSettings_RunningMode_Logging_Immediate.isNull())
            {
                // IMMEDIATE not found, so i keep default value
            }
            else
            {   
                if(false == groupEthBoardSettings_RunningMode_Logging_Immediate.check("emitRXDOTXoverflow"))
                {
                    // IMMEDIATE.emitRXDOTXoverflow not found, so i keep default
                }
                else
                {
                    if(groupEthBoardSettings_RunningMode_Logging_Immediate.find("emitRXDOTXoverflow").isBool())
                    {
                        printf("x 33\n");
                       pLOG.immediate.sigOVRFL = groupEthBoardSettings_RunningMode_Logging_Immediate.find("emitRXDOTXoverflow").asBool();
                    }
               }
            }
            
            Bottle groupEthBoardSettings_RunningMode_Logging_Periodic = Bottle(groupEthBoardSettings_RunningMode_Logging.findGroup("PERIODIC"));  
            if(groupEthBoardSettings_RunningMode_Logging_Periodic.isNull())
            {
                printf("x 4\n");
                // PERIODIC not found, so i keep default value
            }
            else
            { 
 
                if(false == groupEthBoardSettings_RunningMode_Logging_Periodic.check("period"))
                {
                    // PERIODIC.period not found, so i keep default
                }
                else
                {
                    // i get it and i filter in range [0, 600)
                    if(true == groupEthBoardSettings_RunningMode_Logging_Periodic.find("period").isFloat64())
                    {
                        double tmp = groupEthBoardSettings_RunningMode_Logging_Periodic.find("period").asFloat64();
                        pLOG.periodic.period = (tmp<0.0) ? (0.0) : ( (tmp < 600.0) ? tmp : 600.0 );
                     }
                }
                
                if(false == groupEthBoardSettings_RunningMode_Logging_Periodic.check("emitRXDOTXstatistics"))
                {
                    // PERIODIC.emitRXDOTXstatistics not found, so i keep default
                }
                else
                {
                    pLOG.periodic.sigSTATS = groupEthBoardSettings_RunningMode_Logging_Periodic.find("emitRXDOTXstatistics").asBool();
                }
                
            }  
 
            yInfo() << "ETH_BOARD_PROPERTIES/RUNNINGMODE/LOGGING group for BOARD w/ IP" << boarddata.properties.ipv4string << " has values: " <<
             "IMMEDIATE.emitRXDOTXoverflow = " << pLOG.immediate.sigOVRFL << " PERIODIC.period = " << pLOG.periodic.period << " PERIODIC.emitRXDOTXstatistics = " << pLOG.periodic.sigSTATS;
            
        }
                            
        
        // now i apply the resulting values to the compact struct
        constexpr uint16_t maskOverflow = (0x0001 << eomn_appl_log_asynchro_exectime_overflow);
        constexpr uint16_t maskStatistics = (0x0001 << eomn_appl_log_periodic_exectime_statistics);
        boarddata.settings.txconfig.logging.flags = 0;
        if(true == pLOG.immediate.sigOVRFL) { boarddata.settings.txconfig.logging.flags |= maskOverflow; }
        if(true == pLOG.periodic.sigSTATS) { boarddata.settings.txconfig.logging.flags |= maskStatistics; }
        boarddata.settings.txconfig.logging.period10ms = static_cast<uint16_t>(100.0*pLOG.periodic.period); // period is uint16_t and keeps units of 10 ms to be able to manage up to 10 minutes
 
    }
    
 
    // <- ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE
 
 
    // <- ETH_BOARD/ETH_BOARD_SETTINGS
 
 
    // -> ETH_BOARD/ETH_BOARD_ACTIONS
    // -> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
 
 
    // do we have a proper section ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE? if so we change its config
 
    Bottle groupEthBoardActions = Bottle(groupEthBoard.findGroup("ETH_BOARD_ACTIONS"));
    if(!groupEthBoardActions.isNull())
    {
        Bottle groupEthBoardActions_Monitor = Bottle(groupEthBoardActions.findGroup("MONITOR_ITS_PRESENCE"));
        if(!groupEthBoardActions_Monitor.isNull())
        {
            Bottle groupEthBoardActions_Monitor_enabled = groupEthBoardActions_Monitor.findGroup("enabled");
            std::string Ena = groupEthBoardActions_Monitor_enabled.get(1).asString();
            const char *strEna = Ena.c_str();
 
            if(0 == strcmp(strEna, "true"))
            {
                boarddata.actions.monitorpresence_enabled = true;
            }
            else
            {
                boarddata.actions.monitorpresence_enabled = false;
            }
 
            if(true == groupEthBoardActions_Monitor.check("timeout"))
            {
                double presenceTimeout = groupEthBoardActions_Monitor.find("timeout").asFloat64();
 
                if(presenceTimeout <= 0)
                {
                    presenceTimeout = 0;
                    boarddata.actions.monitorpresence_enabled = false;
                }
 
                if(presenceTimeout > 0.100)
                {
                    presenceTimeout = 0.100;
                }
 
                boarddata.actions.monitorpresence_timeout = presenceTimeout;
 
            }
 
 
            if(true == groupEthBoardActions_Monitor.check("periodOfMissingReport"))
            {
                double reportMissingPeriod = groupEthBoardActions_Monitor.find("periodOfMissingReport").asFloat64();
 
                if(reportMissingPeriod <= 0)
                {
                    reportMissingPeriod = 0.0;
                }
 
                if(reportMissingPeriod > 600)
                {
                    reportMissingPeriod = 600;
                }
 
                boarddata.actions.monitorpresence_periodofmissingreport = reportMissingPeriod;
            }
        }
    }
 
    // <- ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
    // <- ETH_BOARD/ETH_BOARD_ACTIONS
 
    return true;
}
bool eth::parser::read(yarp::os::Searchable &cfgtotal, boardData &boarddata) {…}
 
 
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