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unitree_SDK/include/unitree/common/json/json_config.hpp

@@ -0,0 +1,194 @@
+#ifndef __UT_JSON_CONFIG_HPP__
+#define __UT_JSON_CONFIG_HPP__
+
+#include <unitree/common/json/json.hpp>
+
+#define UT_JSON_CONF_KEY_PARAMETER  "Parameter"
+
+namespace unitree
+{
+namespace common
+{
+class JsonConfig
+{
+public:
+    JsonConfig();
+    virtual ~JsonConfig();
+
+    JsonConfig(const std::string& configFileName);
+
+    virtual void Parse(const std::string& configFileName);
+    virtual void ParseContent(const std::string& content);
+
+    //top-level field
+    bool Has(const std::string& name) const;
+
+    //top-level field
+    const Any& Get(const std::string& name) const;
+
+    //top-level field
+    template<typename T>
+    const T& Get(const std::string& name) const
+    {
+        return AnyCast<T>(Get(name));
+    }
+
+    //top-level field
+    template<typename T>
+    T GetNumber(const std::string& name) const
+    {
+        return AnyNumberCast<T>(Get(name));
+    }
+
+    //top-level field
+    template<typename T>
+    T Get(const std::string& name, const T& defValue) const
+    {
+        const Any& a = Get(name);
+
+        if (a.Empty())
+        {
+            return defValue;
+        }
+        else
+        {
+            return AnyCast<T>(a);
+        }
+    }
+
+    //top-level field
+    template<typename T>
+    T GetNumber(const std::string& name, const T& defValue) const
+    {
+        const Any& a = Get(name);
+
+        if (a.Empty())
+        {
+            return defValue;
+        }
+        else
+        {
+            return AnyNumberCast<T>(a);
+        }
+    }
+
+    //JsonMap field
+    bool Has(const JsonMap& jsonMap, const std::string& name) const;
+
+    //JsonMap field
+    const Any& Get(const JsonMap& jsonMap, const std::string& name) const;
+
+    //JsonMap field
+    template<typename T>
+    const T& Get(const JsonMap& jsonMap, const std::string& name) const
+    {
+        return AnyCast<T>(Get(jsonMap, name));
+    }
+
+    //JsonMap field
+    template<typename T>
+    T GetNumber(const JsonMap& jsonMap, const std::string& name) const
+    {
+        return AnyNumberCast<T>(Get(jsonMap, name));
+    }
+
+    //JsonMap field
+    template<typename T>
+    T Get(const JsonMap& jsonMap, const std::string& name, const T& defValue) const
+    {
+        const Any& a = Get(jsonMap, name);
+
+        if (a.Empty())
+        {
+            return defValue;
+        }
+        else
+        {
+            return AnyCast<T>(a);
+        }
+    }
+
+    //JsonMap field
+    template<typename T>
+    T GetNumber(const JsonMap& jsonMap, const std::string& name, const T& defValue) const
+    {
+        const Any& a = Get(jsonMap, name);
+
+        if (a.Empty())
+        {
+            return defValue;
+        }
+        else
+        {
+            return AnyNumberCast<T>(a);
+        }
+    }
+
+    //top-level field
+    const Any& GetGlobalParameter(const std::string& name) const;
+
+    //top-level field: Parameter
+    bool HasParameter(const std::string& name) const;
+
+    //top-level field: Parameter
+    const JsonMap& GetParameter() const;
+
+    //get field/value from top-level field: Parameter
+    const Any& GetParameter(const std::string& name) const;
+
+    //get field/value from top-level field: Parameter
+    template<typename T>
+    const T& GetParameter(const std::string& name) const
+    {
+        return AnyCast<T>(GetParameter(name));
+    }
+
+    //get field/value from top-level field: Parameter
+    template<typename T>
+    T GetNumberParameter(const std::string& name) const
+    {
+        return AnyNumberCast<T>(GetParameter(name));
+    }
+
+    //get field/value from top-level field: Parameter
+    template<typename T>
+    T GetParameter(const std::string& name, const T& defValue) const
+    {
+        const Any& a = GetParameter(name);
+
+        if (a.Empty())
+        {
+            return defValue;
+        }
+        else
+        {
+            return AnyCast<T>(a);
+        }
+    }
+
+    template<typename T>
+    T GetNumberParameter(const std::string& name, const T& defValue) const
+    {
+        const Any& a = GetParameter(name);
+
+        if (a.Empty())
+        {
+            return defValue;
+        }
+        else
+        {
+            return AnyNumberCast<T>(a);
+        }
+    }
+
+protected:
+    JsonMap mParameter;
+    Any mContent;
+};
+
+typedef std::shared_ptr<JsonConfig> JsonConfigPtr;
+
+}
+}
+
+#endif//__UT_JSON_CONFIG_HPP__