因为项目需要配置系统文件,想到了要用yaml。但是,yaml-cpp安装和使用过程中遇到了一些问题,调了两天终于调通了。把经验记录下来,希望有需要的人能少走些弯路。
1. 安装:
坑1:一定要 0.5.2版本, 我之前下载的0.5.3版本 汇报错 核心段错误.
从官方git源https://github.com/jbeder/yaml-cpp/releases/tag/release-0.5.2下载 tar.gz的源码包,按照以下步骤做:
cd yaml-cpp # 进入克隆的文件夹
mkdir build
cd build
cmake -DBUILD_SHARED_LIBS=ON ..
make
sudo make install
坑2:make完一定要make install,如果想自己cp的话,也一定要cp到 /usr/local/lib 和 /usr/local/include 文件夹下,而不是/usr/lib 和 /usr/include 文件夹,否则会找不到 库 找不到 yaml.h 文件。
2.使用:
yaml-cpp 5.0版本以后的使用有了改变
5.0版本之前:
1. YAML::Parser parser(fin);
2. YAML::Node doc;
3. parser.GetNextDocument(doc);
5.0版本之后 没有GetNextDocument函数了。而是使用
1. YAML::Node doc = YAML::Load(fin);
3.测试代码:
1.CMakeLists.txt
cmake_minimum_required(VERSION 2.8)
project(test_yaml)
find_package(Boost REQUIRED COMPONENTS system)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
find_package(PkgConfig)
pkg_check_modules(NEW_YAMLCPP yaml-cpp>=0.5)
if(NEW_YAMLCPP_FOUND)
add_definitions(-DHAVE_NEW_YAMLCPP)
endif(NEW_YAMLCPP_FOUND)
link_directories(
/usr/lib/
)
include_directories(
include
yaml-cpp
)
add_executable(test ./src/main.cpp)
target_link_libraries(test ${catkin_LIBRARIES} yaml-cpp)
//main.cpp文件
#include <iostream>
#include <fstream>
#include <string>
#include "yaml-cpp/yaml.h"
using namespace std;
//最新的yaml-cpp 0.5取消了运算符">>",但是还是会有好多的旧代码
//依旧在使用,所以重载下">>"运算符
template<typename T>
void operator >> (const YAML::Node& node, T& i)
{
i = node.as<T>();
}
void configure(const YAML::Node& node);
void nodePrint(const YAML::Node& node);
int main()
{
YAML::Node config = YAML::LoadFile("../src/test.yaml");
configure(config["subscribers"]);
return 0;
}
void configure(const YAML::Node& node)
{
for (unsigned int i = 0; i < node.size(); i++)
{
nodePrint(node[i]);
}
}
void nodePrint(const YAML::Node& node)
{
string name;
string topic;
double timeout;
unsigned int priority;
node["name"] >> name;
node["topic"] >> topic;
node["timeout"] >> timeout;
node["priority"] >> priority;
cout<<" name: "<<name<<endl;
cout<<" topic: "<<topic<<endl;
cout<<" timeout: "<<timeout<<" seconds."<<endl;
cout<<"priority: "<<priority<<endl;
}
return 0;
}
3.test.yaml
# yaml文件
subscribers:
- name: "Default task"
topic: "input/cmd_default_check"
timeout: 0.5
priority: 1
short_desc: "Default controller"
- name: "Navigation stack"
topic: "input/cmd_serial_navi"
timeout: 1.0
priority: 3
short_desc: "Navigation controller"
publisher: "output/cmd_vel"