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Config.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_Config_h #define INCLUDED_Config_h #include "Shared/plist.h" #include "Shared/RobotInfo.h" extern "C" { #include <jpeglib.h> } #ifdef PLATFORM_APERIOS # include <OPENR/OPrimitiveControl.h> #else typedef unsigned int OSpeakerVolume; //!< provides an OPEN-R type of the same name for compatability, see Config::sound_config::volume const OSpeakerVolume ospkvolinfdB = 0x8000; //!< 'muted' volume level, see Config::sound_config::volume const OSpeakerVolume ospkvol25dB = 0xe700; //!< low volume, see Config::sound_config::volume const OSpeakerVolume ospkvol18dB = 0xee00; //!< mid volume, see Config::sound_config::volume const OSpeakerVolume ospkvol10dB = 0xf600; //!< high volume, see Config::sound_config::volume #endif #include <vector> #include <string> //! a subclass of plist::Dictionary which adds support for filtering settings by robot model, each configuration section is based on this /*! As a slight extension to standard plists, you can specify * model-specific settings by prepending a key with: * Model:MODEL_PATTERN:KEY_NAME * For example, to use different 'thresh' settings on the ERS-2xx * series vs. the ERS-7 model, you would use the keys: * - Model:ERS-2*:thresh * - Model:ERS-7:thresh * You can filter several items as a group by leaving off the second * ':' and name, and providing a dictionary as the value. If the * model matches, all entries from the dictionary are imported into * the parent dictionary. */ class ConfigDictionary : public plist::Dictionary { public: ConfigDictionary() : plist::Dictionary(false) { if(curModel.size()==0) curModel=RobotName; } protected: virtual bool loadXMLNode(const std::string& key, xmlNode* val, const std::string& comment); virtual bool saveOverXMLNode(xmlNode* k, xmlNode* val, const std::string& key, std::string comment, const std::string& indentStr, std::set<std::string>& seen) const; //! returns true if pattern matches model - pattern may have up to 1 '*', case insensitive static bool matchNoCase(const std::string& model, const std::string& pattern); static const std::string msPrefix; //!< the prefix indicating a model-specific key static const std::string msSep; //!< the separator string which splits the key into the prefix, model pattern, and (optionally) a single key name //static const std::string msNum; static std::string curModel; //!< will be set to the model identifier of the currently running hardware static void initCurModel(); //!< function to initialize #curModel }; //! Stores an item for each joint, can be accessed via joint name or array offset /*! Two main reasons for this class are to keep outputs in offset order (not alphabetic by name), * and to strip '~' from output names for backward compatability (used to pad output names * to ensure constant string length. */ template<typename T> class OutputConfig : public ConfigDictionary { public: //! constructor OutputConfig(unsigned int firstOffset, unsigned int numOutputsToStore, const T& defValue) : ConfigDictionary(), offset(firstOffset), outputs(numOutputsToStore,defValue) { for(unsigned int i=0; i<numOutputsToStore; ++i) addEntry(outputNames[i+firstOffset],outputs[i]); } //! strips trailing '~' characters from name before doing usual lookup virtual ObjectBase& getEntry(const std::string& name) { std::string::size_type n = name.find_last_not_of('~')+1; return ConfigDictionary::getEntry((n==name.size()) ? name : name.substr(0,n)); } //! return the value at position @a index, which must exist (no range checking) T& getEntry(size_t index) { return outputs[index]; } //! return the value at position @a index, which must exist (no range checking, equivalent to getEntry(index)) T& operator[](size_t index) { return outputs[index]; } using ConfigDictionary::operator[]; //! small trick -- override to save outputs in indexed order instead of alphabetical order void saveXML(xmlNode* node, bool onlyOverwrite, std::set<std::string>& seen) const; using ConfigDictionary::saveXML; protected: //! strips trailing '~' characters from name before doing usual lookup bool loadXMLNode(const std::string& key, xmlNode* val, const std::string& comment) { std::string::size_type n = key.find_last_not_of('~')+1; return ConfigDictionary::loadXMLNode((n==key.size()) ? key : key.substr(0,n), val, comment); } unsigned int offset; //!< the index offset of the first entry in #outputs std::vector<T> outputs; //!< storage of data for each output }; //! the root configuration object, provides some global functionality like porting pathnames (portPath()) class Config : public ConfigDictionary { public: Config(const std::string& filename="") : ConfigDictionary(), behaviors(), wireless(), main(), controller(), vision(), motion(this), sound(this), fsRoot() { addEntry("wireless",wireless); addEntry("vision",vision); addEntry("main",main); addEntry("behaviors",behaviors); addEntry("controller",controller); addEntry("motion",motion); addEntry("sound",sound); if(filename.size()!=0) loadFile(filename.c_str()); } enum transports { UDP, TCP }; //!< types of network transport protocols supported static const unsigned int NUM_TRANSPORTS=2; //!< number of #transports available static const char * transport_names[NUM_TRANSPORTS+1]; //!< string names for #transports void setFileSystemRoot(const std::string& fsr); //!< sets #fsRoot const std::string& getFileSystemRoot() const { return fsRoot; } //!< returns #fsRoot std::string portPath(const std::string& path) const; //!< returns a portable version of @a path which should be usable on either the simulator or the robot // **************************************** // //! place for users to put their own configuration // **************************************** // /*! you can dynamically "link in" external configuration settings by passing them to the addEntry() of the * plist::Dictionary superclass. You may want to call writeParseTree() first to flush current settings, * and then readParseTree() afterward to pull any pre-existing values from the configuration * file into the instances you've just registered. * * Of course, you could also just write your values into the configuration file first, and just rely * on getEntry/setEntry to read/write the value. This may be more convenient if you use the * value infrequently and don't need an instance of it sitting around. */ class behaviors_config : public ConfigDictionary { public: //! constructor behaviors_config() : ConfigDictionary(), flash_bytes(4), flash_on_start(true) { //users may want to dynamically link in their own settings when running, so don't warn if there are // unused items in this section setUnusedWarning(false); addEntry("flash_bytes",flash_bytes,"how many bytes of the address to flash\n" "You probably already know the first 3 bytes for your network,\n" "so you might only want the last byte for brevity.\n" "(valid values are 1 through 4) "); addEntry("flash_on_start",flash_on_start,"whether or not to automatically trigger on boot\n" "Will use a priority of kEmergencyPriority+1 in order to override\n" "the emergency stop's status animation "); } plist::Primitive<unsigned int> flash_bytes; //!< how many bytes of the IP to flash plist::Primitive<bool> flash_on_start; //!< whether or not to trigger flashing when initially started } behaviors; // **************************************** // //! wireless configuration options // **************************************** // class wireless_config : public ConfigDictionary { public: //! constructor wireless_config () : ConfigDictionary(), id(1) { addEntry("id",id,"id number (in case you have more than one AIBO)"); } plist::Primitive<int> id; //!< id number (in case you have more than one AIBO) } wireless; // **************************************** // //! general configuration options // **************************************** // class main_config : public ConfigDictionary { public: //!constructor main_config() : ConfigDictionary(), seed_rng(true), console_port(10001), consoleMode(CONTROLLER,consoleModeNames), stderr_port(10002), wsjoints_port(10031),wspids_port(10032),headControl_port(10052), walkControl_port(10050),estopControl_port(10053),stewart_port(10055),aibo3d_port(10051), wmmonitor_port(10061), use_VT100(true), worldState_interval(0) { addEntry("seed_rng",seed_rng,"if true, will call srand with timestamp data, mangled by current sensor data"); addEntry("console_port",console_port,"port to send/receive \"console\" information on (separate from system console)"); addEntry("consoleMode",consoleMode,"determines how input on console_port is interpreted\n"+consoleMode.getDescription()+"\n" " 'controller' will pass it as input to the Controller (assumes same syntax as ControllerGUI)\n" " 'textmsg' will broadcast it as a TextMsgEvent (textmsgEGID)\n" " 'auto' is the original mode, which uses 'textmsg' if the ControllerGUI is connected, and 'controller' otherwise "); addEntry("stderr_port",stderr_port,"port to send error information to"); addEntry("wsjoints_port",wsjoints_port,"port to send joint positions on"); addEntry("wspids_port",wspids_port,"port to send pid info on"); addEntry("headControl_port",headControl_port,"port for receiving head commands"); addEntry("walkControl_port",walkControl_port,"port for receiving walk commands"); addEntry("estopControl_port",estopControl_port,"port for receiving walk commands"); addEntry("stewart_port",stewart_port,"port for running a stewart platform style of control"); addEntry("aibo3d_port",aibo3d_port,"port for send/receive of joint positions from Aibo 3D GUI"); addEntry("wmmonitor_port",wmmonitor_port,"port for monitoring Watchable Memory"); addEntry("use_VT100",use_VT100,"if true, enables VT100 console codes (currently only in Controller menus - 1.3)"); addEntry("worldState_interval",worldState_interval,"time (in milliseconds) to wait between sending WorldState updates over wireless"); } plist::Primitive<bool> seed_rng; //!< if true, will call srand with timestamp data, mangled by current sensor data plist::Primitive<int> console_port; //!< port to send/receive "console" information on (separate from system console) //! types that #consoleMode can take on enum consoleMode_t { CONTROLLER, //!< all input is interpreted as Controller commands, using same syntax as the GUI sends TEXTMSG, //!< all input is broadcast as a text message event AUTO //!< if the GUI is connected, interpret as text messages, otherwise as controller commands. This was the historical behavior, but seems to be more confusing than helpful. }; static const unsigned int NUM_CONSOLE_MODES=3; //!< the number of consoleMode_t values available static const char* consoleModeNames[NUM_CONSOLE_MODES+1]; //!< string names for #consoleMode_t //! determines how input on #console_port is interpreted plist::NamedEnumeration<consoleMode_t> consoleMode; plist::Primitive<int> stderr_port; //!< port to send error information to plist::Primitive<int> wsjoints_port; //!< port to send joint positions on plist::Primitive<int> wspids_port; //!< port to send pid info on plist::Primitive<int> headControl_port; //!< port for receiving head commands plist::Primitive<int> walkControl_port; //!< port for receiving walk commands plist::Primitive<int> estopControl_port; //!< port for receiving walk commands plist::Primitive<int> stewart_port; //!< port for running a stewart platform style of control plist::Primitive<int> aibo3d_port; //!< port for send/receive of joint positions from Aibo 3D GUI plist::Primitive<int> wmmonitor_port; //!< port for monitoring Watchable Memory plist::Primitive<bool> use_VT100; //!< if true, enables VT100 console codes (currently only in Controller menus - 1.3) plist::Primitive<unsigned int> worldState_interval; //!< time (in milliseconds) to wait between sending WorldState updates over wireless } main; // **************************************** // //! controller information // **************************************** // class controller_config : public ConfigDictionary { public: //!constructor controller_config() : ConfigDictionary(), gui_port(10020), select_snd(), next_snd(), prev_snd(), read_snd(), cancel_snd(), error_snd() { addEntry("gui_port",gui_port,"port to listen for the GUI to connect to aibo on"); addEntry("select_snd",select_snd,"sound file to use for \"select\" action"); addEntry("next_snd",next_snd,"sound file to use for \"next\" action"); addEntry("prev_snd",prev_snd,"sound file to use for \"prev\" action"); addEntry("read_snd",read_snd,"sound file to use for \"read from std-in\" action"); addEntry("cancel_snd",cancel_snd,"sound file to use for \"cancel\" action"); addEntry("error_snd",error_snd,"sound file to use to signal errors"); } plist::Primitive<int> gui_port; //!< port to listen for the GUI to connect to aibo on plist::Primitive<std::string> select_snd; //!< sound file to use for "select" action plist::Primitive<std::string> next_snd; //!< sound file to use for "next" action plist::Primitive<std::string> prev_snd; //!< sound file to use for "prev" action plist::Primitive<std::string> read_snd; //!< sound file to use for "read from std-in" action plist::Primitive<std::string> cancel_snd; //!< sound file to use for "cancel" action plist::Primitive<std::string> error_snd; //!< sound file to use to signal errors } controller; // **************************************** // //! vision configuration options (this is a *big* section, with sub-sections) // **************************************** // class vision_config : public ConfigDictionary { public: //!constructor vision_config() : ConfigDictionary(), white_balance(WB_FLUORESCENT), gain(GAIN_MID), shutter_speed(SHUTTER_MID), resolution(1), thresh(), colors("config/default.col"), restore_image(true), region_calc_total(true), jpeg_dct_method(JDCT_IFAST,dct_method_names), aspectRatio(CameraResolutionX/(float)CameraResolutionY), x_range(aspectRatio>1?1:*aspectRatio), y_range(aspectRatio>1?1/aspectRatio:1), rawcam(), segcam(), regioncam(), calibration() { white_balance.addNameForVal("indoor",WB_INDOOR); white_balance.addNameForVal("outdoor",WB_OUTDOOR); white_balance.addNameForVal("fluorescent",WB_FLUORESCENT); white_balance.addNameForVal("flourescent",WB_FLUORESCENT); //catch common typo addEntry("white_balance",white_balance,"white balance shifts color spectrum in the image\n"+white_balance.getDescription()); gain.addNameForVal("low",GAIN_LOW); gain.addNameForVal("mid",GAIN_MID); gain.addNameForVal("med",GAIN_MID); gain.addNameForVal("medium",GAIN_MID); gain.addNameForVal("high",GAIN_HIGH); addEntry("gain",gain,"Increasing gain will brighten the image, at the expense of more graininess/noise\n"+gain.getDescription()); shutter_speed.addNameForVal("slow",SHUTTER_SLOW); shutter_speed.addNameForVal("low",SHUTTER_SLOW); shutter_speed.addNameForVal("mid",SHUTTER_MID); shutter_speed.addNameForVal("med",SHUTTER_MID); shutter_speed.addNameForVal("medium",SHUTTER_MID); shutter_speed.addNameForVal("fast",SHUTTER_FAST); shutter_speed.addNameForVal("high",SHUTTER_FAST); addEntry("shutter_speed",shutter_speed,"slower shutter will brighten image, but increases motion blur\n"+shutter_speed.getDescription()); addEntry("resolution",resolution,"the resolution that object recognition system will run at.\nThis counts down from the maximum resolution layer, so higher numbers mean lower resolution. "); addEntry("thresh",thresh,"Threshold (.tm) files define the mapping from full color to indexed color.\n" "You can uncomment more than one of these - they will be loaded into separate\n" "channels of the segmenter. The only cost of loading multiple threshold files is\n" "memory - the CPU cost of performing segmentation is only incurred if/when\n" "the channel is actually accessed for the first time for a given frame. "); addEntry("colors",colors,"The colors definition (.col) file gives names and a \"typical\" color for display.\n" "The indexes numbers it contains correspond to indexes in the .tm file\n" "This file is common to all .tm files; when doing new color segmentations,\n" "make sure you define colors in the same order as listed here! "); addEntry("restore_image",restore_image,"Apparently someone at Sony thought it would be a good idea to replace some\n" "pixels in each camera image with information like the frame number and CDT count.\n" "If non-zero, will replace those pixels with the actual image pixel value in RawCamGenerator "); addEntry("region_calc_total",region_calc_total,"When true, this will fill in the CMVision::color_class_state::total_area\n" "field for each color following region labeling. If false, the total_area\n" "will stay 0 (or whatever the last value was), but you save a little CPU. "); addEntry("jpeg_dct_method",jpeg_dct_method,"pick between dct methods for jpeg compression\n"+jpeg_dct_method.getDescription()); //addEntry("aspectRatio",aspectRatio,"ratio of width to height (x_res/y_res); this is *not* read from configuration file, but set from most recent camera image (or RobotInfo namespace values if no camera image has been received)"); //addEntry("x_range",x_range,"range of values for the x axis when using generalized coordinates; this is *not* read from configuration file, but set from most recent camera image (or RobotInfo namespace values if no camera image has been received)"); //addEntry("y_range",y_range,"range of values for the x axis when using generalized coordinates; this is *not* read from configuration file, but set from most recent camera image (or RobotInfo namespace values if no camera image has been received)"); addEntry("calibration",calibration,"Lens distortion correction parameters\nComputated by 'Camera Calibration Toolbox for Matlab', by Jean-Yves Bouguet"); addEntry("rawcam",rawcam); addEntry("segcam",segcam); addEntry("regioncam",regioncam); } #ifdef PLATFORM_APERIOS //! white balance levels supported by the Aibo's camera enum white_balance_levels { WB_INDOOR=ocamparamWB_INDOOR_MODE, WB_OUTDOOR=ocamparamWB_OUTDOOR_MODE, WB_FLUORESCENT=ocamparamWB_FL_MODE }; #else //! white balance levels supported by the Aibo's camera enum white_balance_levels { WB_INDOOR=1, WB_OUTDOOR, WB_FLUORESCENT }; #endif plist::NamedEnumeration<white_balance_levels> white_balance; //!< white balance shifts color spectrum in the image #ifdef PLATFORM_APERIOS //! gain levels supported by the Aibo's camera enum gain_levels { GAIN_LOW=ocamparamGAIN_LOW, GAIN_MID=ocamparamGAIN_MID, GAIN_HIGH=ocamparamGAIN_HIGH }; #else //! gain levels supported by the Aibo's camera enum gain_levels { GAIN_LOW=1, GAIN_MID, GAIN_HIGH }; #endif plist::NamedEnumeration<gain_levels> gain; //!< Increasing gain will brighten the image, at the expense of more graininess/noise #ifdef PLATFORM_APERIOS //! shutter speeds supported by the Aibo's camera enum shutter_speeds { SHUTTER_SLOW=ocamparamSHUTTER_SLOW, SHUTTER_MID=ocamparamSHUTTER_MID, SHUTTER_FAST=ocamparamSHUTTER_FAST }; #else //! shutter speeds supported by the Aibo's camera enum shutter_speeds { SHUTTER_SLOW=1, SHUTTER_MID, SHUTTER_FAST }; #endif plist::NamedEnumeration<shutter_speeds> shutter_speed; //!< slower shutter will brighten image, but increases motion blur plist::Primitive<int> resolution; //!< the resolution that object recognition system will run at -- this counts down from the maximum resolution layer, so higher numbers mean lower resolution plist::ArrayOf<plist::Primitive<std::string> > thresh; //!< threshold file names plist::Primitive<std::string> colors; //!< colors definition (.col) file plist::Primitive<bool> restore_image; //!< if true, replaces pixels holding image info with actual image pixels (as much as possible anyway) plist::Primitive<bool> region_calc_total; //!< if true, RegionGenerator will calculate total area for each color (has to run through the region list for each color) static const char * dct_method_names[]; //!< string names for #J_DCT_METHOD plist::NamedEnumeration<J_DCT_METHOD> jpeg_dct_method; //!< pick between dct methods for jpeg compression plist::Primitive<float> aspectRatio; //!< ratio of width to height (x_res/y_res); this is *not* read from configuration file, but set from most recent camera image (or RobotInfo namespace values if no camera image has been received) plist::Primitive<float> x_range; //!< range of values for the x axis when using generalized coordinates; this is *not* read from configuration file, but set from most recent camera image (or RobotInfo namespace values if no camera image has been received) plist::Primitive<float> y_range; //!< range of values for the x axis when using generalized coordinates; this is *not* read from configuration file, but set from most recent camera image (or RobotInfo namespace values if no camera image has been received) //! contains settings related to streaming video over the network class StreamingConfig : public ConfigDictionary { public: explicit StreamingConfig(int portNum) : ConfigDictionary(), port(portNum), transport(Config::UDP,transport_names), interval(0) { addEntry("port",port,"the port number to open for sending data over"); addEntry("transport",transport,"the IP protocol to use when sending data"); addEntry("interval",interval,"minimum amount of time (in milliseconds) which must pass between frames\nE.g. 200 yields just under 5 frames per second, 0 is as fast as possible"); } plist::Primitive<int> port; plist::NamedEnumeration<Config::transports> transport; plist::Primitive<unsigned int> interval; }; //! contains settings specific to the "RawCam" (original camera images) for streaming video over the network class RawCamConfig : public StreamingConfig { public: RawCamConfig() : StreamingConfig(10011), encoding(ENCODE_COLOR,encoding_names), channel(0), compression(COMPRESS_JPEG,compression_names), compress_quality(85), y_skip(2), uv_skip(3) { addEntry("encoding",encoding,"holds whether to send color or single channel\n"+encoding.getDescription()); addEntry("channel",channel,"if encoding is single channel, this indicates the channel to send"); addEntry("compression",compression,"the type of compression to apply the image\n"+compression.getDescription()); addEntry("compress_quality",compress_quality,"0-100, compression quality (currently only used by jpeg)"); addEntry("y_skip",y_skip,"resolution level to transmit y channel\nAlso used as the resolution level when in single-channel encoding mode "); addEntry("uv_skip",uv_skip,"resolution level to transmit uv channel at when using 'color' encoding mode"); } //! type of information to send, stored in #encoding enum encoding_t { ENCODE_COLOR, //!< send Y, U, and V channels ENCODE_SINGLE_CHANNEL, //!< send only a single channel (which channel to send is stored in #channel) This is also used for all seg cam images }; static const unsigned int NUM_ENCODINGS=2; //!< number of encodings available static const char * encoding_names[NUM_ENCODINGS+1]; //!< string names for #encoding_t plist::NamedEnumeration<encoding_t> encoding; //!< holds whether to send color or single channel plist::Primitive<int> channel; //!< RawCameraGenerator::channel_id_t, if #encoding is single channel, this indicates the channel to send //! compression format to use, stored in Config::vision_config::RawCamConfig::compression enum compression_t { COMPRESS_NONE, //!< no compression (other than subsampling) COMPRESS_JPEG, //!< JPEG compression COMPRESS_PNG, //!< PNG compression }; static const unsigned int NUM_COMPRESSIONS=4; //!< number of compression algorithms available static const char * compression_names[NUM_COMPRESSIONS+1]; //!< string names for #compression_t plist::NamedEnumeration<compression_t> compression;//!< holds whether to send jpeg compression plist::Primitive<int> compress_quality;//!< 0-100, compression quality (currently only used by jpeg) plist::Primitive<int> y_skip; //!< resolution level to transmit y channel at plist::Primitive<int> uv_skip; //!< resolution level to transmit uv channel at } rawcam; //! contains settings specific to the "SegCam" (segmented color images) for streaming video over the network class SegCamConfig : public StreamingConfig { public: SegCamConfig() : StreamingConfig(10012), skip(1), channel(0), compression(COMPRESS_RLE, compression_names) { addEntry("skip",skip,"resolution level to transmit segmented images at"); addEntry("channel",channel,"channel of RLEGenerator to send (i.e. which threshold map to use"); addEntry("compression",compression,"what compression to use on the segmented image"+compression.getDescription()); } plist::Primitive<int> skip; //!< resolution level to transmit segmented images at plist::Primitive<int> channel; //!< channel of RLEGenerator to send (i.e. which threshold map to use) //! compression format to use, stored in Config::vision_config::RawCamConfig::compression enum compression_t { COMPRESS_NONE, //!< no compression (other than subsampling) COMPRESS_RLE //!< RLE compression }; static const unsigned int NUM_COMPRESSIONS=4; //!< number of compression algorithms available static const char * compression_names[NUM_COMPRESSIONS+1]; //!< string names for #compression_t plist::NamedEnumeration<compression_t> compression;//!< what compression to use on the segmented image } segcam; //! contains settings specific to the "RegionCam" (only display a box for each blob of color) for streaming over the network class RegionCamConfig : public StreamingConfig { public: