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Config.h

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//-*-c++-*-
#ifndef INCLUDED_Config_h
#define INCLUDED_Config_h

#include <vector>
#include <string>
#include "RobotInfo.h"

//!provides global access to system configuration information
class Config {
 public:
  //!constructor
  Config(const char* filename)
    : wireless(), vision(), main(), behaviors(), controller(), motion(),
    worldmodel2(), sound()
    { readConfig(filename); }
  //!destructor
  ~Config() {}

  //!section IDs
  enum section_t {
    sec_wireless=0,  //!< denotes wireless section of config file
    sec_vision,      //!< denotes vision section of config file
    sec_main,        //!< denotes main section of config file, for misc. settings
    sec_behaviors,   //!< denotes behaviors section of config file
    sec_controller,  //!< denotes controller section of config file
    sec_motion,      //!< denotes motion section of config file
    sec_worldmodel2, //!< denotes worldmodel section of config file
    sec_sound,       //!< denotes sound section of config file
    sec_invalid      //!< denotes an invalid section of config file
  };

  //!wirless information
  struct wireless_config {
    int id; //!< id number (in case you have more than one AIBO)
      
    wireless_config () : id(1) {} //!< constructor
  } wireless;

  //!vision information
  struct vision_config {
    int white_balance;    //!< white balance
    int gain;             //!< gain
    int shutter_speed;    //!< shutter speed
    int resolution;       //!< resolution
    char thresh[50];      //!< thresholds
    char colors[50];      //!< colors
    int raw_port;         //!< port to send raw frames on
    int rle_port;         //!< port to send RLE frames on
    int obj_port;         //!< port to send object info on
    int raw_encoding;     //!< resolution and other details for raw output
      
    //!constructor
    vision_config() : white_balance(3), gain(2), shutter_speed(2), resolution(2), thresh(), colors(), raw_port(0), rle_port(0), obj_port(0), raw_encoding(0) {}
  } vision;
  
  //!core functionality information
  struct main_config {
    int console_port;  //!< port to send/receive "console" information on (separate from system console)
    int stderr_port;   //!< port to send error information to
    int error_level;   //!< controls amount of info to error port
    int debug_level;   //!< controls amount of debug info
    int verbose_level; //!< controls verbosity of info
    int wsjoints_port; //!< port to send joint positions on
    int wspids_port;   //!< port to send pid info on
    int headControl_port;    //!< port for receiving head commands
    int walkControl_port;    //!< port for receiving walk commands
    int estopControl_port;     //!< port for receiving walk commands
    int aibo3d_port;   //!< port for send/receive of joint positions from Aibo 3D GUI
    int wmmonitor_port; //!< port for monitoring Watchable Memory
    bool use_VT100;    //!< if true, enables VT100 console codes (currently only in Controller menus - 1.3)

    //!constructor
    main_config()
      : console_port(0), stderr_port(0), error_level(0), debug_level(0),
        verbose_level(0),wsjoints_port(0),wspids_port(0),headControl_port(0),
        walkControl_port(0),estopControl_port(0),aibo3d_port(0),
        wmmonitor_port(0), use_VT100(true)
    { }
  } main;

  //!placeholder
  struct behaviors_config {
  } behaviors;
    
  //!controller information
  struct controller_config {
    int gui_port;        //!< port to listen for the GUI to connect to aibo on
    char select_snd[50]; //!< sound file to use for "select" action
    char next_snd[50];   //!< sound file to use for "next" action
    char prev_snd[50];   //!< sound file to use for "prev" action
    char read_snd[50];   //!< sound file to use for "read from std-in" action
    char cancel_snd[50]; //!< sound file to use for "cancel" action

    //!constructor
    controller_config() : gui_port(0) {
      select_snd[0]=next_snd[0]=prev_snd[0]=read_snd[0]=cancel_snd[0]='\0';
    }
  } controller;
    
  //!motion information
  struct motion_config {
    std::string root;       //!< path on memory stick to "motion" files - for instance, position (.pos) and motion sequence (.mot)
    char estop_on_snd[50];  //!< sound file to use when e-stop turned on
    char estop_off_snd[50]; //!< sound file to use when e-stop turned off
    float max_head_tilt_speed; //!< max speed for the head joints, used by HeadPointerMC; rad/s
    float max_head_pan_speed; //!< max speed for the head joints, used by HeadPointerMC; rad/s
    float max_head_roll_speed; //!< max speed for the head joints, used by HeadPointerMC; rad/s

    //!returns an absolute path if @a is relative (to root), otherwise just @a name
    std::string makePath(std::string name) { 
      return (name[0]!='/')?root+"/"+name:name;
    }

    //!constructor
    motion_config() : root(), max_head_tilt_speed(0), max_head_pan_speed(0), max_head_roll_speed(0) {
      estop_on_snd[0]=estop_off_snd[0]='\0';
      max_head_tilt_speed=0;
      max_head_pan_speed=0;
      max_head_roll_speed=0;
    }
  } motion;

  //!world model information
  struct worldmodel2_config {
    //@{
    //!ports to use for sending world model information
    int dm_port, hm_port, gm_port, fs_port; //@}

    //!constructor
    worldmodel2_config() : dm_port(0), hm_port(0), gm_port(0), fs_port(0) {}
  } worldmodel2;
  
  //!sound information
  struct sound_config {
    std::string root;         //!< path to sound clips
    unsigned int sample_rate; //!< sample rate to send to system, currently only 8000 or 16000 supported
    unsigned int sample_bits; //!< sample bit depth, either 8 or 16
    std::vector<std::string> preload; //!< list of sounds to preload at boot
      
    //!returns an absolute path if @a is relative (to root), otherwise just @a name
    std::string makePath(std::string name) { 
      return (name[0]!='/')?root+"/"+name:name;
    }

    //!constructor
    sound_config() : root(), sample_rate(0), sample_bits(0), preload() {}
  } sound;

  //! call this function when it's time to read the configuration file
  void readConfig(const char* filename);
  //! returns the section structure corresponding to the section name given
  section_t parseSection(const char* key);
  //! pass the section, item name string, item value string - sets the value and returns pointer to the item changed
  void* setValue(section_t section, const char *key, const char *value, bool updated=false);


protected:

  //! returns bool value corresponding to a @a value of "t", "f", "true", "false", "y", "n", "yes", "no", or zero/nonzero number
  static bool extractBool(const char* value);
};

//!allows global access to current settings
extern Config* config;

/*! @file
 * @brief Describes Config, which provides global access to system configuration information
 * @author alokl (Creator)
 *
 * $Author: ejt $
 * $Name: tekkotsu-1_5 $
 * $Revision: 1.19 $
 * $State: Rel $
 * $Date: 2003/09/07 22:14:19 $
 */

#endif

Tekkotsu v1.5

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