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Config.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_Config_h #define INCLUDED_Config_h #include <vector> #include <string> #include "RobotInfo.h" #include <jpeglib.h> //!provides global access to system configuration information class Config { public: //!constructor Config(const char* filename) : wireless(), vision(), main(), behaviors(), controller(), motion(), 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_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 float horizFOV; //!< horizontal field of view of camera, in radians float vertFOV; //!< vertical field of view of camera, in radians float focal_length; //!< focal length of the camera (mm) std::vector<std::string> thresh; //!< thresholds char colors[50]; //!< colors int rawcam_port; //!< port to send raw frames on int rawcam_transport; //!< transport protocol: 0 for udp, 1 for tcp int rle_port; //!< port to send RLE frames on int rle_transport; //!< transport protocol: 0 for udp, 1 for tcp int obj_port; //!< port to send object info on bool restore_image; //!< if true, replaces pixels holding image info with actual image pixels (as much as possible anyway) J_DCT_METHOD jpeg_dct_method; //!< pick between dct methods for jpeg compression //! type of information to send, stored in Config::vision_config::rawcam_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 Config::vision_config::rawcam_channel) This is also used for all seg cam images }; encoding_t rawcam_encoding; //!< holds whether to send color or single channel int rawcam_channel; //!< RawCameraGenerator::channel_id_t, if raw_encoding is single channel, this holds the channel to send (computed from rawcam_encoding, not set directly) //! compression format to use, stored in Config::vision_config::rawcam_compression enum compression_t { COMPRESS_NONE, //!< no compression (other than subsampling) COMPRESS_JPEG, //!< JPEG compression COMPRESS_RLE //!< RLE compression }; compression_t rawcam_compression;//!< holds whether to send jpeg compression int rawcam_compress_quality;//!< 0-100, compression quality (currently only used by jpeg) int rawcam_y_skip; //!< resolution level to transmit y channel at int rawcam_uv_skip; //!< resolution level to transmit uv channel at (ignored for jpeg compression) int rlecam_skip; //!< resolution level to transmit segmented images at int rlecam_channel; //!< channel of RLEGenerator to send compression_t rlecam_compression; //!< what compression to use on the segmented image //!provides a ray from camera through pixel in image /*! Hopefully we'll eventually upgrade this to account for lens distortion * @param[in] x x position in range [-1,1] * @param[in] y y position in range [-1,1] * @param[out] r_x x value of the ray * @param[out] r_y y value of the ray * @param[out] r_z z value of the ray (always 1) */ void computeRay(float x, float y, float& r_x, float& r_y, float& r_z) { r_x=x*tan(horizFOV/2); r_y=y*tan(vertFOV/2); r_z=1; } //!provides a pixel hit in image by a ray going through the camera frame /*! Hopefully we'll eventually upgrade this to account for lens distortion * @param[in] r_x x value of the ray * @param[in] r_y y value of the ray * @param[in] r_z z value of the ray * @param[out] x x position in range [-1,1] * @param[out] y y position in range [-1,1] */ void computePixel(float r_x, float r_y, float r_z, float& x, float& y) { x=r_x/(r_z*tan(horizFOV/2)); y=r_y/(r_z*tan(vertFOV/2)); } //!constructor vision_config() : white_balance(3), gain(2), shutter_speed(2), resolution(2), horizFOV(0), vertFOV(0), focal_length(0), thresh(), colors(), rawcam_port(0), rawcam_transport(0), rle_port(0), rle_transport(0), obj_port(0), restore_image(true), jpeg_dct_method(JDCT_IFAST), rawcam_encoding(ENCODE_COLOR), rawcam_channel(0), rawcam_compression(COMPRESS_NONE), rawcam_compress_quality(75), rawcam_y_skip(0), rawcam_uv_skip(0), rlecam_skip(1), rlecam_channel(0), rlecam_compression(COMPRESS_RLE) {} } 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 { unsigned int flash_bytes; //!< how many bytes of the IP to flash bool flash_on_start; //!< whether or not to trigger flashing when initially started behaviors_config() : flash_bytes(4), flash_on_start(true) {} //!< constructor } 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 char error_snd[50]; //!< sound file to use to signal errors //!constructor controller_config() : gui_port(0) { select_snd[0]=next_snd[0]=prev_snd[0]=read_snd[0]=cancel_snd[0]=error_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) std::string walk; //!< the walk parameter file to load by default for new WalkMC's std::string kinematics; //!< the kinematics description file to load std::vector<std::string> kinematic_chains; //!< list of chains to load from #kinematics float calibration[NumPIDJoints]; //!< multiplier from desired to command for PID joints 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 bool inf_walk_accel; //!< if true, walks should attempt to switch directions immediately; otherwise they should do some kind of software acceleration to more smoothly switch direction int console_port; //!< port to send/receive "console" information on (separate from system console) int stderr_port; //!< port to send error information to //!returns an absolute path if @a is relative (to root), otherwise just @a name std::string makePath(const std::string& name) { if(name[0]=='/') return name; if(root[root.size()-1]=='/') return root+name; else return root+"/"+name; } //!constructor motion_config() : root(), walk(), kinematics(), kinematic_chains(), max_head_tilt_speed(0), max_head_pan_speed(0), max_head_roll_speed(0), inf_walk_accel(false), console_port(0), stderr_port(0) { estop_on_snd[0]=estop_off_snd[0]='\0'; for(unsigned int i=0; i<NumPIDJoints; i++) calibration[i]=1; } } motion; //!sound information struct sound_config { std::string root; //!< path to sound clips unsigned int volume; //!< volume in decibels - the value is interpreted as a signed short, where 0 is full volume, 0x8000 is mute 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(const std::string& name) { if(name[0]=='/') return name; if(root[root.size()-1]=='/') return root+name; else return root+"/"+name; } //! audio streaming configuration struct streaming_config { unsigned int mic_port; //!< port for streaming microphone samples unsigned int mic_sample_rate; //!< sample rate from the microphone unsigned int mic_sample_bits; //!< sample bit depth from the microphone (either 8 or 16) bool mic_stereo; //!< whether to stream stereo or mono from the microphone unsigned int speaker_port; //!< port for streaming speaker samples unsigned int speaker_frame_length; //!< length of frame sent to the speaker (ms) unsigned int speaker_max_delay; //!< maximum delay (ms) during playback //! constructor streaming_config() : mic_port(0), mic_sample_rate(16000), mic_sample_bits(16), mic_stereo(true), speaker_port(0), speaker_frame_length(64), speaker_max_delay(1000) {} } streaming; //!constructor sound_config() : root(), volume(0xF600), sample_rate(0), sample_bits(0), preload(), streaming() {} } 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 true if pattern matches model - pattern may have up to 1 '*', case insensitive bool matchNoCase(const std::string& model, const std::string& pattern); //! 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-2_3 $ * $Revision: 1.41 $ * $State: Exp $ * $Date: 2005/01/20 23:18:43 $ */ #endif

Tekkotsu v2.3

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