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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" extern "C" { #include <jpeglib.h> } //!provides global access to system configuration information class Config { public: //!constructor Config() : wireless(), vision(), main(), behaviors(), controller(), motion(this), sound(this), fsRoot() {setFileSystemRoot("");} //!constructor Config(const std::string& filename) : wireless(), vision(), main(), behaviors(), controller(), motion(this), sound(this), fsRoot() { setFileSystemRoot(""); readConfig(filename); } //!destructor ~Config() {} 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 //!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 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 unsigned int rawcam_interval; //!< interval between images: 0 for fast-as-possible, 100 for 10 FPS, 200 for 5 FPS, etc. int rle_port; //!< port to send RLE frames on int rle_transport; //!< transport protocol: 0 for udp, 1 for tcp unsigned int rle_interval; //!< interval between images: 0 for fast-as-possible, 100 for 10 FPS, 200 for 5 FPS, etc. int region_port; //!< port to send Region information on int region_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 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) 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) 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) //! 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 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 int regioncam_skip; //!< resolution level to transmit segmented images at //!These values represent a "Plumb Bob" model introduced by Brown in 1966 /*!Lens Distortion for Close-Range Photogrammetry - D.C. Brown, Photometric Engineering, pages 855-866, Vol. 37, No. 8, 1971. * * Can be computated by 'Camera Calibration Toolbox for Matlab', by Jean-Yves Bouguet: * http://www.vision.caltech.edu/bouguetj/calib_doc/ */ //!@name Intrinsic Parameters float focal_len_x; //!< focal length of camera, in pixels, K11 float focal_len_y; //!< focal length of camera, in pixels, K22 float principle_point_x; //!< center of optical projection, K13 float principle_point_y; //!< center of optical projection, K23 float skew; //!< CCD skew, K12 = skew*focal_len_x float kc1_r2; //!< r-squared radial distortion float kc2_r4; //!< r to the 4 radial distortion float kc5_r6; //!< r to the 6 radial distortion float kc3_tan1; //!< first tangential correction term float kc4_tan2; //!< second tangential correctiont term unsigned int calibration_res_x; // x resolution of images used during calibration unsigned int calibration_res_y; // y resolution of images used during calibration //!provides a ray from camera through pixel in image; where possible, use computePixel for better accuracy (i.e. try to always move from world to camera instead of the other way around) /*! We can't undo some terms of the distortion model -- this is an estimate. * @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) { x=(x+1)*calibration_res_x/2; y=(y+1)*calibration_res_y/2; float yd=(y-principle_point_y)/focal_len_y; float xd=(x-principle_point_x)/focal_len_x-skew*yd; float r2=xd*xd+yd*yd; //estimate of original float radial=(1 + kc1_r2*r2 + kc2_r4*r2*r2 + kc5_r6*r2*r2*r2); r_x=(xd - 2*kc3_tan1*x*y - kc4_tan2*(r2+2*x*x))/radial; //estimating tangential component r_y=(yd - kc3_tan1*(r2+2*y*y) - 2*kc4_tan2*x*y)/radial; //estimating tangential component 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) { if(r_z==0) { x=y=0; return; } r_x/=r_z; r_y/=r_z; float r2 = r_x*r_x + r_y*r_y; //'r2' for 'radius squared', not 'ray number 2' float radial=(1 + kc1_r2*r2 + kc2_r4*r2*r2 + kc5_r6*r2*r2*r2); float xd = radial*r_x + 2*kc3_tan1*r_x*r_y + kc4_tan2*(r2+2*r_x*r_x); float yd = radial*r_y + kc3_tan1*(r2+2*r_y*r_y) + 2*kc4_tan2*r_x*r_y; x=focal_len_x*(xd+skew*yd)+principle_point_x; y=focal_len_y*yd+principle_point_y; x=2*x/calibration_res_x-1; y=2*y/calibration_res_y-1; } //@} //!constructor vision_config() : white_balance(3), gain(2), shutter_speed(2), resolution(2), thresh(), colors(), rawcam_port(10011), rawcam_transport(0), rawcam_interval(0), rle_port(10012), rle_transport(0), rle_interval(0), region_port(0), region_transport(0), obj_port(0), restore_image(true), jpeg_dct_method(JDCT_IFAST), aspectRatio(CameraResolutionX/(float)CameraResolutionY), x_range(aspectRatio>1?1:aspectRatio), y_range(aspectRatio>1?1/aspectRatio:1), 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), regioncam_skip(1), focal_len_x(CameraResolutionX),focal_len_y(CameraResolutionX),principle_point_x(CameraResolutionX/2), principle_point_y(CameraResolutionY/2),skew(0),kc1_r2(0),kc2_r4(0),kc5_r6(0),kc3_tan1(0),kc4_tan2(0), calibration_res_x(CameraResolutionX), calibration_res_y(CameraResolutionY) {} } vision; //!core functionality information struct main_config { bool seed_rng; //!< if true, will call srand with timestamp data, mangled by current sensor data 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 stewart_port; //!< port for running a stewart platform style of control 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) unsigned int worldState_interval; //!< time (in milliseconds) to wait between sending WorldState updates over wireless //!constructor main_config() : seed_rng(true), console_port(10001), stderr_port(10002), error_level(0), debug_level(0), verbose_level(0),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) { } } 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(10020) { 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 { Config* thisconfig; //!<pointer back to the containing config object 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 thisconfig->portPath(name); if(root[root.size()-1]=='/') return thisconfig->portPath(root+name); else return thisconfig->portPath(root+"/"+name); } //!constructor motion_config(Config* c) : thisconfig(c), 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(10003), stderr_port(10004) { estop_on_snd[0]=estop_off_snd[0]='\0'; for(unsigned int i=0; i<NumPIDJoints; i++) calibration[i]=1; } private: motion_config(const motion_config&); //!< don't call motion_config& operator=(const motion_config&); //!< don't call } motion; //!sound information struct sound_config { Config* thisconfig; //!<pointer back to the containing config object 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 thisconfig->portPath(name); if(root[root.size()-1]=='/') return thisconfig->portPath(root+name); else return thisconfig->portPath(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(10070), mic_sample_rate(16000), mic_sample_bits(16), mic_stereo(true), speaker_port(10071), speaker_frame_length(64), speaker_max_delay(1000) {} } streaming; //!constructor sound_config(Config* c) : thisconfig(c), root(), volume(0xF600), sample_rate(0), sample_bits(0), preload(), streaming() {} private: sound_config(const sound_config&); //!< don't call sound_config& operator=(const sound_config&); //!< don't call } sound; //! call this function when it's time to read the configuration file void readConfig(const std::string& 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); //! a prefix representing the file system root, usually indicating the robot's storage root. /*! When running in the simulator, this is used to pretend that a subdirectory in the project folder (e.g. 'ms') is the root file system */ std::string fsRoot; }; //!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_4 $ * $Revision: 1.49 $ * $State: Exp $ * $Date: 2005/08/07 04:11:03 $ */ #endif

Tekkotsu v2.4

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