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Config.h

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00001 //-*-c++-*-
00002 #ifndef INCLUDED_Config_h
00003 #define INCLUDED_Config_h
00004 
00005 #include <vector>
00006 #include <string>
00007 #include "RobotInfo.h"
00008 #include <jpeglib.h>
00009 
00010 //!provides global access to system configuration information
00011 class Config {
00012  public:
00013   //!constructor
00014   Config(const char* filename)
00015     : wireless(), vision(), main(), behaviors(), controller(), motion(),
00016     sound()
00017     { readConfig(filename); }
00018   //!destructor
00019   ~Config() {}
00020 
00021   //!section IDs
00022   enum section_t {
00023     sec_wireless=0,  //!< denotes wireless section of config file
00024     sec_vision,      //!< denotes vision section of config file
00025     sec_main,        //!< denotes main section of config file, for misc. settings
00026     sec_behaviors,   //!< denotes behaviors section of config file
00027     sec_controller,  //!< denotes controller section of config file
00028     sec_motion,      //!< denotes motion section of config file
00029     sec_sound,       //!< denotes sound section of config file
00030     sec_invalid      //!< denotes an invalid section of config file
00031   };
00032 
00033   //!wirless information
00034   struct wireless_config {
00035     int id; //!< id number (in case you have more than one AIBO)
00036       
00037     wireless_config () : id(1) {} //!< constructor
00038   } wireless;
00039 
00040   //!vision information
00041   struct vision_config {
00042     int white_balance;    //!< white balance
00043     int gain;             //!< gain
00044     int shutter_speed;    //!< shutter speed
00045     int resolution;       //!< resolution
00046     float horizFOV;       //!< horizontal field of view of camera, in radians
00047     float vertFOV;        //!< vertical field of view of camera, in radians
00048     float focal_length;   //!< focal length of the camera (mm)
00049     std::vector<std::string> thresh;      //!< thresholds
00050     char colors[50];      //!< colors
00051     int rawcam_port;      //!< port to send raw frames on
00052     int rawcam_transport; //!< transport protocol: 0 for udp, 1 for tcp
00053     int rle_port;         //!< port to send RLE frames on
00054     int rle_transport;    //!< transport protocol: 0 for udp, 1 for tcp
00055     int obj_port;         //!< port to send object info on
00056     bool restore_image;   //!< if true, replaces pixels holding image info with actual image pixels (as much as possible anyway)
00057     J_DCT_METHOD jpeg_dct_method;  //!< pick between dct methods for jpeg compression
00058 
00059     //! type of information to send, stored in Config::vision_config::rawcam_encoding
00060     enum encoding_t {
00061       ENCODE_COLOR, //!< send Y, U, and V channels
00062       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
00063     };
00064     encoding_t rawcam_encoding; //!< holds whether to send color or single channel
00065     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)
00066     
00067     //! compression format to use, stored in Config::vision_config::rawcam_compression
00068     enum compression_t {
00069       COMPRESS_NONE, //!< no compression (other than subsampling)
00070       COMPRESS_JPEG, //!< JPEG compression
00071       COMPRESS_RLE   //!< RLE compression
00072     };
00073     compression_t rawcam_compression;//!< holds whether to send jpeg compression
00074 
00075     int rawcam_compress_quality;//!< 0-100, compression quality (currently only used by jpeg)
00076     int rawcam_y_skip;     //!< resolution level to transmit y channel at
00077     int rawcam_uv_skip;    //!< resolution level to transmit uv channel at (ignored for jpeg compression)
00078     int rlecam_skip;       //!< resolution level to transmit segmented images at
00079     int rlecam_channel;    //!< channel of RLEGenerator to send
00080     compression_t rlecam_compression; //!< what compression to use on the segmented image
00081 
00082     //!provides a ray from camera through pixel in image
00083     /*! Hopefully we'll eventually upgrade this to account for lens distortion
00084      *  @param[in] x x position in range [-1,1]
00085      *  @param[in] y y position in range [-1,1]
00086      *  @param[out] r_x x value of the ray
00087      *  @param[out] r_y y value of the ray
00088      *  @param[out] r_z z value of the ray (always 1) */
00089     void computeRay(float x, float y, float& r_x, float& r_y, float& r_z) {
00090       r_x=x*tan(horizFOV/2);
00091       r_y=y*tan(vertFOV/2);
00092       r_z=1;
00093     }
00094       
00095     //!constructor
00096     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) {}
00097   } vision;
00098   
00099   //!core functionality information
00100   struct main_config {
00101     int console_port;  //!< port to send/receive "console" information on (separate from system console)
00102     int stderr_port;   //!< port to send error information to
00103     int error_level;   //!< controls amount of info to error port
00104     int debug_level;   //!< controls amount of debug info
00105     int verbose_level; //!< controls verbosity of info
00106     int wsjoints_port; //!< port to send joint positions on
00107     int wspids_port;   //!< port to send pid info on
00108     int headControl_port;    //!< port for receiving head commands
00109     int walkControl_port;    //!< port for receiving walk commands
00110     int estopControl_port;     //!< port for receiving walk commands
00111     int aibo3d_port;   //!< port for send/receive of joint positions from Aibo 3D GUI
00112     int wmmonitor_port; //!< port for monitoring Watchable Memory
00113     bool use_VT100;    //!< if true, enables VT100 console codes (currently only in Controller menus - 1.3)
00114 
00115     //!constructor
00116     main_config()
00117       : console_port(0), stderr_port(0), error_level(0), debug_level(0),
00118         verbose_level(0),wsjoints_port(0),wspids_port(0),headControl_port(0),
00119         walkControl_port(0),estopControl_port(0),aibo3d_port(0),
00120         wmmonitor_port(0), use_VT100(true)
00121     { }
00122   } main;
00123 
00124   //!placeholder
00125   struct behaviors_config {
00126   } behaviors;
00127     
00128   //!controller information
00129   struct controller_config {
00130     int gui_port;        //!< port to listen for the GUI to connect to aibo on
00131     char select_snd[50]; //!< sound file to use for "select" action
00132     char next_snd[50];   //!< sound file to use for "next" action
00133     char prev_snd[50];   //!< sound file to use for "prev" action
00134     char read_snd[50];   //!< sound file to use for "read from std-in" action
00135     char cancel_snd[50]; //!< sound file to use for "cancel" action
00136     char error_snd[50]; //!< sound file to use to signal errors
00137 
00138     //!constructor
00139     controller_config() : gui_port(0) {
00140       select_snd[0]=next_snd[0]=prev_snd[0]=read_snd[0]=cancel_snd[0]=error_snd[0]='\0';
00141     }
00142   } controller;
00143     
00144   //!motion information
00145   struct motion_config {
00146     std::string root;       //!< path on memory stick to "motion" files - for instance, position (.pos) and motion sequence (.mot)
00147     std::string walk;       //!< the walk parameter file to load by default for new WalkMC's
00148     std::string kinematics;  //!< the kinematics description file to load
00149     std::vector<std::string> kinematic_chains; //!< list of chains to load from #kinematics
00150     char estop_on_snd[50];  //!< sound file to use when e-stop turned on
00151     char estop_off_snd[50]; //!< sound file to use when e-stop turned off
00152     float max_head_tilt_speed; //!< max speed for the head joints, used by HeadPointerMC; rad/s
00153     float max_head_pan_speed; //!< max speed for the head joints, used by HeadPointerMC; rad/s
00154     float max_head_roll_speed; //!< max speed for the head joints, used by HeadPointerMC; rad/s
00155     int console_port;  //!< port to send/receive "console" information on (separate from system console)
00156     int stderr_port;   //!< port to send error information to
00157 
00158     //!returns an absolute path if @a is relative (to root), otherwise just @a name
00159     std::string makePath(const std::string& name) { 
00160       if(name[0]=='/')
00161         return name;
00162       if(root[root.size()-1]=='/')
00163         return root+name;
00164       else
00165         return root+"/"+name;
00166     }
00167 
00168     //!constructor
00169     motion_config() : root(), walk(), kinematics(), kinematic_chains(), max_head_tilt_speed(0), max_head_pan_speed(0), max_head_roll_speed(0), console_port(0), stderr_port(0) {
00170       estop_on_snd[0]=estop_off_snd[0]='\0';
00171       max_head_tilt_speed=0;
00172       max_head_pan_speed=0;
00173       max_head_roll_speed=0;
00174     }
00175   } motion;
00176 
00177   //!sound information
00178   struct sound_config {
00179     std::string root;         //!< path to sound clips
00180     unsigned int volume;      //!< volume in decibels - the value is interpreted as a signed short, where 0 is full volume, 0x8000 is mute
00181     unsigned int sample_rate; //!< sample rate to send to system, currently only 8000 or 16000 supported
00182     unsigned int sample_bits; //!< sample bit depth, either 8 or 16
00183     std::vector<std::string> preload; //!< list of sounds to preload at boot
00184       
00185     //!returns an absolute path if @a is relative (to root), otherwise just @a name
00186     std::string makePath(const std::string& name) { 
00187       if(name[0]=='/')
00188         return name;
00189       if(root[root.size()-1]=='/')
00190         return root+name;
00191       else
00192         return root+"/"+name;
00193     }
00194 
00195     //!constructor
00196     sound_config() : root(), volume(0xF600), sample_rate(0), sample_bits(0), preload() {}
00197   } sound;
00198 
00199   //! call this function when it's time to read the configuration file
00200   void readConfig(const char* filename);
00201   //! returns the section structure corresponding to the section name given
00202   section_t parseSection(const char* key);
00203   //! pass the section, item name string, item value string - sets the value and returns pointer to the item changed
00204   void* setValue(section_t section, const char *key, const char *value, bool updated=false);
00205 
00206 
00207 protected:
00208   //! returns true if pattern matches model - pattern may have up to 1 '*', case insensitive
00209   bool matchNoCase(const std::string& model, const std::string& pattern);
00210 
00211   //! returns bool value corresponding to a @a value of "t", "f", "true", "false", "y", "n", "yes", "no", or zero/nonzero number
00212   static bool extractBool(const char* value);
00213 };
00214 
00215 //!allows global access to current settings
00216 extern Config* config;
00217 
00218 /*! @file
00219  * @brief Describes Config, which provides global access to system configuration information
00220  * @author alokl (Creator)
00221  *
00222  * $Author: ejt $
00223  * $Name: tekkotsu-2_2 $
00224  * $Revision: 1.35 $
00225  * $State: Exp $
00226  * $Date: 2004/10/11 22:01:34 $
00227  */
00228 
00229 #endif

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