725 lines
33 KiB
C++
725 lines
33 KiB
C++
#include "fgc/Config.h"
|
|
#include "fgc/Logger.h"
|
|
#include "fgc/Paths.h"
|
|
|
|
#include <cmath>
|
|
#include <algorithm>
|
|
#include <cctype>
|
|
#include <cstdio>
|
|
#include <cstdlib>
|
|
#include <filesystem>
|
|
#include <fstream>
|
|
#include <sstream>
|
|
#include <stdexcept>
|
|
|
|
extern "C" {
|
|
#include "ini.h"
|
|
}
|
|
|
|
namespace fgc {
|
|
|
|
namespace fs = std::filesystem;
|
|
|
|
namespace {
|
|
|
|
std::string get(const std::map<std::string, std::string>& kv, const std::string& key,
|
|
const std::string& fallback = "") {
|
|
auto it = kv.find(key);
|
|
return (it != kv.end() && !it->second.empty()) ? it->second : fallback;
|
|
}
|
|
|
|
int getInt(const std::map<std::string, std::string>& kv, const std::string& key, int fallback) {
|
|
auto it = kv.find(key);
|
|
if (it == kv.end() || it->second.empty()) return fallback;
|
|
try {
|
|
// Reject trailing characters: bare std::stoi stops at the first non-digit,
|
|
// so "1883x" would quietly become 1883 and a typo'd value would configure
|
|
// something the operator never wrote. Same reasoning as getIntAutoBase below.
|
|
size_t consumed = 0;
|
|
int out = std::stoi(it->second, &consumed);
|
|
if (consumed != it->second.size()) throw std::invalid_argument("trailing characters");
|
|
return out;
|
|
} catch (const std::exception&) {
|
|
throw std::runtime_error("Config key '" + key + "' must be an integer, got '" +
|
|
it->second + "'");
|
|
}
|
|
}
|
|
|
|
// Like getInt, but accepts an "0x"-prefixed value too. Only for I2C addresses,
|
|
// which every datasheet, `i2cdetect` and our own docs write in hex: plain
|
|
// std::stoi() stops at the 'x' and silently yields 0, so `i2c_addr = 0x44`
|
|
// would configure address 0x00 and the sensor would never answer. Kept separate
|
|
// from getInt so no other key gains surprise octal ("010" -> 8) parsing.
|
|
int getIntAutoBase(const std::map<std::string, std::string>& kv, const std::string& key,
|
|
int fallback) {
|
|
auto it = kv.find(key);
|
|
if (it == kv.end() || it->second.empty()) return fallback;
|
|
try {
|
|
size_t consumed = 0;
|
|
const std::string& v = it->second;
|
|
int out = std::stoi(v, &consumed, v.rfind("0x", 0) == 0 || v.rfind("0X", 0) == 0 ? 16 : 10);
|
|
if (consumed != v.size()) throw std::invalid_argument("trailing characters");
|
|
return out;
|
|
} catch (const std::exception&) {
|
|
throw std::runtime_error("Config key '" + key + "' must be an integer (decimal or 0x hex)"
|
|
", got '" + it->second + "'");
|
|
}
|
|
}
|
|
|
|
double getDouble(const std::map<std::string, std::string>& kv, const std::string& key,
|
|
double fallback) {
|
|
auto it = kv.find(key);
|
|
if (it == kv.end() || it->second.empty()) return fallback;
|
|
try {
|
|
return std::stod(it->second);
|
|
} catch (const std::exception&) {
|
|
throw std::runtime_error("Config key '" + key + "' must be a number, got '" +
|
|
it->second + "'");
|
|
}
|
|
}
|
|
|
|
long getLong(const std::map<std::string, std::string>& kv, const std::string& key, long fallback) {
|
|
auto it = kv.find(key);
|
|
if (it == kv.end() || it->second.empty()) return fallback;
|
|
try {
|
|
return std::stol(it->second);
|
|
} catch (const std::exception&) {
|
|
throw std::runtime_error("Config key '" + key + "' must be an integer, got '" +
|
|
it->second + "'");
|
|
}
|
|
}
|
|
|
|
bool getBool(const std::map<std::string, std::string>& kv, const std::string& key, bool fallback) {
|
|
auto it = kv.find(key);
|
|
if (it == kv.end() || it->second.empty()) return fallback;
|
|
const std::string& v = it->second;
|
|
if (v == "1" || v == "true" || v == "yes" || v == "on") return true;
|
|
if (v == "0" || v == "false" || v == "no" || v == "off") return false;
|
|
throw std::runtime_error("Config key '" + key + "' must be a boolean, got '" + v + "'");
|
|
}
|
|
|
|
// "yaw, pitch" -> {"yaw","pitch"}. Lowercased and trimmed; empty entries dropped,
|
|
// so trailing commas and stray spacing are not errors an operator has to hunt.
|
|
std::vector<std::string> splitList(const std::string& s) {
|
|
std::vector<std::string> out;
|
|
std::string cur;
|
|
auto flush = [&] {
|
|
size_t a = cur.find_first_not_of(" \t");
|
|
if (a == std::string::npos) { cur.clear(); return; }
|
|
size_t b = cur.find_last_not_of(" \t");
|
|
std::string t = cur.substr(a, b - a + 1);
|
|
for (char& c : t) c = static_cast<char>(std::tolower((unsigned char)c));
|
|
if (!t.empty()) out.push_back(t);
|
|
cur.clear();
|
|
};
|
|
for (char c : s) {
|
|
if (c == ',') flush();
|
|
else cur += c;
|
|
}
|
|
flush();
|
|
return out;
|
|
}
|
|
|
|
std::string lowered(std::string s) {
|
|
for (char& c : s) c = static_cast<char>(std::tolower((unsigned char)c));
|
|
return s;
|
|
}
|
|
|
|
std::string envOr(const char* name, const std::string& fallback) {
|
|
const char* v = std::getenv(name);
|
|
return (v && *v) ? std::string(v) : fallback;
|
|
}
|
|
|
|
// inih callback: flatten "Section.name" => value into the map.
|
|
int iniHandler(void* user, const char* section, const char* name, const char* value) {
|
|
auto* kv = static_cast<std::map<std::string, std::string>*>(user);
|
|
(*kv)[std::string(section) + "." + std::string(name)] = value ? value : "";
|
|
return 1;
|
|
}
|
|
|
|
} // namespace
|
|
|
|
CameraProfileTiming CameraSpec::timingFor(const std::string& profile_name) const {
|
|
auto it = timing.find(profile_name);
|
|
return it != timing.end() ? it->second : CameraProfileTiming{};
|
|
}
|
|
|
|
std::vector<const CameraSpec*> CameraConfig::active() const {
|
|
std::vector<const CameraSpec*> out;
|
|
for (const auto& c : cameras)
|
|
if (c.enabled) out.push_back(&c);
|
|
return out;
|
|
}
|
|
|
|
int CameraConfig::maxSettleWaitMs() const {
|
|
int worst = 0;
|
|
for (const auto* c : active()) worst = std::max(worst, c->timingFor(c->profile).settle_wait_ms);
|
|
return worst > 0 ? worst : CameraProfileTiming{}.settle_wait_ms;
|
|
}
|
|
|
|
int CameraConfig::maxFrameTimeoutMs() const {
|
|
int worst = 0;
|
|
for (const auto* c : active())
|
|
worst = std::max(worst, c->timingFor(c->profile).frame_timeout_ms);
|
|
return worst > 0 ? worst : CameraProfileTiming{}.frame_timeout_ms;
|
|
}
|
|
|
|
std::string NetworkConfig::brokerUri() const {
|
|
// A scheme means the operator wrote the whole URI: hands off. Appending a port
|
|
// could corrupt one that already has it, or a ws:// path.
|
|
if (broker_ip.find("://") != std::string::npos) return broker_ip;
|
|
|
|
std::string host = broker_ip;
|
|
bool has_port = false;
|
|
if (!host.empty() && host.front() == '[') { // bracketed IPv6
|
|
const size_t close = host.rfind(']');
|
|
has_port = close != std::string::npos && host.find(':', close) != std::string::npos;
|
|
} else {
|
|
const size_t colons = static_cast<size_t>(std::count(host.begin(), host.end(), ':'));
|
|
if (colons == 1) {
|
|
has_port = true;
|
|
} else if (colons > 1) {
|
|
host = "[" + host + "]"; // bare IPv6; bracket it so the port is unambiguous
|
|
}
|
|
}
|
|
|
|
if (has_port) return "tcp://" + host;
|
|
return "tcp://" + host + ":" + std::to_string(mqtt_port);
|
|
}
|
|
|
|
double AppConfig::image_rate() const {
|
|
return general.image_interval > 0 ? 1.0 / general.image_interval : 0.0;
|
|
}
|
|
|
|
double TestProfile::get(const std::string& key, double fallback) const {
|
|
auto it = params.find(key);
|
|
return it != params.end() ? it->second : fallback;
|
|
}
|
|
|
|
int TestProfile::geti(const std::string& key, int fallback) const {
|
|
auto it = params.find(key);
|
|
return it != params.end() ? static_cast<int>(it->second) : fallback;
|
|
}
|
|
|
|
bool TestProfile::getBool(const std::string& key, bool fallback) const {
|
|
auto it = text.find(key);
|
|
if (it == text.end() || it->second.empty()) return fallback;
|
|
const std::string& v = it->second;
|
|
return v == "1" || v == "true" || v == "yes" || v == "on";
|
|
}
|
|
|
|
std::string TestProfile::gets(const std::string& key, const std::string& fallback) const {
|
|
auto it = text.find(key);
|
|
return (it != text.end() && !it->second.empty()) ? it->second : fallback;
|
|
}
|
|
|
|
std::vector<long> TestProfile::getLongList(const std::string& key) const {
|
|
std::vector<long> out;
|
|
auto it = text.find(key);
|
|
if (it == text.end()) return out;
|
|
std::stringstream ss(it->second);
|
|
std::string tok;
|
|
while (std::getline(ss, tok, ',')) {
|
|
try { out.push_back(std::stol(tok)); } catch (...) {}
|
|
}
|
|
return out;
|
|
}
|
|
|
|
const TestProfile* TestConfig::find(const std::string& name) const {
|
|
auto it = profiles.find(name);
|
|
return it != profiles.end() ? &it->second : nullptr;
|
|
}
|
|
|
|
AppConfig ConfigLoader::fromMap(const std::map<std::string, std::string>& kv) {
|
|
AppConfig cfg;
|
|
|
|
cfg.general.tower_name = get(kv, "General.tower_name", cfg.general.tower_name);
|
|
cfg.general.image_interval = getInt(kv, "General.image_interval", cfg.general.image_interval);
|
|
cfg.general.debug = getBool(kv, "General.debug", cfg.general.debug);
|
|
|
|
// [Board] / [Hardware]: normally from hardware.ini, but read from the same
|
|
// merged map, so a config.ini carrying them still works during migration.
|
|
cfg.board.model = get(kv, "Board.model", cfg.board.model);
|
|
cfg.board.firmware_env = get(kv, "Board.firmware_env", cfg.board.firmware_env);
|
|
|
|
cfg.hardware.axes = splitList(get(kv, "Hardware.axes"));
|
|
cfg.hardware.cameras = splitList(get(kv, "Hardware.cameras"));
|
|
cfg.hardware.imu = lowered(get(kv, "Hardware.imu"));
|
|
cfg.hardware.env = lowered(get(kv, "Hardware.env"));
|
|
for (const auto& a : cfg.hardware.axes)
|
|
if (a != "yaw" && a != "pitch")
|
|
throw std::runtime_error("Hardware.axes: unknown axis '" + a +
|
|
"' (expected yaw and/or pitch)");
|
|
|
|
cfg.network.broker_ip = get(kv, "Network.zkms_server_ip", cfg.network.broker_ip);
|
|
cfg.network.mqtt_port = getInt(kv, "Network.mqtt_port", cfg.network.mqtt_port);
|
|
if (cfg.network.mqtt_port < 1 || cfg.network.mqtt_port > 65535)
|
|
throw std::runtime_error("Network.mqtt_port must be in 1..65535");
|
|
// Secrets: environment variables win over the file.
|
|
cfg.network.mqtt_user = envOr("FGC_MQTT_USER", get(kv, "Network.mqtt_user"));
|
|
cfg.network.mqtt_pw = envOr("FGC_MQTT_PW", get(kv, "Network.mqtt_pw"));
|
|
|
|
cfg.serial.device = get(kv, "Serial.device", cfg.serial.device);
|
|
cfg.serial.baud = static_cast<unsigned>(getInt(kv, "Serial.baud", cfg.serial.baud));
|
|
|
|
// ---- [Camera] shared defaults, then one [Camera.<name>] block per camera ----
|
|
cfg.camera.jxl_distance = getDouble(kv, "Camera.jxl_distance", cfg.camera.jxl_distance);
|
|
cfg.camera.jxl_effort = getInt(kv, "Camera.jxl_effort", cfg.camera.jxl_effort);
|
|
|
|
// Cameras are discovered from the key names rather than a list, so there is
|
|
// no registry to keep in sync: "Camera.rgb.id" declares a camera called rgb.
|
|
// A third dotted segment ("Camera.rgb.standard.settle_wait_ms") is per-profile
|
|
// timing, so only two-segment suffixes name a camera.
|
|
std::vector<std::string> names; // in first-seen order
|
|
for (const auto& [key, unused] : kv) {
|
|
(void)unused;
|
|
if (key.rfind("Camera.", 0) != 0) continue;
|
|
const std::string rest = key.substr(7);
|
|
const auto dot = rest.find('.');
|
|
if (dot == std::string::npos) continue; // [Camera] itself
|
|
const std::string name = rest.substr(0, dot);
|
|
if (rest.find('.', dot + 1) != std::string::npos) { // per-profile timing
|
|
if (std::find(names.begin(), names.end(), name) == names.end()) names.push_back(name);
|
|
continue;
|
|
}
|
|
if (std::find(names.begin(), names.end(), name) == names.end()) names.push_back(name);
|
|
}
|
|
|
|
cfg.camera.cameras.clear();
|
|
for (const auto& name : names) {
|
|
const std::string pre = "Camera." + name + ".";
|
|
CameraSpec c;
|
|
c.name = name;
|
|
c.enabled = getBool(kv, pre + "enabled", true);
|
|
c.driver = get(kv, pre + "driver", c.driver);
|
|
c.id = get(kv, pre + "id");
|
|
c.label = get(kv, pre + "label", name);
|
|
c.profile_dir = get(kv, pre + "profile_dir");
|
|
c.profile = get(kv, pre + "profile", c.profile);
|
|
c.rotation_deg = getInt(kv, pre + "rotation_deg", c.rotation_deg);
|
|
c.jxl_distance = getDouble(kv, pre + "jxl_distance", cfg.camera.jxl_distance);
|
|
c.jxl_effort = getInt(kv, pre + "jxl_effort", cfg.camera.jxl_effort);
|
|
|
|
// Per-profile timing: Camera.<name>.<profile>.settle_wait_ms
|
|
for (const auto& [key, val] : kv) {
|
|
(void)val;
|
|
if (key.rfind(pre, 0) != 0) continue;
|
|
const std::string rest = key.substr(pre.size());
|
|
const auto dot = rest.find('.');
|
|
if (dot == std::string::npos) continue;
|
|
const std::string profile = rest.substr(0, dot);
|
|
const std::string field = rest.substr(dot + 1);
|
|
CameraProfileTiming& t = c.timing[profile];
|
|
if (field == "settle_wait_ms") t.settle_wait_ms = getInt(kv, key, t.settle_wait_ms);
|
|
else if (field == "frame_timeout_ms") t.frame_timeout_ms = getInt(kv, key, t.frame_timeout_ms);
|
|
else throw std::runtime_error("unknown key '" + key + "' (expected " + pre +
|
|
profile + ".settle_wait_ms or .frame_timeout_ms)");
|
|
}
|
|
|
|
if (c.driver != "vimba")
|
|
throw std::runtime_error("Camera." + name + ".driver must be 'vimba' (got '" +
|
|
c.driver + "'); no other backend is implemented yet");
|
|
if (c.enabled && c.id.empty())
|
|
throw std::runtime_error("Camera." + name + ".id is required (USB DEV_ id or GigE IP)");
|
|
if (c.profile_dir.empty())
|
|
throw std::runtime_error("Camera." + name + ".profile_dir is required");
|
|
if (c.jxl_distance < 0.0)
|
|
throw std::runtime_error("Camera." + name + ".jxl_distance must be >= 0 (0 = lossless)");
|
|
if (c.jxl_effort < 1 || c.jxl_effort > 9)
|
|
throw std::runtime_error("Camera." + name + ".jxl_effort must be in 1..9");
|
|
if (c.rotation_deg != 0 && c.rotation_deg != 90 && c.rotation_deg != 180 &&
|
|
c.rotation_deg != 270)
|
|
throw std::runtime_error("Camera." + name + ".rotation_deg must be 0, 90, 180 or 270");
|
|
for (const auto& [pname, t] : c.timing) {
|
|
if (t.settle_wait_ms < 0 || t.frame_timeout_ms < 0)
|
|
throw std::runtime_error("Camera." + name + "." + pname +
|
|
" timings must be >= 0");
|
|
}
|
|
cfg.camera.cameras.push_back(std::move(c));
|
|
}
|
|
|
|
std::string out = get(kv, "Paths.output_dir");
|
|
cfg.paths.output_dir = out.empty() ? paths::defaultOutputDir() : paths::expandUser(out);
|
|
|
|
cfg.features.enable_mqtt = getBool(kv, "Features.enable_mqtt", cfg.features.enable_mqtt);
|
|
cfg.features.enable_camera = getBool(kv, "Features.enable_camera", cfg.features.enable_camera);
|
|
cfg.features.enable_serial = getBool(kv, "Features.enable_serial", cfg.features.enable_serial);
|
|
cfg.features.enable_imu = getBool(kv, "Features.enable_imu", cfg.features.enable_imu);
|
|
cfg.features.mock_camera = getBool(kv, "Features.mock_camera", cfg.features.mock_camera);
|
|
cfg.features.mock_serial = getBool(kv, "Features.mock_serial", cfg.features.mock_serial);
|
|
cfg.features.mock_imu = getBool(kv, "Features.mock_imu", cfg.features.mock_imu);
|
|
cfg.features.enable_env = getBool(kv, "Features.enable_env", cfg.features.enable_env);
|
|
cfg.features.mock_env = getBool(kv, "Features.mock_env", cfg.features.mock_env);
|
|
|
|
cfg.imu.device = get(kv, "IMU.device", cfg.imu.device);
|
|
cfg.imu.baud = static_cast<unsigned>(getInt(kv, "IMU.baud", cfg.imu.baud));
|
|
|
|
// [IMU] x/y/z: how the unit is bolted on, in degrees about forward/right/down.
|
|
// A value outside +/-360 is a typo far more often than an intent, and one that
|
|
// is accepted silently is invisible afterwards - the readings just quietly
|
|
// describe the wrong axes.
|
|
cfg.imu.mount.x_deg = getDouble(kv, "IMU.x", cfg.imu.mount.x_deg);
|
|
cfg.imu.mount.y_deg = getDouble(kv, "IMU.y", cfg.imu.mount.y_deg);
|
|
cfg.imu.mount.z_deg = getDouble(kv, "IMU.z", cfg.imu.mount.z_deg);
|
|
for (const auto& [axis, value] : {std::pair{"x", cfg.imu.mount.x_deg},
|
|
std::pair{"y", cfg.imu.mount.y_deg},
|
|
std::pair{"z", cfg.imu.mount.z_deg}}) {
|
|
if (!std::isfinite(value) || std::abs(value) > 360.0)
|
|
throw std::runtime_error(std::string("IMU.") + axis +
|
|
" must be a rotation in degrees within +/-360");
|
|
}
|
|
|
|
cfg.env.i2c_device = get(kv, "Env.i2c_device", cfg.env.i2c_device);
|
|
cfg.env.i2c_addr = static_cast<unsigned>(
|
|
getIntAutoBase(kv, "Env.i2c_addr", static_cast<int>(cfg.env.i2c_addr)));
|
|
cfg.env.period_ms = getInt(kv, "Env.period_ms", cfg.env.period_ms);
|
|
|
|
// [Test] + [TestProfile.<name>]: discover profiles by scanning the flattened
|
|
// keys. inih gives us "TestProfile.<name>.<key>" => value; every numeric value
|
|
// lands in that profile's open param map for the test modules to read.
|
|
cfg.test.default_profile = get(kv, "Test.profile", cfg.test.default_profile);
|
|
cfg.test.baseline_file = get(kv, "Test.baseline_file");
|
|
if (!cfg.test.baseline_file.empty())
|
|
cfg.test.baseline_file = paths::expandUser(cfg.test.baseline_file);
|
|
{
|
|
const std::string prefix = "TestProfile.";
|
|
for (const auto& [key, val] : kv) {
|
|
if (key.rfind(prefix, 0) != 0) continue;
|
|
auto dot = key.find('.', prefix.size());
|
|
if (dot == std::string::npos) continue;
|
|
std::string pname = key.substr(prefix.size(), dot - prefix.size());
|
|
std::string pkey = key.substr(dot + 1);
|
|
if (pname.empty() || pkey.empty() || val.empty()) continue;
|
|
auto& prof = cfg.test.profiles[pname];
|
|
prof.name = pname;
|
|
prof.text[pkey] = val; // raw string (covers comma lists)
|
|
try {
|
|
prof.params[pkey] = std::stod(val); // also numeric where possible
|
|
} catch (...) {
|
|
// list/non-numeric value: the raw string in `text` is what modules read
|
|
}
|
|
}
|
|
}
|
|
|
|
cfg.logging.level = get(kv, "Logging.level", cfg.logging.level);
|
|
cfg.logging.trace = get(kv, "Logging.trace", cfg.logging.trace);
|
|
|
|
cfg.ui.enable_tui = getBool(kv, "UI.enable_tui", cfg.ui.enable_tui);
|
|
|
|
// [Motor]: the degrees<->counts maps, anchored on the homed mechanical centre
|
|
// (see Geometry). min_deg/max_deg are NOT configured - they are derived from
|
|
// the firmware's homed soft limits, the only place they can be correct.
|
|
cfg.geometry.yaw.counts_per_deg = getDouble(kv, "Motor.yaw_counts_per_deg", cfg.geometry.yaw.counts_per_deg);
|
|
cfg.geometry.yaw.center_count = getLong(kv, "Motor.yaw_center_count", cfg.geometry.yaw.center_count);
|
|
cfg.geometry.yaw.deg_at_center = getDouble(kv, "Motor.yaw_heading_at_center", cfg.geometry.yaw.deg_at_center);
|
|
cfg.geometry.pitch.counts_per_deg = getDouble(kv, "Motor.pitch_counts_per_deg", cfg.geometry.pitch.counts_per_deg);
|
|
cfg.geometry.pitch.center_count = getLong(kv, "Motor.pitch_center_count", cfg.geometry.pitch.center_count);
|
|
cfg.geometry.pitch.deg_at_center = getDouble(kv, "Motor.pitch_angle_at_center", cfg.geometry.pitch.deg_at_center);
|
|
cfg.yaw_soft_margin_counts = getLong(kv, "Motor.yaw_soft_margin_counts", cfg.yaw_soft_margin_counts);
|
|
cfg.pitch_soft_margin_counts = getLong(kv, "Motor.pitch_soft_margin_counts", cfg.pitch_soft_margin_counts);
|
|
cfg.enc_error_warn_counts = getLong(kv, "Motor.enc_error_warn_counts",
|
|
cfg.enc_error_warn_counts);
|
|
|
|
// [Scan]: scan-grid source (explicit CSV file, else generated).
|
|
cfg.scan.grid_file = get(kv, "Scan.grid_file", cfg.scan.grid_file);
|
|
cfg.scan.yaw_intervals = getInt(kv, "Scan.yaw_intervals", cfg.scan.yaw_intervals);
|
|
cfg.scan.yaw_min_deg = getDouble(kv, "Scan.yaw_min_deg", cfg.scan.yaw_min_deg);
|
|
cfg.scan.yaw_max_deg = getDouble(kv, "Scan.yaw_max_deg", cfg.scan.yaw_max_deg);
|
|
cfg.scan.pitch_levels = get(kv, "Scan.pitch_levels", cfg.scan.pitch_levels);
|
|
|
|
// ---- validation ----
|
|
if (cfg.general.image_interval <= 0)
|
|
throw std::runtime_error("General.image_interval must be > 0 (got " +
|
|
std::to_string(cfg.general.image_interval) + ")");
|
|
if (cfg.serial.baud == 0)
|
|
throw std::runtime_error("Serial.baud must be > 0");
|
|
|
|
// A zero scale makes every degree map to the centre and every count read back
|
|
// as the centre - the axis would look calibrated and point nowhere.
|
|
if (std::abs(cfg.geometry.yaw.counts_per_deg) < 1e-9)
|
|
throw std::runtime_error("Motor.yaw_counts_per_deg must be non-zero");
|
|
if (std::abs(cfg.geometry.pitch.counts_per_deg) < 1e-9)
|
|
throw std::runtime_error("Motor.pitch_counts_per_deg must be non-zero");
|
|
// The centre count exists so the whole working range stays positive; a
|
|
// non-positive one defeats the point and can drive the firmware negative.
|
|
if (cfg.geometry.yaw.center_count <= 0)
|
|
throw std::runtime_error("Motor.yaw_center_count must be > 0");
|
|
if (cfg.geometry.pitch.center_count <= 0)
|
|
throw std::runtime_error("Motor.pitch_center_count must be > 0");
|
|
if (cfg.yaw_soft_margin_counts < 0)
|
|
throw std::runtime_error("Motor.yaw_soft_margin_counts must be >= 0");
|
|
if (cfg.pitch_soft_margin_counts < 0)
|
|
throw std::runtime_error("Motor.pitch_soft_margin_counts must be >= 0");
|
|
|
|
// Keys from the pre-centre-anchoring layout. Silently ignoring them would
|
|
// leave an operator convinced they had configured a heading that is in fact
|
|
// coming from somewhere else entirely - the exact failure this layout removes.
|
|
static const char* kRemovedMotorKeys[] = {
|
|
"Motor.yaw_zero_count", "Motor.pitch_zero_count", "Motor.yaw_min_deg",
|
|
"Motor.yaw_max_deg", "Motor.pitch_min_deg", "Motor.pitch_max_deg",
|
|
"Motor.yaw_home_zero",
|
|
};
|
|
std::string stale;
|
|
for (const char* k : kRemovedMotorKeys)
|
|
if (kv.count(k)) stale += (stale.empty() ? "" : ", ") + std::string(k + 6);
|
|
if (!stale.empty())
|
|
LOG_WARN << "[Motor] ignoring keys removed in the centre-anchored layout: " << stale
|
|
<< " -- travel limits are now derived from homing, and the heading "
|
|
"origin comes from yaw_heading_at_center (set it with "
|
|
"'gimbal heading setup')";
|
|
|
|
return cfg;
|
|
}
|
|
|
|
bool HardwareConfig::hasAxis(const std::string& name) const {
|
|
// An undeclared rig answers true for everything - see the header.
|
|
if (axes.empty()) return true;
|
|
return std::find(axes.begin(), axes.end(), name) != axes.end();
|
|
}
|
|
|
|
std::string HardwareConfig::axesLabel() const {
|
|
std::string s;
|
|
for (const auto& a : axes) s += (s.empty() ? "" : ", ") + a;
|
|
return s;
|
|
}
|
|
|
|
AppConfig ConfigLoader::loadFromFile(const std::string& path, const std::string& hardware_path) {
|
|
std::map<std::string, std::string> kv;
|
|
int rc = ini_parse(path.c_str(), iniHandler, &kv);
|
|
if (rc < 0) throw std::runtime_error("Cannot read config file: " + path);
|
|
if (rc > 0)
|
|
throw std::runtime_error("Parse error in config file " + path + " at line " +
|
|
std::to_string(rc));
|
|
|
|
// hardware.ini is layered ON TOP, so the assembly description wins over a
|
|
// config.ini that still carries the same keys from before the split. Any such
|
|
// leftover is named once, because it is a migration leftover to delete rather
|
|
// than a setting that is quietly doing nothing.
|
|
std::vector<std::string> shadowed;
|
|
if (!hardware_path.empty()) {
|
|
std::map<std::string, std::string> hw;
|
|
int hrc = ini_parse(hardware_path.c_str(), iniHandler, &hw);
|
|
if (hrc < 0) throw std::runtime_error("Cannot read hardware file: " + hardware_path);
|
|
if (hrc > 0)
|
|
throw std::runtime_error("Parse error in hardware file " + hardware_path +
|
|
" at line " + std::to_string(hrc));
|
|
for (const auto& [k, v] : hw) {
|
|
if (auto it = kv.find(k); it != kv.end() && it->second != v) shadowed.push_back(k);
|
|
kv[k] = v;
|
|
}
|
|
}
|
|
|
|
AppConfig cfg = fromMap(kv);
|
|
|
|
if (!hardware_path.empty()) {
|
|
cfg.hardware.declared = true;
|
|
cfg.hardware.source_path = hardware_path;
|
|
LOG_INFO << "hardware: " << hardware_path
|
|
<< (cfg.board.model.empty() ? "" : " board " + cfg.board.model)
|
|
<< (cfg.hardware.axes.empty() ? "" : " axes " + cfg.hardware.axesLabel());
|
|
for (const auto& k : shadowed)
|
|
LOG_WARN << "config.ini still sets " << k
|
|
<< ", which hardware.ini overrides -- delete it from config.ini";
|
|
}
|
|
// Anchor a relative scan grid_file to the config file's directory so it resolves
|
|
// no matter which working directory the process is launched from (the config
|
|
// itself is found via a search path that may be unrelated to the cwd).
|
|
if (!cfg.scan.grid_file.empty()) {
|
|
std::filesystem::path gf(paths::expandUser(cfg.scan.grid_file));
|
|
if (gf.is_relative()) gf = std::filesystem::path(path).parent_path() / gf;
|
|
cfg.scan.grid_file = gf.lexically_normal().string();
|
|
}
|
|
// Same for each camera's profile directory.
|
|
for (auto& c : cfg.camera.cameras) {
|
|
std::filesystem::path pd(paths::expandUser(c.profile_dir));
|
|
if (pd.is_relative()) pd = std::filesystem::path(path).parent_path() / pd;
|
|
c.profile_dir = pd.lexically_normal().string();
|
|
}
|
|
return cfg;
|
|
}
|
|
|
|
namespace {
|
|
std::string trimmed(const std::string& s) {
|
|
const char* ws = " \t\r\n";
|
|
size_t a = s.find_first_not_of(ws);
|
|
if (a == std::string::npos) return "";
|
|
size_t b = s.find_last_not_of(ws);
|
|
return s.substr(a, b - a + 1);
|
|
}
|
|
|
|
// Marker for a superseded value, kept so a calibration can be reverted by hand.
|
|
// It is a comment, so inih ignores it on the next read, but it is distinctive
|
|
// enough for updateIniSectionKeys to find its own earlier markers and replace
|
|
// them rather than pile them up.
|
|
const std::string kPrevMarker = ";prev ";
|
|
|
|
// The value inih would actually parse from the right-hand side of `key = value`:
|
|
// everything up to an inline comment, which is a ';' PRECEDED BY WHITESPACE (see
|
|
// ini_find_chars_or_comment in ini.c, with INI_ALLOW_INLINE_COMMENTS=1 and
|
|
// INI_INLINE_COMMENT_PREFIXES=";"). Mirroring that rule matters here: "did this
|
|
// value change?" has to compare what the program read, not the raw line, or a
|
|
// key carrying a trailing comment would look changed on every save.
|
|
std::string iniValueOf(const std::string& rhs) {
|
|
bool was_space = false;
|
|
for (size_t i = 0; i < rhs.size(); ++i) {
|
|
if (was_space && rhs[i] == ';') return trimmed(rhs.substr(0, i));
|
|
was_space = std::isspace(static_cast<unsigned char>(rhs[i])) != 0;
|
|
}
|
|
return trimmed(rhs);
|
|
}
|
|
|
|
// If `t` (already trimmed) is a ";prev <key> = ..." marker, return <key>, else "".
|
|
std::string prevMarkerKey(const std::string& t) {
|
|
const size_t n = kPrevMarker.size();
|
|
if (t.compare(0, n, kPrevMarker) != 0) return "";
|
|
const size_t eq = t.find('=', n);
|
|
if (eq == std::string::npos) return "";
|
|
return trimmed(t.substr(n, eq - n));
|
|
}
|
|
} // namespace
|
|
|
|
std::string updateIniSectionKeys(const std::string& contents, const std::string& section,
|
|
const std::vector<std::pair<std::string, std::string>>& kv,
|
|
const std::string& provenance) {
|
|
// Which keys are actually changing, and what they hold now.
|
|
//
|
|
// Only a changing key gets a ";prev" line, and only its marker is replaced:
|
|
// a key whose value is unchanged keeps the history it has, because that still
|
|
// names the value before the current one. This also keeps the file from
|
|
// growing on every save - saveMotorGeometry rewrites all eight keys each time,
|
|
// and without this filter seven of them would be noise.
|
|
//
|
|
// Computed in a first pass because a key's ";prev" marker sits ABOVE its value
|
|
// line, so the writing pass meets the marker before it has seen whether the
|
|
// value differs.
|
|
std::vector<bool> changed(kv.size(), false);
|
|
std::vector<std::string> old_value(kv.size());
|
|
{
|
|
std::istringstream scan(contents);
|
|
std::string line, cur;
|
|
std::vector<bool> seen(kv.size(), false);
|
|
while (std::getline(scan, line)) {
|
|
const std::string t = trimmed(line);
|
|
if (t.size() >= 2 && t.front() == '[' && t.back() == ']') {
|
|
cur = trimmed(t.substr(1, t.size() - 2));
|
|
continue;
|
|
}
|
|
if (cur != section || t.empty() || t[0] == ';' || t[0] == '#') continue;
|
|
const size_t eq = line.find('=');
|
|
if (eq == std::string::npos) continue;
|
|
const std::string key = trimmed(line.substr(0, eq));
|
|
for (size_t i = 0; i < kv.size(); ++i) {
|
|
if (!seen[i] && key == kv[i].first) {
|
|
seen[i] = true;
|
|
old_value[i] = iniValueOf(line.substr(eq + 1));
|
|
changed[i] = old_value[i] != kv[i].second;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
const bool keep_history = !provenance.empty();
|
|
|
|
std::vector<bool> written(kv.size(), false);
|
|
std::istringstream in(contents);
|
|
std::ostringstream out;
|
|
std::string line, cur;
|
|
while (std::getline(in, line)) {
|
|
const std::string t = trimmed(line);
|
|
if (t.size() >= 2 && t.front() == '[' && t.back() == ']') {
|
|
cur = trimmed(t.substr(1, t.size() - 2));
|
|
} else if (cur == section) {
|
|
// An earlier ";prev" for a key that is changing now is dropped here
|
|
// and re-emitted below, so exactly one generation is ever kept.
|
|
const std::string pk = prevMarkerKey(t);
|
|
if (!pk.empty()) {
|
|
bool supersede = false;
|
|
for (size_t i = 0; i < kv.size(); ++i)
|
|
if (pk == kv[i].first && changed[i]) { supersede = true; break; }
|
|
if (supersede) continue;
|
|
} else if (!t.empty() && t[0] != ';' && t[0] != '#') {
|
|
const size_t eq = line.find('=');
|
|
if (eq != std::string::npos) {
|
|
const std::string key = trimmed(line.substr(0, eq));
|
|
for (size_t i = 0; i < kv.size(); ++i) {
|
|
if (!written[i] && key == kv[i].first) {
|
|
if (keep_history && changed[i])
|
|
out << kPrevMarker << kv[i].first << " = " << old_value[i]
|
|
<< " ; " << provenance << "\n";
|
|
line = kv[i].first + " = " + kv[i].second;
|
|
written[i] = true;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
out << line << "\n";
|
|
}
|
|
// Any keys not present in the section get appended in a fresh [section] block
|
|
// (inih merges duplicate sections on read).
|
|
bool missing = false;
|
|
for (bool w : written) missing = missing || !w;
|
|
if (missing) {
|
|
out << "\n[" << section << "]\n";
|
|
for (size_t i = 0; i < kv.size(); ++i)
|
|
if (!written[i]) out << kv[i].first << " = " << kv[i].second << "\n";
|
|
}
|
|
return out.str();
|
|
}
|
|
|
|
bool saveMotorGeometry(const std::string& path, const Geometry& geo, long yaw_margin,
|
|
long pitch_margin, const std::string& provenance) {
|
|
if (path.empty()) return false;
|
|
std::ifstream f(path);
|
|
if (!f) return false;
|
|
std::stringstream buf;
|
|
buf << f.rdbuf();
|
|
f.close();
|
|
|
|
auto num = [](double v) {
|
|
char b[32];
|
|
std::snprintf(b, sizeof(b), "%.10g", v);
|
|
return std::string(b);
|
|
};
|
|
// The whole [Motor] block, so it stays complete and self-consistent rather
|
|
// than depending on which lines happened to be there already. min_deg/max_deg
|
|
// are deliberately absent: they are derived from homing, not configured.
|
|
const std::vector<std::pair<std::string, std::string>> kv = {
|
|
{"yaw_counts_per_deg", num(geo.yaw.counts_per_deg)},
|
|
{"yaw_center_count", std::to_string(geo.yaw.center_count)},
|
|
{"yaw_heading_at_center", num(geo.yaw.deg_at_center)},
|
|
{"yaw_soft_margin_counts", std::to_string(yaw_margin)},
|
|
{"pitch_counts_per_deg", num(geo.pitch.counts_per_deg)},
|
|
{"pitch_center_count", std::to_string(geo.pitch.center_count)},
|
|
{"pitch_angle_at_center", num(geo.pitch.deg_at_center)},
|
|
{"pitch_soft_margin_counts", std::to_string(pitch_margin)},
|
|
};
|
|
const std::string updated = updateIniSectionKeys(buf.str(), "Motor", kv, provenance);
|
|
|
|
// Write a sibling temp file and rename over the original: a truncating write
|
|
// that dies partway leaves config.ini destroyed, and three commands rewrite
|
|
// this file while the program is running.
|
|
std::error_code ec;
|
|
const fs::path target(path);
|
|
const fs::path tmp = target.parent_path() / (target.filename().string() + ".tmp");
|
|
{
|
|
std::ofstream out(tmp, std::ios::trunc | std::ios::binary);
|
|
if (!out) return false;
|
|
out << updated;
|
|
out.flush();
|
|
if (!out) {
|
|
fs::remove(tmp, ec);
|
|
return false;
|
|
}
|
|
}
|
|
fs::rename(tmp, target, ec);
|
|
if (ec) {
|
|
fs::remove(tmp, ec);
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
} // namespace fgc
|