bool initConfiguration() {
if ( !Kicker::initConfiguration() ) return false;
try { _preloadDays = configGetDouble("loadEventDB"); }
catch ( ... ) {}
try {
_script0 = Seiscomp::Environment::Instance()->absolutePath(configGetString("scripts.script0"));
}
catch ( ... ) {}
try {
_scriptStyle0 = configGetBool("scripts.script0.oldStyle");
}
catch ( ... ) {
_scriptStyle0 = true;
}
try {
_script1 = Seiscomp::Environment::Instance()->absolutePath(configGetString("scripts.script1"));
}
catch ( ... ) {}
try {
_scriptStyle1 = configGetBool("scripts.script1.oldStyle");
}
catch ( ... ) {
_scriptStyle1 = true;
}
return true;
}
///Local Component parameters read at start
///Reading parameters from config file or passed in command line, with Ice machinery
///We need to supply a list of accepted values to each call
void Monitor::readConfig(RoboCompCommonBehavior::ParameterList ¶ms )
{
//Read params from config file
RoboCompCommonBehavior::Parameter aux;
aux.editable = false;
aux.type = "string";
configGetString( "V4linux.Device", aux.value,"/dev/video0");
params["V4linux.Device"] = aux;
configGetString("V4linux.captureMode",aux.value,"YUV422Mode");
params["V4linux.captureMode"] = aux;
aux.type = "int";
configGetString("V4linux.NumCameras",aux.value,"1");
params["V4linux.NumCameras"] = aux;
configGetString("V4linux.Width",aux.value,"320");
params["V4linux.Width"] = aux;
configGetString("V4linux.Height",aux.value,"240");
params["V4linux.Height"] = aux;
configGetString("V4linux.FPS",aux.value,"15");
params["V4linux.FPS"] = aux;
aux.type = "bool";
configGetString("V4linux.TalkToBase",aux.value,"true");
params["V4linux.TalkToBaseComp"] = aux;
configGetString("V4linux.TalkToCommonHead",aux.value,"true");
params["V4linux.TalkToCommonHead"] = aux;
int num_cameras = QString::fromStdString(params["V4linux.NumCameras"].value).toInt();
for(int i=0;i < num_cameras; i++)
{
std::string s= QString::number(i).toStdString();
configGetString( "V4linux.Params_" + s, aux.value , "");
params["V4linux.Params_" + s] = aux;
QStringList list = QString::fromStdString(aux.value).split(",");
if (list.size() != 8) qFatal("Error reading camera. Only %d parameters for camera %d, 7 needed.", list.size(), i);
aux.type = "string";
aux.value=list[0].toStdString();
params["V4linux.Params_" + s +".name"]= aux;
aux.value=list[1].toStdString();
params["V4linux.Params_" + s +".busId"]= aux;
aux.value=list[2].toStdString();
aux.type = "bool";
params["V4linux.Params_" + s +".invertedH"]= aux;
aux.value=list[3].toStdString();
params["V4linux.Params_" + s +".invertedV"]= aux;
aux.value=list[4].toStdString();
aux.type = "int";
params["V4linux.Params_" + s +".focalX"]= aux;
aux.value=list[5].toStdString();
params["V4linux.Params_" + s +".focalY"]= aux;
aux.value=list[6].toStdString();
params["V4linux.Params_" + s +".saturation"]= aux;
aux.value=list[7].toStdString();
params["V4linux.Params_" + s +".linefreq"]= aux;
}
}
///Local Component parameters read at start
///Reading parameters from config file or passed in command line, with Ice machinery
///We need to supply a list of accepted values to each call
void SpecificMonitor::readConfig(RoboCompCommonBehavior::ParameterList ¶ms )
{
RoboCompCommonBehavior::Parameter aux;
aux.editable = true;
configGetString( "InputInterface", aux.value,"Camera"); //Could be RGBD, RGBDBus
params["InputInterface"] = aux;
aux.editable = false;
configGetString( "AprilTagsFamily", aux.value,"tagCodes36h11");
params["AprilTagsFamily"] = aux;
aux.editable = false;
configGetString("AprilTagsSize", aux.value,"70"); params["AprilTagsSize"] = aux;
aux.editable = false;
configGetString("ID:0-10", aux.value,"86");
params["ID:0-10"] = aux;
aux.editable = false;
configGetString("ID:11-20", aux.value,"86");
params["ID:11-20"] = aux;
aux.editable = false;
configGetString("ID:21-100", aux.value,"86");
params["ID:21-100"] = aux;
aux.editable = true;
configGetString( "CameraName", aux.value, "rgbd");
params["CameraName"] = aux;
aux.editable = true;
configGetString( "InnerModelPath", aux.value, "");
params["InnerModelPath"] = aux;
}
///Local Component parameters read at start
///Reading parameters from config file or passed in command line, with Ice machinery
///We need to supply a list of accepted values to each call
void SpecificMonitor::readConfig(RoboCompCommonBehavior::ParameterList ¶ms )
{
//Read params from config file
//Example
RoboCompCommonBehavior::Parameter aux;
aux.editable = false;
configGetString( "joystickUniversal.Device", aux.value,"/dev/input/js0");
params["joystickUniversal.Device"] = aux;
aux.editable = false;
configGetString( "joystickUniversal.NumAxes", aux.value,"2");
params["joystickUniversal.NumAxes"] = aux;
aux.editable = false;
configGetString( "joystickUniversal.NumButtons", aux.value,"1");
params["joystickUniversal.NumButtons"] = aux;
aux.editable = false;
configGetString( "joystickUniversal.BasicPeriod", aux.value,"100");
params["joystickUniversal.BasicPeriod"] = aux;
aux.editable = false;
configGetString( "joystickUniversal.NormalizationValue", aux.value,"10");
params["joystickUniversal.NormalizationValue"] = aux;
aux.editable = false;
configGetString( "joystickUniversal.VelocityAxis", aux.value,"vel");
params["joystickUniversal.VelocityAxis"] = aux;
aux.editable = false;
configGetString( "joystickUniversal.DirectionAxis", aux.value,"dir");
params["joystickUniversal.DirectionAxis"] = aux;
for (int i=0; i < atoi(params.at("joystickUniversal.NumAxes").value.c_str()); i++)
{
aux.editable = false;
std::string s = QString::number(i).toStdString();
configGetString( "joystickUniversal.Axis_" + s, aux.value , "4");
params["joystickUniversal.Axis_" + s] = aux;
rDebug("joystickUniversal.Axis_"+QString::fromStdString(s)+" = " + QString::fromStdString(params.at("joystickUniversal.Axis_" + s).value));
QStringList list = QString::fromStdString(aux.value).split(",");
if (list.size() != 4)
qFatal("joystickUniversalComp::Monitor::readConfig(): ERROR reading axis. Only %d parameters for motor %d.", list.size(), i);
aux.value=list[0].toStdString();
params["joystickUniversal.Axis_" + s +".Name"] = aux;
rDebug("joystickUniversal.Axis_" + s + ".Name = " + params.at("joystickUniversal.Axis_" + s +".Name").value);
aux.value=list[1].toStdString();
params["joystickUniversal.Axis_" + s +".MinRange"]= aux;
rDebug("joystickUniversal.Axis_"+s+".MinRange = "+ params["joystickUniversal.Axis_" + s +".MinRange"].value);
aux.value=list[2].toStdString();
params["joystickUniversal.Axis_" + s +".MaxRange"]= aux;
rDebug("joystickUniversal.Axis_"+s+".MaxRange = "+ params["joystickUniversal.Axis_" + s +".MaxRange"].value);
aux.value=list[3].toStdString();
params["joystickUniversal.Axis_" + s +".Inverted"]= aux;
rDebug("joystickUniversal.Axis_"+s+".Inverted = "+ params["joystickUniversal.Axis_" + s +".Inverted"].value);
}
}
///Local Component parameters read at start
///Reading parameters from config file or passed in command line, with Ice machinery
///We need to supply a list of accepted values to each call
void SpecificMonitor::readConfig(RoboCompCommonBehavior::ParameterList ¶ms )
{
RoboCompCommonBehavior::Parameter aux;
aux.editable = true;
configGetString("", "InnerModel", aux.value,"");
params["InnerModel"] = aux;
}
// >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
bool Import::init() {
if (!Application::init())
return false;
if ( !Filter::Init(*this) ) return false;
if (commandline().hasOption("test"))
_test = true;
if (commandline().hasOption("no-filter"))
_filter = false;
if (commandline().hasOption("import"))
_mode = IMPORT;
if (commandline().hasOption("routeunknowngroup"))
_routeUnknownGroup = true;
if (commandline().hasOption("ignore-groups"))
_useSpecifiedGroups = false;
try {
configGetString("routingtable");
_mode = IMPORT;
}
catch ( ... ) {}
std::string sinkName = "localhost";
if (commandline().hasOption("sink")) {
sinkName = commandline().option<std::string>("sink");
}
else {
try {
sinkName = configGetString("sink");
}
catch (Config::Exception& ) {}
}
if (connectToSink(sinkName) != Core::Status::SEISCOMP_SUCCESS)
return false;
return true;
}
///Local Component parameters read at start
///Reading parameters from config file or passed in command line, with Ice machinery
///We need to supply a list of accepted values to each call
void SpecificMonitor::readConfig(RoboCompCommonBehavior::ParameterList ¶ms )
{
RoboCompCommonBehavior::Parameter aux;
aux.editable = true;
string name = PROGRAM_NAME;
configGetString("", "InnerModel", aux.value, "");
printf("XXXXX %s\n", aux.value.c_str());
params["InnerModel"] = aux;
}
///Local Component parameters read at start
///Reading parameters from config file or passed in command line, with Ice machinery
///We need to supply a list of accepted values to each call
void SpecificMonitor::readConfig(RoboCompCommonBehavior::ParameterList ¶ms )
{
RoboCompCommonBehavior::Parameter aux;
aux.editable = true;
configGetString( "InnerModel", aux.value," ");
params["InnerModel"] = aux;
configGetString( "ExclusionList", aux.value," ");
params["ExclusionList"] = aux;
configGetString( "RestrictedBoundingBoxes", aux.value," ");
params["RestrictedBoundingBoxes"] = aux;
configGetString( "knownPositions", aux.value," ");
params["knownPositions"] = aux;
configGetString( "knownTransitions", aux.value," ");
params["knownTransitions"] = aux;
}
///Local Component parameters read at start
///Reading parameters from config file or passed in command line, with Ice machinery
///We need to supply a list of accepted values to each call
void Monitor::readConfig(RoboCompCommonBehavior::ParameterList ¶ms )
{
RoboCompCommonBehavior::Parameter aux;
aux.editable = true;
configGetString( "Dynamixel.NumMotors", aux.value, "" );
int num_motors=0;
num_motors = QString::fromStdString(aux.value).toInt();
if(num_motors <= 0)
qFatal("Monitor::initialize - Zero motors found. Exiting..." );
params["Dynamixel.NumMotors"] = aux;
configGetString( "Dynamixel.Device", aux.value, "" );
params["Dynamixel.Device"] = aux;
configGetString( "Dynamixel.BaudRate", aux.value, "115200" );
params["Dynamixel.BaudRate"] = aux;
configGetString( "Dynamixel.BasicPeriod", aux.value, "100" );
params["Dynamixel.BasicPeriod"] = aux;
configGetString( "Dynamixel.SDK", aux.value, "false" );
params["Dynamixel.SDK"] = aux;
std::string paramsStr;
for (int i=0; i<num_motors; i++)
{
std::string s= QString::number(i).toStdString();
configGetString( "Dynamixel.Params_" + s, aux.value , "");
params["Dynamixel.Params_" + s] = aux;
QStringList list = QString::fromStdString(aux.value).split(",");
if (list.size() < 9) qFatal("Error reading motor. Only %d parameters for motor %d. Expecting 9.", list.size(), i);
else if (list.size() > 9) qFatal("Error reading motor. More than 9 (%d) parameters for motor %d.", list.size(), i);
aux.value=list[0].toStdString();
params["Dynamixel.Params_" + s +".name"]= aux;
aux.value=list[1].toStdString();
params["Dynamixel.Params_" + s +".busId"]= aux;
aux.value=list[2].toStdString();
params["Dynamixel.Params_" + s +".invertedSign"]= aux;
aux.value=list[3].toStdString();
params["Dynamixel.Params_" + s +".minPos"]= aux;
aux.value=list[4].toStdString();
params["Dynamixel.Params_" + s +".maxPos"]= aux;
aux.value=list[5].toStdString();
params["Dynamixel.Params_" + s +".zeroPos"]= aux;
aux.value=list[6].toStdString();
params["Dynamixel.Params_" + s +".maxVelocity"]= aux;
aux.value=list[7].toStdString();
params["Dynamixel.Params_" + s +".stepsRange"]= aux;
aux.value=list[8].toStdString();
params["Dynamixel.Params_" + s +".maxDegrees"]= aux;
}
}
///Local Component parameters read at start
///Reading parameters from config file or passed in command line, with Ice machinery
///We need to supply a list of accepted values to each call
void SpecificMonitor::readConfig(RoboCompCommonBehavior::ParameterList ¶ms )
{
RoboCompCommonBehavior::Parameter aux;
aux.editable = true;
string name = PROGRAM_NAME;
configGetString("", name + ".InnerModel", aux.value, "simpleworld.xml");
//qDebug() << QString::fromStdString(aux.value);
//Check valid ranges
if( QFile::exists(QString::fromStdString(aux.value)) == false )
{
std::cout << __FUNCTION__ << "Fatal. InnerModel file "<< aux.value << " does not exist" << std::endl;
qFatal("Aborting");
}
params[name+".InnerModel"] = aux;
}
/**
* \brief Read parameters from pconf file. This method will be empty if there is not any pconf file available.
* @param l Configuration parameters list
*/
void GenericMonitor::readPConfParams(RoboCompCommonBehavior::ParameterList ¶ms)
{
RoboCompCommonBehavior::Parameter aux;
configGetString( "device", aux.value, "192.168.187.204" );
params["device"] = aux;
configGetString( "startValue", aux.value, "0" );
params["startValue"] = aux;
configGetString( "endValue", aux.value, "359" );
params["endValue"] = aux;
configGetString( "sampleRate", aux.value, "100" );
params["sampleRate"] = aux;
configGetString( "angleRes",aux.value,"1");
params["angleRes"] = aux;
configGetString( "skipValue", aux.value, "1" );
params["skipValue"] = aux;
configGetString( "talkToBase", aux.value, "true" );
params["talkToBase"] = aux;
}
int Hdf::compare(const std::string &v2) const {
std::string v1 = configGetString();
return strcmp(v1.c_str(), v2.c_str());
}
///Local Component parameters read at start
///Reading parameters from config file or passed in command line, with Ice machinery
///We need to supply a list of accepted values to each call
void SpecificMonitor::readConfig(RoboCompCommonBehavior::ParameterList ¶ms )
{
RoboCompCommonBehavior::Parameter aux;
aux.editable = true;
configGetString("", "GMapping.maxUrange", aux.value,"20.0");
params["GMapping.maxUrange"] = aux;
configGetString("", "GMapping.maxrange", aux.value,"30.0");
params["GMapping.maxrange"] = aux;
// configGetString("", "GMapping.sigma", aux.value,"0.1");
configGetString("", "GMapping.sigma", aux.value,"0.05");
params["GMapping.sigma"] = aux;
configGetString("", "GMapping.regscore", aux.value,"10000.0");
params["GMapping.regscore"] = aux;
configGetString("", "GMapping.kernelSize", aux.value,"1");
params["GMapping.kernelSize"] = aux;
configGetString("", "GMapping.lstep", aux.value,"0.05");
params["GMapping.lstep"] = aux;
configGetString("", "GMapping.astep", aux.value,"0.05");
params["GMapping.astep"] = aux;
configGetString("", "GMapping.maxMove", aux.value,"1");
params["GMapping.maxMove"] = aux;
configGetString("", "GMapping.iterations", aux.value,"10");
// configGetString("", "GMapping.iterations", aux.value,"5");
params["GMapping.iterations"] = aux;
configGetString("", "GMapping.lsigma", aux.value,"0.075");
// configGetString("", "GMapping.lsigma", aux.value,"0.75");
params["GMapping.lsigma"] = aux;
configGetString("", "GMapping.ogain", aux.value,"3");
params["GMapping.ogain"] = aux;
configGetString("", "GMapping.lskip", aux.value,"0");
params["GMapping.lskip"] = aux;
configGetString("", "GMapping.srr", aux.value,"0.1");
// configGetString("", "GMapping.srr", aux.value,"0.01");
params["GMapping.srr"] = aux;
configGetString("", "GMapping.srt", aux.value,"0.01");
params["GMapping.srt"] = aux;
// configGetString("", "GMapping.str", aux.value,"0.01");
configGetString("", "GMapping.str", aux.value,"0.1");
params["GMapping.str"] = aux;
configGetString("", "GMapping.stt", aux.value,"0.01");
params["GMapping.stt"] = aux;
configGetString("", "GMapping.linearUpdate", aux.value,"0.2");//"0.3");
params["GMapping.linearUpdate"] = aux;
configGetString("", "GMapping.angularUpdate", aux.value,"0.1");//"0.1");
params["GMapping.angularUpdate"] = aux;
configGetString("", "GMapping.resampleThreshold", aux.value,"0.5");
params["GMapping.resampleThreshold"] = aux;
configGetString("", "GMapping.xmin", aux.value,"-20.0");
params["GMapping.xmin"] = aux;
configGetString("", "GMapping.xmax", aux.value,"20.0");
params["GMapping.xmax"] = aux;
configGetString("", "GMapping.ymin", aux.value,"-20.0");
params["GMapping.ymin"] = aux;
configGetString("", "GMapping.ymax", aux.value,"20.0");
params["GMapping.ymax"] = aux;
configGetString("", "GMapping.particles", aux.value,"50");
params["GMapping.particles"] = aux;
printf("PARTICLES: %s\n", aux.value.c_str());
configGetString("", "GMapping.delta", aux.value,"0.05");
params["GMapping.delta"] = aux;
configGetString("", "GMapping.llsamplerange", aux.value,"0.1");
params["GMapping.llsamplerange"] = aux;
configGetString("", "GMapping.llsamplestep", aux.value,"0.1");
params["GMapping.llsamplestep"] = aux;
configGetString("", "GMapping.lasamplerange", aux.value,"0.01");
params["GMapping.lasamplerange"] = aux;
configGetString("", "GMapping.lasamplestep", aux.value,"0.02");
params["GMapping.llsamplestep"] = aux;
configGetString("", "GMapping.enlargestep", aux.value,"1");
params["GMapping.enlargestep"] = aux;
configGetString("", "GMapping.generateMap", aux.value, "true");
params["GMapping.generateMap"] = aux;
try{
configGetString("", "GMapping.Map", aux.value, "");
} catch(...)
{
aux.value = "";
}
params["GMapping.Map"] = aux;
configGetString("", "GMapping.tx", aux.value,"0");
params["GMapping.tx"] = aux;
configGetString("", "GMapping.tz", aux.value,"0");
params["GMapping.tz"] = aux;
configGetString("", "GMapping.ry", aux.value,"0");
params["GMapping.ry"] = aux;
}
///Local Component parameters read at start
///Reading parameters from config file or passed in command line, with Ice machinery
///We need to supply a list of accepted values to each call
void SpecificMonitor::readConfig(RoboCompCommonBehavior::ParameterList& params )
{
RoboCompCommonBehavior::Parameter aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","InnerModel", aux.value,"/home/robocomp/robocomp/components/robocomp-ursus-rockin/files/RoCKIn@home/world/rockinSimple.xml");
params["InnerModel"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","ArrivalTolerance", aux.value,"20");
params["ArrivalTolerance"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","MaxZSpeed", aux.value,"400");
params["MaxZSpeed"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","MaxXSpeed", aux.value,"200");
params["MaxXSpeed"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","MaxRotationSpeed", aux.value,"0.3");
params["MaxRotationSpeed"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","RobotXWidth", aux.value,"500");
params["RobotXWidth"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","RobotZLong", aux.value,"500");
params["RobotZLong"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","RobotRadius", aux.value,"300");
params["RobotRadius"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","MinControllerPeriod", aux.value,"100");
params["MinControllerPeriod"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","PlannerGraphPoints", aux.value,"100");
params["PlannerGraphPoints"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","PlannerGraphNeighbours", aux.value,"20");
params["PlannerGraphNeighbours"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","PlannerGraphMaxDistanceToSearch", aux.value,"2500");
params["PlannerGraphMaxDistanceToSearch"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","OuterRegionLeft", aux.value,"0");
params["OuterRegionLeft"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","OuterRegionRight", aux.value,"6000");
params["OuterRegionRight"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","OuterRegionBottom", aux.value,"-4250");
params["OuterRegionBottom"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","OuterRegionTop", aux.value,"4250");
params["OuterRegionTop"] = aux;
aux.editable = false;
configGetString( "TrajectoryRobot2D","ExcludedObjectsInCollisionCheck", aux.value,"floor_plane");
params["ExcludedObjectsInCollisionCheck"] = aux;
}
