bool Settings::load()
{
#ifdef TARGET_ROBOT
robot = NaoBody().getName();
#else
robot = "Nao";
#endif
bool loadedSettingsFromFile = false;
#ifdef TARGET_ROBOT
// load settings from team.cfg
try
{
ConfigMap teams;
if(teams.read("teams.cfg", false, &ConfigMap::printOnErr) >= 0)
{
teams.setFlags(teams.getFlags() | ConfigMap::READONLY);
std::vector<std::string> keys = teams.getKeys();
for(std::vector<std::string>::const_iterator i = keys.begin(), end = keys.end(); i != end; ++i)
{
const ConfigValue& teamValue = teams[*i];
if(teamValue.getType() != ConfigValue::MAP)
continue;
const ConfigMap& team = teamValue;
if(!team.hasKey("players"))
continue;
const ConfigValue& playersValue = team["players"];
if(playersValue.getType() != ConfigValue::LIST)
continue;
const ListConfigValue& players = playersValue;
for(int i = 0, len = players.length(); i < len; ++i)
{
const ConfigValue& playersValue = players[i];
if(playersValue.getType() != ConfigValue::PLAIN)
continue;
if(((const PlainConfigValue&)playersValue).str() == robot)
{
playerNumber = i + 1;
team["number"] >> teamNumber;
teamPort = 10001 + teamNumber * 100;
team["location"] >> location;
std::string entryName;
team["color"] >> entryName;
if(entryName == "blue")
teamColor = TEAM_BLUE;
else if(entryName == "red")
teamColor = TEAM_RED;
else
ASSERT(false);
loadedSettingsFromFile = true;
goto loadedTeamsCfg;
}
}
}
loadedTeamsCfg:
;
}
void BallPerceptor::init(const FieldDimensions& theFieldDimensions)
{
sqrMaxBallDistance = float(Vector2<int>(theFieldDimensions.xPosOpponentFieldBorder - theFieldDimensions.xPosOwnFieldBorder,
theFieldDimensions.yPosLeftFieldBorder - theFieldDimensions.yPosRightFieldBorder).squareAbs());
/*
cout << "theFieldDimensions.xPosOpponentFieldBorder: " << theFieldDimensions.xPosOpponentFieldBorder << endl;
cout << "theFieldDimensions.xPosOwnFieldBorder: " << theFieldDimensions.xPosOwnFieldBorder << endl;
cout << "theFieldDimensions.yPosLeftFieldBorder: " << theFieldDimensions.yPosLeftFieldBorder << endl;
cout << "theFieldDimensions.yPosRightFieldBorder: " << theFieldDimensions.yPosRightFieldBorder << endl;
*/
ConfigMap params;
params["clippingApproxRadiusScale"] << 2.f;
params["clippingApproxRadiusPixelBonus"] << 2.5f;
params["scanMaxColorDistance"] << (unsigned int) 30;
params["scanPixelTolerance"] << (unsigned int) 2;
params["refineMaxPixelCount"] << (unsigned int) 2;
params["refineMaxColorDistance"] << (unsigned int) 40;
params["checkMaxRadiusDifference"] << 1.6f;
params["checkMinRadiusDifference"] << 0.9f;
params["checkMinRadiusPixelBonus"] << 6.f;
params["checkOutlineRadiusScale"] << 1.1f;
params["checkOutlineRadiusPixelBonus"] << 2.f;
//params.read(Global::getSettings().expandRobotLocationFilename("ballPerceptor.cfg"));
params.read("/home/nao/.config/naoqi/Data/Config/Locations/Default/Robots/Nao/ballPerceptor.cfg");
params["clippingApproxRadiusScale"] >> p.clippingApproxRadiusScale;
params["clippingApproxRadiusPixelBonus"] >> p.clippingApproxRadiusPixelBonus;
params["scanMaxColorDistance"] >> p.scanMaxColorDistance;
params["scanPixelTolerance"] >> p.scanPixelTolerance;
params["refineMaxPixelCount"] >> p.refineMaxPixelCount;
params["refineMaxColorDistance"] >> p.refineMaxColorDistance;
params["checkMaxRadiusDifference"] >> p.checkMaxRadiusDifference;
params["checkMinRadiusDifference"] >> p.checkMinRadiusDifference;
params["checkMinRadiusPixelBonus"] >> p.checkMinRadiusPixelBonus;
params["checkOutlineRadiusScale"] >> p.checkOutlineRadiusScale;
params["checkOutlineRadiusPixelBonus"] >> p.checkOutlineRadiusPixelBonus;
}
bool ColorTableCreator::loadTrainingData(string fileName)
{
handMadeClassification.clear();
ConfigMap cm;
if(cm.read(fileName) < 0)
return false;
try
{
cm["handMadeClassification"] >> handMadeClassification;
}
catch(std::invalid_argument e)
{
return false;
} //In this case the Vector was empty
return true;
}
std::vector<Robot> Robot::getRobots()
{
std::vector<Robot> robots;
std::string robotsDir = "Robots";
Directory d;
if(d.open(*File::getFullNames(robotsDir).begin() + "/*"))
{
std::string dir;
bool isDir;
while(d.read(dir, isDir))
{
if(isDir)
{
ConfigMap cm;
std::string s = linuxToPlatformPath(dir + "/robot.cfg");
int status = cm.read(s);
if(status > 0)
{
Robot r;
cm >> r;
robots.push_back(r);
}
}
}
