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Refactor configuration management by introducing CustomConfig class. Updated config.hpp to streamline settings and removed legacy configuration presets. Adjusted controller and custom_robot classes to utilize the new configuration structure. Enhanced error handling and logging during initialization processes.

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Sucan126
2025-09-08 18:16:50 +08:00
parent f72ce9ce58
commit 926d88972d
8 changed files with 188 additions and 556 deletions
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351
src/config.cpp
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@@ -1,319 +1,42 @@
#include "config.hpp"
#include "logger.hpp"
#include <fstream>
#include <iostream>
namespace customConfig {
namespace custom {
Config::Config() {
// Load default configuration
loadDefaults();
void CustomConfig::loadDefaults() {
// 网络和MQTT连接
network_interface = std::string(NETWORK_INTERFACE);
mqtt_broker = std::string(MQTT_BROKER);
mqtt_port = MQTT_PORT;
mqtt_username = std::string(MQTT_USERNAME);
mqtt_password = std::string(MQTT_PASSWORD);
mqtt_client_id = std::string(MQTT_CLIENT_ID);
// MQTT话题
topic_prefix = std::string(TOPIC_PREFIX);
topic_cmd = std::string(TOPIC_CMD);
topic_state = std::string(TOPIC_STATE);
topic_video = std::string(TOPIC_VIDEO);
topic_audio = std::string(TOPIC_AUDIO);
// 机器人控制和安全
control_frequency = CONTROL_FREQUENCY;
state_publish_frequency = STATE_PUBLISH_FREQUENCY;
max_linear_velocity = MAX_LINEAR_VELOCITY;
max_angular_velocity = MAX_ANGULAR_VELOCITY;
emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;
stand_height = STAND_HEIGHT;
default_gait = static_cast<int>(DEFAULT_GAIT);
// 多媒体
enable_video = VIDEO_ENABLED;
enable_audio = AUDIO_ENABLED;
video_width = VIDEO_WIDTH;
video_height = VIDEO_HEIGHT;
video_fps = VIDEO_FPS;
video_format = std::string(VIDEO_FORMAT);
audio_sample_rate = AUDIO_SAMPLE_RATE;
audio_channels = AUDIO_CHANNELS;
audio_format = std::string(AUDIO_FORMAT);
}
Config& Config::getInstance() {
static Config instance;
return instance;
}
void Config::loadDefaults() {
config_.network_interface = NETWORK_INTERFACE;
config_.mqtt_broker = MQTT_BROKER;
config_.mqtt_port = MQTT_PORT;
config_.mqtt_username = MQTT_USERNAME;
config_.mqtt_password = MQTT_PASSWORD;
config_.mqtt_client_id = MQTT_CLIENT_ID;
config_.topic_prefix = TOPIC_PREFIX;
config_.cmd_topic = TOPIC_CMD;
config_.state_topic = TOPIC_STATE;
config_.video_topic = TOPIC_VIDEO;
config_.audio_topic = TOPIC_AUDIO;
config_.control_frequency = CONTROL_FREQUENCY;
config_.state_publish_frequency = STATE_PUBLISH_FREQUENCY;
config_.enable_video = VIDEO_ENABLED;
config_.enable_audio = AUDIO_ENABLED;
config_.max_linear_velocity = MAX_LINEAR_VELOCITY;
config_.max_angular_velocity = MAX_ANGULAR_VELOCITY;
config_.emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;
config_.stand_height = STAND_HEIGHT;
config_.default_gait = static_cast<int>(DEFAULT_GAIT);
config_.video_width = VIDEO_WIDTH;
config_.video_height = VIDEO_HEIGHT;
config_.video_fps = VIDEO_FPS;
config_.video_format = VIDEO_FORMAT;
config_.audio_sample_rate = AUDIO_SAMPLE_RATE;
config_.audio_channels = AUDIO_CHANNELS;
config_.audio_format = AUDIO_FORMAT;
}
void Config::loadHighPerformancePreset() {
loadDefaults();
using hp = ConfigParams<ConfigPreset::HighPerformance>;
config_.control_frequency = hp::control_frequency;
config_.state_publish_frequency = hp::state_publish_frequency;
config_.max_linear_velocity = hp::max_linear_velocity;
config_.max_angular_velocity = hp::max_angular_velocity;
config_.enable_video = hp::video_enabled;
config_.enable_audio = hp::audio_enabled;
}
void Config::loadDevelopmentPreset() {
loadDefaults();
using dev = ConfigParams<ConfigPreset::Development>;
config_.control_frequency = dev::control_frequency;
config_.state_publish_frequency = dev::state_publish_frequency;
config_.max_linear_velocity = dev::max_linear_velocity;
config_.max_angular_velocity = dev::max_angular_velocity;
config_.enable_video = dev::video_enabled;
config_.enable_audio = dev::audio_enabled;
}
void Config::loadSafetyPreset() {
loadDefaults();
using safe = ConfigParams<ConfigPreset::Safety>;
config_.control_frequency = safe::control_frequency;
config_.state_publish_frequency = safe::state_publish_frequency;
config_.max_linear_velocity = safe::max_linear_velocity;
config_.max_angular_velocity = safe::max_angular_velocity;
config_.emergency_stop_timeout = safe::emergency_stop_timeout;
config_.enable_video = safe::video_enabled;
config_.enable_audio = safe::audio_enabled;
}
bool Config::loadConfig(const std::string& configFile) {
// For now just load defaults, JSON loading can be added later if needed
loadDefaults();
/* TODO: Add JSON loading support if needed
try {
std::ifstream file(configFile);
if (!file.is_open()) {
LOG_WARN("Config file not found: " + configFile + ", using defaults");
loadDefaults();
return false;
}
nlohmann::json j;
file >> j;
// Load network settings
if (j.contains("network")) {
auto& network = j["network"];
if (network.contains("interface")) {
config_.network_interface = network["interface"];
}
}
// Load MQTT settings
if (j.contains("mqtt")) {
auto& mqtt = j["mqtt"];
if (mqtt.contains("broker")) config_.mqtt_broker = mqtt["broker"];
if (mqtt.contains("port")) config_.mqtt_port = mqtt["port"];
if (mqtt.contains("username")) config_.mqtt_username = mqtt["username"];
if (mqtt.contains("password")) config_.mqtt_password = mqtt["password"];
if (mqtt.contains("client_id")) config_.mqtt_client_id = mqtt["client_id"];
}
// Load topics
if (j.contains("topics")) {
auto& topics = j["topics"];
if (topics.contains("prefix")) config_.topic_prefix = topics["prefix"];
if (topics.contains("cmd")) config_.cmd_topic = topics["cmd"];
if (topics.contains("state")) config_.state_topic = topics["state"];
if (topics.contains("video")) config_.video_topic = topics["video"];
if (topics.contains("audio")) config_.audio_topic = topics["audio"];
}
// Load robot settings
if (j.contains("robot")) {
auto& robot = j["robot"];
if (robot.contains("control_frequency")) config_.control_frequency = robot["control_frequency"];
if (robot.contains("state_publish_frequency")) config_.state_publish_frequency = robot["state_publish_frequency"];
if (robot.contains("enable_video")) config_.enable_video = robot["enable_video"];
if (robot.contains("enable_audio")) config_.enable_audio = robot["enable_audio"];
}
// Load safety settings
if (j.contains("safety")) {
auto& safety = j["safety"];
if (safety.contains("max_linear_velocity")) config_.max_linear_velocity = safety["max_linear_velocity"];
if (safety.contains("max_angular_velocity")) config_.max_angular_velocity = safety["max_angular_velocity"];
if (safety.contains("emergency_stop_timeout")) config_.emergency_stop_timeout = safety["emergency_stop_timeout"];
}
// Load motion settings
if (j.contains("motion")) {
auto& motion = j["motion"];
if (motion.contains("stand_height")) config_.stand_height = motion["stand_height"];
if (motion.contains("default_gait")) config_.default_gait = motion["default_gait"];
}
// Load video settings
if (j.contains("video")) {
auto& video = j["video"];
if (video.contains("width")) config_.video_width = video["width"];
if (video.contains("height")) config_.video_height = video["height"];
if (video.contains("fps")) config_.video_fps = video["fps"];
if (video.contains("format")) config_.video_format = video["format"];
}
// Load audio settings
if (j.contains("audio")) {
auto& audio = j["audio"];
if (audio.contains("sample_rate")) config_.audio_sample_rate = audio["sample_rate"];
if (audio.contains("channels")) config_.audio_channels = audio["channels"];
if (audio.contains("format")) config_.audio_format = audio["format"];
}
LOG_INFO("Configuration loaded successfully from: " + configFile);
return true;
} catch (const std::exception& e) {
LOG_ERROR("Failed to load config: " + std::string(e.what()));
loadDefaults();
return false;
}
*/
return true;
}
bool Config::saveConfig(const std::string& configFile) {
try {
nlohmann::json j;
// Network settings
j["network"]["interface"] = config_.network_interface;
// MQTT settings
j["mqtt"]["broker"] = config_.mqtt_broker;
j["mqtt"]["port"] = config_.mqtt_port;
j["mqtt"]["username"] = config_.mqtt_username;
j["mqtt"]["password"] = config_.mqtt_password;
j["mqtt"]["client_id"] = config_.mqtt_client_id;
// Topics
j["topics"]["prefix"] = config_.topic_prefix;
j["topics"]["cmd"] = config_.cmd_topic;
j["topics"]["state"] = config_.state_topic;
j["topics"]["video"] = config_.video_topic;
j["topics"]["audio"] = config_.audio_topic;
// Robot settings
j["robot"]["control_frequency"] = config_.control_frequency;
j["robot"]["state_publish_frequency"] = config_.state_publish_frequency;
j["robot"]["enable_video"] = config_.enable_video;
j["robot"]["enable_audio"] = config_.enable_audio;
// Safety settings
j["safety"]["max_linear_velocity"] = config_.max_linear_velocity;
j["safety"]["max_angular_velocity"] = config_.max_angular_velocity;
j["safety"]["emergency_stop_timeout"] = config_.emergency_stop_timeout;
// Motion settings
j["motion"]["stand_height"] = config_.stand_height;
j["motion"]["default_gait"] = config_.default_gait;
// Video settings
j["video"]["width"] = config_.video_width;
j["video"]["height"] = config_.video_height;
j["video"]["fps"] = config_.video_fps;
j["video"]["format"] = config_.video_format;
// Audio settings
j["audio"]["sample_rate"] = config_.audio_sample_rate;
j["audio"]["channels"] = config_.audio_channels;
j["audio"]["format"] = config_.audio_format;
std::ofstream file(configFile);
if (!file.is_open()) {
LOG_ERROR("Failed to open config file for writing: " + configFile);
return false;
}
file << j.dump(4) << std::endl;
LOG_INFO("Configuration saved to: " + configFile);
return true;
} catch (const std::exception& e) {
LOG_ERROR("Failed to save config: " + std::string(e.what()));
return false;
}
}
std::string Config::getFullTopic(const std::string& topic) const {
return config_.topic_prefix + "/" + topic;
}
bool Config::validateConfig() {
bool valid = true;
// Validate frequencies
if (config_.control_frequency <= 0 || config_.control_frequency > 1000) {
LOG_WARN("Invalid control frequency, setting to default");
config_.control_frequency = CONTROL_FREQUENCY;
valid = false;
}
if (config_.state_publish_frequency <= 0 || config_.state_publish_frequency > 500) {
LOG_WARN("Invalid state publish frequency, setting to default");
config_.state_publish_frequency = STATE_PUBLISH_FREQUENCY;
valid = false;
}
// Validate velocities
if (config_.max_linear_velocity <= 0 || config_.max_linear_velocity > 5.0) {
LOG_WARN("Invalid max linear velocity, setting to default");
config_.max_linear_velocity = MAX_LINEAR_VELOCITY;
valid = false;
}
if (config_.max_angular_velocity <= 0 || config_.max_angular_velocity > 10.0) {
LOG_WARN("Invalid max angular velocity, setting to default");
config_.max_angular_velocity = MAX_ANGULAR_VELOCITY;
valid = false;
}
// Validate timeout
if (config_.emergency_stop_timeout <= 0 || config_.emergency_stop_timeout > 60.0) {
LOG_WARN("Invalid emergency stop timeout, setting to default");
config_.emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;
valid = false;
}
// Validate video settings
if (config_.video_width <= 0 || config_.video_height <= 0) {
LOG_WARN("Invalid video dimensions, setting to default");
config_.video_width = VIDEO_WIDTH;
config_.video_height = VIDEO_HEIGHT;
valid = false;
}
if (config_.video_fps <= 0 || config_.video_fps > 120) {
LOG_WARN("Invalid video FPS, setting to default");
config_.video_fps = VIDEO_FPS;
valid = false;
}
// Validate audio settings
if (config_.audio_sample_rate <= 0) {
LOG_WARN("Invalid audio sample rate, setting to default");
config_.audio_sample_rate = AUDIO_SAMPLE_RATE;
valid = false;
}
if (config_.audio_channels <= 0) {
LOG_WARN("Invalid audio channels, setting to default");
config_.audio_channels = AUDIO_CHANNELS;
valid = false;
}
return valid;
}
} // namespace customConfig
} // namespace custom