chalkydri/
config.rs

1use crate::{error::Error, subsys::capriltags::AprilTagFieldLayout};
2use std::{collections::HashMap, fs::File, io::Read, path::Path};
3
4macro_rules! def_cfg {
5    ($(
6        $struct_ident:ident {
7            $(
8            $(# [ $attr:ident $( ( $tt:tt ) )* ])?
9            $ident:ident : $ty:ty ,
10            )*
11        }
12    )*) => {
13       $(
14           #[derive(Deserialize, Serialize, Debug, Clone)]
15           #[cfg_attr(feature = "web", derive(utopia::ToSchema))]
16           pub struct $struct_ident {
17               $(
18                $(#[$attr $( ($tt) )?])?
19                pub $ident: $ty,
20               )*
21           }
22       )*
23    };
24}
25
26def_cfg! {
27    Config {
28        team_number: u16,
29        ntables_ip: Option<String>,
30        rerun: Option<Rerun>,
31        cameras: Option<Vec<Camera>>,
32        device_name: Option<String>,
33        field_layouts: Option<HashMap<String, AprilTagFieldLayout>>,
34    }
35    Rerun {
36        server_address: Option<String>,
37    }
38    Camera {
39        id: String,
40        name: String,
41        settings: Option<CameraSettings>,
42        //#[serde(skip_deserializing)]
43        possible_settings: Option<Vec<CameraSettings>>,
44        subsystems: Subsystems,
45        calib: Option<serde_json::Value>,
46        auto_exposure: bool,
47        manual_exposure: Option<u32>,
48    }
49    CameraSettings {
50        width: u32,
51        height: u32,
52        frame_rate: CfgFraction,
53    }
54    CfgFraction {
55        num: u32,
56        den: u32,
57    }
58    Subsystems {
59        capriltags: CAprilTagsSubsys,
60        ml: MlSubsys,
61    }
62    CAprilTagsSubsys {
63        enabled: bool,
64        gamma: Option<f64>,
65        field_layout: Option<String>,
66    }
67    MlSubsys {
68        enabled: bool,
69    }
70}
71
72impl Config {
73    pub fn load(path: impl AsRef<Path>) -> Result<Self, Error> {
74        let mut f = File::open(path).map_err(|_| Error::FailedToReadConfig)?;
75        let mut buf = String::new();
76        f.read_to_string(&mut buf).unwrap();
77        toml::from_str(&buf).map_err(|_| Error::InvalidConfig)
78    }
79}
80
81#[derive(Deserialize, Serialize, Clone)]
82#[cfg_attr(feature = "web", derive(utopia::ToSchema))]
83#[serde(rename_all = "snake_case")]
84pub enum CameraKind {
85    PiCam,
86    Usb,
87}
chalkydri/config.rs

chalkydri/
config.rs
