#pragma once
#include "../src/main.h"
#include "json.hpp"
#include <cmath>
#include <fstream>
#include <iostream>using namespace std;
class ValueConfig {
private:
public:
struct Params {
// 丢线场计数
int out_count = 10;
// 短直道场计数
int short_count = 3;
// 急减速场计数
int slow_count = 30;
// 加速场计数
int fast_count = 30;
// speed_debug = true时，所有速度均为speed_normal设置的速度
bool speed_debug = false;
// 速度
int speed_bridge = 20;
int speed_danger = 10;
int speed_parking = 10;
int speed_racing = 20;
int speed_rescue = 10;
int speed_normal = 38;
int speed_fast = 38;
int speed_slow = 30;
int speed_slowest = speed_slow - 15;
int speed_add = 40;
// 圆环速度
int speed_circle_begin = 26;
int speed_circle_min = 25;
int speed_circle_runningl_s = speed_circle_min;
int speed_circle_runningl_m = speed_circle_min + 2;
int speed_circle_runningl_l = speed_circle_min + 4;
int speed_circle_runningr_s = speed_circle_min;
int speed_circle_runningr_m = speed_circle_min + 2;
int speed_circle_runningr_l = speed_circle_min + 4;
// 偏差速度控制值abs(4500 - midAdd) > BIAS_SPEED_LIMIT后进入慢速控制
int bias_speed_limit = 150;
// 逆透视半径计算瞄点
int LR_num1 = 8;
int LR_num2 = 16;
int LR_num3 = 24;
int RR_num1 = 8;
int RR_num2 = 16;
int RR_num3 = 24;
int LR_F_num1 = 24;
int LR_F_num2 = 34;
int LR_F_num3 = 44;
int RR_F_num1 = 24;
int RR_F_num2 = 34;
int RR_F_num3 = 44;
double aim_distance = 0.62;
double servo_pid_P1 = 1.7; // 一阶比例系数：直线控制量
double servo_pid_P2 = 0.1; // 二阶比例系数：弯道控制量
double servo_pid_f = 0.1; // 前馈系数
double servo_pid_D = 0; // 一阶比例系数：转弯控制量
double servo_pid_k1 = 2.25;
double servo_pid_k2 = 1.34;
double servo_pid_k3 = 3;
bool ai_debug = false; // AI图像显示使能
bool bi_debug = false; // 二值化图像显示使能
bool track_debug = false; // 赛道线图像显示使能
bool nts_debug = false; // 逆透视图像显示使能
bool saveImage = false; // 存图使能
float disGarageEntry = 0.7; // 车库入库距离(斑马线Image占比)
float cone_score = 0.6;
float bomb_score = 0.6;
float block_score = 0.6;
float bridge_score = 0.6;
float crosswalk_score = 0.6;
float people_score = 0.6;
float car_score = 0.75;
char BLOCK_POI = 'L'; // 黑块位置（L / l 左 ， R / r 右）
float L_MID_L = 154;
float L_MID_R = 179;
float L_BLOCK_MID_L = 158;
float L_BLOCK_MID_R = 166;
int L_BOMB_Y_TOP = 15; // 爆炸物录入起始行
int L_CONE_Y_TOP = 67; // 锥桶录入起始行
int L_CONE_Y_DOWN = 207; // 锥桶录入终止行
float R_MID_L = 150;
float R_MID_R = 170.1;
float R_BLOCK_MID_L = 158;
float R_BLOCK_MID_R = 166;
int R_BOMB_Y_TOP = 15; // 爆炸物录入起始行
int R_CONE_Y_TOP = 67; // 锥桶录入起始行
int R_CONE_Y_DOWN = 207; // 锥桶录入终止行
bool it_AI = true; // AI区域使能
bool it_RESCUE = true; // 救援区使能
bool it_RACING = true; // 追逐区使能
bool it_DANGER = true; // 危险区使能
bool it_BRIDGE = true; // 桥使能
NLOHMANN_DEFINE_TYPE_INTRUSIVE(
Params,
out_count, short_count, slow_count,fast_count,
speed_debug,
speed_bridge, speed_danger, speed_parking, speed_racing, speed_rescue,
speed_normal, speed_fast, speed_slow, speed_slowest, speed_add,
speed_circle_begin, speed_circle_min,
speed_circle_runningl_s, speed_circle_runningl_m, speed_circle_runningl_l,
speed_circle_runningr_s, speed_circle_runningr_m, speed_circle_runningr_l,
bias_speed_limit,
aim_distance,
servo_pid_P1, servo_pid_P2, servo_pid_f, servo_pid_D, //servo_pid_k1, servo_pid_k2, servo_pid_k3,
ai_debug, bi_debug, track_debug, nts_debug, saveImage,
disGarageEntry,
cone_score,bomb_score,block_score,bridge_score,crosswalk_score,people_score,car_score,
BLOCK_POI,
L_MID_L, L_MID_R, L_BLOCK_MID_L, L_BLOCK_MID_R, L_BOMB_Y_TOP, L_CONE_Y_TOP, L_CONE_Y_DOWN,
R_MID_L, R_MID_R, R_BLOCK_MID_L, R_BLOCK_MID_R, R_BOMB_Y_TOP, R_CONE_Y_TOP, R_CONE_Y_DOWN,
it_AI, it_RESCUE, it_RACING, it_DANGER, it_BRIDGE); // 添加构造函数
};
Params params; // 读取控制参数
/**
* @brief 加载配置参数Json
*/
ValueConfig() {
string jsonPath = "../src/config/value_config.json";
std::ifstream config_is(jsonPath);
if (!config_is.good()) {
std::cout << "Error: Params file path:[" << jsonPath << "] not find .\n";
exit(-1);
}
nlohmann::json js_value;
config_is >> js_value;
try {
params = js_value.get<Params>();
} catch (const nlohmann::detail::exception &e) {
std::cerr << "Json Params Parse failed :" << e.what() << '\n';
exit(-1);
}
cout <<"--- out_count: " << params.out_count << endl
<< " | short_count: " << params.short_count << endl
<< " | slow_count: " << params.slow_count << endl;
cout <<"--- speed_debug: " << (params.speed_debug ? "true" : "false") << endl;
cout <<"--- speed_normal: " << params.speed_normal << endl;
printf("cone_score : %.2f\t", params.cone_score);
printf("bomb_score : %.2f\t", params.bomb_score);
printf("block_score : %.2f\t", params.block_score);
printf("bridge_score : %.2f\t", params.bridge_score);
printf("crosswalk_score : %.2f\n", params.crosswalk_score);
printf("rescue_score : %.2f\n", params.people_score);
printf("car_score : %.2f\n", params.car_score);
}
};
