Merge pull request #16 from Immortals-Robotics/config-visualization

Config visualization

source/common/config/config.cpp

@@ -1,5 +1,4 @@
 #include "config.h"
-
 namespace Tyr::Common
 {
 ConfigReader::ConfigReader(const std::string_view t_file_path)
@@ -17,4 +16,12 @@ void ConfigReader::load()
 
     m_table = std::move(config);
 }
+
+void ConfigReader::save(toml::table t_table)
+{
+    std::ofstream ofs(m_file_path.string());
+    ofs << t_table;
+    ofs.close();
+}
+
 } // namespace Tyr::Common

source/common/config/config.h

@@ -11,9 +11,11 @@ class ConfigReader
 
     [[nodiscard]] auto getRoot() const
     {
-        return static_cast<toml::node_view<const toml::node>>(m_table);
+        return m_table;
     }
 
+    void save(toml::table t_table);
+
 private:
     std::filesystem::path m_file_path;
 
@@ -26,6 +28,6 @@ struct IConfig
     ~IConfig() = default;
 
 public:
-    virtual void load(toml::node_view<const toml::node> t_node) = 0;
+    virtual void load(toml::table t_table) = 0;
 };
 } // namespace Tyr::Common

source/common/pch.h

@@ -14,6 +14,7 @@
 #include <span>
 #include <string_view>
 #include <vector>
+#include <fstream>
 
 #include <fmt/format.h>
 #include <spdlog/sinks/basic_file_sink.h>
@@ -43,3 +44,4 @@
 #include "math/helpers.h"
 #include "math/vector.h"
 #include "services.h"
+#

source/common/services.h

@@ -12,17 +12,22 @@ struct Services
     static void initialize()
     {
         s_logger = new Logger();
+        s_configReader = new ConfigReader("config.toml");
 
-        const ConfigReader config("config.toml");
         s_setting = new Setting();
-        s_setting->load(config.getRoot());
+        s_setting->load(s_configReader->getRoot());
 
         s_debug = new Debug(s_setting->debug_address, s_setting->enable_debug);
 
         s_global_timer = new Timer();
         s_global_timer->start();
     }
 
+    static void saveConfig()
+    {
+        s_configReader->save(s_setting->getConfigTable());
+    }
+
     static void shutdown()
     {
         delete s_setting;
@@ -31,7 +36,12 @@ struct Services
         delete s_logger;
     }
 
-    static const Setting &setting()
+    static ConfigReader &configReader()
+    {
+        return *s_configReader;
+    }
+
+    static Setting &setting()
     {
         return *s_setting;
     }
@@ -56,9 +66,15 @@ struct Services
     static inline Debug   *s_debug;
     static inline Logger  *s_logger;
     static inline Timer   *s_global_timer;
+    static inline ConfigReader *s_configReader;
 };
 
-static const Setting &setting()
+static ConfigReader &configReader()
+{
+    return Services::configReader();
+}
+
+static Setting &setting()
 {
     return Services::setting();
 }

source/common/setting.cpp

@@ -2,9 +2,10 @@
 
 namespace Tyr::Common
 {
-void Setting::load(const toml::node_view<const toml::node> t_node)
+void Setting::load(const toml::table t_table)
 {
-    const auto common = t_node["common"];
+    m_config_table           = t_table;
+    const auto common = t_table["common"];
 
     immortals_is_the_best_team = common["immortals_is_the_best_team"].value_or(immortals_is_the_best_team);
 
@@ -14,7 +15,7 @@ void Setting::load(const toml::node_view<const toml::node> t_node)
 
     enable_debug = common["enable_debug"].value_or(enable_debug);
 
-    const auto network = t_node["network"];
+    const auto network = t_table["network"];
 
     tracker_address.load(network["tracker"]);
     debug_address.load(network["debug"]);
@@ -39,7 +40,7 @@ void Setting::load(const toml::node_view<const toml::node> t_node)
     yellow_robot_simulation_address.load(network["yellow_robot_simulation"]);
 
     // vision
-    const auto vision = t_node["vision"];
+    const auto vision = t_table["vision"];
 
     if (auto *use_camera_array = vision["use_camera"].as_array())
     {
@@ -64,7 +65,7 @@ void Setting::load(const toml::node_view<const toml::node> t_node)
     use_kalman_ang = vision["use_kalman_ang"].value_or(use_kalman_ang);
 
     // soccer
-    const auto soccer = t_node["soccer"];
+    const auto soccer = t_table["soccer"];
 
     fillEnum(soccer["our_side"], our_side);
 
@@ -124,4 +125,44 @@ void Setting::load(const toml::node_view<const toml::node> t_node)
         }
     }
 }
+
+template <typename T>
+void Setting::updateSetting(const std::string &_settings_key, const T &_new_value)
+{
+    toml::node *node = m_config_table.at_path(_settings_key).node();
+    if (!node)
+    {
+        logError("Key not found {}", _settings_key);
+        return;
+    }
+    if constexpr (std::is_same<T, int>::value || std::is_same<T, int64_t>::value)
+    {
+        node->ref<toml::value<int64_t>>() = _new_value;
+    }
+    else if constexpr (std::is_same<T, double>::value)
+    {
+        node->ref<toml::value<double>>() = _new_value;
+    }
+    else if constexpr (std::is_same<T, bool>::value)
+    {
+        node->ref<toml::value<bool>>() = static_cast<int64_t>(_new_value);
+    }
+    else if constexpr (std::is_same<T, std::string>::value)
+    {
+        node->ref<toml::value<std::string>>() = _new_value;
+    }
+
+    load(m_config_table);
+}
+
+template void Setting::updateSetting<int>(const std::string &key, const int &value);
+template void Setting::updateSetting<double>(const std::string &key, const double &value);
+template void Setting::updateSetting<std::string>(const std::string &key, const std::string &value);
+template void Setting::updateSetting<bool>(const std::string &key, const bool &value);
+
+toml::table Setting::getConfigTable(void)
+{
+    return m_config_table;
+}
+
 } // namespace Tyr::Common

source/common/setting.h

@@ -21,14 +21,14 @@ enum class TeamSide
     Right = 1,
 };
 
-struct NetworkAddress final : public IConfig
+struct NetworkAddress
 {
     NetworkAddress() = default;
 
     NetworkAddress(const std::string_view ip, const unsigned short port) : ip(ip), port(port)
     {}
 
-    void load(toml::node_view<const toml::node> t_node) override
+    void load(toml::node_view<const toml::node> t_node)
     {
         ip   = t_node["ip"].value_or(ip);
         port = t_node["port"].value_or(port);
@@ -58,14 +58,18 @@ struct Setting : IConfig
     Setting()  = default;
     ~Setting() = default;
 
-    void load(toml::node_view<const toml::node> t_node) override;
-
+    void load(toml::table t_table) override;
+    toml::table m_config_table;
     friend struct Services;
 
 public:
     Setting(const Setting &)            = delete;
     Setting &operator=(const Setting &) = delete;
+
+    template<typename T>
+    void updateSetting(const std::string& _settings_key,const T& _new_value);
 
+    toml::table getConfigTable(void);
     static constexpr size_t kMaxUdpPacketSize = 1024 * 16; // TODO what should the size be really?
 
     // The variety of standard patterns that we can have is 16

source/gui/app.cpp

@@ -101,13 +101,13 @@ void Application::update()
         renderer->drawRobots(ssl_packet.detection().robots_blue(), Common::TeamColor::Blue);
         renderer->drawRobots(ssl_packet.detection().robots_yellow(), Common::TeamColor::Yellow);
         renderer->drawBalls(ssl_packet.detection().balls());
-        if (config_menu->IsNetworkDataUpdated() == NetworkInput::VisionPort ||
-            config_menu->IsNetworkDataUpdated() == NetworkInput::VisionIp)
+        if (config_menu->isNetworkDataUpdated() == InputCallbackType::VISION_PORT ||
+            config_menu->isNetworkDataUpdated() == InputCallbackType::VISION_IP)
         {
-            updated_address.ip = config_menu->GetNetworkParam(NetworkInput::VisionIp);
+            updated_address.ip = config_menu->getNetworkParam(InputCallbackType::VISION_IP);
             updated_address.port =
-                static_cast<unsigned short>(std::stoi(config_menu->GetNetworkParam(NetworkInput::VisionPort)));
-            config_menu->UpdateNetworkData();
+                static_cast<unsigned short>(std::stoi(config_menu->getNetworkParam(InputCallbackType::VISION_PORT)));
+            config_menu->updateNetworkData();
             udp_client->Update(updated_address);
         }
         vision_mutex.unlock();
@@ -117,7 +117,7 @@ void Application::update()
         ImGui::End();
     }
     // end ImGui Content
-    config_menu->Draw();
+    config_menu->draw();
 
     rlImGuiEnd();