config.h

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#ifndef __CONFIG_H
#define __CONFIG_H

/* -- Includes -- */
/* system libraries */

/* project libraries */


/* -- Types -- */


typedef struct s_CONFIG_STRUCT
{
    // serialport
    char serialport_rfid_port_path[256];
    char serialport_openinterface_port_path[256];

    // enviroment
    char enviroment_room_def_path[256];
    char enviroment_tags_def_path[256];

    // particle filter
    int pf_particles_num; // Number of particles
    int pf_noise_move; // Error created during forward or backward motion (mm)
    int pf_noise_turn; // Error created during turning (degrees)
    int pf_noise_tag; // Error of tag read (mm)
    int pf_noise_wall; // Error of wall read (mm)

    // robot
    int robot_id;
    int robot_team;
    int robot_radius;
    int robot_init_x;
    int robot_init_y;
    int robot_init_angle;
    int robot_speed;

    // pheromones
    int pheromone_width;
    int pheromone_lifetime;
    int pheromone_pheromone_radius;
    int pheromone_eval_radius;
    int pheromone_eval_dist;
    int pheromone_sector_max_size;

    // UDP
    int udp_port;
    int udp_packet_size;
    char udp_broadcast_ip[16];

    // scenario
    int scenario_victims_max;
    int scenario_victims_num;

    // network
    int network_bitrate; // Network bit-rate
    int network_tdma_slot_num; // Number of slots in TDMA period
    int network_tdma_period; // TDMA period length in milliseconds


} config_t;



/* -- Defines -- */

/* RFID */
#define s_CONFIG_RFID_SENSE_RADIUS          50
#define s_CONFIG_RFID_EMPTY_TAG             "0000000000\0"
/* PHEROMONE */
#define s_CONFIG_PHEROMONE_SECTOR_MAX_SIZE  200
/* VICTIM */
#define s_CONFIG_VICTIM_MAX_COUNT           10
/* STREAM */
#define s_CONFIG_STREAM_SIZE                20
#define s_CONFIG_STREAM_RATE                20 // How many packets in a second
/* GO AHEAD */
#define s_CONFIG_GO_AHEAD_TIME              2000 // Time in ms how long "go ahead" msg is valid
/* ALLOWED OPENINTERFACE REQUEST PERIOD */
#define s_CONFIG_OI_REQUEST_PERIOD          300 // Allowed period between requests
/* ACCURACY LIMIT */
#define s_CONFIG_ACCURACY_LIMIT             30


/* PARTICLE FILTER */
#define s_CONFIG_PF_DISTANCE_UNCERTANITY    200
#define s_CONFIG_PF_ANGLE_UNCERTANITY       10

/* DEBUG */
//#define s_CONFIG_OUTPUT_ENABLE            1
//#define s_CONFIG_TEST_ENABLE              1
//#define s_CONFIG_DEBUG_ENABLE             1



 /* DEFAULT CONFIGURATION */

// -- Serial port --
#define S_CONFIG_DEFAULT_SERIALPORT_RFID_PORT_PATH              "/dev/ttyUSB0"
#define s_CONFIG_DEFAULT_SERIALPORT_OPENINTERFACE_PORT_PATH     "/dev/ttyUSB1"

// -- Environment --
#define s_CONFIG_DEFAULT_ENVIRONMENT_ROOM_DEF_PATH              "./res/large_room.dat"
#define s_CONFIG_DEFAULT_ENVIRONMENT_TAGS_DEF_PATH              "./res/large_tags.dat"

// -- Particle filter --
#define s_CONFIG_DEFAULT_PF_PARTICLES_NUM                       1000
#define s_CONFIG_DEFAULT_PF_NOISE_MOVE                          20
#define s_CONFIG_DEFAULT_PF_NOISE_TURN                          6
#define s_CONFIG_DEFAULT_PF_NOISE_TAG                           80
#define s_CONFIG_DEFAULT_PF_NOISE_WALL                          1

// -- Robot --
#define s_CONFIG_DEFAULT_ROBOT_ID                               1
#define s_CONFIG_DEFAULT_ROBOT_TEAM                             1
#define s_CONFIG_DEFAULT_ROBOT_RADIUS                           160
#define s_CONFIG_DEFAULT_ROBOT_INIT_X                           160
#define s_CONFIG_DEFAULT_ROBOT_INIT_Y                           160
#define s_CONFIG_DEFAULT_ROBOT_INIT_ANGLE                       0
#define s_CONFIG_DEFAULT_ROBOT_SPEED                            300

// -- Pheromone --
#define s_CONFIG_DEFAULT_PHEROMONE_WIDTH                        100
#define s_CONFIG_DEFAULT_PHEROMONE_LIFETIME                     1
#define s_CONFIG_DEFAULT_PHEROMONE_PHEROMONE_RADIUS             100
#define s_CONFIG_DEFAULT_PHEROMONE_EVAL_RADIUS                  300
#define s_CONFIG_DEFAULT_PHEROMONE_EVAL_DIST                    400
#define s_CONFIG_DEFAULT_PHEROMONE_SECTOR_MAX_SIZE              100

// -- UDP --
#define s_CONFIG_DEFAULT_UDP_BROADCAST_IP                       "255.255.255.255"
#define s_CONFIG_DEFAULT_UDP_PORT                               454545
#define s_CONFIG_DEFAULT_UDP_PACKET_SIZE                        512

// -- Network --
#define s_CONFIG_DEFAULT_NETWORK_BITRATE                        153600
#define s_CONFIG_DEFAULT_NETWORK_TDMA_SLOT_NUM                  8
#define s_CONFIG_DEFAULT_NETWORK_TDMA_PERIOD                    1000

/* -- Shared Variables -- */
extern config_t g_config;

/* -- Function Prototypes -- */
void config_load(void);

#endif /* __CONFIG_H */