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// =============================================================================
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// vtc_config.cpp —— 配置加载器实现（启动期一次性解析）
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//
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// 对应规格：docs/物理追踪思路.md §8（阈值集中配置化，NFR-007）。
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//
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// 实现要点：
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// - 仅在启动期调用一次：缺字段 / 类型错误 / 非法取值抛
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// std::runtime_error，异常消息携带完整字段名（如 "heading.gain"）；
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// - 热路径绝不触碰 JSON：解析结果拷贝进 TrackingConfig 后即释放；
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// - 本文件是全库唯一包含 nlohmann/json 的 TU。
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// =============================================================================
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#include "visual_track_control/vtc_config.h"
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#include <fstream>
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#include <stdexcept>
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#include <string>
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#include <nlohmann/json.hpp>
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namespace drone::vtc {
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namespace {
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using Json = nlohmann::json;
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/// 读取并解析 JSON 文件；失败抛异常并携带路径
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Json ParseConfigFile(const std::string& path) {
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std::ifstream ifs(path);
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if (!ifs) {
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throw std::runtime_error("配置文件打开失败: " + path);
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}
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try {
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return Json::parse(ifs);
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} catch (const std::exception& e) {
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throw std::runtime_error("配置文件解析失败: " + path + " (" + e.what() + ")");
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}
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}
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/// 取必需的对象分组；缺失或类型错抛异常
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const Json& RequireSection(const Json& root, const char* section) {
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const auto it = root.find(section);
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if (it == root.end() || !it->is_object()) {
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throw std::runtime_error(std::string("配置缺失分组或类型错误: ") + section);
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}
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return *it;
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}
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/// 取必需的数值字段；缺失/类型错抛异常并携带字段名
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double RequireNumber(const Json& section, const char* section_name, const char* key) {
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const auto it = section.find(key);
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if (it == section.end() || !it->is_number()) {
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throw std::runtime_error(std::string("配置缺失字段或类型错误: ") +
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section_name + "." + key);
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}
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return it->get<double>();
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}
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/// 取必需的整数字段
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std::int64_t RequireInteger(const Json& section, const char* section_name,
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const char* key) {
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const auto it = section.find(key);
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if (it == section.end() || !it->is_number_integer()) {
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throw std::runtime_error(std::string("配置缺失字段或类型错误(需整数): ") +
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section_name + "." + key);
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}
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return it->get<std::int64_t>();
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}
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/// 取必需的字符串字段
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std::string RequireString(const Json& section, const char* section_name,
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const char* key) {
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const auto it = section.find(key);
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if (it == section.end() || !it->is_string()) {
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throw std::runtime_error(std::string("配置缺失字段或类型错误(需字符串): ") +
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section_name + "." + key);
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}
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return it->get<std::string>();
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}
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/// 校验字段为正数；非法抛异常并携带字段名
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double RequirePositive(double value, const char* field_name) {
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if (!(value > 0.0)) {
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throw std::runtime_error(std::string("配置非法(必须为正): ") + field_name);
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}
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return value;
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}
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/// 校验字段为非负数
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double RequireNonNegative(double value, const char* field_name) {
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if (value < 0.0) {
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throw std::runtime_error(std::string("配置非法(不得为负): ") + field_name);
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}
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return value;
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}
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/// 校验字段在开区间 (lo, hi)
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double RequireRange(double value, double lo, double hi, const char* field_name) {
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if (!(value > lo && value < hi)) {
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throw std::runtime_error(std::string("配置非法(超出范围): ") + field_name);
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}
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return value;
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}
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ControlGroupConfig LoadControl(const Json& root) {
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const Json& s = RequireSection(root, "control");
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ControlGroupConfig c;
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c.frequency_hz = RequirePositive(RequireNumber(s, "control", "frequency_hz"),
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"control.frequency_hz");
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c.visual_stale_ms = RequireInteger(s, "control", "visual_stale_ms");
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c.radar_stale_ms = RequireInteger(s, "control", "radar_stale_ms");
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c.attitude_stale_ms = RequireInteger(s, "control", "attitude_stale_ms");
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if (c.visual_stale_ms <= 0 || c.radar_stale_ms <= 0 || c.attitude_stale_ms <= 0) {
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throw std::runtime_error("配置非法: control.*_stale_ms 必须为正");
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}
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return c;
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}
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CameraGroupConfig LoadCamera(const Json& root) {
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const Json& s = RequireSection(root, "camera");
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CameraGroupConfig c;
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c.image_width = static_cast<int>(
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RequirePositive(RequireInteger(s, "camera", "image_width"), "camera.image_width"));
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c.image_height = static_cast<int>(
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RequirePositive(RequireInteger(s, "camera", "image_height"), "camera.image_height"));
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c.fov_h_deg = RequireRange(RequireNumber(s, "camera", "fov_h_deg"), 0.0, 180.0,
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"camera.fov_h_deg");
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c.fov_v_deg = RequireRange(RequireNumber(s, "camera", "fov_v_deg"), 0.0, 180.0,
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"camera.fov_v_deg");
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return c;
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}
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HeadingGroupConfig LoadHeading(const Json& root) {
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const Json& s = RequireSection(root, "heading");
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HeadingGroupConfig h;
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const std::string mode = RequireString(s, "heading", "mode");
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if (mode == "position") {
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h.mode = HeadingMode::kPosition;
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} else if (mode == "rate") {
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h.mode = HeadingMode::kRate;
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} else {
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throw std::runtime_error("配置非法: heading.mode 仅支持 position / rate");
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}
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h.gain = RequireNonNegative(RequireNumber(s, "heading", "gain"), "heading.gain");
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h.yaw_rate_limit_dps = RequirePositive(
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RequireNumber(s, "heading", "yaw_rate_limit_dps"), "heading.yaw_rate_limit_dps");
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h.yaw_slew_limit_dps2 = RequirePositive(
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RequireNumber(s, "heading", "yaw_slew_limit_dps2"), "heading.yaw_slew_limit_dps2");
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return h;
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}
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VerticalGroupConfig LoadVertical(const Json& root) {
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const Json& s = RequireSection(root, "vertical");
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VerticalGroupConfig v;
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v.vz_gain_mps_per_deg = RequireNonNegative(
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RequireNumber(s, "vertical", "vz_gain_mps_per_deg"), "vertical.vz_gain_mps_per_deg");
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v.vz_limit_mps = RequirePositive(RequireNumber(s, "vertical", "vz_limit_mps"),
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"vertical.vz_limit_mps");
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return v;
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}
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DistanceGroupConfig LoadDistance(const Json& root) {
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const Json& s = RequireSection(root, "distance");
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DistanceGroupConfig d;
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d.d_exp_m = RequirePositive(RequireNumber(s, "distance", "d_exp_m"), "distance.d_exp_m");
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d.kp = RequireNonNegative(RequireNumber(s, "distance", "kp"), "distance.kp");
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d.ki = RequireNonNegative(RequireNumber(s, "distance", "ki"), "distance.ki");
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d.kd = RequireNonNegative(RequireNumber(s, "distance", "kd"), "distance.kd");
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d.integral_limit = RequireNonNegative(RequireNumber(s, "distance", "integral_limit"),
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"distance.integral_limit");
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d.derivative_filter_coef = RequireRange(
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RequireNumber(s, "distance", "derivative_filter_coef"), -0.000001, 1.0,
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"distance.derivative_filter_coef");
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if (d.derivative_filter_coef < 0.0) {
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d.derivative_filter_coef = 0.0; // 容许 -0.0
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}
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d.approach_velocity_limit_mps = RequirePositive(
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RequireNumber(s, "distance", "approach_velocity_limit_mps"),
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"distance.approach_velocity_limit_mps");
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d.retreat_velocity_limit_mps = RequirePositive(
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RequireNumber(s, "distance", "retreat_velocity_limit_mps"),
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"distance.retreat_velocity_limit_mps");
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const std::string action = RequireString(s, "distance", "no_distance_action");
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if (action == "hold") {
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d.no_distance_action = NoDistanceAction::kHold;
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} else if (action == "slow_approach") {
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d.no_distance_action = NoDistanceAction::kSlowApproach;
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} else if (action == "exit") {
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d.no_distance_action = NoDistanceAction::kExit;
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} else {
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throw std::runtime_error(
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"配置非法: distance.no_distance_action 仅支持 hold / slow_approach / exit");
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}
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d.no_distance_approach_limit_mps = RequireNonNegative(
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RequireNumber(s, "distance", "no_distance_approach_limit_mps"),
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"distance.no_distance_approach_limit_mps");
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return d;
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}
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AccelLimitConfig LoadAccelLimit(const Json& root) {
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const Json& s = RequireSection(root, "accel_limit");
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AccelLimitConfig a;
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a.ax_mps2 = RequirePositive(RequireNumber(s, "accel_limit", "ax_mps2"),
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"accel_limit.ax_mps2");
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a.ay_mps2 = RequirePositive(RequireNumber(s, "accel_limit", "ay_mps2"),
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"accel_limit.ay_mps2");
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a.az_mps2 = RequirePositive(RequireNumber(s, "accel_limit", "az_mps2"),
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"accel_limit.az_mps2");
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return a;
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}
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} // namespace
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TrackingConfig TrackingConfig::LoadFromJson(const std::string& path) {
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const Json root = ParseConfigFile(path);
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TrackingConfig cfg;
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cfg.control = LoadControl(root);
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cfg.camera = LoadCamera(root);
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cfg.heading = LoadHeading(root);
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cfg.vertical = LoadVertical(root);
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cfg.distance = LoadDistance(root);
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cfg.accel_limit = LoadAccelLimit(root);
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return cfg;
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}
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} // namespace drone::vtc
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