Integrate CAN-aware CMS risk pipeline and relocatable Orin runtime

src/config.cpp

@@ -1,24 +0,0 @@
-#include "config.hpp"
-#include "door_risk.hpp"
-#include <fstream>
-#include <stdexcept>
-
-namespace cms {
-PipelineConfig loadConfig(std::filesystem::path const& path) {
-    std::ifstream file(path);
-    if(!file)throw std::runtime_error("Cannot read configuration: "+path.string());
-    auto j=Json::parse(file);PipelineConfig config;
-    auto const& camera=j.at("camera");
-    config.camera.device=camera.at("device");config.camera.width=camera.at("width");
-    config.camera.height=camera.at("height");config.camera.fps=camera.at("fps");
-    config.camera.buffers=camera.at("buffers");config.camera.timeout_ms=camera.at("timeout_ms");
-    auto resolve=[&](std::string const& value){auto p=std::filesystem::path(value);return std::filesystem::absolute(p.is_absolute()?p:path.parent_path()/p);};
-    auto const& inference=j.at("inference");
-    config.engines=resolve(inference.at("engine_directory"));config.max_people=inference.at("max_people");
-    config.detector_confidence=inference.at("detector_confidence");config.queue_capacity=inference.at("queue_capacity");
-    auto const& door=j.at("door");config.door_mask=resolve(door.at("mask"));
-    config.warning_relative=door.at("warning_relative");config.release_relative=door.at("release_relative");
-    config.door_mask_calibration_verified=door.at("calibration_verified");
-    return config;
-}
-}