Port complete CAN-aware risk pipeline to C++

src/config.cpp

@@ -0,0 +1,29 @@
+#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");
+    config.door_zone_config=resolve(door.at("zone_config"));
+    if(j.contains("can")) {
+        auto const& can=j.at("can");config.can_enabled=can.value("enabled",true);
+        config.can_side=can.value("side",std::string("left"));config.can_timeout_ms=can.value("timeout_ms",1000.0);
+    }
+    return config;
+}
+}