feat: read config.toml in hmi

pixi.toml

@@ -44,7 +44,8 @@ c-compiler = "*"
 cxx-compiler = "*"
 pkg-config = "*"
 qt-main = "*"
-nlohmann_json = "*"
+nlohmann_json = "3.11.3.*"
+tomlplusplus = "3.3.0.*"
 rust = ">=1.96.0,<1.97"
 
 # ─── Workspace tasks ────────────────────────────────────────────────────────────

ros2_ws/src/mobile_manipulator_hmi/CMakeLists.txt

@@ -69,20 +69,19 @@ find_package(rai_interfaces REQUIRED)               # custom Utilization message
 # add source directory to include path
 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 
-# --- nlohmann/json dependency ---
-include(FetchContent)
-FetchContent_Declare(
-        json
-        GIT_REPOSITORY https://github.com/nlohmann/json.git
-        GIT_TAG v3.11.3 # or latest
-)
-FetchContent_MakeAvailable(json)
+# --- nlohmann/json dependency (from conda-forge) ---
+find_package(nlohmann_json REQUIRED)
+
+# --- toml++ dependency (config.toml parsing, from conda-forge) ---
+find_package(tomlplusplus REQUIRED)
 
 set(PROJECT_SOURCES
         main.cpp
         ZoomableGraphicsView.h
         ZoomableGraphicsView.cpp
         Config.h
+        ModelConfig.h
+        ModelConfig.cpp
         LogItemWidget.h
         LogItemWidget.cpp
         LogView.h
@@ -127,6 +126,7 @@ target_link_libraries(MobileManipulatorHMI PRIVATE
         cv_bridge::cv_bridge
         ${OpenCV_LIBS}           # OpenCV provides targets like OpenCV::Core, but ${OpenCV_LIBS} is usually set
         nlohmann_json::nlohmann_json
+        tomlplusplus::tomlplusplus
 )
 
 # Install targets

ros2_ws/src/mobile_manipulator_hmi/Config.h

@@ -52,8 +52,6 @@ namespace HardcodedConfig {
     const static char UserPromptTopic[] = "/user_tasks";
     const static char OrchestratorHeartbeat[] = "/orchestrator/heartbeat"; // TODO: Get actual topic names
                                                                            //
-    const static QString SelectedLLMModel = "gpt-oss-20B";
-    const static QString SelectedVLMModel = "LFM2-VL-3B | Gemma4-4B";
     const static char VLMTopic[] = "/vlm_topic";
     const static char EmergencyStopTopic[] = "/emergency_stop";
 

ros2_ws/src/mobile_manipulator_hmi/ModelConfig.cpp

@@ -0,0 +1,72 @@
+// Copyright (C) 2026 Advanced Micro Devices, Inc.
+// Developed by Robotec.ai sp. z o.o.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//         http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "ModelConfig.h"
+
+#include <QStringList>
+#include <toml++/toml.h>
+
+QString defaultModelConfigPath()
+{
+    const QString demoRoot = qEnvironmentVariable("DEMO_ROOT");
+    if (!demoRoot.isEmpty()) {
+        return demoRoot + "/config.toml";
+    }
+    return QStringLiteral("config.toml");
+}
+
+ModelNames loadModelNames(const QString &configPath)
+{
+    ModelNames names{QStringLiteral("unknown"), QStringLiteral("unknown")};
+
+    toml::table config;
+    try {
+        config = toml::parse_file(configPath.toStdString());
+    } catch (const std::exception &) {
+        return names;
+    }
+
+    const toml::table *endpoints = config["endpoints"].as_table();
+    if (!endpoints) {
+        return names;
+    }
+
+    // LLM: the endpoint referenced by [general].llm
+    if (auto llmRef = config["general"]["llm"].value<std::string>()) {
+        if (auto model = (*endpoints)[*llmRef]["model"].value<std::string>()) {
+            names.llm = QString::fromStdString(*model);
+        }
+    }
+
+    // VLM: every distinct model served by an endpoint of type "vlm"
+    QStringList vlmModels;
+    for (const auto &[endpointName, node] : *endpoints) {
+        const toml::table *endpoint = node.as_table();
+        if (!endpoint || (*endpoint)["type"].value_or(std::string{}) != "vlm") {
+            continue;
+        }
+        if (auto model = (*endpoint)["model"].value<std::string>()) {
+            const QString modelName = QString::fromStdString(*model);
+            if (!vlmModels.contains(modelName)) {
+                vlmModels << modelName;
+            }
+        }
+    }
+    if (!vlmModels.isEmpty()) {
+        names.vlm = vlmModels.join(QStringLiteral(" | "));
+    }
+
+    return names;
+}

ros2_ws/src/mobile_manipulator_hmi/ModelConfig.h

@@ -0,0 +1,31 @@
+// Copyright (C) 2026 Advanced Micro Devices, Inc.
+// Developed by Robotec.ai sp. z o.o.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//         http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <QString>
+
+struct ModelNames {
+    QString llm;
+    QString vlm;
+};
+
+// $DEMO_ROOT/config.toml when DEMO_ROOT is set, otherwise ./config.toml
+// (which may be a symlink placed next to the HMI's working directory).
+QString defaultModelConfigPath();
+
+// Reads the inference SSOT (config.toml) and returns the model names to
+// display. Never throws: a missing or malformed file yields "unknown".
+ModelNames loadModelNames(const QString &configPath);

ros2_ws/src/mobile_manipulator_hmi/hmiWindow.cpp

@@ -26,6 +26,7 @@
 #include <QTransform>
 #include <QTime>
 #include "LogView.h"
+#include "ModelConfig.h"
 #include "ParseRaiData.h"
 
 QString HRIMessageToString(const ParseRaiData::HRIMessage& msg)
@@ -273,8 +274,9 @@ HMIWindow::HMIWindow(QWidget *parent)
     ui->graphicsViewMap->setDragMode(QGraphicsView::RubberBandDrag);
     ui->graphicsViewMap->setRenderHint(QPainter::Antialiasing);
     ui->graphicsViewMap->setTransformationAnchor(QGraphicsView::AnchorUnderMouse);
-    ui->llm_text_field->setText(HardcodedConfig::SelectedLLMModel);
-    ui->vlm_text_field->setText(HardcodedConfig::SelectedVLMModel);
+    const ModelNames models = loadModelNames(defaultModelConfigPath());
+    ui->llm_text_field->setText(models.llm);
+    ui->vlm_text_field->setText(models.vlm);
 
     logView_  = new LogView(this);
     queueView_  = new LogView(this);