Test/linux-devkit/sysroots/armv7ahf-neon-linux-gnueabi/usr/include/voxel-0.6.8/Configuration.h

/*
 * TI Voxel Lib component.
 *
 * Copyright (c) 2014 Texas Instruments Inc.
 */

#ifndef VOXEL_CONFIGURATION_H
#define VOXEL_CONFIGURATION_H

#include "Common.h"
#include "Serializable.h"
#include "DataPacket.h"
#include "HardwareSerializer.h"

#define FILE_PREFIX "file:"

#define CALIB_DISABLE "calib_disable"

namespace Voxel
{

/**
 * \ingroup Util
 */

struct SDKVersion
{
  uint8_t major, minor, patch, abi, conf;
};

class VOXEL_EXPORT Configuration
{
protected:
  struct _Path
  {
    String installPath;
    String environmentVariable;
  };
  
  String _sdkPath;
  String _sdkVersion;
  
  Vector<String> _pathKeys;
  Vector<String> _pathValues;
  
  static const Map<String, _Path> _pathTypes;
  
  bool _getPaths(const String &type, Vector<String> &paths);
  
  bool _get(const String &type, String &name);

  static bool _addPath(const String &type, const String &path);
  
public:
  static SDKVersion getSDKVersion();
  
  Configuration();
  
  inline bool getFirmwarePaths(Vector<String> &paths) { return _getPaths("fw", paths); }
  inline bool getConfPaths(Vector<String> &paths) { return _getPaths("conf", paths); }
  inline bool getLibPaths(Vector<String> &paths) { return _getPaths("lib", paths); }

  inline static bool addFirmwarePath(const String &path) { return _addPath("fw", path); }
  inline static bool addConfPath(const String &path) { return _addPath("conf", path); }
  inline static bool addLibPath(const String &path) { return _addPath("lib", path); }
  static bool addPathToEnvironmentVariable(const String &environmentVariable, const String &path, bool prepend = true);
  
  inline static bool getEnvironmentVariable(const String &environmentVariable, String &value)
  {
    char *p = getenv(environmentVariable.c_str());
    if(p) { value = p; return true; }
    return false;
  }
  
  static bool setEnvironmentVariable(const String &environmentVariable, const String &value);
  
  inline static bool setSDKPath(const String &path) { return setEnvironmentVariable("VOXEL_SDK_PATH", path); }
  inline static bool getSDKPath(String &path) { return getEnvironmentVariable("VOXEL_SDK_PATH", path); }
  
  bool getLocalPath(const String &type, String &path);
  inline bool getLocalFirmwarePath(String &path) { return getLocalPath("fw", path); }
  inline bool getLocalConfPath(String &path) { return getLocalPath("conf", path); }
  inline bool getLocalLibPath(String &path) { return getLocalPath("lib", path); }
  
  bool getLocalFile(const String &type, String &fileName);
  inline bool getLocalFirmwareFile(String &fileName) { return getLocalFile("fw", fileName); }
  inline bool getLocalConfFile(String &fileName) { return getLocalFile("conf", fileName); }
  inline bool getLocalLibFile(String &fileName) { return getLocalFile("lib", fileName); }
  
  /// Updates "name" to full path
  inline bool getConfFile(String &fileName) { return _get("conf", fileName); }
  inline bool getFirmwareFile(String &fileName) { return _get("fw", fileName); }
  inline bool geLibFile(String &fileName) { return _get("lib", fileName); }
  
};

class ConfigurationFile;

class VOXEL_EXPORT ConfigSet
{
protected:
  bool _get(const String &name, String &value) const;
  bool _set(const String &name, const String &value);
  
public:
  Map<String, String> params;
  Vector<String> paramNames;
  
  bool remove(const String &name);
  
  bool isEmpty() { return params.size() == 0; }
  
  bool isPresent(const String &name) const;
  String get(const String &name) const;
  int getInteger(const String &name) const;
  float getFloat(const String &name) const;
  bool getBoolean(const String &name) const;
  
  bool set(const String &name, const String &value);
  bool setInteger(const String &name, int value);
  bool setFloat(const String &name, float value);
  bool setBoolean(const String &name, bool value);
  
  friend class ConfigurationFile;
};

struct ConfigDataPacket: public DataPacket
{
  enum PacketType
  {
    PACKET_CONFIG = 0,
    PACKET_2D_DATA_FILE = 1
  };
  
  ConfigDataPacket(): DataPacket() {}
};

class MainConfigurationFile;

class VOXEL_EXPORT ConfigurationFile
{
protected:
  bool _get(const String &section, const String &name, String &value) const;
  bool _set(const String &section, const String &name, const String &value);
  
  String _fileName;
  
  Map<String, Vector<ByteType>> _dataFiles;
  
  MainConfigurationFile *_mainConfigurationFile;
  
  int _id, _parentID;
  String _profileName;
  
  mutable Mutex _mutex;
  
  bool _serializeAllDataFiles(OutputStream &out);
  bool _saveAllDataFiles(const String &prefix);
  
  template <typename T>
  bool _getData(const String &fileName, Vector<T> &data);
  
  template <typename T>
  bool _setData(const String &fileName, const Vector<T> &data);  
  
  bool _copyFromParentIfNotPresent(ConfigurationFile *other, bool recurse = true);

public:
  typedef Map<String, ConfigSet> ConfigSetMap;
  
  enum Location
  {
    IN_HOST = 0,
    IN_CAMERA = 1
  };
  
protected:
  Location _location;
  
public:
  ConfigSetMap configs;
  
  inline Location getLocation() const { return _location; }
  inline int getID() const { return _id; }
  inline int getParentID() const { return _parentID; }
  inline const String &getProfileName() const { return _profileName; }
  
  virtual bool isPresent(const String &section, const String &name, bool includeParent = true) const;
  virtual String get(const String &section, const String &name) const;
  
  inline void setProfileName(const String &name) { _profileName = name; set("global", "name", name); }
  inline void setID(const int id) { _id = id; setInteger("global", "id", id); }
  inline void setParentID(const int id) { _parentID = id; setInteger("global", "parent", id); }
  
  template <typename T>
  bool getFile(const String &section, const String &name, String &fileName, Vector<T> &data);
  
  int getInteger(const String &section, const String &name) const;
  float getFloat(const String &section, const String &name) const;
  bool getBoolean(const String &section, const String &name) const;
  
  virtual bool set(const String &section, const String &name, const String &value);
  
  template <typename T>
  bool setFile(const String &section, const String &name, const String &fileName, const Vector<T> &data);
  
  bool setInteger(const String &section, const String &name, int value);
  bool setFloat(const String &section, const String &name, float value);
  bool setBoolean(const String &section, const String &name, bool value);
  
  bool remove(const String &section, const String &name);
  bool removeSection(const String &section);
  
  virtual bool getConfigSet(const String &section, const ConfigSet *&configSet, bool includeParent = true) const;
  
  virtual bool read(const String &configFile);
  virtual bool read(InputStream &in);
  
  virtual bool write(const String &configFile = "");
  virtual bool write(OutputStream &out);
  
  bool isValidCameraProfile();
  
  virtual bool removeFile();
  
  inline void clear() { Lock<Mutex> _(_mutex); configs.clear(); }
  
  inline const String &getConfigFileName() { return _fileName; }
  
  ConfigurationFile(): ConfigurationFile(0) {}
  ConfigurationFile(MainConfigurationFile *mainConfigurationFile): 
  _mainConfigurationFile(mainConfigurationFile), _id(-1), _parentID(-1), _location(IN_HOST) {}
  
  ConfigurationFile(const ConfigurationFile &other)
  {
    operator =(other);
  }
  
  inline ConfigurationFile &operator =(const ConfigurationFile &other) 
  { 
    configs = other.configs; 
    _fileName = other._fileName;
    _mainConfigurationFile = other._mainConfigurationFile;
    _id = other._id;
    _profileName = other._profileName;
    _parentID = other._parentID;
    _location = other._location;
    _dataFiles = other._dataFiles;
    return *this;
  }
  
  inline bool mergeParentConfiguration()
  {
    return _copyFromParentIfNotPresent(this);
  }
  
  inline ConfigurationFile &copy(const ConfigurationFile &other)
  {
    return operator =(other);
  }
  
  virtual ~ConfigurationFile() {}
  
  friend class MainConfigurationFile;
};

template <typename T>
bool ConfigurationFile::getFile(const String &section, const String &name, String &fileName, Vector<T> &data)
{
  String v = get(section, name);
  
  if(v.compare(0, sizeof(FILE_PREFIX) - 1, FILE_PREFIX) != 0 || v.size() <= sizeof(FILE_PREFIX) - 1)
  {
    logger(LOG_ERROR) << "ConfigurationFile: section = " << section << ", name = " << name << ", is not a file type." << std::endl;
    return false;
  }
  
  fileName = v.substr(sizeof(FILE_PREFIX) - 1);
  
  return _getData(fileName, data);
}

template <typename T>
bool ConfigurationFile::setFile(const String &section, const String &name, const String &fileName, const Vector<T> &data)
{
  return _setData(fileName, data) && set(section, name, "file:" + fileName);
}

template <typename T>
bool ConfigurationFile::_setData(const String &fileName, const Vector<T> &data)
{
  Configuration c;
  
  String f = fileName;
  if(!c.getLocalConfFile(f))
  {
    logger(LOG_ERROR) << "ConfigurationFile: Failed to locate file '" << fileName << "'" << std::endl;
    return false;
  }
  
  OutputFileStream fs(f, std::ios::out | std::ios::binary);
  
  if(!fs.good())
  {
    logger(LOG_ERROR) << "ConfigurationFile: Could not open file '" << fileName << "'" << std::endl;
    return false;
  }
  
  fs.write((const char *)data.data(), data.size()*sizeof(T));
  
  fs.close();
  
  _dataFiles[fileName].resize(data.size()*sizeof(T));
  
  memcpy(_dataFiles[fileName].data(), data.data(), data.size()*sizeof(T));
  
  return true;
}

struct CalibrationInformation
{
  String name;
  int id;
  Vector<String> definingParameters;
  Vector<String> calibrationParameters;
};

class VOXEL_EXPORT MainConfigurationFile: public ConfigurationFile
{
protected:
  Map<int, ConfigurationFile> _cameraProfiles;
  Map<int, String> _cameraProfileNames;
  int _defaultCameraProfileID, _defaultCameraProfileIDInHardware;
  int _currentCameraProfileID;
  ConfigurationFile *_currentCameraProfile;

  bool _updateCameraProfileList();
  
  String _mainConfigName, _hardwareID;
  
  int _getNewCameraProfileID(bool inHost = true);

  bool _saveHardwareImage(Version &version, TimeStampType &timestamp, SerializedObject &so);
  
  HardwareSerializerPtr _hardwareSerializer;
  
  int _quantizationFactor;
  
  Map<String, CalibrationInformation> _calibrationInformation;
  
  bool _removeCameraProfile(const int id, bool updateHardware = true);
  bool _saveCameraProfileToHardware(int &id, Vector<int> &newIDsAdded, Vector<ConfigurationFile> &oldIDsModified, bool saveParents = false, bool updateHardware = true, bool setAsDefault = false, const String &namePrefix = "");
  bool _rollbackCameraProfiles(const Vector<int> &newIDsAdded, const Vector<ConfigurationFile> &oldIDsModified);
    
public:
  MainConfigurationFile(const String &name, const String &hardwareID, int quantizationFactor = 4, HardwareSerializerPtr hardwareSerializer = nullptr): 
  _currentCameraProfile(nullptr), _defaultCameraProfileID(-1), _defaultCameraProfileIDInHardware(-1), _mainConfigName(name), _hardwareSerializer(hardwareSerializer),
  _quantizationFactor(quantizationFactor)
  {
    if(!hardwareSerializer)
      _hardwareSerializer = HardwareSerializerPtr(new HardwareSerializer());
  }
  
  void setSerializationQuantizationFactor(int quantizationFactor) { _quantizationFactor = quantizationFactor; }
  
  virtual bool read(const String &configFile);
  
  bool readFromHardware();
  bool writeToHardware();
  
  inline bool hasHardwareConfigurationSupport() { return _hardwareSerializer && *_hardwareSerializer; }
  
  inline void setHardwareConfigSerializer(const HardwareSerializerPtr &hardwareSerializer) { _hardwareSerializer = hardwareSerializer; }
  
  virtual String get(const String &section, const String &name) const;
  virtual bool isPresent(const String &section, const String &name, bool includeParent = true) const;
  
  int addCameraProfile(const String &profileName, const int parentID = -1);
  bool setCurrentCameraProfile(const int id);
  bool removeAllHardwareCameraProfiles();
  bool removeCameraProfile(const int id);
  bool saveCameraProfileToHardware(int &id, bool saveParents = false, bool setAsDefault = false, const String &namePrefix = "");
  
  ConfigurationFile *getDefaultCameraProfile();
  ConfigurationFile *getCameraProfile(const int id);
  
  template <typename T>
  bool getFile(const String &section, const String &name, String &fileName, Vector<T> &data);
  
  inline int getDefaultCameraProfileID() 
  { 
    if(_defaultCameraProfileIDInHardware >= 0) 
      return _defaultCameraProfileIDInHardware;
    else
      return _defaultCameraProfileID; 
  }
  
  inline int getDefaultCameraProfileIDInHost() 
  { 
    return _defaultCameraProfileID;
  }
  
  inline int getDefaultCameraProfileIDInCamera() 
  { 
    return _defaultCameraProfileIDInHardware; 
  }
  
  /// This only removes the default ID from hardware and not the profile itself
  bool removeDefaultCameraProfileIDInCamera();
  
  bool setDefaultCameraProfile(const int id);
  
  inline void setHardwareID(const String &hwID) { _hardwareID = hwID; }
  
  inline int getCurrentProfileID() { return _currentCameraProfileID; }
  
  bool getCameraProfileName(const int id, String &cameraProfileName);
  
  inline const Map<int, String> &getCameraProfileNames() { return _cameraProfileNames; }
  
  inline const Map<String, CalibrationInformation> &getCalibrationInformation() const { return _calibrationInformation; }
 
  virtual ~MainConfigurationFile() {}
  
  friend class ConfigurationFile;
  friend class DepthCamera;
};

template <typename T>
bool ConfigurationFile::_getData(const String &fileName, Vector<T> &data)
{
  bool loadFromFile = false;
  if(_dataFiles.find(fileName) == _dataFiles.end())
  {
    if(_mainConfigurationFile && _parentID >= 0)
    {
      ConfigurationFile *parentConfig = _mainConfigurationFile->getCameraProfile(_parentID);
      
      // TODO This does not handle circular references between profiles
      if(parentConfig && parentConfig->_getData<T>(fileName, data))
        return true;
      else
        loadFromFile = true;
    }
    else
      loadFromFile = true;
  }
  
  if(loadFromFile)
  {
    Configuration c;
    
    String f = fileName;
    if(!c.getConfFile(f))
    {
      logger(LOG_ERROR) << "ConfigurationFile: Could not locate file '" << fileName << "'" << std::endl;
      return false;
    }
    
    InputFileStream fs(f, std::ios::in | std::ios::binary | std::ios::ate);
    
    if(!fs.good())
    {
      logger(LOG_ERROR) << "ConfigurationFile: Could not open file '" << fileName << "'" << std::endl;
      return false;
    }
    
    int size = fs.tellg();
    
    if(size == 0)
    {
      logger(LOG_ERROR) << "ConfigurationFile: Null config data '" << f << "'" << std::endl;
      return false;
    }
    
    Vector<ByteType> &d = _dataFiles[fileName];
    
    d.resize(size);
    fs.seekg(std::ios::beg);
    fs.clear();
    fs.read((char *)d.data(), size);
  }
  
  Vector<ByteType> &d = _dataFiles[fileName];
  
  data.resize((d.size() + sizeof(T)/2)/sizeof(T));
  
  memcpy(data.data(), d.data(), d.size());
  
  return true;
}

template <typename T>
bool MainConfigurationFile::getFile(const String &section, const String &name, String &fileName, Vector<T> &data)
{
  if(!_currentCameraProfile || !_currentCameraProfile->getFile(section, name, fileName, data))
    return ConfigurationFile::getFile(section, name, fileName, data);
  else
    return true;
}


}

#endif // CONFIGURATION_H