1 /*
2 * Copyright (C) 2017 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16 #include "ConfigManager.h"
17
18 #include "json/json.h"
19
20 #include <fstream>
21 #include <math.h>
22 #include <assert.h>
23
24
25 static const float kDegreesToRadians = M_PI / 180.0f;
26
27
normalizeToPlusMinus180degrees(float theta)28 static float normalizeToPlusMinus180degrees(float theta) {
29 const float wraps = floor((theta+180.0f) / 360.0f);
30 return theta - wraps*360.0f;
31 }
32
33
readChildNodeAsFloat(const char * groupName,const Json::Value & parentNode,const char * childName,float * value)34 static bool readChildNodeAsFloat(const char* groupName,
35 const Json::Value& parentNode,
36 const char* childName,
37 float* value) {
38 // Must have a place to put the value!
39 assert(value);
40
41 Json::Value childNode = parentNode[childName];
42 if (!childNode.isNumeric()) {
43 printf("Missing or invalid field %s in record %s", childName, groupName);
44 return false;
45 }
46
47 *value = childNode.asFloat();
48 return true;
49 }
50
51
initialize(const char * configFileName)52 bool ConfigManager::initialize(const char* configFileName)
53 {
54 bool complete = true;
55
56 // Set up a stream to read in the input file
57 std::ifstream configStream(configFileName);
58
59 // Parse the stream into JSON objects
60 Json::Reader reader;
61 Json::Value rootNode;
62 bool parseOk = reader.parse(configStream, rootNode, false /* don't need comments */);
63 if (!parseOk) {
64 printf("Failed to read configuration file %s\n", configFileName);
65 printf("%s\n", reader.getFormatedErrorMessages().c_str());
66 return false;
67 }
68
69
70 //
71 // Read car information
72 //
73 {
74 Json::Value car = rootNode["car"];
75 if (!car.isObject()) {
76 printf("Invalid configuration format -- we expect a car description\n");
77 return false;
78 }
79 complete &= readChildNodeAsFloat("car", car, "width", &mCarWidth);
80 complete &= readChildNodeAsFloat("car", car, "wheelBase", &mWheelBase);
81 complete &= readChildNodeAsFloat("car", car, "frontExtent", &mFrontExtent);
82 complete &= readChildNodeAsFloat("car", car, "rearExtent", &mRearExtent);
83 }
84
85
86 //
87 // Read display layout information
88 //
89 {
90 Json::Value displayArray = rootNode["displays"];
91 if (!displayArray.isArray()) {
92 printf("Invalid configuration format -- we expect an array of displays\n");
93 return false;
94 }
95
96 mDisplays.reserve(displayArray.size());
97 for (auto&& node : displayArray) {
98 DisplayInfo info;
99 info.port = node.get("displayPort", 0).asUInt();
100 info.function = node.get("function", "").asCString();
101 info.frontRangeInCarSpace = node.get("frontRange", -1).asFloat();
102 info.rearRangeInCarSpace = node.get("rearRange", -1).asFloat();
103
104 mDisplays.emplace_back(info);
105 }
106 }
107
108
109 //
110 // Car top view texture properties for top down view
111 //
112 {
113 Json::Value graphicNode = rootNode["graphic"];
114 if (!graphicNode.isObject()) {
115 printf("Invalid configuration format -- we expect a graphic description\n");
116 return false;
117 }
118 complete &= readChildNodeAsFloat("graphic", graphicNode, "frontPixel", &mCarGraphicFrontPixel);
119 complete &= readChildNodeAsFloat("display", graphicNode, "rearPixel", &mCarGraphicRearPixel);
120 }
121
122
123 //
124 // Read camera information
125 // NOTE: Missing positions and angles are not reported, but instead default to zero
126 //
127 {
128 Json::Value cameraArray = rootNode["cameras"];
129 if (!cameraArray.isArray()) {
130 printf("Invalid configuration format -- we expect an array of cameras\n");
131 return false;
132 }
133
134 mCameras.reserve(cameraArray.size());
135 for (auto&& node: cameraArray) {
136 // Get data from the configuration file
137 Json::Value nameNode = node.get("cameraId", "MISSING");
138 const char *cameraId = nameNode.asCString();
139
140 Json::Value usageNode = node.get("function", "");
141 const char *function = usageNode.asCString();
142
143 float yaw = node.get("yaw", 0).asFloat();
144 float pitch = node.get("pitch", 0).asFloat();
145 float roll = node.get("roll", 0).asFloat();
146 float hfov = node.get("hfov", 0).asFloat();
147 float vfov = node.get("vfov", 0).asFloat();
148 bool hflip = node.get("hflip", false).asBool();
149 bool vflip = node.get("vflip", false).asBool();
150
151 // Wrap the direction angles to be in the 180deg to -180deg range
152 // Rotate 180 in yaw if necessary to flip the pitch into the +/-90degree range
153 pitch = normalizeToPlusMinus180degrees(pitch);
154 if (pitch > 90.0f) {
155 yaw += 180.0f;
156 pitch = 180.0f - pitch;
157 }
158 if (pitch < -90.0f) {
159 yaw += 180.0f;
160 pitch = -180.0f + pitch;
161 }
162 yaw = normalizeToPlusMinus180degrees(yaw);
163 roll = normalizeToPlusMinus180degrees(roll);
164
165 // Range check the FOV values to ensure they are postive and less than 180degrees
166 if (hfov > 179.0f) {
167 printf("Pathological horizontal field of view %f clamped to 179 degrees\n", hfov);
168 hfov = 179.0f;
169 }
170 if (hfov < 1.0f) {
171 printf("Pathological horizontal field of view %f clamped to 1 degree\n", hfov);
172 hfov = 1.0f;
173 }
174 if (vfov > 179.0f) {
175 printf("Pathological horizontal field of view %f clamped to 179 degrees\n", vfov);
176 vfov = 179.0f;
177 }
178 if (vfov < 1.0f) {
179 printf("Pathological horizontal field of view %f clamped to 1 degree\n", vfov);
180 vfov = 1.0f;
181 }
182
183 // Store the camera info (converting degrees to radians in the process)
184 CameraInfo info;
185 info.position[0] = node.get("x", 0).asFloat();
186 info.position[1] = node.get("y", 0).asFloat();
187 info.position[2] = node.get("z", 0).asFloat();
188 info.yaw = yaw * kDegreesToRadians;
189 info.pitch = pitch * kDegreesToRadians;
190 info.roll = roll * kDegreesToRadians;
191 info.hfov = hfov * kDegreesToRadians;
192 info.vfov = vfov * kDegreesToRadians;
193 info.hflip = hflip;
194 info.vflip = vflip;
195 info.cameraId = cameraId;
196 info.function = function;
197
198 mCameras.emplace_back(info);
199 }
200 }
201
202 // If we got this far, we were successful as long as we found all our child fields
203 return complete;
204 }
205