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::CharReaderBuilder builder;
61 builder["collectComments"] = false;
62 std::string errorMessage;
63 Json::Value rootNode;
64 bool parseOk = Json::parseFromStream(builder, configStream, &rootNode, &errorMessage);
65 if (!parseOk) {
66 printf("Failed to read configuration file %s\n", configFileName);
67 printf("%s\n", errorMessage.c_str());
68 return false;
69 }
70
71
72 //
73 // Read car information
74 //
75 {
76 Json::Value car = rootNode["car"];
77 if (!car.isObject()) {
78 printf("Invalid configuration format -- we expect a car description\n");
79 return false;
80 }
81 complete &= readChildNodeAsFloat("car", car, "width", &mCarWidth);
82 complete &= readChildNodeAsFloat("car", car, "wheelBase", &mWheelBase);
83 complete &= readChildNodeAsFloat("car", car, "frontExtent", &mFrontExtent);
84 complete &= readChildNodeAsFloat("car", car, "rearExtent", &mRearExtent);
85 }
86
87
88 //
89 // Read display layout information
90 //
91 {
92 Json::Value displayArray = rootNode["displays"];
93 if (!displayArray.isArray()) {
94 printf("Invalid configuration format -- we expect an array of displays\n");
95 return false;
96 }
97
98 mDisplays.reserve(displayArray.size());
99 for (auto&& node : displayArray) {
100 DisplayInfo info;
101 info.port = node.get("displayPort", 0).asUInt();
102 info.function = node.get("function", "").asCString();
103 info.frontRangeInCarSpace = node.get("frontRange", -1).asFloat();
104 info.rearRangeInCarSpace = node.get("rearRange", -1).asFloat();
105
106 mDisplays.emplace_back(info);
107 }
108 }
109
110
111 //
112 // Car top view texture properties for top down view
113 //
114 {
115 Json::Value graphicNode = rootNode["graphic"];
116 if (!graphicNode.isObject()) {
117 printf("Invalid configuration format -- we expect a graphic description\n");
118 return false;
119 }
120 complete &= readChildNodeAsFloat("graphic", graphicNode, "frontPixel", &mCarGraphicFrontPixel);
121 complete &= readChildNodeAsFloat("display", graphicNode, "rearPixel", &mCarGraphicRearPixel);
122 }
123
124
125 //
126 // Read camera information
127 // NOTE: Missing positions and angles are not reported, but instead default to zero
128 //
129 {
130 Json::Value cameraArray = rootNode["cameras"];
131 if (!cameraArray.isArray()) {
132 printf("Invalid configuration format -- we expect an array of cameras\n");
133 return false;
134 }
135
136 mCameras.reserve(cameraArray.size());
137 for (auto&& node: cameraArray) {
138 // Get data from the configuration file
139 Json::Value nameNode = node.get("cameraId", "MISSING");
140 const char *cameraId = nameNode.asCString();
141
142 Json::Value usageNode = node.get("function", "");
143 const char *function = usageNode.asCString();
144
145 float yaw = node.get("yaw", 0).asFloat();
146 float pitch = node.get("pitch", 0).asFloat();
147 float roll = node.get("roll", 0).asFloat();
148 float hfov = node.get("hfov", 0).asFloat();
149 float vfov = node.get("vfov", 0).asFloat();
150 bool hflip = node.get("hflip", false).asBool();
151 bool vflip = node.get("vflip", false).asBool();
152
153 // Wrap the direction angles to be in the 180deg to -180deg range
154 // Rotate 180 in yaw if necessary to flip the pitch into the +/-90degree range
155 pitch = normalizeToPlusMinus180degrees(pitch);
156 if (pitch > 90.0f) {
157 yaw += 180.0f;
158 pitch = 180.0f - pitch;
159 }
160 if (pitch < -90.0f) {
161 yaw += 180.0f;
162 pitch = -180.0f + pitch;
163 }
164 yaw = normalizeToPlusMinus180degrees(yaw);
165 roll = normalizeToPlusMinus180degrees(roll);
166
167 // Range check the FOV values to ensure they are postive and less than 180degrees
168 if (hfov > 179.0f) {
169 printf("Pathological horizontal field of view %f clamped to 179 degrees\n", hfov);
170 hfov = 179.0f;
171 }
172 if (hfov < 1.0f) {
173 printf("Pathological horizontal field of view %f clamped to 1 degree\n", hfov);
174 hfov = 1.0f;
175 }
176 if (vfov > 179.0f) {
177 printf("Pathological horizontal field of view %f clamped to 179 degrees\n", vfov);
178 vfov = 179.0f;
179 }
180 if (vfov < 1.0f) {
181 printf("Pathological horizontal field of view %f clamped to 1 degree\n", vfov);
182 vfov = 1.0f;
183 }
184
185 // Store the camera info (converting degrees to radians in the process)
186 CameraInfo info;
187 info.position[0] = node.get("x", 0).asFloat();
188 info.position[1] = node.get("y", 0).asFloat();
189 info.position[2] = node.get("z", 0).asFloat();
190 info.yaw = yaw * kDegreesToRadians;
191 info.pitch = pitch * kDegreesToRadians;
192 info.roll = roll * kDegreesToRadians;
193 info.hfov = hfov * kDegreesToRadians;
194 info.vfov = vfov * kDegreesToRadians;
195 info.hflip = hflip;
196 info.vflip = vflip;
197 info.cameraId = cameraId;
198 info.function = function;
199
200 mCameras.emplace_back(info);
201 }
202 }
203
204 // If we got this far, we were successful as long as we found all our child fields
205 return complete;
206 }
207