aos/vision/debug/debug_framework.cc

#include "aos/vision/debug/debug_framework.h"

#include <gtk/gtk.h>

#include "aos/logging/implementations.h"
#include "aos/logging/logging.h"
#include "aos/vision/blob/find_blob.h"
#include "aos/vision/blob/stream_view.h"
#include "aos/vision/events/epoll_events.h"
#include "aos/vision/image/jpeg_routines.h"

namespace aos {
namespace vision {

// Detect screen height on smaller monitors.
int GetScreenHeight() {
  fprintf(stderr, "gtk version_info: %d.%d.%d\n", gtk_get_major_version(),
          gtk_get_minor_version(), gtk_get_micro_version());

  GdkScreen *screen = gdk_screen_get_default();
  GdkRectangle dimensions;
// Deprecated in newer versions of GTK and missing from older versions.
#if GTK_CHECK_VERSION(3, 22, 7)
  GdkDisplay *display = gdk_screen_get_display(screen);
  GdkMonitor *monitor = gdk_display_get_primary_monitor(display);
  gdk_monitor_get_geometry(monitor, &dimensions);
#else
  dimensions.height = gdk_screen_get_height(screen);
  dimensions.width = gdk_screen_get_width(screen);
#endif
  fprintf(stdout, "Monitor dimensions: %dx%d\n", dimensions.width,
          dimensions.height);
  return dimensions.height;
}

bool DecodeJpeg(aos::vision::DataRef data,
                aos::vision::BlobStreamViewer *view) {
  auto fmt = aos::vision::GetFmt(data);
  auto value = view->img();
  if (!value.fmt().Equals(fmt)) {
    view->SetFormatAndClear(fmt);
  }
  return aos::vision::ProcessJpeg(data, view->img().data());
}

class DebugFramework : public DebugFrameworkInterface {
 public:
  explicit DebugFramework(FilterHarness *filter, CameraParams camera_params)
      : camera_params_(camera_params), filter_(filter) {
    view_.key_press_event = [this](uint32_t keyval) {
      for (const auto &event : key_press_events()) {
        event(keyval);
      }
    };
    filter->InstallViewer(&view_);
    auto key_press = filter->RegisterKeyPress();
    if (key_press) {
      InstallKeyPress(key_press);
    }
    if (GetScreenHeight() < 1024) {
      view_.SetScale(1.0);
    }

    // Pass along the set exposure so that users can acceess it.
    filter->InstallSetExposure(
        [this](uint32_t abs_exp) { this->SetExposure(abs_exp); });
  }

  // This the first stage in the pipeline that takes
  bool NewJpeg(DataRef data) override {
    DecodeJpeg(data, &view_);

    auto fmt = view_.img().fmt();
    return HandleBlobs(FindBlobs(filter_->Threshold(view_.img())), fmt);
  }

  bool NewImage(ImageFormat fmt,
                const std::function<bool(ImagePtr data)> &process) override {
    auto value = view_.img();
    if (!value.fmt().Equals(fmt)) {
      view_.SetFormatAndClear(fmt);
    }
    process(view_.img());

    return HandleBlobs(FindBlobs(filter_->Threshold(view_.img())), fmt);
  }

  bool NewBlobList(BlobList blob_list, ImageFormat fmt) override {
    view_.SetFormatAndClear(fmt);

    return HandleBlobs(std::move(blob_list), fmt);
  }

  bool JustCheckForTarget(BlobList blob_list, ImageFormat fmt) override {
    return filter_->JustCheckForTarget(std::move(blob_list), fmt);
  }

  bool HandleBlobs(BlobList blob_list, ImageFormat fmt) {
    bool result = filter_->HandleBlobs(std::move(blob_list), fmt);
    view_.Redraw();
    return result;
  }

  aos::events::EpollLoop *Loop() override { return &loop_; }

  const CameraParams &camera_params() override { return camera_params_; }

  BlobStreamViewer *viewer() override { return &view_; }

 private:
  CameraParams camera_params_;
  FilterHarness *filter_;
  BlobStreamViewer view_;

  aos::events::EpollLoop loop_;
};

std::unique_ptr<ImageSource> MakeImageSource(
    const std::string &image_source_string,
    DebugFrameworkInterface *interface) {
  (void)interface;
  // Each of the image_source strings is of the form format_type:format_spec
  auto it = image_source_string.find(':');
  if (it == std::string::npos) {
    fprintf(stderr, "invalid ImageSource: %s.\n", image_source_string.c_str());
    exit(-1);
  }
  auto image_source_type = image_source_string.substr(0, it);
  // Get std::function<std::unique_ptr<ImageSource>()> from the registration
  // factory.
  const auto &factory = ImageSourceGlobalFactory::Get(image_source_type);
  if (!factory) {
    fprintf(stderr, "invalid ImageSource: %s.\n", image_source_string.c_str());
    exit(-1);
  }
  auto result = factory();
  // Construct the image source.
  result->Init(image_source_string.substr(it + 1), interface);
  return result;
}

const char *kHelpMessage = R"(

image_source is parsed out and selects where to get the images
from. Each source type has a different configuration format string listed
below. The colon separates the source specifier and the source config
parameter. A single command line argument help will print this message.
)";

void DebugFrameworkMain(int argc, char **argv, FilterHarness *filter,
                        CameraParams camera_params) {
  ::aos::logging::Init();

  gtk_init(&argc, &argv);

  // Use fprintf because it is only supposed to be used interactively.
  // This uses a registration system to pick out the individual file type
  // registered by REGISTER_IMAGE_SOURCE.
  // see jpeg_list-source.cc for ane sample of this.
  if (argc < 2 || argv[1] == std::string("help")) {
    fprintf(stderr, "Usage %s image_source:format_spec\n", argv[0]);
    fprintf(stderr, "%s", kHelpMessage);
    // Iterate through all registered entities in ImageSourceGlobalFactory
    // and print out their individual help messages.
    for (const auto &type : ImageSourceGlobalFactory::GetAll()) {
      fprintf(stderr, "  %s:\n", type.first.c_str());
      fprintf(stderr, "%s", type.second()->GetHelpMessage());
    }
    exit(-1);
  }

  DebugFramework replay(filter, camera_params);

  std::unique_ptr<ImageSource> image_source = MakeImageSource(argv[1], &replay);

  replay.Loop()->RunWithGtkMain();
}

}  // namespace vision
}  // namespace aos