CGraphSlamHandler_impl.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/obs/CRawlog.h>
#include <mrpt/serialization/CArchive.h>
#include "CGraphSlamHandler.h"

template <class GRAPH_T>
CGraphSlamHandler<GRAPH_T>::CGraphSlamHandler(
    mrpt::system::COutputLogger* logger,
    mrpt::graphslam::apps::TUserOptionsChecker<GRAPH_T>* options_checker,
    const bool enable_visuals)
    : m_logger(logger),
      m_options_checker(options_checker),
      m_enable_visuals(enable_visuals)
{
    using namespace mrpt::system;
    ASSERTDEB_(m_logger);
    ASSERTDEB_(m_options_checker);

    if (m_enable_visuals)
    {
        this->initVisualization();
    }
}

template <class GRAPH_T>
CGraphSlamHandler<GRAPH_T>::~CGraphSlamHandler()
{
    m_logger->logFmt(mrpt::system::LVL_WARN, "graphslam-engine has finished.");

    // keep the window open until user closes it.
    if (m_win)
    {
        m_logger->logFmt(
            mrpt::system::LVL_WARN,
            "Application will exit when the display window is closed.");
        bool break_exec = false;
        while (m_win->isOpen() && break_exec == false)
        {
            break_exec = !this->queryObserverForEvents();
            std::this_thread::sleep_for(100ms);
            m_win->forceRepaint();
        }
    }

    if (m_do_save_results)
    {
        this->initOutputDir(m_output_dir_fname);
        if (m_engine)
        {
            this->saveResults(m_output_dir_fname);
        }
    }

    if (m_engine)
    {
        delete m_engine;
    }

    if (m_enable_visuals)
    {
        if (m_win)
        {
            m_logger->logFmt(
                mrpt::system::LVL_DEBUG,
                "Releasing CDisplayWindow3D instance...");
            delete m_win;
        }

        if (m_win_observer)
        {
            m_logger->logFmt(
                mrpt::system::LVL_DEBUG,
                "Releasing CWindowObserver instance...");
            delete m_win_observer;
        }

        if (m_win_manager)
        {
            m_logger->logFmt(
                mrpt::system::LVL_DEBUG,
                "Releasing CWindowManager instance...");
            delete m_win_manager;
        }
    }
    m_logger->logFmt(mrpt::system::LVL_INFO, "Exited.");
}

template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::initOutputDir(
    const std::string& output_dir_fname)
{
    MRPT_START
    using namespace std;
    using namespace mrpt::system;
    using namespace mrpt;

    m_logger->logFmt(
        mrpt::system::LVL_INFO, "Setting up output directory: %s",
        output_dir_fname.c_str());

    // current time vars - handy in the rest of the function.
    mrpt::system::TTimeStamp cur_date(getCurrentTime());
    string cur_date_str(timeToString(cur_date));
    string cur_date_validstr(fileNameStripInvalidChars(cur_date_str));

    // Determine what to do with existing results if previous output directory
    // exists
    if (directoryExists(output_dir_fname))
    {
        int answer_int;
        if (m_user_decides_about_output_dir)
        {
            stringstream question;
            string answer;

            question << "Directory exists. Choose between the "
                     << "following options" << std::endl;
            question << "\t 1: Rename current folder and start new "
                     << "output directory (default)" << std::endl;
            question << "\t 2: Remove existing contents and continue execution "
                     << std::endl;
            question << "\t 3: Handle potential conflict manually "
                        "(Halts program execution)"
                     << std::endl;
            question << "\t [ 1 | 2 | 3 ] --> ";
            std::cout << question.str();

            getline(cin, answer);
            answer = mrpt::system::trim(answer);
            answer_int = atoi(&answer[0]);
        }
        else
        {
            answer_int = 2;
        }

        switch (answer_int)
        {
            case 2:
            {
                m_logger->logFmt(
                    mrpt::system::LVL_INFO, "Deleting existing files...");
                // purge directory
                deleteFilesInDirectory(
                    output_dir_fname,
                    /*deleteDirectoryAsWell = */ false);
                break;
            }
            case 3:
            {
                // I don't need to exit gracefully here..
                exit(0);
            }
            case 1:
            default:
            {
                // rename the whole directory to DATE_TIME_${OUTPUT_DIR_NAME}
                string dst_fname = output_dir_fname + cur_date_validstr;
                m_logger->logFmt(
                    mrpt::system::LVL_INFO, "Renaming directory to: %s",
                    dst_fname.c_str());
                string error_msg;
#if _DEBUG
                bool did_rename =
#endif
                    renameFile(output_dir_fname, dst_fname, &error_msg);
                ASSERTDEBMSG_(
                    did_rename, format(
                                    "\nError while trying to rename the output "
                                    "directory: %s",
                                    error_msg.c_str()));
                break;
            }
        }  // end switch (answer_int)
    }  // end if directory exists..

    // Now rebuild the directory from scratch
    m_logger->logFmt(
        mrpt::system::LVL_INFO, "Creating the new directory structure...");
    string cur_fname;

    // debug_fname
    createDirectory(output_dir_fname);
    m_logger->logFmt(
        mrpt::system::LVL_INFO, "Finished initializing output directory.");

    MRPT_END
}  // end of initOutputDir

template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::setFNames(
    const std::string& ini_fname, const std::string& rawlog_fname,
    const std::string& ground_truth_fname)
{
    this->m_ini_fname = ini_fname;
    this->m_rawlog_fname = rawlog_fname;
    this->m_gt_fname = ground_truth_fname;

    this->readConfigFname(m_ini_fname);

    m_has_set_fnames = true;
}

template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::readConfigFname(const std::string& fname)
{
    ASSERTDEBMSG_(
        mrpt::system::fileExists(fname),
        mrpt::format("\nConfiguration file not found: \n%s\n", fname.c_str()));

    m_logger->logFmt(mrpt::system::LVL_INFO, "Reading the .ini file... ");

    mrpt::config::CConfigFile cfg_file(fname);

    m_user_decides_about_output_dir = cfg_file.read_bool(
        "GeneralConfiguration", "user_decides_about_output_dir", false, false);
    m_output_dir_fname = cfg_file.read_string(
        "GeneralConfiguration", "output_dir_fname", "graphslam_results", false);
    m_save_graph =
        cfg_file.read_bool("GeneralConfiguration", "save_graph", true, false);
    m_save_3DScene =
        cfg_file.read_bool("GeneralConfiguration", "save_3DScene", true, false);
    m_save_map =
        cfg_file.read_bool("GeneralConfiguration", "save_map", true, false);
    m_save_graph_fname = cfg_file.read_string(
        "GeneralConfiguration", "save_graph_fname", "output_graph.graph",
        false);
    m_save_3DScene_fname = cfg_file.read_string(
        "GeneralConfiguration", "save_3DScene_fname", "scene.3DScene", false);
    m_save_map_fname = cfg_file.read_string(
        "GeneralConfiguration", "save_map_fname", "output_map", false);
}

template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::initEngine(
    const std::string& node_reg_str, const std::string& edge_reg_str,
    const std::string& optimizer_str)
{
    using namespace mrpt;

    ASSERTDEB_(m_has_set_fnames);

    ASSERTDEBMSG_(
        m_options_checker->checkRegistrationDeciderExists(node_reg_str, "node"),
        format(
            "\nNode Registration Decider %s is not available.\n",
            node_reg_str.c_str()));
    ASSERTDEBMSG_(
        m_options_checker->checkRegistrationDeciderExists(edge_reg_str, "edge"),
        format(
            "\nEdge Registration Decider %s is not available.\n",
            edge_reg_str.c_str()));
    ASSERTDEBMSG_(
        m_options_checker->checkOptimizerExists(optimizer_str),
        format("\nOptimizer %s is not available\n", optimizer_str.c_str()));

    m_engine = new mrpt::graphslam::CGraphSlamEngine<GRAPH_T>(
        m_ini_fname, m_rawlog_fname, m_gt_fname, m_win_manager,
        m_options_checker->node_regs_map[node_reg_str](),
        m_options_checker->edge_regs_map[edge_reg_str](),
        m_options_checker->optimizers_map[optimizer_str]());
}

template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::printParams() const
{
    std::cout << this->getParamsAsString() << std::endl;
    m_engine->printParams();
}

template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::getParamsAsString(std::string* str) const
{
    using namespace std;

    ASSERTDEB_(str);

    stringstream ss_out("");

    ss_out << "\n------------[ graphslam-engine_app Parameters ]------------"
           << std::endl;

    // general configuration parameters
    ss_out << "User decides about output dir?  = "
           << (m_user_decides_about_output_dir ? "TRUE" : "FALSE") << std::endl;
    ss_out << "Output directory                = " << m_output_dir_fname
           << std::endl;
    ss_out << "Generate .graph file?           = "
           << (m_save_graph ? "TRUE" : "FALSE") << std::endl;
    ss_out << "Generate .3DScene file?         = "
           << (m_save_3DScene ? "TRUE" : "FALSE") << std::endl;
    if (m_save_graph)
    {
        ss_out << "Generated .graph filename       = " << m_save_graph_fname
               << std::endl;
    }
    if (m_save_3DScene)
    {
        ss_out << "Generated .3DScene filename     = " << m_save_3DScene_fname
               << std::endl;
    }
    ss_out << "Rawlog filename                 = " << m_rawlog_fname
           << std::endl;

    *str = ss_out.str();
}
template <class GRAPH_T>
std::string CGraphSlamHandler<GRAPH_T>::getParamsAsString() const
{
    std::string str;
    this->getParamsAsString(&str);
    return str;
}

template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::setResultsDirName(const std::string& dirname)
{
    m_output_dir_fname = mrpt::system::fileNameStripInvalidChars(dirname);
    m_logger->logFmt(
        mrpt::system::LVL_WARN, "Overriding .ini Results directory -> %s...",
        m_output_dir_fname.c_str());
}

template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::saveResults(
    const std::string& output_dir_fname)
{
    ASSERTDEB_(m_engine);

    m_logger->logFmt(mrpt::system::LVL_INFO, "Generating overall report...");
    m_engine->generateReportFiles(output_dir_fname);
    // save the graph and the 3DScene
    if (m_save_graph)
    {
        std::string save_graph_fname =
            output_dir_fname + "/" + m_save_graph_fname;
        m_engine->saveGraph(&save_graph_fname);
    }
    if (m_enable_visuals && m_save_3DScene)
    {
        std::string save_3DScene_fname =
            output_dir_fname + "/" + m_save_3DScene_fname;
        m_engine->save3DScene(&save_3DScene_fname);
    }

    // get the occupancy map that was built
    if (m_save_map)
    {
        this->saveMap(output_dir_fname + "/" + m_save_map_fname);
    }

    m_logger->logFmt(mrpt::system::LVL_INFO, "Generated report.");
}

template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::saveMap(const std::string& fname)
{
    mrpt::maps::COccupancyGridMap2D::Ptr map =
        mrpt::maps::COccupancyGridMap2D::Create();
    m_engine->getMap(map);
    // map->saveAsBitmapFile(fname); // doesn't work.
    map->saveMetricMapRepresentationToFile(fname);
}

template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::execute()
{
    using namespace mrpt::obs;
    ASSERTDEB_(m_engine);

    // Variables initialization
    mrpt::io::CFileGZInputStream rawlog_stream(m_rawlog_fname);
    CActionCollection::Ptr action;
    CSensoryFrame::Ptr observations;
    CObservation::Ptr observation;
    size_t curr_rawlog_entry;
    auto arch = mrpt::serialization::archiveFrom(rawlog_stream);

    // Read the dataset and pass the measurements to CGraphSlamEngine
    bool cont_exec = true;
    while (CRawlog::getActionObservationPairOrObservation(
               arch, action, observations, observation, curr_rawlog_entry) &&
           cont_exec)
    {
        // actual call to the graphSLAM execution method
        // Exit if user pressed C-c
        cont_exec = m_engine->_execGraphSlamStep(
            action, observations, observation, curr_rawlog_entry);
    }
    m_logger->logFmt(mrpt::system::LVL_WARN, "Finished graphslam execution.");
}

template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::initVisualization()
{
    using namespace mrpt::opengl;
    using namespace mrpt::gui;
    using namespace mrpt::graphslam;

    m_win_observer = new CWindowObserver();
    m_win = new CDisplayWindow3D("GraphSlam building procedure", 800, 600);
    m_win->setPos(400, 200);
    m_win_observer->observeBegin(*m_win);
    {
        COpenGLScene::Ptr& scene = m_win->get3DSceneAndLock();
        COpenGLViewport::Ptr main_view = scene->getViewport("main");
        m_win_observer->observeBegin(*main_view);
        m_win->unlockAccess3DScene();
    }

    m_logger->logFmt(
        mrpt::system::LVL_DEBUG, "Initialized CDisplayWindow3D...");
    m_logger->logFmt(
        mrpt::system::LVL_DEBUG, "Listening to CDisplayWindow3D events...");

    // pass the window and the observer pointers to the CWindowManager instance
    m_win_manager = new mrpt::graphslam::CWindowManager();
    m_win_manager->setCDisplayWindow3DPtr(m_win);
    m_win_manager->setWindowObserverPtr(m_win_observer);
}

template <class GRAPH_T>
bool CGraphSlamHandler<GRAPH_T>::queryObserverForEvents()
{
    std::map<std::string, bool> events_occurred;
    m_win_observer->returnEventsStruct(
        &events_occurred,
        /* reset_keypresses = */ false);
    bool request_to_exit = events_occurred.find("Ctrl+c")->second;

    return !request_to_exit;
}