/*
* This file is part of robotreality
*
* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
* http://opensource.cit-ec.de/projects/robotreality
*
* This file may be licensed under the terms of the
* GNU General Public License Version 3 (the ``GPL''),
* or (at your option) any later version.
*
* Software distributed under the License is distributed
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
* express or implied. See the GPL for the specific language
* governing rights and limitations.
*
* You should have received a copy of the GPL along with this
* program. If not, go to http://www.gnu.org/licenses/gpl.html
* or write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The development of this software was supported by the
* Excellence Cluster EXC 277 Cognitive Interaction Technology.
* The Excellence Cluster EXC 277 is a grant of the Deutsche
* Forschungsgemeinschaft (DFG) in the context of the German
* Excellence Initiative.
*
*/

#include "ConfigOptions.h"


ConfigOptions::ConfigOptions(){
	init_defaults();
}

ConfigOptions::~ConfigOptions(){
}

void ConfigOptions::load(string filename){
	//load:
	tconfig.load(filename);
	
	//restore to colorsample vector:
	colorsample_vector.clear();
	colorsample_t colorsample;
	for(int i=0; i<colorsample_vector_id.size(); i++){
		colorsample.id = colorsample_vector_id[i];
		colorsample.r = colorsample_vector_r[i];
		colorsample.g = colorsample_vector_g[i];
		colorsample.b = colorsample_vector_b[i];
		//printf("> [%d] colorsample.%d = %d,%d,%d\n",i,colorsample.id,colorsample.r,colorsample.g,colorsample.b);
		colorsample_vector.push_back(colorsample);
	}
}


void ConfigOptions::save(string filename){
	//copy colorsample vector to id,r,g,b:
	colorsample_vector_id.clear();
	colorsample_vector_r.clear();
	colorsample_vector_g.clear();
	colorsample_vector_b.clear();
	
	colorsample_vector_t::iterator it;
	for(it = colorsample_vector.begin(); it<colorsample_vector.end(); it++){
		colorsample_t colorsample = *it;
		//printf("> colorsample.%d = %d,%d,%d\n",colorsample.id,colorsample.r,colorsample.g,colorsample.b);
		colorsample_vector_id.push_back(colorsample.id);
		colorsample_vector_r.push_back(colorsample.r);
		colorsample_vector_g.push_back(colorsample.g);
		colorsample_vector_b.push_back(colorsample.b);
	}
	
	
	tconfig.save(filename);
}

void ConfigOptions::init_defaults(){
	tconfig.add_variable("grab_from_cam", &grab_from_cam, true);
	
	tconfig.add_variable("debug_show_eyefinder_results",   &debug_show_eyefinder_results, false);
	tconfig.add_variable("debug_show_pixelfilter_results", &debug_show_pixelfilter_results, true);
	tconfig.add_variable("debug_show_text", &debug_show_text, false);
	tconfig.add_variable("debug_show_results", &debug_show_results, true);
	tconfig.add_variable("debug_show_model_results", &debug_show_model_results, true);
	tconfig.add_variable("data_output_active", &data_output_active, false);
	tconfig.add_variable("free_running", &free_running, true);
	tconfig.add_variable("show_rgb_normalized", &show_rgb_normalized, true);
	tconfig.add_variable("rotate_resultview", &rotate_resultview, false);
	tconfig.add_variable("normalize_resultview_histogram", &normalize_resultview_histogram, false);
	tconfig.add_variable("show_output", &show_output, true);
	
	tconfig.add_variable("output_lcm_head",    &output_lcm_head, true);
	tconfig.add_variable("output_lcm_eyes",    &output_lcm_eyes, false);
	tconfig.add_variable("output_lcm_brows",   &output_lcm_brows, false);
	tconfig.add_variable("output_lcm_eyelids", &output_lcm_eyelids, false);
	tconfig.add_variable("output_lcm_mouth",   &output_lcm_mouth, false);
	tconfig.add_variable("output_lcm_mirror_mode",   &output_lcm_mirror_mode, false);
	
	tconfig.add_variable("update_markermodel", &update_markermodel, true);
	tconfig.add_variable("eyelid_fake_mode", &eyelid_fake_mode, false);
	tconfig.add_variable("eyedetection_by_hough_circles", &eyedetection_by_hough_circles, false);
	tconfig.add_variable("fixation_2d_correction", &fixation_2d_correction, false);

	tconfig.add_variable("data_output_class", &data_output_class, 0);
	tconfig.add_variable("camera_id", &camera_id, 0);
	tconfig.add_variable("colorclass_selected", &colorclass_selected, 0);
	tconfig.add_variable("frame_number", &frame_number, 1);
	tconfig.add_variable("frame_number_end", &frame_number_end, 5000);
	tconfig.add_variable("eyefinder_brightness_threshold", &eyefinder_brightness_threshold, 4);
	tconfig.add_variable("eyefinder_brightness_threshold2", &eyefinder_brightness_threshold2, 4);
	
	tconfig.add_variable("head_zero_rotation", &head_zero_rotation, 0.0);
	tconfig.add_variable("calibration_angle_x", &calibration_angle_x, 17.0);
	tconfig.add_variable("calibration_angle_y", &calibration_angle_y, 17.0);
	tconfig.add_variable("calibration_r_x", &calibration_r_x, 49.0);
	tconfig.add_variable("calibration_r_y", &calibration_r_y, 49.0);
	
	tconfig.add_variable("eyelid_scale_factor", &eyelid_scale_factor, 1.2);
	tconfig.add_variable("mouth_search_split_position", &mouth_search_split_position, 640-300);
	tconfig.add_variable("mouth_scale_factor", &mouth_scale_factor, 0.087);
	tconfig.add_variable("mouth_offset", &mouth_offset, 24.0);
	tconfig.add_variable("head_zero_pos", &head_zero_pos, Point2d(0.0, 0.0));
	tconfig.add_variable("eye_radius_px", &eye_radius_px, Point2d(38.0, 38.0));
	
	tconfig.add_variable("eye_pos_straight_offset.0", &eye_pos_straight_offset[0], Point2d(640-180,350));
	tconfig.add_variable("eye_pos_straight_offset.1", &eye_pos_straight_offset[1], Point2d(640-180,120));
	tconfig.add_variable("orientation_scale_factor", &orientation_scale_factor, Point2d(1.0, 1.0));
	
	tconfig.add_variable("mouth_center_pos.0", &mouth_center_pos[0], Point2d(200.0, 350.0));
	tconfig.add_variable("mouth_center_pos.1", &mouth_center_pos[1], Point2d(205.0, 251.0));
	tconfig.add_variable("mouth_center_pos.2", &mouth_center_pos[2], Point2d(200.0, 159.0));
	
	tconfig.add_variable("image_source_filename", &image_source_filename, "/no/filename/given");
	tconfig.add_variable("imu_data_source", &imu_data_source, "/dev/ttyUSB0");
	tconfig.add_variable("csv_output_filename", &csv_output_filename, "/tmp/robotreality_dump.csv");
	
	tconfig.add_variable("imu_zero_rotation.x", &imu_zero_rotation.x, 0.0);
	tconfig.add_variable("imu_zero_rotation.y", &imu_zero_rotation.y, 0.0);
	tconfig.add_variable("imu_zero_rotation.z", &imu_zero_rotation.z, 0.0);
	
	
	//do not init lookuptable, only allow loading
	tconfig.add_variable("colorsample_vector_id", &colorsample_vector_id, vector<int>());
	tconfig.add_variable("colorsample_vector_r", &colorsample_vector_r, vector<int>());
	tconfig.add_variable("colorsample_vector_g", &colorsample_vector_g, vector<int>());
	tconfig.add_variable("colorsample_vector_b", &colorsample_vector_b, vector<int>());
	
}

bool ConfigOptions::rgb_lookuptable_from_file(){
	return false;
}

string ConfigOptions::rgb_lookuptable_filename(){
	return "./lookuptable.bin";
}