api_util.h

/*******************************************************************************
 *BSD 3-Clause License
 *
 *Copyright (c) 2016-2024, Mech-Mind Robotics
 *All rights reserved.
 *
 *Redistribution and use in source and binary forms, with or without
 *modification, are permitted provided that the following conditions are met:
 *
 *1. Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 *2. Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 *3. Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 *THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 *AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 *IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 *FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 *DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 *SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 *OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 *OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ******************************************************************************/
 
#pragma once
#include <iostream>
#include <set>
#include <utility>
#include <regex>
#include "ErrorStatus.h"
#include "CommonTypes.h"
#include "Profiler.h"
#include "ProfilerInfo.h"
 
inline void printProfilerInfo(const mmind::eye::ProfilerInfo& profilerInfo)
{
    std::cout << "........................................." << std::endl;
    std::cout << "Profiler Model Name:           " << profilerInfo.model << std::endl;
    std::cout << "Controller Serial Number:      " << profilerInfo.controllerSN << std::endl;
    std::cout << "Sensor Serial Number:          " << profilerInfo.sensorSN << std::endl;
    std::cout << "Profiler IP Address:           " << profilerInfo.ipAddress << std::endl;
    std::cout << "Profiler IP Subnet Mask:       " << profilerInfo.subnetMask << std::endl;
    std::cout << "Profiler IP Assignment Method: "
              << mmind::eye::ipAssignmentMethodToString(profilerInfo.ipAssignmentMethod)
              << std::endl;
    std::cout << "Hardware Version:              "
              << "V" << profilerInfo.hardwareVersion.toString() << std::endl;
    std::cout << "Firmware Version:              "
              << "V" << profilerInfo.firmwareVersion.toString() << std::endl;
    std::cout << "........................................." << std::endl;
    std::cout << std::endl;
}
 
inline bool findAndConnect(mmind::eye::Profiler& profiler)
{
    std::cout << "Find Mech-Eye 3D Laser Profilers..." << std::endl;
    std::vector<mmind::eye::ProfilerInfo> profilerInfoList =
        mmind::eye::Profiler::discoverProfilers();
 
    if (profilerInfoList.empty()) {
        std::cout << "No Mech-Eye 3D Laser Profiler found." << std::endl;
        return false;
    }
 
    for (int i = 0; i < profilerInfoList.size(); i++) {
        std::cout << "Mech-Eye 3D Laser profiler index : " << i << std::endl;
        printProfilerInfo(profilerInfoList[i]);
    }
 
    std::cout << "Please enter the profiler index you want to connect: ";
    unsigned inputIndex = 0;
 
    while (true) {
        std::string str;
        std::cin >> str;
        if (std::regex_match(str.begin(), str.end(), std::regex{"[0-9]+"}) &&
            atoi(str.c_str()) < profilerInfoList.size()) {
            inputIndex = atoi(str.c_str());
            break;
        }
        std::cout << "Input invalid! Please enter the profiler index you want to connect: ";
    }
 
    mmind::eye::ErrorStatus status;
    status = profiler.connect(profilerInfoList[inputIndex]);
 
    if (!status.isOK()) {
        showError(status);
        return false;
    }
 
    std::cout << "Connect Mech-Eye 3D Laser Profiler Successfully." << std::endl;
    return true;
}
 
inline std::vector<mmind::eye::Profiler> findAndConnectMultiProfiler()
{
    std::cout << "Find Mech-Eye 3D Laser Profilers..." << std::endl;
    std::vector<mmind::eye::ProfilerInfo> profilerInfoList =
        mmind::eye::Profiler::discoverProfilers();
 
    if (profilerInfoList.empty()) {
        std::cout << "No Mech-Eye 3D Laser Profilers found." << std::endl;
        return {};
    }
 
    for (int i = 0; i < profilerInfoList.size(); i++) {
        std::cout << "Mech-Eye 3D Laser Profiler index : " << i << std::endl;
        printProfilerInfo(profilerInfoList[i]);
    }
 
    std::string str;
    std::set<unsigned> indices;
 
    while (true) {
        std::cout << "Please enter the device index you want to connect: " << std::endl;
        std::cout << "Enter the character 'c' to terminate adding devices" << std::endl;
 
        std::cin >> str;
        if (str == "c")
            break;
        if (std::regex_match(str.begin(), str.end(), std::regex{"[0-9]+"}) &&
            atoi(str.c_str()) < profilerInfoList.size())
            indices.insert(atoi(str.c_str()));
        else
            std::cout << "Input invalid. Please enter the device index you want to connect: ";
    }
 
    std::vector<mmind::eye::Profiler> profilerList{};
 
    auto iter = indices.cbegin();
    for (int i = 0; i < indices.size(); ++i, ++iter) {
        mmind::eye::Profiler profiler;
        auto status = profiler.connect(profilerInfoList[*iter]);
        if (status.isOK())
            profilerList.push_back(profiler);
        else
            showError(status);
    }
 
    return profilerList;
}
 
inline bool confirmCapture()
{
    std::cout << "Do you want the profiler to capture image? Please input y/n to confirm: "
              << std::endl;
    while (true) {
        std::string confirmStr;
        std::cin >> confirmStr;
        if (confirmStr == "y") {
            return true;
        } else if (confirmStr == "n") {
            std::cout << "program ends!" << std::endl;
            return false;
        } else {
            std::cout << "Please input y/n again!" << std::endl;
        }
    }
}