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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the License);
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an AS IS BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#include "modules/perception/traffic_light_recognition/recognition/caffe_recognizer/recognition.h"
 
#include "cyber/common/file.h"
#include "modules/perception/common/util.h"
 
namespace apollo {
namespace perception {
namespace trafficlight {
 
bool TrafficLightRecognition::Init(
    const TrafficLightRecognitorInitOptions& options) {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
 
  if (!cyber::common::GetProtoFromFile(config_file, &recognize_param_)) {
    AINFO << "load proto param failed, root dir: " << config_file;
    return false;
  }
 
  classify_quadrate_.reset(new ClassifyBySimple);
  classify_vertical_.reset(new ClassifyBySimple);
  classify_horizontal_.reset(new ClassifyBySimple);
 
  classify_quadrate_->Init(recognize_param_.quadrate_model(), options.gpu_id);
  classify_vertical_->Init(recognize_param_.vertical_model(), options.gpu_id);
  classify_horizontal_->Init(recognize_param_.horizontal_model(),
                             options.gpu_id);
 
  return true;
}
 
bool TrafficLightRecognition::Detect(camera::TrafficLightFrame* frame) {
  std::vector<base::TrafficLightPtr> candidate(1);
 
  for (base::TrafficLightPtr light : frame->traffic_lights) {
    if (light->region.is_detected) {
      candidate[0] = light;
      if (light->region.detect_class_id ==
          base::TLDetectionClass::TL_QUADRATE_CLASS) {
        AINFO << "Recognize Use Quadrate Model!";
        classify_quadrate_->Perform(frame, &candidate);
      } else if (light->region.detect_class_id ==
                 base::TLDetectionClass::TL_VERTICAL_CLASS) {
        AINFO << "Recognize Use Vertical Model!";
        classify_vertical_->Perform(frame, &candidate);
      } else if (light->region.detect_class_id ==
                 base::TLDetectionClass::TL_HORIZONTAL_CLASS) {
        AINFO << "Recognize Use Horizonal Model!";
        classify_horizontal_->Perform(frame, &candidate);
      } else {
        return false;
      }
    } else {
      light->status.color = base::TLColor::TL_UNKNOWN_COLOR;
      light->status.confidence = 0;
    }
  }
 
  return true;
}
 
REGISTER_TRAFFIC_LIGHT_DETECTOR(TrafficLightRecognition);
 
}  // namespace trafficlight
}  // namespace perception
}  // namespace apollo