/**
* File: visionModesHelpers.cpp
*
* Author: Lee Crippen
* Created: 06/12/16
*
* Description: Helper functions for dealing with CLAD generated visionModes
*
* Copyright: Anki, Inc. 2016
*
**/


#include "engine/vision/visionModesHelpers.h"
#include "util/container/symmetricMap.h"
#include "util/enums/stringToEnumMapper.hpp"


namespace Anki {
namespace Vector {

IMPLEMENT_ENUM_INCREMENT_OPERATORS(VisionMode);

// To "register" a VisionMode with an associated neural network name,
// add it to this lookup table initialization. Note that multiple
// VisionModes _can_ refer to the same network name.
static const Util::SymmetricMap<VisionMode, std::string> sNetModeLUT{
  {VisionMode::People,    "person_detector"},
  {VisionMode::Hands,     "hand_detector"},
// this made robo crash  :(
//  {VisionMode::Pets,      "mobilenet"}, // TODO: Update to real network

// Offboard models only allowed in non-shipping builds
#ifdef ANKI_DEV_CHEATS
  {VisionMode::Offboard,  "offboard_person_detection"},
#endif
};
  
bool GetNeuralNetsForVisionMode(const VisionMode mode, std::set<std::string>& networkNames)
{
  sNetModeLUT.Find(mode, networkNames);
  return (!networkNames.empty());
}
  
bool GetVisionModesForNeuralNet(const std::string& networkName, std::set<VisionMode>& modes)
{
  sNetModeLUT.Find(networkName, modes);
  return (!modes.empty());
}

const std::set<VisionMode>& GetVisionModesUsingNeuralNets()
{
  static std::set<VisionMode> sModes;
  if(sModes.empty())
  {
    // Fill on first use. No need to refill each call because sNetModeLUT is
    // static const.
    sNetModeLUT.GetKeys(sModes);
  }
  return sModes;
}
  
} // namespace Vector
} // namespace Anki