QT       -= core gui
CONFIG -= app_bundle qt

TARGET = MyPipeline
FRAMEWORK = $${TARGET}
VERSION=0.11.0
DEFINES +=  $${TARGET}VERSION=\"$${VERSION}\"

# Uncomment following line to add more verbose information from builddefs-qmake rules
# CONFIG += verbose
# Uncomment following line to prepare remaken package
# CONFIG += package_remaken

CONFIG += with_qtvs

with_qtvs {
    PROJECTCONFIG = QTVS
}

CONFIG += c++1z
CONFIG += shared

staticlib {
    DEPENDENCIESCONFIG = staticlib
    REMAKEN_PKGSUBDIR=static
} else {
    DEPENDENCIESCONFIG = sharedlib
    REMAKEN_PKGSUBDIR=shared
}

CONFIG(debug,debug|release) {
    DEFINES += _DEBUG=1
    DEFINES += DEBUG=1
    REMAKEN_PKGSUBDIR=$${REMAKEN_PKGSUBDIR}/debug
}

CONFIG(release,debug|release) {
    DEFINES += NDEBUG=1
    REMAKEN_PKGSUBDIR=$${REMAKEN_PKGSUBDIR}/release
}

package_remaken {
    message("Preparing remaken package installation in $${REMAKEN_PKGSUBDIR}")
    INSTALLSUBDIR=$${REMAKEN_PKGSUBDIR}
}

include(findremakenrules.pri) (1)

DEPENDENCIESCONFIG = sharedlib
DEPENDENCIESCONFIG += install_recurse (2)

## Configuration for Visual Studio to install binaries and dependencies. Work also for QT Creator by replacing QMAKE_INSTALL
PROJECTCONFIG = QTVS (3)

#NOTE : CONFIG as staticlib or sharedlib, DEPENDENCIESCONFIG as staticlib or sharedlib and PROJECTDEPLOYDIR MUST BE DEFINED BEFORE templatelibbundle.pri inclusion
include ($${QMAKE_REMAKEN_RULES_ROOT}/templatelibconfig.pri)


DEFINES += BOOST_ALL_NO_LIB
DEFINES += BOOST_ALL_DYN_LINK

SOURCES +=     MyPipeline_main.cpp

HEADERS +=     MyPipelineAPI.h
unix {
}

macx {
    DEFINES += _MACOS_TARGET_
    QMAKE_MAC_SDK= macosx
    QMAKE_CFLAGS += -mmacosx-version-min=10.7 #-x objective-c++
    QMAKE_CXXFLAGS += -mmacosx-version-min=10.7 -std=c++17 -fPIC#-x objective-c++
    QMAKE_LFLAGS += -mmacosx-version-min=10.7 -v -lstdc++
    LIBS += -lstdc++ -lc -lpthread
}

win32 {
    DEFINES += _X86_VC12_TARGET_
    DEFINES += MBCS _MBCS
 }

INCLUDEPATH += $${PWD}

header_files.path = $${PROJECTDEPLOYDIR}/interfaces/
header_files.files = $$files($${PWD}/I*.h)

INSTALLS += header_files
DISTFILES +=     Makefile

OTHER_FILES +=     packagedependencies.txt

#NOTE : Must be placed at the end of the .pro
    include ($${QMAKE_REMAKEN_RULES_ROOT}/remaken_install_target.pri) (4)

SolARFramework|0.11.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download

framework#channel | version | [condition]#library name | identifier or local folder@repository_type | repository_url | link_mode | options

<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<xpcf-registry autoAlias="true">

<module uuid="15e1990b-86b2-445c-8194-0cbe80ede970" name="SolARModuleOpenCV" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModuleOpenCV/0.11.0/lib/x86_64/shared" description="OpenCV"> (1)
  <component uuid="5B7396F4-A804-4F3C-A0EB-FB1D56042BB4" name="SolARCameraOpencv" description="SolARCameraOpencv"> (2)
    <interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
    <interface uuid="5DDC7DF0-8377-437F-9C81-3643F7676A5B" name="ICamera" description="ICamera"/>
  </component>
  <component uuid="fa4a780a-9720-11e8-9eb6-529269fb1459" name="SolARVideoAsCameraOpencv" description="SolARVideoAsCameraOpencv">
      <interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
      <interface uuid="5DDC7DF0-8377-437F-9C81-3643F7676A5B" name="ICamera" description="ICamera"/>
  </component>
  <component uuid="19ea4e13-7085-4e3f-92ca-93f200ffb01b" name="SolARImageViewerOpencv" description="SolARImageViewerOpencv">
    <interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
    <interface uuid="b05f3dbb-f93d-465c-aee1-fb58e1480c42" name="IImageViewer" description="IImageViewer"/>
  </component>
</module>
<factory>
    <bindings>
      <bind interface="ICamera" to="SolARCameraOpencv" properties="CameraProperty"/> (3)
      <bind interface="ICamera" to="SolARVideoAsCameraOpencv" name="VideoAsCamera" properties="VideoAsCameraProperty"/> (4)
    </bindings>
</factory>

<properties> (5)
  <configuration component="SolARCameraOpencv" name="CameraProperty">
    <property name="calibrationFile" type="string" value="camera_calibration.json"/>
    <property name="deviceID" type="uint" value="0"/>
  </configuration>
  <configuration component="SolARVideoAsCameraOpencv" name="VideoAsCameraProperty"> (6)
    <property name="calibrationFile" type="string" value="camera_calibration.json"/>
    <property name="videoPath" type="string" value="path to video"/>
    <property name="delayTime" type="int" value="30"/>
  </configuration>
  <configuration component="SolARImageViewerOpencv">
    <property name="title" type="string" value="Original Image"/>
    <property name="exitKey" type="int" value="27"/>
    <property name="width" type="int" value="0"/>
    <property name="height" type="int" value="0"/>
  </configuration>
</properties>

</xpcf-registry>

/**
 * Information concerning the copyright and licence of your pipeline
 */

#ifndef MYPIPELINE_H
#define MYPIPELINE_H

// Mandatory include file (1)
#include "MyPipelineAPI.h"
#include "xpcf/core/traits.h"
#include "xpcf/component/ConfigurableBase.h"
#include "api/pipeline/IPoseEstimationPipeline.h"
#include "xpcf/threading/BaseTask.h"

// Add here the header file for the component interfaces required by your pipeline (2)
// e.g. #include "api/input/devices/ICamera.h"

namespace xpcf=org::bcom::xpcf;

namespace SolAR { (3)
using namespace datastructure;
using namespace api;
namespace PIPELINES {

/**
 * @class MyPipeline
 * @brief A short description of your pipeline
 */
(4)
class MyPipeline_EXPORT_API MyPipeline : public org::bcom::xpcf::ConfigurableBase,
    public api::pipeline::IPoseEstimationPipeline
{
public:
    MyPipeline();
    ~MyPipeline();

    /// @brief Initialization of the pipeline
    /// @return FrameworkReturnCode::_SUCCESS if the init succeeds, else FrameworkReturnCode::_ERROR_
    FrameworkReturnCode init() override;

    /// @brief Provide the camera parameters
    /// @return the camera parameters (its resolution and its focal)
    CameraParameters getCameraParameters() const override;

    /// @brief Starts the pipeline.
    /// @return FrameworkReturnCode::_SUCCESS if the start succeeds, else FrameworkReturnCode::_ERROR_
    FrameworkReturnCode start() override;

    /// @brief Starts the pipeline and provides a texture buffer which will be updated when required.
    /// @param[in] textureHandle a pointer to the texture buffer which will be updated at each call of the update method.
    /// @return FrameworkReturnCode::_SUCCESS if the start succeeds, else FrameworkReturnCode::_ERROR_
    FrameworkReturnCode start(void* imageDataBuffer) override;

    /// @brief Stop the pipeline.
    FrameworkReturnCode stop() override;

    /// @brief update the pipeline
    /// Get the new pose and update the texture buffer with the image that has to be displayed
    api::sink::SinkReturnCode update(Transform3Df& pose) override;

    /// @brief load the source image
    api::source::SourceReturnCode loadSourceImage(void* sourceTextureHandle, int width, int height) override;

    xpcf::XPCFErrorCode onConfigured() override;

    void onInjected() override;

    void unloadComponent () override final;

private:
  // Add here the declaration of the shared references on components required by your pipeline (e.g. SRef<input::device::ICamera> m_camera;)
  (5)

  // Threads (6)
  bool pipelineLoop();
  xpcf::DelegateTask* m_pipelineLoopTask = nullptr;

  // optionally, add here some parameters of your module that can be configured
  // int m_myPipelineParameter; (7)
};

}
}


XPCF_DEFINE_COMPONENT_TRAITS(SolAR::PIPELINES::MyPipeline, (8)
                             "<yourUUID>",
                             "My pipeline",
                             "A sample pipeline used for documentation");

#endif // MYPIPELINE_H

/**
 * Information concerning the copyright and licence of your pipeline
 */

// Mandatory header file (1)
#include "xpcf/module/ModuleFactory.h"
#include "core/Log.h"

// Header to your pipeline declaration (2)
#include "MyPipeline.h"

// Header to datastructure required to exchange data between your components (3)
// e.g. #include "datastructure/Image.h"

// Macro used by the XPCF factory to define a component/pipeline (4)
XPCF_DEFINE_FACTORY_CREATE_INSTANCE(SolAR::PIPELINES::MyPipeline)

namespace xpcf=org::bcom::xpcf;

namespace SolAR { (5)
using namespace datastructure;
using namespace api::pipeline;
using namespace api::source;
using namespace api::sink;
namespace PIPELINES {

MyPipeline::MyPipeline():ConfigurableBase(xpcf::toUUID<MyPipeline>())
{
   addInterface<api::pipeline::IPipeline>(this);
   // Add here the declaration of the component implementation you want to inject in your interfaces
   // e.g. declareInjectable<input::device::ICamera>(m_camera);
   // If a sepcific named binding is needed
   // e.g. declareInjectable<input::device::ICamera>(m_camera, "VideoAsCamera");
   (6)
   // Add here the mapping of your pipeline properties with the variables of your pipeline class
   // e.g. declareProperty("myPipelineProperty", m_MyPipelineVariable);
   (7)
}

MyPipeline::~MyPipeline()
{

}

void MyPipeline::onInjected()
{
    // ADD HERE: Things to do when injectable components have been inject in your pipline.
}

xpcf::XPCFErrorCode MyPipeline::onConfigured()
{
  // ADD HERE: Things to do when the variables of your pipeline class have just been set according to the properties defined in your configuration file.
}

FrameworkReturnCode MyPipeline::init()
{
  try {
    // ADD HERE: Thinks to do to initialize your pipeline
    //e.g. load a marker or set camera parameters for components requiring them.
    (8)

  }
  catch (xpcf::Exception e)
  {
     LOG_WARNING("One or more components cannot be created: {}", e.what());
     return FrameworkReturnCode::_ERROR_;
  }

  return FrameworkReturnCode::_SUCCESS;
}

CameraParameters MyPipeline::getCameraParameters() const
{
  CameraParameters camParam;
  // ADD HERE the code to return camera parameters

  return camParam;
}

bool MyPipeline::pipelineLoop() (9)
{
  // ADD HERE: the code connecting the component of your pipeline

  return true;
}

SourceReturnCode MyPipeline::loadSourceImage(void* sourceTextureHandle, int width, int height)
{
   // ADD HERE the code to take external image as input of your pipeline

   return SourceReturnCode::_NOT_IMPLEMENTED;
}


FrameworkReturnCode MyPipeline::start(void* imageDataBuffer)
{
  // ADD HERE the code to start your pipeline
  // e.g. start the camera

  // create and start a thread for the loop of the pipeline (10)
  auto pipelineLoopThread = [this](){;pipelineLoop();};
  m_pipelineLoopTask = new xpcf::DelegateTask(pipelineLoopThread);
  m_pipelineLoopTask->start();

  return FrameworkReturnCode::_SUCCESS;
}

FrameworkReturnCode MyPipeline::stop()
{
  // ADD HERE the code to stop your pipeline
  if (m_pipelineLoopTask != nullptr)
    m_pipelineLoopTask->stop(); (11)
  return FrameworkReturnCode::_SUCCESS;
}

SinkReturnCode MyPipeline::update(Transform3Df& pose)
{
  // ADD HERE the code to update the pose of the camera

  return SinkReturnCode::_NOT_IMPLEMENTED;
}

}
}

/**
 * Information concerning the copyright and licence of your pipeline
 */

#ifndef MYPIPELINE_H
#define MYPIPELINE_H

// Mandatory include file
#include "MyPipelineAPI.h"
#include "xpcf/core/traits.h"
#include "xpcf/component/ConfigurableBase.h"
#include "api/pipeline/IPoseEstimationPipeline.h"
#include "xpcf/threading/BaseTask.h"

// Add here the header file for the component interfaces required by your pipeline
// e.g. #include "api/input/devices/ICamera.h" (1)
#include "api/input/devices/ICamera.h"
#include "api/sink/ISinkPoseImage.h"
#include "api/source/ISourceImage.h"

namespace xpcf=org::bcom::xpcf;

namespace SolAR {
using namespace datastructure;
using namespace api;
namespace PIPELINES {

/**
 * @class MyPipeline
 * @brief A short description of your pipeline
 */
class MyPipeline_EXPORT_API MyPipeline : public org::bcom::xpcf::ConfigurableBase,
    public api::pipeline::IPoseEstimationPipeline
{
public:
    MyPipeline();
    ~MyPipeline();

    /// @brief Initialization of the pipeline
    /// @return FrameworkReturnCode::_SUCCESS if the init succeeds, else FrameworkReturnCode::_ERROR_
    FrameworkReturnCode init() override;

    /// @brief Provide the camera parameters
    /// @return the camera parameters (its resolution and its focal)
    CameraParameters getCameraParameters() const override;

    /// @brief Starts the pipeline.
    /// @return FrameworkReturnCode::_SUCCESS if the start succeeds, else FrameworkReturnCode::_ERROR_
    FrameworkReturnCode start() override;

    /// @brief Starts the pipeline and provides a texture buffer which will be updated when required.
    /// @param[in] textureHandle a pointer to the texture buffer which will be updated at each call of the update method.
    /// @return FrameworkReturnCode::_SUCCESS if the start succeeds, else FrameworkReturnCode::_ERROR_
    FrameworkReturnCode start(void* imageDataBuffer) override;

    /// @brief Stop the pipeline.
    FrameworkReturnCode stop() override;

    /// @brief update the pipeline
    /// Get the new pose and update the texture buffer with the image that has to be displayed
    api::sink::SinkReturnCode update(Transform3Df& pose) override;

    /// @brief load the source image
    api::source::SourceReturnCode loadSourceImage(void* sourceTextureHandle, int width, int height) override;

    xpcf::XPCFErrorCode onConfigured() override;

    void onInjected() override;

    void unloadComponent () override final;

private:
  // Add here the declaration of the shared references on components required by your pipeline (e.g. SRef<input::device::ICamera> m_camera;)
  SRef<input::devices::ICamera> m_camera; (2)
  SRef<sink::ISinkPoseImage> m_sink;
  SRef<source::ISourceImage> m_source;

  // Threads
  bool pipelineLoop();
  xpcf::DelegateTask* m_pipelineLoopTask = nullptr;

  // optionally, add here some parameters of your module that can be configured
  // int m_myPipelineParameter;

  // Other attributes
  bool m_externalInputImageMode = false; (3)
};

}
}


XPCF_DEFINE_COMPONENT_TRAITS(SolAR::PIPELINES::MyPipeline,
                             "855c83b7-f4ec-48ab-8e89-56018ea9e169",
                             "My pipeline",
                             "A sample pipeline used for documentation");

#endif // MYPIPELINE_H

/**
 * Information concerning the copyright and licence of your pipeline
 */

// Mandatory header file
#include "xpcf/module/ModuleFactory.h"
#include "core/Log.h"

// Header to your pipeline declaration
#include "MyPipeline.h"

// Header to datastructure required to exchange data between your components
// e.g. #include "datastructure/Image.h"
#include "datastructure/Image.h" (1)

// Macro used by the XPCF factory to define a component/pipeline
XPCF_DEFINE_FACTORY_CREATE_INSTANCE(SolAR::PIPELINES::MyPipeline)

namespace xpcf=org::bcom::xpcf;

namespace SolAR {
using namespace datastructure;
using namespace api::pipeline;
using namespace api::source;
using namespace api::sink;
namespace PIPELINES {

MyPipeline::MyPipeline():ConfigurableBase(xpcf::toUUID<MyPipeline>())
{
   addInterface<api::pipeline::IPipeline>(this);
   // Add here the declaration of the component implementation you want to inject in your interfaces
   // e.g. declareInjectable<input::device::ICamera>(m_camera);
   // If a sepcific named binding is needed
   // e.g. declareInjectable<input::device::ICamera>(m_camera, "VideoAsCamera");
   (2)
   declareInjectable<input::devices::ICamera>(m_camera);
   declareInjectable<sink::ISinkPoseImage>(m_sink);
   declareInjectable<source::ISourceImage>(m_source);
   // Add here the mapping of your pipeline properties with the variables of your pipeline class
   // e.g. declareProperty("myPipelineProperty", m_MyPipelineVariable);
}

MyPipeline::~MyPipeline()
{

}

void MyPipeline::onInjected()
{
    // ADD HERE: Things to do when injectable components have been inject in your pipline.
}

xpcf::XPCFErrorCode MyPipeline::onConfigured()
{
  // ADD HERE: Things to do when the variables of your pipeline class have just been set according to the properties defined in your configuration file.
}

FrameworkReturnCode MyPipeline::init()
{
  try {
    // ADD HERE: Thinks to do to initialize your pipeline
    //e.g. load a marker or set camera parameters for components requiring them.

  }
  catch (xpcf::Exception e)
  {
     LOG_WARNING("One or more components cannot be created: {}", e.what());
     return FrameworkReturnCode::_ERROR_;
  }

  return FrameworkReturnCode::_SUCCESS;
}

CameraParameters MyPipeline::getCameraParameters() const
{
  CameraParameters camParam;
  // ADD HERE the code to return camera parameters
  if (m_camera) (3)
  {
      camParam = m_camera->getParameters();
  }
  return camParam;
}

bool MyPipeline::pipelineLoop() (4)
{
  // ADD HERE: the code connecting the component of your pipeline
  SRef<Image> image;

  if (m_externalInputImageMode)
  {
    if (m_source->getNextImage(image) == SourceReturnCode::_NEW_IMAGE)
      m_sink->set(image);
  }
  else
  {
    if (m_camera->getNextImage(image) == SolAR::FrameworkReturnCode::_ERROR_LOAD_IMAGE)
      return false;
    m_sink->set(image);
  }
  return true;
}

SourceReturnCode MyPipeline::loadSourceImage(void* sourceTextureHandle, int width, int height)
{
   // ADD HERE the code to take external image as input of your pipeline
   m_externalInputImageMode = true; (5)
   return m_source->setInputTexture((unsigned char *)sourceTextureHandle, width, height);
}


FrameworkReturnCode MyPipeline::start(void* imageDataBuffer)
{
  // ADD HERE the code to start your pipeline
  // e.g. start the camera
  m_sink->setImageBuffer((unsigned char*)imageDataBuffer); (6)

  if (m_camera->start() != FrameworkReturnCode::_SUCCESS) (7)
    return FrameworkReturnCode::_ERROR_;

  // create and start a thread for the loop of the pipeline
  auto pipelineLoopThread = [this](){;pipelineLoop();};
  m_pipelineLoopTask = new xpcf::DelegateTask(pipelineLoopThread);
  m_pipelineLoopTask->start();

  return FrameworkReturnCode::_SUCCESS;
}

FrameworkReturnCode MyPipeline::stop()
{
  // ADD HERE the code to stop your pipeline
  if (m_pipelineLoopTask != nullptr)
    m_pipelineLoopTask->stop();
  return FrameworkReturnCode::_SUCCESS;
}

SinkReturnCode MyPipeline::update(Transform3Df& pose)
{
  // ADD HERE the code to update the pose of the camera

  return SinkReturnCode::_NOT_IMPLEMENTED;
}

}
}

SolARPipeline_FiducialMarker|0.11.0|SolARPipeline_FiducialMarker|SolARBuild@github|https://github.com/SolarFramework/Sample-FiducialMarker/releases/download
SolARPipeline_NaturalImageMarker|0.11.0|SolARPipeline_NaturalImageMarker|SolARBuild@github|https://github.com/SolarFramework/Sample-NaturalImageMarker/releases/download
SolARPipeline_SLAM|0.11.0|SolARPipeline_SLAM|SolARBuild@github|https://github.com/SolarFramework/Sample-Slam/releases/download
SolARPipelineManager|0.11.0|SolARPipelineManager|SolARBuild@github|https://github.com/SolarFramework/SolARPipelineManager/releases/download
SolARModuleOpenCV|0.11.0|SolARModuleOpenCV|SolARBuild@github|https://github.com/SolarFramework/SolARModuleOpenCV/releases/download
SolARModuleTools|0.11.0|SolARModuleTools|SolARBuild@github|https://github.com/SolarFramework/SolARModuleTools/releases/download
SolARWrapper|0.11.0|SolARWrapper|SolARBuild@github|https://github.com/SolarFramework/SwigWrapper/releases/download
SolARModuleFBOW|0.11.0|SolARModuleFBOW|SolARBuild@github|https://github.com/SolarFramework/SolARModuleFBOW/releases/download
SolARModuleG2O|0.11.0|SolARModuleG2O|SolARBuild@github|https://github.com/SolarFramework/SolARModuleG2O/releases/download
MyPipeline|0.11.0|MyPipeline|@github|https://github.com/SolarFramework/MyPipeline/releases/download (1)