DepthGuide/src/impl/main_impl.cpp

#include "main_impl.h"
#include "core/object_manager.h"
#include "apps/app_selector/app_selector.h"
#include "core_v2/memory_manager.h"
#include "core_v2/utility.hpp"

// from sophiar
#include "core/local_connection.h"

#include <boost/asio/io_context.hpp>
#include <boost/asio/post.hpp>
#include <boost/asio/steady_timer.hpp>

#include <glad/gl.h>
#include <GLFW/glfw3.h>

#include <imgui.h>
#include <imgui_impl_glfw.h>
#include <imgui_impl_opengl3.h>

// make glad happy
#include "core/imgui_utility.hpp"

using boost::asio::io_context;
using boost::asio::post;
using boost::asio::steady_timer;
using boost::system::error_code;

GLFWwindow *window = nullptr;
smart_cuda_stream *default_cuda_stream = nullptr;
io_context *main_ctx;
BS::thread_pool *g_thread_pool;

std::jthread *sophiar_thread = nullptr;
sophiar::local_connection *g_sophiar_conn = nullptr;

using cleanup_list_type =
std::vector<cleanup_func_type>;
cleanup_list_type cleanup_list;

//event_timer perf_timer; // performance timer
std::unique_ptr<steady_timer> ui_timer;
std::chrono::milliseconds ui_interval;

std::unique_ptr<app_base> app;

bool hide_app_ui = false;
bool hide_debug_ui = true;
bool show_demo = false;

// display config
bool full_screen = false;
int chose_monitor = 0;

struct {
    int x_pos, y_pos;
    int width, height;
} win_info; // windowed mode info

void init_cuda() {
    CUDA_API_CHECK(cuInit(0));

    auto cuda_dev = CUdevice();
    CUDA_API_CHECK(cuDeviceGet(&cuda_dev, 0)); // TODO: select device
    CUDA_API_CHECK(cuCtxCreate(&cuda_ctx, CU_CTX_SCHED_AUTO, cuda_dev));

    default_cuda_stream = new smart_cuda_stream();
    g_cuda_event_pool = new cuda_event_pool();

    std::atexit([] {
        // elegant cleanup
        cuCtxDestroy(cuda_ctx);
    });
}

void init_window() {
    // set GLFW error handler
    glfwSetErrorCallback([](int error, const char *desc) {
        SPDLOG_ERROR("GLFW error: code = {}, description = {}", error, desc);
    });

    // create main window
    auto ret = glfwInit();
    assert(ret == GLFW_TRUE);
    glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 4);
    glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 6);
    glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_COMPAT_PROFILE);
    // TODO: select width and height
    window = glfwCreateWindow(800, 600, "An not simple platform for visual navigation", nullptr, nullptr);
    assert(window != nullptr);
    glfwMakeContextCurrent(window);
    glfwSwapInterval(0);

    // load opengl functions
    auto version = gladLoadGL(glfwGetProcAddress);
    assert(version > 0);
    SPDLOG_INFO("Loaded OpenGL {}.{}", GLAD_VERSION_MAJOR(version), GLAD_VERSION_MINOR(version));

    // enable color blending
    glEnable(GL_BLEND);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

#ifndef NDEBUG
    // log opengl error
    glEnable(GL_DEBUG_OUTPUT);
    glDebugMessageCallback([](GLenum source, GLenum type, GLuint id, GLenum severity,
                              GLsizei length, const GLchar *message, const void *user_data) {
        if (type == GL_DEBUG_TYPE_ERROR) {
            SPDLOG_ERROR("OpenGL error: type = {}, severity = {}, message = {}", type, severity, message);
            assert(false);
        }
    }, nullptr);
#endif

    // setup imgui context
    IMGUI_CHECKVERSION();
    ImGui::CreateContext();
    auto io = ImGui::GetIO();
    io.ConfigFlags |= ImGuiConfigFlags_NavEnableKeyboard;
    ImGui::StyleColorsDark();
    ImGui_ImplGlfw_InitForOpenGL(window, true);
    ImGui_ImplOpenGL3_Init();

    // elegant cleanup
    std::atexit([] {
        ImGui_ImplOpenGL3_Shutdown();
        ImGui_ImplGlfw_Shutdown();
        ImGui::DestroyContext();

        glfwDestroyWindow(window);
        glfwTerminate();
    });
}

void ui_timer_func(error_code ec) {
    if (ec == boost::asio::error::operation_aborted) return;
    assert(ec == error_code());
    show_ui();
    ui_timer->expires_after(ui_interval);
    ui_timer->async_wait(ui_timer_func);
}

void init_all() {
    init_cuda();
    init_window();

    main_ctx = new io_context();
    main_ob = new object_manager_v2({.ctx = main_ctx});
    g_memory_manager = new memory_manager();

    constexpr auto background_thread_count = 1; // TODO: load this in config file
    g_thread_pool = new BS::thread_pool(background_thread_count);

    auto app_conf = app_selector::create_config();
    app_conf.asio_ctx = main_ctx;
    app_conf.cuda_ctx = &cuda_ctx;
    app_conf.app_ptr = &app;
    app = std::make_unique<app_selector>(app_conf);

    glfwSetWindowTitle(window, app->window_name());
    ui_interval = std::chrono::milliseconds(33); // TODO: select refresh rate
    ui_timer = std::make_unique<steady_timer>(*main_ctx, ui_interval);
    ui_timer->async_wait(ui_timer_func);
}

void process_keys() {
    auto &io = ImGui::GetIO();
    if (io.WantCaptureKeyboard) return;

    if (io.KeyCtrl && ImGui::IsKeyPressed(ImGuiKey_H)) {
        // Ctrl+H
        hide_app_ui ^= true;
    }
    if (io.KeyCtrl && ImGui::IsKeyPressed(ImGuiKey_D)) {
        // Ctrl+D
        hide_debug_ui ^= true;
    }
}

void update_display() {
    auto win = glfwGetCurrentContext();
    if (!full_screen) {
        glfwSetWindowMonitor(win, nullptr, win_info.x_pos, win_info.y_pos,
                             win_info.width, win_info.height, GLFW_DONT_CARE);
    } else {
        assert(full_screen);
        int monitor_num = 0;
        auto monitors = glfwGetMonitors(&monitor_num);
        assert(chose_monitor < monitor_num);
        auto monitor = monitors[chose_monitor];
        auto mode = glfwGetVideoMode(monitor);
        glfwSetWindowMonitor(win, monitor, 0, 0, mode->width, mode->height, mode->refreshRate);
    }
}

void recorde_window_info() {
    auto win = glfwGetCurrentContext();
    glfwGetWindowPos(win, &win_info.x_pos, &win_info.y_pos);
    glfwGetWindowSize(win, &win_info.width, &win_info.height);
}

void show_display_config() {
    // display mode
    if (ImGui::RadioButton("Windowed", !full_screen)) {
        if (full_screen) {
            full_screen = false;
            update_display();
        }
    }
    ImGui::SameLine();
    if (ImGui::RadioButton("Full Screen", full_screen)) {
        if (!full_screen) {
            recorde_window_info();
            full_screen = true;
            update_display();
        }
    }

    if (full_screen) {
        int monitor_count;
        auto monitors = glfwGetMonitors(&monitor_count);
        if (chose_monitor >= monitor_count) {
            chose_monitor = 0;
        }
        auto monitor_name_preview = glfwGetMonitorName(monitors[chose_monitor]);
        if (ImGui::BeginCombo("Monitor", monitor_name_preview)) {
            // let user select monitors
            for (int k = 0; k < monitor_count; ++k) {
                auto is_selected = (chose_monitor == k);
                auto monitor_name = fmt::format("{} - {}", k, glfwGetMonitorName(monitors[k]));
                if (ImGui::Selectable(monitor_name.c_str(), is_selected)) {
                    if (chose_monitor != k) {
                        chose_monitor = k;
                        update_display();
                    }
                }
                if (is_selected) {
                    ImGui::SetItemDefaultFocus();
                }
            }
            ImGui::EndCombo();
        }
    }
}

void show_memory_usage() {
    auto status = g_memory_manager->status();
    constexpr float kb_to_mb = 1.0 / 1e6f;
    ImGui::Text("Host: %.2f MB (%.2f MB)",
                status.host_allocated * kb_to_mb, status.host_cached * kb_to_mb);
    ImGui::Text("CUDA: %.2f MB (%.2f MB)",
                status.cuda_allocated * kb_to_mb, status.cuda_cached * kb_to_mb);
}

void show_thread_pool_usage() {
    ImGui::Text("Running: %ld", g_thread_pool->get_tasks_running());
    ImGui::Text("Queued: %ld", g_thread_pool->get_tasks_queued());
}

void show_debug_ui() {
    if (ImGui::Begin("Debug")) {
        ImGui::SeparatorText("Display Config");
        show_display_config();

        ImGui::SeparatorText("Memory Usage");
        show_memory_usage();

        ImGui::SeparatorText("Thread Pool Usage");
        show_thread_pool_usage();

        ImGui::SeparatorText("Miscellaneous");
        ImGui::Checkbox("Show Demo", &show_demo);
    }
    ImGui::End();
}

void show_ui() {
    glfwPollEvents();
    ImGui_ImplOpenGL3_NewFrame();
    ImGui_ImplGlfw_NewFrame();
    ImGui::NewFrame();

    if (glfwWindowShouldClose(window)) {
        ui_timer->cancel();
        main_ctx->stop();
        return;
    }
    process_keys();

    assert(app != nullptr);
    if (!hide_app_ui) {
        app->show_ui();
    }
    if (!hide_debug_ui) {
        show_debug_ui();
    }
    if (show_demo) {
        ImGui::ShowDemoWindow();
    }

    cv::Size frame_size;
    glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
    glfwGetFramebufferSize(window, &frame_size.width, &frame_size.height);
    glViewport(0, 0, frame_size.width, frame_size.height);
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    app->render_background();

    ImGui::Render();
    ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
    glfwSwapBuffers(window);
}

void register_cleanup_func(cleanup_func_type func) {
    cleanup_list.push_back(func);
}

void cleanup() {
    app = nullptr;
    ui_timer = nullptr;

    // custom cleanup funcs
    for (auto func: cleanup_list) {
        func();
    }

    delete main_ob;
    delete main_ctx;
    delete g_memory_manager;

    if (sophiar_thread != nullptr) {
        sophiar::stop_sophiar();
        delete g_sophiar_conn;
        delete sophiar_thread;
    }
}