From 63d44a6098878e8c6e82b61cdce202d54fae6a07 Mon Sep 17 00:00:00 2001
From: kim-mishra <121991867+kim-mishra@users.noreply.github.com>
Date: Thu, 17 Aug 2023 10:15:54 -0400
Subject: [PATCH] RSDK-2262 - use config to determine slam mode during
 validation (#249)

---
 config/config.go      | 28 +++++++++++++++++++++++++---
 config/config_test.go | 34 ++++++++++++++++++++++++++++++++++
 2 files changed, 59 insertions(+), 3 deletions(-)

diff --git a/config/config.go b/config/config.go
index 74916cb1..ee8160d5 100644
--- a/config/config.go
+++ b/config/config.go
@@ -43,8 +43,10 @@ type OptionalConfigParams struct {
 }
 
 var (
-	errCameraMustHaveName    = errors.New("\"camera[name]\" is required")
-	errSensorsMustNotBeEmpty = errors.New("\"sensors\" must not be empty")
+	errCameraMustHaveName           = errors.New("\"camera[name]\" is required")
+	errSensorsMustNotBeEmpty        = errors.New("\"sensors\" must not be empty")
+	errLocalizationInOfflineMode    = newError("data_rate_msec = 0 and enable_mapping = false. localization in offline mode not supported.")
+	errLocalizationInOfflineModeIMU = newError("camera[data_freq_hz] and enable_mapping = false. localization in offline mode not supported.")
 )
 
 // Validate creates the list of implicit dependencies.
@@ -161,8 +163,13 @@ func GetOptionalParameters(config *Config, defaultLidarDataRateMsec, defaultIMUD
 		if config.EnableMapping == nil {
 			logger.Debug("no enable_mapping given, setting to default value of false")
 		} else {
-			optionalConfigParams.EnableMapping = config.CloudStoryEnabled
+			optionalConfigParams.EnableMapping = *config.EnableMapping
 		}
+
+		if err := validateModes(optionalConfigParams, config.IMUIntegrationEnabled); err != nil {
+			return OptionalConfigParams{}, err
+		}
+
 		return optionalConfigParams, nil
 	}
 
@@ -179,3 +186,18 @@ func GetOptionalParameters(config *Config, defaultLidarDataRateMsec, defaultIMUD
 
 	return optionalConfigParams, nil
 }
+
+func validateModes(
+	optionalConfigParams OptionalConfigParams,
+	imuEnabled bool,
+) error {
+	offlineMode := optionalConfigParams.LidarDataRateMsec == 0
+	localizationMode := !optionalConfigParams.EnableMapping
+	if localizationMode && offlineMode {
+		if imuEnabled {
+			return errLocalizationInOfflineModeIMU
+		}
+		return errLocalizationInOfflineMode
+	}
+	return nil
+}
diff --git a/config/config_test.go b/config/config_test.go
index 22bccb64..35d783e8 100644
--- a/config/config_test.go
+++ b/config/config_test.go
@@ -297,6 +297,40 @@ func getOptionalParametersTestHelper(
 		}
 	})
 
+	t.Run(fmt.Sprintf("config that puts cartographer in offline mode and in localization mode %s", suffix), func(t *testing.T) {
+		cfgService := makeCfgService(imuIntegrationEnabled, cloudStoryEnabled)
+		cfgService.Attributes["existing_map"] = "test-file.pbstream"
+		cfgService.Attributes["enable_mapping"] = false
+		if imuIntegrationEnabled {
+			cfgService.Attributes["camera"] = map[string]string{
+				"name":              "testcam",
+				"data_frequency_hz": "0",
+			}
+		} else {
+			cfgService.Attributes["data_rate_msec"] = 0
+		}
+		cfg, err := newConfig(cfgService)
+		test.That(t, err, test.ShouldBeNil)
+		optionalConfigParams, err := GetOptionalParameters(
+			cfg,
+			1000,
+			1000,
+			1002,
+			logger)
+		if cloudStoryEnabled {
+			if imuIntegrationEnabled {
+				test.That(t, err, test.ShouldBeError, errLocalizationInOfflineModeIMU)
+			} else {
+				test.That(t, err, test.ShouldBeError, errLocalizationInOfflineMode)
+			}
+		} else {
+			test.That(t, err, test.ShouldBeNil)
+			test.That(t, optionalConfigParams.LidarDataRateMsec, test.ShouldEqual, 0)
+			test.That(t, optionalConfigParams.EnableMapping, test.ShouldBeFalse)
+			test.That(t, optionalConfigParams.MapRateSec, test.ShouldEqual, 1002)
+		}
+	})
+
 	if imuIntegrationEnabled {
 		sensorAttributeTestHelper(t, logger, imuIntegrationEnabled, cloudStoryEnabled)
 	}