#include "stdafx.h"
#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
#include "headtracker-ftnoir.h"
#include "ftnoir_tracker_ht.h"
#include "ftnoir_tracker_ht_dll.h"
#include "UI_TRACKERCONTROLS.h"

static TCHAR shmName[] = TEXT(HT_SHM_NAME);
static TCHAR mutexName[] = TEXT(HT_MUTEX_NAME);

#define WIDGET_WIDTH 250
#define WIDGET_HEIGHT 170

static void load_settings(ht_config_t* config, Tracker* tracker)
{
	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");
	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
	QSettings iniFile( currentFile, QSettings::IniFormat );

	iniFile.beginGroup( "HT-Tracker" );
	config->classification_delay = 4000;
	config->field_of_view = iniFile.value("fov", 69).toFloat();
	config->pyrlk_pyramids = 3;
	config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
	config->max_keypoints = 250;
	config->keypoint_quality = 12;
	config->keypoint_distance = 2.1;
	config->keypoint_3distance = 5;
	config->force_width = 640;
	config->force_height = 480;
	config->force_fps = iniFile.value("fps", 0).toInt();
	config->camera_index = iniFile.value("camera-index", -1).toInt();
	config->ransac_num_iters = 100;
	config->ransac_max_reprojection_error = 3.5;
	config->ransac_max_inlier_error = 3.5;
	config->ransac_max_mean_error = 3;
	config->ransac_abs_max_mean_error = 5;
	config->debug = 0;
	config->ransac_min_features = 0.88;
	if (tracker)
	{
		tracker->enableRX = iniFile.value("enable-rx", true).toBool();
		tracker->enableRY = iniFile.value("enable-ry", true).toBool();
		tracker->enableRZ = iniFile.value("enable-rz", true).toBool();
		tracker->enableTX = iniFile.value("enable-tx", true).toBool();
		tracker->enableTY = iniFile.value("enable-ty", true).toBool();
		tracker->enableTZ = iniFile.value("enable-tz", true).toBool();
	}
	iniFile.endGroup();
}

Tracker::Tracker()
{
	videoWidget = NULL;
	layout = NULL;
	enableRX = enableRY = enableRZ = enableTX = enableTY = enableTZ = true;
	hMutex = CreateMutex(NULL, false, mutexName);
	hMapFile = CreateFileMapping(
                 INVALID_HANDLE_VALUE,
                 NULL,
                 PAGE_READWRITE,
                 0,
				 sizeof(ht_shm_t),
                 shmName);
	shm = (ht_shm_t*) MapViewOfFile(hMapFile,
									FILE_MAP_READ | FILE_MAP_WRITE,
									0,
									0,
									sizeof(ht_shm_t));
	paused = false;
	load_settings(&shm->config, this);
}

Tracker::~Tracker()
{
	if (layout)
		delete layout;
	if (videoWidget)
		delete videoWidget;
	UnmapViewOfFile(shm);
	CloseHandle(hMapFile);
	CloseHandle(hMutex);
}

void Tracker::Initialize(QFrame *videoframe)
{
	videoframe->setAttribute(Qt::WA_NativeWindow);
	videoframe->show();
	videoWidget = new VideoWidget(videoframe);
	QHBoxLayout* layout = new QHBoxLayout();
	layout->setContentsMargins(0, 0, 0, 0);
	layout->addWidget(videoWidget);
	if (videoframe->layout())
		delete videoframe->layout();
	videoframe->setLayout(layout);
	videoWidget->resize(WIDGET_WIDTH, WIDGET_HEIGHT);
	videoWidget->show();
	this->layout = layout;
}

void Tracker::StartTracker(HWND parent)
{
	if (paused)
	{
		shm->pause = false;
	}
	else
	{
		load_settings(&shm->config, this);
		shm->frame.channels = shm->frame.width = shm->frame.height = 0;
		shm->pause = shm->terminate = shm->running = false;
		shm->timer = 0;
		switch (subprocess.state())
		{
		case QProcess::ProcessState::Running:
		case QProcess::ProcessState::Starting:
			subprocess.kill();
		}
		subprocess.setWorkingDirectory("tracker-ht");
		subprocess.start("tracker-ht/headtracker-ftnoir.exe");
	}
}

void Tracker::StopTracker(bool exit)
{
	if (exit)
	{
		shm->terminate = true;
		subprocess.kill();
	}
	else
	{
		shm->pause = true;
	}
}

bool Tracker::GiveHeadPoseData(THeadPoseData* data)
{
	bool ret = false;

	if (WaitForSingleObject(hMutex, 100) == WAIT_OBJECT_0)
	{
		shm->timer = 0;
		if (WaitForSingleObject(videoWidget->hMutex, 10) == WAIT_OBJECT_0)
		{
			memcpy(&videoWidget->videoFrame, &shm->frame, sizeof(ht_video_t));
			ReleaseMutex(videoWidget->hMutex);
		}
		if (shm->result.filled) {
			if (enableRX)
				data->yaw = shm->result.rotx * 57.295781;
			if (enableRY)
				data->pitch = shm->result.roty * 57.295781;
			if (enableRZ)
				data->roll = shm->result.rotz * 57.295781;
			if (enableTX)
				data->x = shm->result.tx;
			if (enableTY)
				data->y = shm->result.ty;
			if (enableTZ)
				data->z = shm->result.tz;
			ret = true;
		}
		ReleaseMutex(hMutex);
	}

	return ret;
}

VideoWidget::VideoWidget(QWidget* parent) : QWidget(parent)
{
	hMutex = CreateMutex(NULL, false, NULL);
	videoFrame.channels = videoFrame.height = videoFrame.width = 0;
    connect(&timer, SIGNAL(timeout()), this, SLOT(update()));
    timer.start(35);
}

VideoWidget::~VideoWidget()
{
	CloseHandle(hMutex);
}

void VideoWidget::paintEvent(QPaintEvent *e)
{
	uchar* data = NULL;
	if (WaitForSingleObject(hMutex, 10) == WAIT_OBJECT_0)
	{
		if (videoFrame.width > 0)
		{
			data = new uchar[videoFrame.width * videoFrame.height * 3];
			memcpy(data, videoFrame.frame, videoFrame.width * videoFrame.height * 3);
		}
		ReleaseMutex(hMutex);
	}
	if (data)
	{
		QImage image((uchar*) data, videoFrame.width, videoFrame.height, QImage::Format_RGB888);
		QPainter painter(this);
		painter.drawPixmap(e->rect(), QPixmap::fromImage(image.rgbSwapped()).scaled(WIDGET_WIDTH, WIDGET_HEIGHT, Qt::AspectRatioMode::KeepAspectRatioByExpanding), e->rect());
		delete[] data;
	}
}

//-----------------------------------------------------------------------------
void TrackerDll::getFullName(QString *strToBeFilled)
{
	*strToBeFilled = "HT 0.5";
}

void TrackerDll::getShortName(QString *strToBeFilled)
{
	*strToBeFilled = "HT";
}

void TrackerDll::getDescription(QString *strToBeFilled)
{
	*strToBeFilled = "";
}

void TrackerDll::getIcon(QIcon *icon)
{
	*icon = QIcon();
}


//-----------------------------------------------------------------------------
#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")

FTNOIR_TRACKER_BASE_EXPORT ITrackerDllPtr __stdcall GetTrackerDll()
{
	return new TrackerDll;
}

#pragma comment(linker, "/export:GetTracker=_GetTracker@0")

FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker()
{
	return new Tracker;
}

////////////////////////////////////////////////////////////////////////////////
// Factory function that creates instances if the Tracker-settings dialog object.

// Export both decorated and undecorated names.
//   GetTrackerDialog     - Undecorated name, which can be easily used with GetProcAddress
//                          Win32 API function.
//   _GetTrackerDialog@0  - Common name decoration for __stdcall functions in C language.
#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")

FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( )
{
	return new TrackerControls;
}

TrackerControls::TrackerControls()
{
	ui.setupUi(this);
	loadSettings();
	connect(ui.cameraIndex, SIGNAL(valueChanged(int)), this, SLOT(settingChanged(int)));
	connect(ui.cameraFPS, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int)));
	connect(ui.cameraFOV, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
	connect(ui.rx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
	connect(ui.ry, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
	connect(ui.rz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
	connect(ui.tx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
	connect(ui.ty, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
	connect(ui.tz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
	connect(ui.buttonCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
	connect(ui.buttonOK, SIGNAL(clicked()), this, SLOT(doOK()));
	settingsDirty = false;
}

TrackerControls::~TrackerControls()
{
}

void TrackerControls::showEvent(QShowEvent *event)
{
}

void TrackerControls::Initialize(QWidget* parent)
{
	show();
}

void TrackerControls::loadSettings()
{
	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");
	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
	QSettings iniFile( currentFile, QSettings::IniFormat );
	iniFile.beginGroup( "HT-Tracker" );
	ui.cameraIndex->setValue(iniFile.value("camera-index", -1).toInt());
	ui.cameraFOV->setValue(iniFile.value("fov", 69).toInt());
	int fps;
	switch (iniFile.value("fps", 0).toInt())
	{
	default:
	case 0:
		fps = 0;
		break;
	case 30:
		fps = 1;
		break;
	case 60:
		fps = 2;
		break;
	case 120:
		fps = 3;
		break;
	}
	ui.cameraFPS->setCurrentIndex(fps);
	ui.rx->setCheckState(iniFile.value("enable-rx", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
	ui.ry->setCheckState(iniFile.value("enable-ry", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
	ui.rz->setCheckState(iniFile.value("enable-rz", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
	ui.tx->setCheckState(iniFile.value("enable-tx", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
	ui.ty->setCheckState(iniFile.value("enable-ty", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
	ui.tz->setCheckState(iniFile.value("enable-tz", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
	iniFile.endGroup();
	settingsDirty = false;
}

void TrackerControls::save()
{
	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");
	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
	QSettings iniFile( currentFile, QSettings::IniFormat );

	iniFile.beginGroup( "HT-Tracker" );
	iniFile.setValue("fov", ui.cameraFOV->value());
	int fps;
	switch (ui.cameraFPS->currentIndex())
	{
	case 0:
	default:
		fps = 0;
		break;
	case 1:
		fps = 30;
		break;
	case 2:
		fps = 60;
		break;
	case 3:
		fps = 120;
		break;
	}
	iniFile.setValue("fps", fps);
	iniFile.setValue("camera-index", ui.cameraIndex->value());
	iniFile.setValue("enable-rx", ui.rx->checkState());
	iniFile.setValue("enable-ry", ui.ry->checkState());
	iniFile.setValue("enable-rz", ui.rz->checkState());
	iniFile.setValue("enable-tx", ui.tx->checkState());
	iniFile.setValue("enable-ty", ui.ty->checkState());
	iniFile.setValue("enable-tz", ui.tz->checkState());
	iniFile.endGroup();
	settingsDirty = false;
}

void TrackerControls::doOK()
{
	save();
	this->close();
}

void TrackerControls::doCancel()
{
	if (settingsDirty) {
		int ret = QMessageBox::question ( this,
										  "Settings have changed",
										  "Do you want to save the settings?",
										  QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel,
										  QMessageBox::Discard );

		switch (ret) {
			case QMessageBox::Save:
				save();
				this->close();
				break;
			case QMessageBox::Discard:
				this->close();
				break;
			case QMessageBox::Cancel:
				// Cancel was clicked
				break;
			default:
				// should never be reached
			break;
		}
	}
	else {
		this->close();
	}
}