/* Copyright (c) 2012 Patrick Ruoff
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 */

#ifndef FTNOIR_TRACKER_PT_H
#define FTNOIR_TRACKER_PT_H

#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
#include "ftnoir_tracker_pt_settings.h"
#include "camera.h"
#include "point_extractor.h"
#include "point_tracker.h"
#include "video_widget.h"
#include "timer.h"

#include <QThread>
#include <QMutex>
#include <QTime>
#include <opencv2/opencv.hpp>
#include <QFrame>
#include <QTimer>

//-----------------------------------------------------------------------------
class Tracker : public QThread, public ITracker
{
    Q_OBJECT
public:
	Tracker();
	~Tracker();

	// ITracker interface
    void StartTracker(QFrame* videoFrame);
	bool GiveHeadPoseData(THeadPoseData *data);

	void refreshVideo();

	void apply(const TrackerSettings& settings);
	void center();
	void reset();	// reset the trackers internal state variables
	void run();
    void WaitForExit() {
        should_quit = true;
        wait();
    }

	void get_pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.get_pose(); }
	int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
	void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }

protected:	
	FrameTrafo X_CH_0; // for centering
	cv::Mat frame;	// the output frame for display

	enum Command {
		ABORT = 1<<0,
		PAUSE = 1<<1
	};
	void set_command(Command command);
	void reset_command(Command command);
	
    CVCamera camera;
	PointExtractor point_extractor;
	PointTracker point_tracker;
	bool tracking_valid;

	cv::Vec3f t_MH;
	int cam_pitch;

	bool draw_frame;
	int sleep_time;

	bool bEnableRoll;
	bool bEnablePitch;
	bool bEnableYaw;
	bool bEnableX;
	bool bEnableY;
	bool bEnableZ;
	
	long frame_count;
    int commands;

	VideoWidget* video_widget;
	Timer time;
    QMutex mutex;
    volatile bool should_quit;
    volatile bool fresh;
    QTimer timer;
    
protected slots:
    void paint_widget();
};

#endif // FTNOIR_TRACKER_PT_H