// recorder mod with GUI showing light positions.

#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <survive.h>
#include <string.h>
#include <os_generic.h>
#include "src/survive_cal.h"
#include <CNFGFunctions.h>
#include <linmath.h>

#include "src/survive_config.h"

struct SurviveContext * ctx;
int  quit = 0;

void HandleKey( int keycode, int bDown )
{
	if( !bDown ) return;

	if( keycode == 'O' || keycode == 'o' )
	{
		survive_send_magic(ctx,1,0,0);
	}
	if( keycode == 'F' || keycode == 'f' )
	{
		survive_send_magic(ctx,0,0,0);
	}
	if( keycode == 'Q' || keycode == 'q' )
	{
		quit = 1;
	}
}

void HandleButton( int x, int y, int button, int bDown )
{
}

void HandleMotion( int x, int y, int mask )
{
}

void HandleDestroy()
{
}

//int bufferpts[32*2*3][2];
int bufferpts[32*2*3][2];
SurvivePose objPose[2];
SurvivePose lhPose[2];


char buffermts[32*128*3];
int buffertimeto[32*3][2];

void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lh)
{
//	if( timeinsweep < 0 ) return;
	survive_default_light_process( so, sensor_id, acode, timeinsweep, timecode, length, lh);
	if( sensor_id < 0 ) return;
	if( acode < 0 ) return;
//return;
	int jumpoffset = sensor_id;
	if( strcmp( so->codename, "WM0" ) == 0 || strcmp( so->codename, "WW0" ) == 0) jumpoffset += 32;
	else if( strcmp( so->codename, "WM1" ) == 0 ) jumpoffset += 64;

	// If this is the first tracked object and the pose has been set to something...
	if (so == so->ctx->objs[0] && so->FromLHPose[0].Pos[0] != 0)
	{
		objPose[0].Pos[0] = so->FromLHPose[0].Pos[0];
		objPose[0].Pos[1] = so->FromLHPose[0].Pos[1];
		objPose[0].Pos[2] = so->FromLHPose[0].Pos[2];

		objPose[0].Rot[0] = so->FromLHPose[0].Rot[0];
		objPose[0].Rot[1] = so->FromLHPose[0].Rot[1];
		objPose[0].Rot[2] = so->FromLHPose[0].Rot[2];
		objPose[0].Rot[3] = so->FromLHPose[0].Rot[3];

		lhPose[0].Pos[0] = so->ctx->bsd[0].Pose.Pos[0];
		lhPose[0].Pos[1] = so->ctx->bsd[0].Pose.Pos[1];
		lhPose[0].Pos[2] = so->ctx->bsd[0].Pose.Pos[2];

		lhPose[0].Rot[0] = so->ctx->bsd[0].Pose.Rot[0];
		lhPose[0].Rot[1] = so->ctx->bsd[0].Pose.Rot[1];
		lhPose[0].Rot[2] = so->ctx->bsd[0].Pose.Rot[2];
		lhPose[0].Rot[3] = so->ctx->bsd[0].Pose.Rot[3];

		//quatgetreciprocal(lhPose[0].Rot, lhPose[0].Rot);
	}
	if (so == so->ctx->objs[0] && so->FromLHPose[1].Pos[0] != 0)
	{
		objPose[1].Pos[0] = so->FromLHPose[1].Pos[0];
		objPose[1].Pos[1] = so->FromLHPose[1].Pos[1];
		objPose[1].Pos[2] = so->FromLHPose[1].Pos[2];

		objPose[1].Rot[0] = so->FromLHPose[1].Rot[0];
		objPose[1].Rot[1] = so->FromLHPose[1].Rot[1];
		objPose[1].Rot[2] = so->FromLHPose[1].Rot[2];
		objPose[1].Rot[3] = so->FromLHPose[1].Rot[3];

		lhPose[1].Pos[0] = so->ctx->bsd[1].Pose.Pos[0];
		lhPose[1].Pos[1] = so->ctx->bsd[1].Pose.Pos[1];
		lhPose[1].Pos[2] = so->ctx->bsd[1].Pose.Pos[2];

		lhPose[1].Rot[0] = so->ctx->bsd[1].Pose.Rot[0];
		lhPose[1].Rot[1] = so->ctx->bsd[1].Pose.Rot[1];
		lhPose[1].Rot[2] = so->ctx->bsd[1].Pose.Rot[2];
		lhPose[1].Rot[3] = so->ctx->bsd[1].Pose.Rot[3];

		//quatgetreciprocal(lhPose[1].Rot, lhPose[1].Rot);

	}

	if( acode % 2 == 0 && lh == 0) //data = 0
	{
		bufferpts[jumpoffset*2+0][0] = (timeinsweep-80000)/500;
		buffertimeto[jumpoffset][0] = 0;
	}
	if(  acode % 2 == 1 && lh == 0 ) //data = 1
	{
		bufferpts[jumpoffset*2+1][0] = (timeinsweep-80000)/500;
		buffertimeto[jumpoffset][0] = 0;
	}


	if( acode % 2 == 0 && lh == 1 ) //data = 0
	{
		bufferpts[jumpoffset*2+0][1] = (timeinsweep-80000)/500;
		buffertimeto[jumpoffset][1] = 0;
	}
	if( acode % 2 == 1 && lh == 1 ) //data = 1
	{
		bufferpts[jumpoffset*2+1][1] = (timeinsweep-80000)/500;
		buffertimeto[jumpoffset][1] = 0;
	}
}

void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id )
{
	survive_default_imu_process( so, mask, accelgyro, timecode, id );

	//if( so->codename[0] == 'H' )
	if( 0 )
	{
		printf( "I %s %d %f %f %f %f %f %f %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
	}
}


void my_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh)
{
	survive_default_angle_process( so, sensor_id, acode, timecode, length, angle, lh );
}

char* sensor_name[32];

void DisplayPose(SurvivePose pose, size_t xResolution, size_t yResolution)
{
	const FLT toScale = 2.0 / yResolution; // 2 meters across yResolution pixels
	const int windowCenterX = (int)xResolution / 2;
	const int windowCenterY = (int)yResolution / 2;

	const FLT sizeScale = 100.0; // used to indicate change in size with change in Z
	const int  minRectSize = 10; // size at z=0

	uint8_t r = 0xff;
	uint8_t g = 0xff;
	uint8_t b = 0xff;

	CNFGColor((b << 16) | (g << 8) | r);

	FLT xCenter = windowCenterX + (pose.Pos[0] * sizeScale);
	FLT yCenter = windowCenterY + (pose.Pos[1] * sizeScale);


	//CNFGTackSegment(x1, yCenter, x2, yCenter);
	//CNFGTackSegment(xCenter, y1, xCenter, y2);

	//CNFGTackSegment((x2 - xCenter) / 3 + windowCenterX + (pose.Pos[0] * sizeScale), y1, (xCenter - x2) / 3 + windowCenterX + (pose.Pos[0] * sizeScale), y1);
	quatnormalize(pose.Rot, pose.Rot);
	// line for the (-x,0) to (+x,0)
	{
		FLT tmp1[3];
		FLT tmp1out[3];
		FLT tmp2[3];
		FLT tmp2out[3];

		tmp1[0] = -minRectSize - ((pose.Pos[2] * 40.0));
		tmp1[1] = 0;
		tmp1[2] = 0;

		quatrotatevector(tmp1out, pose.Rot, tmp1);

		tmp2[0] = minRectSize + ((pose.Pos[2] * 40.0));
		tmp2[1] = 0;
		tmp2[2] = 0;

		quatrotatevector(tmp2out, pose.Rot, tmp2);

		CNFGTackSegment(
			(short)(windowCenterX + (pose.Pos[0] * sizeScale) + tmp1out[0]),
			(short)yResolution-(short)(windowCenterY + (pose.Pos[1] * sizeScale) + tmp1out[1]),
			(short)(windowCenterX + (pose.Pos[0] * sizeScale) + tmp2out[0]),
			(short)yResolution -(short)(windowCenterY + (pose.Pos[1] * sizeScale) + tmp2out[1]));
	}

	// line for the (0,-y) to (0,+y))
	{
		FLT tmp1[3];
		FLT tmp1out[3];
		FLT tmp2[3];
		FLT tmp2out[3];

		tmp1[0] = 0,
		tmp1[1] = -minRectSize - ((pose.Pos[2] * 40.0));
		tmp1[2] = 0;

		quatrotatevector(tmp1out, pose.Rot, tmp1);

		tmp2[0] = 0;
		tmp2[1] = minRectSize + ((pose.Pos[2] * 40.0));
		tmp2[2] = 0;

		quatrotatevector(tmp2out, pose.Rot, tmp2);

		CNFGTackSegment(
			(short)(windowCenterX + (pose.Pos[0] * sizeScale) + tmp1out[0]),
			(short)yResolution -(short)(windowCenterY + (pose.Pos[1] * sizeScale) + tmp1out[1]),
			(short)(windowCenterX + (pose.Pos[0] * sizeScale) + tmp2out[0]),
			(short)yResolution -(short)(windowCenterY + (pose.Pos[1] * sizeScale) + tmp2out[1]));
	}

	// Small line to indicate (0,+y) 
	{
		FLT tmp1[3];
		FLT tmp1out[3];
		FLT tmp2[3];
		FLT tmp2out[3];

		tmp1[1] = minRectSize + ((pose.Pos[2] * 40.0)*1.3);
		tmp1[2] = 0;
		tmp1[0] = ((pose.Pos[2] * 40.0)) * 0.3;

		quatrotatevector(tmp1out, pose.Rot, tmp1);

		tmp2[1] = minRectSize + ((pose.Pos[2] * 40.0)*0.7);
		tmp2[2] = 0;
		tmp2[0] = -(((pose.Pos[2] * 40.0)) * 0.3);

		quatrotatevector(tmp2out, pose.Rot, tmp2);

		CNFGTackSegment(
			(short)(windowCenterX + (pose.Pos[0] * sizeScale) + tmp1out[0]),
			(short)yResolution - (short)(windowCenterY + (pose.Pos[1] * sizeScale) + tmp1out[1]),
			(short)(windowCenterX + (pose.Pos[0] * sizeScale) + tmp2out[0]),
			(short)yResolution - (short)(windowCenterY + (pose.Pos[1] * sizeScale) + tmp2out[1]));
	}
	// Small line to indicate (+x,0)
	{
		FLT tmp1[3];
		FLT tmp1out[3];
		FLT tmp2[3];
		FLT tmp2out[3];

		tmp1[0] = minRectSize + ((pose.Pos[2] * 40.0)*1.3);
		tmp1[2] = 0;
		tmp1[1] = tmp1[0] * 0.3;

		quatrotatevector(tmp1out, pose.Rot, tmp1);

		tmp2[0] = minRectSize + ((pose.Pos[2] * 40.0)*.7);
		tmp2[2] = 0;
		tmp2[1] = -(tmp1[0] * 0.3);

		quatrotatevector(tmp2out, pose.Rot, tmp2);

		CNFGTackSegment(
			(short)(windowCenterX + (pose.Pos[0] * sizeScale) + tmp1out[0]),
			(short)yResolution - (short)(windowCenterY + (pose.Pos[1] * sizeScale) + tmp1out[1]),
			(short)(windowCenterX + (pose.Pos[0] * sizeScale) + tmp2out[0]),
			(short)yResolution - (short)(windowCenterY + (pose.Pos[1] * sizeScale) + tmp2out[1]));
	}
	// Small line to indicate (+x,0)
	{
		FLT tmp1[3];
		FLT tmp1out[3];
		FLT tmp2[3];
		FLT tmp2out[3];

		tmp1[0] = minRectSize + ((pose.Pos[2] * 40.0)*.7);
		tmp1[2] = 0;
		tmp1[1] = tmp1[0] * 0.3;

		quatrotatevector(tmp1out, pose.Rot, tmp1);

		tmp2[0] = minRectSize + ((pose.Pos[2] * 40.0)*1.3);
		tmp2[2] = 0;
		tmp2[1] = -(tmp1[0] * 0.3);

		quatrotatevector(tmp2out, pose.Rot, tmp2);

		CNFGTackSegment(
			(short)(windowCenterX + (pose.Pos[0] * sizeScale) + tmp1out[0]),
			(short)yResolution - (short)(windowCenterY + (pose.Pos[1] * sizeScale) + tmp1out[1]),
			(short)(windowCenterX + (pose.Pos[0] * sizeScale) + tmp2out[0]),
			(short)yResolution - (short)(windowCenterY + (pose.Pos[1] * sizeScale) + tmp2out[1]));
	}


}

void * GuiThread( void * jnk )
{
	short screenx, screeny;
	CNFGBGColor = 0x000000;
	CNFGDialogColor = 0x444444;
	CNFGSetup( "Survive GUI Debug", 640, 480 );

	while(1)
	{
		CNFGHandleInput();
		CNFGClearFrame();
		CNFGColor( 0xFFFFFF );
		CNFGGetDimensions( &screenx, &screeny );

		int i,nn;
		for( i = 0; i < 32*3; i++ )
		{
			for( nn = 0; nn < 2; nn++ )
			{
				if( buffertimeto[i][nn] < 50 )
				{
					uint32_t color = i * 3231349;
					uint8_t r = 0xff;
					uint8_t g = 0x00;
					uint8_t b = 0xff;

					if (nn==0) b = 0; //lighthouse B, red, master
					if (nn==1) r = 0; //lighthouse C, blue, slave

//					r = (r * (5-buffertimeto[i][nn])) / 5 ;
//					g = (g * (5-buffertimeto[i][nn])) / 5 ;
//					b = (b * (5-buffertimeto[i][nn])) / 5 ;
					CNFGColor( (b<<16) | (g<<8) | r );

					if (bufferpts[i*2+0][nn] == 0 || bufferpts[i*2+1][nn]==0) continue; //do not draw if aither coordinate is 0

					CNFGTackRectangle( bufferpts[i*2+0][nn], bufferpts[i*2+1][nn], bufferpts[i*2+0][nn] + 5, bufferpts[i*2+1][nn] + 5 );
					CNFGPenX = bufferpts[i*2+0][nn]; CNFGPenY = bufferpts[i*2+1][nn];
					CNFGDrawText( buffermts, 2 );

					if (i<32) {
						CNFGPenX = bufferpts[i*2+0][nn]+5; CNFGPenY = bufferpts[i*2+1][nn]+5;
						CNFGDrawText( sensor_name[i], 2 );
					}

					for (int lh = 0; lh < 2; lh++)
					{
						DisplayPose(objPose[lh], 640, 480);
						DisplayPose(lhPose[lh], 640, 480);

					}


					buffertimeto[i][nn]++;
				}
			}
		}

		CNFGColor( 0xffffff );
		char caldesc[256];
		survive_cal_get_status( ctx, caldesc, sizeof( caldesc ) );
		CNFGPenX = 3;
		CNFGPenY = 3;
		CNFGDrawText( caldesc, 4 );


		CNFGSwapBuffers();
		OGUSleep( 10000 );
	}
}

int SurviveThreadLoaded=0;
int gargc;
char * const * gargv;

void * SurviveThread(void *jnk)
{
	uint8_t i =0;
	for (i=0;i<32;++i) {
		sensor_name[i] = malloc(3);
		sprintf(sensor_name[i],"%d",i);
	}

	survive_install_light_fn( ctx,  my_light_process );
	survive_install_imu_fn( ctx,  my_imu_process );
	survive_install_angle_fn( ctx, my_angle_process );

	survive_startup( ctx );
	survive_cal_install( ctx );

	if( !ctx )
	{
		fprintf( stderr, "Fatal. Could not start\n" );
		exit( 1 );
	}

	SurviveThreadLoaded=1;

	while(survive_poll(ctx) == 0 && !quit)
	{
		//Do stuff.
	}

	survive_close( ctx );
	return 0;
}


int main( int argc, char ** argv )
{
	gargc = argc;
	gargv = argv;

	ctx = survive_init(gargc, gargv);
	if (ctx == 0) { // Implies --help or similiar
		return -1;
	}

	// Create the survive thread
	OGCreateThread(SurviveThread, 0);

	// Wait for the survive thread to load
	while(!SurviveThreadLoaded){ OGUSleep(100); }

	// Run the GUI in the main thread
	GuiThread(0);	
	printf( "Returned\n" );
	return 0;
}