#ifndef USE_DOUBLE
#define FLT double
#define USE_DOUBLE
#endif

#include <sba/sba.h>
#include <malloc.h>

#include "poser.h"
#include <survive.h>

#include "assert.h"
#include "linmath.h"
#include "math.h"
#include "string.h"
#include "survive_cal.h"
#include "survive_config.h"
#include "survive_reproject.h"

typedef struct {
	survive_calibration_config calibration_config;
	PoserData *pdfs;
	SurviveObject *so;
	SurvivePose obj_pose;
	SurvivePose camera_params[2];
} sba_context;

typedef struct {
	sba_context hdr;
	int acode;
	int lh;
} sba_context_single_sweep;

typedef struct SBAData {
	int last_acode;
	int last_lh;

	int failures_to_reset;
	int failures_to_reset_cntr;
	int successes_to_reset;
	int successes_to_reset_cntr;

	FLT sensor_variance;
	FLT sensor_variance_per_second;
	int sensor_time_window;

	int required_meas;

	SurviveObject *so;
} SBAData;

static void metric_function(int j, int i, double *aj, double *xij, void *adata) {
	sba_context *ctx = (sba_context *)(adata);
	SurviveObject *so = ctx->so;

	SurvivePose obj2world = ctx->obj_pose;
	FLT sensorInWorld[3] = {0};
	ApplyPoseToPoint(sensorInWorld, &obj2world, &so->sensor_locations[i * 3]);
	survive_reproject_from_pose_with_config(so->ctx, &ctx->calibration_config, j, (SurvivePose *)aj, sensorInWorld,
											xij);
}

static size_t construct_input(const SurviveObject *so, PoserDataFullScene *pdfs, char *vmask, double *meas) {
	size_t measCount = 0;
	size_t size = so->sensor_ct * NUM_LIGHTHOUSES; // One set per lighthouse
	for (size_t sensor = 0; sensor < so->sensor_ct; sensor++) {
		for (size_t lh = 0; lh < 2; lh++) {
			FLT *l = pdfs->lengths[sensor][lh];
			if (l[0] < 0 || l[1] < 0) {
				vmask[sensor * NUM_LIGHTHOUSES + lh] = 0;
				continue;
			}

			double *angles = pdfs->angles[sensor][lh];
			vmask[sensor * NUM_LIGHTHOUSES + lh] = 1;

			meas[measCount++] = angles[0];
			meas[measCount++] = angles[1];
		}
	}
	return measCount;
}

static size_t construct_input_from_scene(SBAData *d, PoserDataLight *pdl, SurviveSensorActivations *scene, char *vmask,
										 double *meas, double *cov) {
	size_t rtn = 0;
	SurviveObject *so = d->so;

	for (size_t sensor = 0; sensor < so->sensor_ct; sensor++) {
		for (size_t lh = 0; lh < 2; lh++) {
			if (SurviveSensorActivations_isPairValid(scene, d->sensor_time_window, pdl->timecode, sensor, lh)) {
				double *a = scene->angles[sensor][lh];
				vmask[sensor * NUM_LIGHTHOUSES + lh] = 1;

				if (cov) {
					*(cov++) = d->sensor_variance +
							   abs(pdl->timecode - scene->timecode[sensor][lh][0]) * d->sensor_variance_per_second /
								   (double)so->timebase_hz;
					*(cov++) = 0;
					*(cov++) = 0;
					*(cov++) = d->sensor_variance +
							   abs(pdl->timecode - scene->timecode[sensor][lh][1]) * d->sensor_variance_per_second /
								   (double)so->timebase_hz;
				}
				meas[rtn++] = a[0];
				meas[rtn++] = a[1];
			} else {
				vmask[sensor * NUM_LIGHTHOUSES + lh] = 0;
			}
		}
	}
	return rtn;
}

void sba_set_cameras(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose, SurvivePose *obj_pose, void *user) {
	sba_context *ctx = (sba_context *)user;
	ctx->camera_params[lighthouse] = *pose;
	if (obj_pose)
		ctx->obj_pose = *obj_pose;
	else
		ctx->obj_pose = LinmathPose_Identity;
}

typedef struct {
	bool hasInfo;
	SurvivePose poses;
} sba_set_position_t;

static void sba_set_position(SurviveObject *so, uint8_t lighthouse, SurvivePose *new_pose, void *_user) {
	sba_set_position_t *user = _user;
	assert(user->hasInfo == false);
	user->hasInfo = 1;
	user->poses = *new_pose;
}
void *GetDriver(const char *name);

static void str_metric_function_single_sweep(int j, int i, double *bi, double *xij, void *adata) {
	SurvivePose obj = *(SurvivePose *)bi;
	int sensor_idx = j >> 1;

	sba_context_single_sweep *ctx = (sba_context_single_sweep *)(adata);
	SurviveObject *so = ctx->hdr.so;
	int lh = ctx->lh;
	int acode = ctx->acode;

	assert(lh < 2);
	assert(sensor_idx < so->sensor_ct);

	quatnormalize(obj.Rot, obj.Rot);
	FLT xyz[3];
	ApplyPoseToPoint(xyz, &obj, &so->sensor_locations[sensor_idx * 3]);

	// std::cerr << "Processing " << sensor_idx << ", " << lh << std::endl;
	SurvivePose *camera = &so->ctx->bsd[lh].Pose;

	FLT out[2];
	survive_reproject_from_pose_with_config(so->ctx, &ctx->hdr.calibration_config, lh, camera, xyz, out);
	*xij = out[acode];
}

static void str_metric_function(int j, int i, double *bi, double *xij, void *adata) {
	SurvivePose obj = *(SurvivePose *)bi;
	int sensor_idx = j >> 1;
	int lh = j & 1;

	sba_context *ctx = (sba_context *)(adata);
	SurviveObject *so = ctx->so;

	assert(lh < 2);
	assert(sensor_idx < so->sensor_ct);

	quatnormalize(obj.Rot, obj.Rot);
	FLT xyz[3];
	ApplyPoseToPoint(xyz, &obj, &so->sensor_locations[sensor_idx * 3]);

	// std::cerr << "Processing " << sensor_idx << ", " << lh << std::endl;
	SurvivePose *camera = &so->ctx->bsd[lh].Pose;
	survive_reproject_from_pose_with_config(so->ctx, &ctx->calibration_config, lh, camera, xyz, xij);
}

static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config options, PoserDataLight *pdl,
										SurviveSensorActivations *scene, int max_iterations /* = 50*/,
										double max_reproj_error /* = 0.005*/) {
	double *covx = 0;
	SurviveObject *so = d->so;

	char *vmask = alloca(sizeof(char) * so->sensor_ct * NUM_LIGHTHOUSES);
	double *meas = alloca(sizeof(double) * 2 * so->sensor_ct * NUM_LIGHTHOUSES);
	double *cov =
		d->sensor_variance_per_second > 0. ? alloca(sizeof(double) * 2 * 2 * so->sensor_ct * NUM_LIGHTHOUSES) : 0;
	size_t meas_size = construct_input_from_scene(d, pdl, scene, vmask, meas, cov);

	static int failure_count = 500;
	bool hasAllBSDs = true;
	for (int lh = 0; lh < so->ctx->activeLighthouses; lh++)
		hasAllBSDs &= so->ctx->bsd[lh].PositionSet;

	if (!hasAllBSDs || meas_size < d->required_meas) {
		if (hasAllBSDs && failure_count++ == 500) {
			SurviveContext *ctx = so->ctx;
			SV_INFO("Can't solve for position with just %u measurements", (unsigned int)meas_size);
			failure_count = 0;
		}
		return -1;
	}
	failure_count = 0;

	SurvivePose soLocation = so->OutPose;
	bool currentPositionValid = quatmagnitude(&soLocation.Rot[0]) != 0;

	if (d->successes_to_reset_cntr == 0 || d->failures_to_reset_cntr == 0 || currentPositionValid == 0) {
		SurviveContext *ctx = so->ctx;
		// SV_INFO("Must rerun seed poser");
		const char *subposer = config_read_str(so->ctx->global_config_values, "SBASeedPoser", "PoserEPNP");
		PoserCB driver = (PoserCB)GetDriver(subposer);

		if (driver) {
			PoserData hdr = pdl->hdr;
			memset(&pdl->hdr, 0, sizeof(pdl->hdr)); // Clear callback functions
			pdl->hdr.pt = hdr.pt;
			pdl->hdr.rawposeproc = sba_set_position;

			sba_set_position_t locations = {0};
			pdl->hdr.userdata = &locations;
			driver(so, &pdl->hdr);
			pdl->hdr = hdr;

			if (locations.hasInfo == false) {
				return -1;
			} else if (locations.hasInfo) {
				soLocation = locations.poses;
			}

			d->successes_to_reset_cntr = d->successes_to_reset;
		} else {
			SV_INFO("Not using a seed poser for SBA; results will likely be way off");
		}
	}

	double opts[SBA_OPTSSZ] = {0};
	double info[SBA_INFOSZ] = {0};

	sba_context ctx = {options, &pdl->hdr, so};

	opts[0] = SBA_INIT_MU;
	opts[1] = SBA_STOP_THRESH;
	opts[2] = SBA_STOP_THRESH;
	opts[3] = SBA_STOP_THRESH;
	opts[3] = SBA_STOP_THRESH; // max_reproj_error * meas.size();
	opts[4] = 0.0;

	int status = sba_str_levmar(1, // Number of 3d points
								0, // Number of 3d points to fix in spot
								NUM_LIGHTHOUSES * so->sensor_ct, vmask,
								soLocation.Pos, // Reads as the full pose though
								7,				// pnp -- SurvivePose
								meas,			// x* -- measurement data
								cov,			// cov data
								2,				// mnp -- 2 points per image
								str_metric_function,
								0,				// jacobia of metric_func
								&ctx,			// user data
								max_iterations, // Max iterations
								0,				// verbosity
								opts,			// options
								info);			// info

	if (currentPositionValid) {
		FLT distp[3];
		sub3d(distp, so->OutPose.Pos, soLocation.Pos);
		FLT distance = magnitude3d(distp);
		;
		if (distance > 1.)
			status = -1;
	}
	if (status > 0) {
		d->failures_to_reset_cntr = d->failures_to_reset;
		quatnormalize(soLocation.Rot, soLocation.Rot);
		PoserData_poser_raw_pose_func(&pdl->hdr, so, 1, &soLocation);
	}

	{
		SurviveContext *ctx = so->ctx;
		// Docs say info[0] should be divided by meas; I don't buy it really...
		static int cnt = 0;
		if (cnt++ > 1000 || meas_size < d->required_meas) {
			SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size);
			SV_INFO("%f cur reproj error", (info[1] / meas_size * 2));
			cnt = 0;
		}
	}

	return info[1] / meas_size * 2;
}

// Optimizes for LH position assuming object is posed at 0
static double run_sba(survive_calibration_config options, PoserDataFullScene *pdfs, SurviveObject *so,
					  int max_iterations /* = 50*/, double max_reproj_error /* = 0.005*/) {
	double *covx = 0;

	char *vmask = alloca(sizeof(char) * so->sensor_ct * NUM_LIGHTHOUSES);
	double *meas = alloca(sizeof(double) * 2 * so->sensor_ct * NUM_LIGHTHOUSES);
	size_t meas_size = construct_input(so, pdfs, vmask, meas);

	sba_context sbactx = {options, &pdfs->hdr, so, .camera_params = {so->ctx->bsd[0].Pose, so->ctx->bsd[1].Pose},
						  .obj_pose = so->OutPose};

	{
		const char *subposer = config_read_str(so->ctx->global_config_values, "SBASeedPoser", "PoserEPNP");
		PoserCB driver = (PoserCB)GetDriver(subposer);
		SurviveContext *ctx = so->ctx;
		if (driver) {
			SV_INFO("Using %s seed poser for SBA", subposer);
			PoserData hdr = pdfs->hdr;
			memset(&pdfs->hdr, 0, sizeof(pdfs->hdr)); // Clear callback functions
			pdfs->hdr.pt = hdr.pt;
			pdfs->hdr.lighthouseposeproc = sba_set_cameras;
			pdfs->hdr.userdata = &sbactx;
			driver(so, &pdfs->hdr);
			pdfs->hdr = hdr;
		} else {
			SV_INFO("Not using a seed poser for SBA; results will likely be way off");
			for (int i = 0; i < 2; i++) {
				so->ctx->bsd[i].Pose = (SurvivePose){0};
				so->ctx->bsd[i].Pose.Rot[0] = 1.;
			}
		}
		// opencv_solver_poser_cb(so, (PoserData *)pdfs);
		// PoserCharlesSlow(so, (PoserData *)pdfs);
	}

	double opts[SBA_OPTSSZ] = {0};
	double info[SBA_INFOSZ] = {0};

	opts[0] = SBA_INIT_MU;
	opts[1] = SBA_STOP_THRESH;
	opts[2] = SBA_STOP_THRESH;
	opts[3] = SBA_STOP_THRESH;
	opts[3] = SBA_STOP_THRESH; // max_reproj_error * meas.size();
	opts[4] = 0.0;

	int status = sba_mot_levmar(so->sensor_ct,						  // number of 3d points
								so->ctx->activeLighthouses,			  // Number of cameras -- 2 lighthouses
								0,									  // Number of cameras to not modify
								vmask,								  // boolean vis mask
								(double *)&sbactx.camera_params[0],   // camera parameters
								sizeof(SurvivePose) / sizeof(double), // The number of floats that are in a camera param
								meas,								  // 2d points for 3d objs
								covx, // covariance of measurement. Null sets to identity
								2,	// 2 points per image
								metric_function,
								0,				// jacobia of metric_func
								&sbactx,		// user data
								max_iterations, // Max iterations
								0,				// verbosity
								opts,			// options
								info);			// info

	if (status >= 0) {
		SurvivePose additionalTx = {0};
		for (int i = 0; i < so->ctx->activeLighthouses; i++) {
			if (quatmagnitude(sbactx.camera_params[i].Rot) != 0) {
				PoserData_lighthouse_pose_func(&pdfs->hdr, so, i, &additionalTx, &sbactx.camera_params[i],
											   &sbactx.obj_pose);
			}
		}
	} else {
		SurviveContext *ctx = so->ctx;
		SV_INFO("SBA was unable to run %d", status);
	}
	// Docs say info[0] should be divided by meas; I don't buy it really...
	// std::cerr << info[0] / meas.size() * 2 << " original reproj error" << std::endl;

	{
		SurviveContext *ctx = so->ctx;
		// Docs say info[0] should be divided by meas; I don't buy it really...
		SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size);
		SV_INFO("%f cur reproj error", (info[1] / meas_size * 2));
	}

	return info[1] / meas_size * 2;
}

int PoserSBA(SurviveObject *so, PoserData *pd) {
	SurviveContext *ctx = so->ctx;
	if (so->PoserData == 0) {
		so->PoserData = calloc(1, sizeof(SBAData));
		SBAData *d = so->PoserData;
		d->failures_to_reset_cntr = 0;
		d->failures_to_reset = survive_configi(ctx, "sba-failures-to-reset", SC_GET, 1);
		d->successes_to_reset_cntr = 0;
		d->successes_to_reset = survive_configi(ctx, "sba-successes-to-reset", SC_GET, 1);

		d->required_meas = survive_configi(ctx, "sba-required-meas", SC_GET, 8);

		d->sensor_time_window = survive_configi(ctx, "sba-time-window", SC_GET, 1600000 * 4);
		d->sensor_variance_per_second = survive_configf(ctx, "sba-sensor-variance-per-sec", SC_GET, 0.001);
		d->sensor_variance = survive_configf(ctx, "sba-sensor-variance", SC_GET, 1.0);
		d->so = so;

		SV_INFO("Initializing SBA:");
		SV_INFO("\tsba-required-meas: %d", d->required_meas);
		SV_INFO("\tsba-sensor-variance: %f", d->sensor_variance);
		SV_INFO("\tsba-sensor-variance-per-sec: %f", d->sensor_variance_per_second);
		SV_INFO("\tsba-time-window: %d", d->sensor_time_window);
	}
	SBAData *d = so->PoserData;
	switch (pd->pt) {
	case POSERDATA_LIGHT: {
		// No poses if calibration is ongoing
		if (ctx->calptr && ctx->calptr->stage < 5)
			return 0;
		SurviveSensorActivations *scene = &so->activations;
		PoserDataLight *lightData = (PoserDataLight *)pd;

		// only process sweeps
		FLT error = -1;
		if (d->last_lh != lightData->lh || d->last_acode != lightData->acode) {
			survive_calibration_config config = *survive_calibration_default_config();
			error = run_sba_find_3d_structure(d, config, lightData, scene, 50, .5);
			d->last_lh = lightData->lh;
			d->last_acode = lightData->acode;
		}

		if (error < 0) {
			if (d->failures_to_reset_cntr > 0)
				d->failures_to_reset_cntr--;
		} else {
			if (d->successes_to_reset_cntr > 0)
				d->successes_to_reset_cntr--;
		}

		return 0;
	}
	case POSERDATA_FULL_SCENE: {
		SurviveContext *ctx = so->ctx;
		PoserDataFullScene *pdfs = (PoserDataFullScene *)(pd);
		survive_calibration_config config = *survive_calibration_default_config();
		SV_INFO("Running sba with %u", (int)survive_calibration_config_index(&config));
		double error = run_sba(config, pdfs, so, 50, .005);
		// std::cerr << "Average reproj error: " << error << std::endl;
		return 0;
	}
	default: {
		const char *subposer = config_read_str(so->ctx->global_config_values, "SBASeedPoser", "PoserEPNP");
		PoserCB driver = (PoserCB)GetDriver(subposer);
		if (driver) {
			return driver(so, pd);
		}
		break;
	}
	}
	return -1;
}

REGISTER_LINKTIME(PoserSBA);