// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <opencv2/highgui/highgui.hpp>

#include "mynteye/glog_init.h"

#include "mynteye/api.h"
#include "mynteye/times.h"
#include "mynteye/utils.h"

MYNTEYE_USE_NAMESPACE

int main(int argc, char *argv[]) {
  glog_init _(argc, argv);

  auto &&api = API::Create();

  // api->SetOptionValue(Option::FRAME_RATE, 25);
  // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
  api->SetOptionValue(Option::IR_CONTROL, 80);
  api->LogOptionInfos();

  std::size_t left_count = 0;
  api->SetStreamCallback(
      Stream::LEFT, [&left_count](const api::StreamData &data) {
        CHECK_NOTNULL(data.img);
        ++left_count;
        VLOG(2) << Stream::LEFT << ", count: " << left_count;
        VLOG(2) << "  frame_id: " << data.img->frame_id
                << ", timestamp: " << data.img->timestamp
                << ", exposure_time: " << data.img->exposure_time;
      });
  std::size_t right_count = 0;
  api->SetStreamCallback(
      Stream::RIGHT, [&right_count](const api::StreamData &data) {
        CHECK_NOTNULL(data.img);
        ++right_count;
        VLOG(2) << Stream::RIGHT << ", count: " << right_count;
        VLOG(2) << "  frame_id: " << data.img->frame_id
                << ", timestamp: " << data.img->timestamp
                << ", exposure_time: " << data.img->exposure_time;
      });

  std::size_t imu_count = 0;
  api->SetMotionCallback([&imu_count](const api::MotionData &data) {
    CHECK_NOTNULL(data.imu);
    ++imu_count;
    VLOG(2) << "Imu count: " << imu_count;
    VLOG(2) << "  frame_id: " << data.imu->frame_id
            << ", timestamp: " << data.imu->timestamp
            << ", accel_x: " << data.imu->accel[0]
            << ", accel_y: " << data.imu->accel[1]
            << ", accel_z: " << data.imu->accel[2]
            << ", gyro_x: " << data.imu->gyro[0]
            << ", gyro_y: " << data.imu->gyro[1]
            << ", gyro_z: " << data.imu->gyro[2]
            << ", temperature: " << data.imu->temperature;
  });

  // api->EnableStreamData(Stream::LEFT_RECTIFIED);
  // api->EnableStreamData(Stream::RIGHT_RECTIFIED);
  api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
  api->EnableStreamData(Stream::DEPTH);
  // Enable this will cache the motion datas until you get them.
  api->EnableMotionDatas();
  api->Start(Source::ALL);

  cv::namedWindow("frame");
  cv::namedWindow("disparity");
  cv::namedWindow("depth");

  std::size_t motion_count = 0;
  auto &&time_beg = times::now();
  while (true) {
    api->WaitForStreams();

    // auto &&left_data = api->GetStreamData(Stream::LEFT);
    // auto &&right_data = api->GetStreamData(Stream::RIGHT);
    auto &&left_data = api->GetStreamData(Stream::LEFT_RECTIFIED);
    auto &&right_data = api->GetStreamData(Stream::RIGHT_RECTIFIED);
    if (!left_data.frame.empty() && !right_data.frame.empty()) {
      cv::Mat img;
      cv::hconcat(left_data.frame, right_data.frame, img);
      cv::imshow("frame", img);
    }

    auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
    if (!disp_data.frame.empty()) {
      cv::imshow("disparity", disp_data.frame);  // CV_8UC1
    }

    auto &&depth_data = api->GetStreamData(Stream::DEPTH);
    if (!depth_data.frame.empty()) {
      cv::imshow("depth", depth_data.frame);  // CV_16UC1
    }

    auto &&motion_datas = api->GetMotionDatas();
    motion_count += motion_datas.size();
    for (auto &&data : motion_datas) {
      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
                << ", timestamp: " << data.imu->timestamp
                << ", accel_x: " << data.imu->accel[0]
                << ", accel_y: " << data.imu->accel[1]
                << ", accel_z: " << data.imu->accel[2]
                << ", gyro_x: " << data.imu->gyro[0]
                << ", gyro_y: " << data.imu->gyro[1]
                << ", gyro_z: " << data.imu->gyro[2]
                << ", temperature: " << data.imu->temperature;
    }

    char key = static_cast<char>(cv::waitKey(1));
    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
      break;
    }
  }
  auto &&time_end = times::now();

  api->Stop(Source::ALL);

  float elapsed_ms =
      times::count<times::microseconds>(time_end - time_beg) * 0.001f;
  LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
            << ", end: " << times::to_local_string(time_end)
            << ", cost: " << elapsed_ms << "ms";
  LOG(INFO) << "Left count: " << left_count
            << ", fps: " << (1000.f * left_count / elapsed_ms);
  LOG(INFO) << "Right count: " << right_count
            << ", fps: " << (1000.f * right_count / elapsed_ms);
  LOG(INFO) << "Imu count: " << imu_count
            << ", hz: " << (1000.f * imu_count / elapsed_ms);
  // LOG(INFO) << "Motion count: " << motion_count
  //           << ", hz: " << (1000.f * motion_count / elapsed_ms);
  return 0;
}