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/*
With this sample, you can acquire profile data triggered non-stop with software, and save the
resulting intensity images and depth maps.
*/

#include <opencv2/imgcodecs.hpp>
#include <iostream>
#include <thread>
#include <cstdio>
#include <cmath>
#include <chrono>
#include <mutex>
#include "profiler/Profiler.h"
#include "profiler/api_util.h"
#include "profiler/parameters/ProfileProcessingParameters.h"
#include "profiler/parameters/ProfileExtractionParameters.h"
#include "profiler/parameters/RawImageParameters.h"
#include "profiler/parameters/ScanParameters.h"

namespace {
std::mutex kMutex;
constexpr int kRetrieveFrameCount = 3;

void setParameters(mmind::eye::UserSet& userSet)
{
    // Set the "Data Acquisition Method" parameter to "Nonstop"
    showError(userSet.setEnumValue(
        mmind::eye::trigger_settings::DataAcquisitionMethod::name,
        static_cast<int>(mmind::eye::trigger_settings::DataAcquisitionMethod::Value::Nonstop)));

    // // Set the "Data Acquisition Trigger Source" parameter to "Software"
    // showError(userSet.setEnumValue(
    //     mmind::eye::trigger_settings::DataAcquisitionTriggerSource::name,
    //     static_cast<int>(
    //         mmind::eye::trigger_settings::DataAcquisitionTriggerSource::Value::Software)));

    // // Set the "Line Scan Trigger Source" parameter to "Fixed rate"
    // showError(userSet.setEnumValue(
    //     mmind::eye::trigger_settings::LineScanTriggerSource::name,
    //     static_cast<int>(mmind::eye::trigger_settings::LineScanTriggerSource::Value::FixedRate)));
    // // Set the "Software Trigger Rate" to 1000 Hz
    // showError(userSet.setFloatValue(mmind::eye::trigger_settings::SoftwareTriggerRate::name,
    // 1000));
}

void saveDepthMap(const mmind::eye::ProfileBatch& batch, const std::string& path)
{
    if (batch.isEmpty()) {
        std::cout
            << "The depth map cannot be saved because the batch does not contain any profile data."
            << std::endl;
        return;
    }
    cv::imwrite(path, cv::Mat(batch.height(), batch.width(), CV_32FC1, batch.getDepthMap().data()));
}

void saveIntensityImage(const mmind::eye::ProfileBatch& batch, const std::string& path)
{
    if (batch.isEmpty()) {
        std::cout << "The intensity image cannot be saved because the batch does not contain any "
                     "profile data."
                  << std::endl;
        return;
    }
    cv::imwrite(path,
                cv::Mat(batch.height(), batch.width(), CV_8UC1, batch.getIntensityImage().data()));
}

// Define the callback function for retrieving the profile data
void callbackFunc(const mmind::eye::ProfileBatch& batch, void* pUser)
{
    std::unique_lock<std::mutex> lock(kMutex);
    auto& callbackCounter = *static_cast<int*>(pUser);
    if (callbackCounter >= kRetrieveFrameCount)
        return;
    const auto status = batch.getErrorStatus();
    if (!status.isOK()) {
        std::cout << "Callback batch data with error:\n";
        showError(status);
    }
    if (batch.checkFlag(mmind::eye::ProfileBatch::BatchFlag::Incomplete))
        std::cout << "Part of the batch's data is lost, the number of valid profiles is: "
                  << batch.validHeight() << "." << std::endl;
    std::cout << "Save the depth map and intensity image." << std::endl;
    saveDepthMap(batch, "DepthMap_" + std::to_string(callbackCounter) + ".tiff");
    saveIntensityImage(batch, "IntensityImage_" + std::to_string(callbackCounter) + ".png");
    ++callbackCounter;
}

bool acquireProfileDataUsingCallback(mmind::eye::Profiler& profiler, bool isSoftwareTrigger)
{
    int callbackCounter = 0;

    // Register the callback function
    auto status = profiler.registerAcquisitionCallback(callbackFunc, &callbackCounter);
    if (!status.isOK()) {
        showError(status);
        return false;
    }

    // Call startAcquisition() to enter the laser profiler into the acquisition ready status
    std::cout << "Start data acquisition." << std::endl;
    status = profiler.startAcquisition();
    if (!status.isOK()) {
        showError(status);
        return false;
    }

    // Call triggerSoftware() to start the data acquisition
    if (isSoftwareTrigger) {
        status = profiler.triggerSoftware();
        if (!status.isOK()) {
            showError(status);
            return false;
        }
    }

    while (true) {
        std::unique_lock<std::mutex> lock(kMutex);
        if (callbackCounter >= kRetrieveFrameCount)
            break;
        lock.unlock();
        std::this_thread::sleep_for(std::chrono::milliseconds(500));
    }

    std::cout << "Stop data acquisition." << std::endl;
    status = profiler.stopAcquisition();
    if (!status.isOK())
        showError(status);
    return status.isOK();
}

} // namespace

int main()
{
    mmind::eye::Profiler profiler;
    if (!findAndConnect(profiler))
        return -1;

    if (!confirmCapture()) {
        profiler.disconnect();
        return -1;
    }

    mmind::eye::UserSet userSet = profiler.currentUserSet();

    // Set the parameters
    setParameters(userSet);

    int dataAcquisitionTriggerSource{};
    showError(userSet.getEnumValue(mmind::eye::trigger_settings::DataAcquisitionTriggerSource::name,
                                   dataAcquisitionTriggerSource));
    bool isSoftwareTrigger =
        dataAcquisitionTriggerSource ==
        static_cast<int>(
            mmind::eye::trigger_settings::DataAcquisitionTriggerSource::Value::Software);

    // Acquire the profile data using the callback function
    if (!acquireProfileDataUsingCallback(profiler, isSoftwareTrigger))
        return -1;

    // Disconnect from the laser profiler
    profiler.disconnect();
    return 0;
}