/*******************************************************************************
 *BSD 3-Clause License
 *
 *Copyright (c) 2016-2025, Mech-Mind Robotics
 *All rights reserved.
 *
 *Redistribution and use in source and binary forms, with or without
 *modification, are permitted provided that the following conditions are met:
 *
 *1. Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 *2. Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 *3. Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 *THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 *AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 *IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 *FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 *DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 *SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 *OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 *OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ******************************************************************************/

/*
With this sample, you can remove the noise in the depth data and obtain the filtered profile data.

NOTE: The noise removal function can only be applied after all profiles have been retrieved.
Therefore, the profile data must be retrieved with a callback function instead of polling.
*/

#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;

// 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);
    if (!batch.getErrorStatus().isOK()) {
        std::cout << "Error occurred during data acquisition." << std::endl;
        showError(batch.getErrorStatus());
    }
    auto* outPutBatch = static_cast<mmind::eye::ProfileBatch*>(pUser);
    outPutBatch->append(batch);
}

bool acquireProfileDataUsingCallback(mmind::eye::Profiler& profiler,
                                     mmind::eye::ProfileBatch& profileBatch, bool isSoftwareTrigger)
{
    profileBatch.clear();

    // Set a large value for CallbackRetrievalTimeout
    showError(profiler.currentUserSet().setIntValue(
        mmind::eye::scan_settings::CallbackRetrievalTimeout::name, 60000));

    // Register the callback function
    auto status = profiler.registerAcquisitionCallback(callbackFunc, &profileBatch);
    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 (profileBatch.isEmpty()) {
            lock.unlock();
            std::this_thread::sleep_for(std::chrono::milliseconds(500));
        } else
            break;
    }

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

void saveDepthMap(const mmind::eye::ProfileBatch& batch, int lineCount, int width,
                  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(lineCount, width, CV_32FC1, batch.getDepthMap().data()));
}

void saveIntensityImage(const mmind::eye::ProfileBatch& batch, int lineCount, int width,
                        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(lineCount, width, CV_8UC1, batch.getIntensityImage().data()));
}
} // namespace

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

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

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

    int dataWidth = 0;
    // Get the number of data points in each profile
    showError(
        userSet.getIntValue(mmind::eye::scan_settings::DataPointsPerProfile::name, dataWidth));
    int captureLineCount = 0;
    // Get the current value of the "Scan Line Count" parameter
    userSet.getIntValue(mmind::eye::scan_settings::ScanLineCount::name, captureLineCount);

    // Define a ProfileBatch object to store the profile data
    mmind::eye::ProfileBatch profileBatch(dataWidth);

    int dataAcquisitionTriggerSource{};
    showError(userSet.getEnumValue(mmind::eye::trigger_settings::DataAcquisitionTriggerSource::name,
                                   dataAcquisitionTriggerSource));

    // Enable the noise removal function
    showError(userSet.setBoolValue(mmind::eye::filters::EnableNoiseRemoval::name, true));

    showError(userSet.setEnumValue(
        mmind::eye::filters::NoiseRemovalIntensity::name,
        static_cast<int>(mmind::eye::filters::NoiseRemovalIntensity::Value::Medium)));

    bool isSoftwareTrigger =
        dataAcquisitionTriggerSource ==
        static_cast<int>(
            mmind::eye::trigger_settings::DataAcquisitionTriggerSource::Value::Software);

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

    if (profileBatch.getErrorStatus().isOK()) {
        std::cout << "Save the depth map and intensity image." << std::endl;
        saveDepthMap(profileBatch, captureLineCount, dataWidth, "DepthMap.tiff");
        saveIntensityImage(profileBatch, captureLineCount, dataWidth, "IntensityImage.png");
    }

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