/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
All rights reserved.

This software was developed in the APRIL Robotics Lab under the
direction of Edwin Olson, ebolson@umich.edu. This software may be
available under alternative licensing terms; contact the address above.

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.

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 OWNER 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.

The views and conclusions contained in the software and documentation are those
of the authors and should not be interpreted as representing official policies,
either expressed or implied, of the Regents of The University of Michigan.
*/

#include <stdio.h>
#include <stdint.h>
#include <inttypes.h>
#include <ctype.h>
#include <unistd.h>
#include <math.h>

#include "apriltag.h"
#include "tag36h11.h"
#include "tag36h10.h"
#include "tag36artoolkit.h"
#include "tag25h9.h"
#include "tag25h7.h"

#include "common/getopt.h"
#include "common/image_u8.h"
#include "common/image_u8x4.h"
#include "common/pjpeg.h"
#include "common/zarray.h"

#define JS

#ifdef JS
#include <emscripten.h>
#endif
  
// Invoke:
//
// tagtest [options] input.pnm

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

#ifdef JS
  EM_ASM(
         FS.mkdir('/working');
         FS.mount(NODEFS, { root: '.' }, '/working');
         );
#endif

#ifndef JS
    getopt_t *getopt = getopt_create();

    getopt_add_bool(getopt, 'h', "help", 0, "Show this help");
    getopt_add_bool(getopt, 'd', "debug", 0, "Enable debugging output (slow)");
    getopt_add_bool(getopt, 'q', "quiet", 0, "Reduce output");
    getopt_add_string(getopt, 'f', "family", "tag36h11", "Tag family to use");
    getopt_add_int(getopt, '\0', "border", "1", "Set tag family border size");
    getopt_add_int(getopt, 'i', "iters", "1", "Repeat processing on input set this many times");
    getopt_add_int(getopt, 't', "threads", "4", "Use this many CPU threads");
    getopt_add_double(getopt, 'x', "decimate", "1.0", "Decimate input image by this factor");
    getopt_add_double(getopt, 'b', "blur", "0.0", "Apply low-pass blur to input; negative sharpens");
    getopt_add_bool(getopt, '0', "refine-edges", 1, "Spend more time trying to align edges of tags");
    getopt_add_bool(getopt, '1', "refine-decode", 0, "Spend more time trying to decode tags");
    getopt_add_bool(getopt, '2', "refine-pose", 0, "Spend more time trying to precisely localize tags");

    if (!getopt_parse(getopt, argc, argv, 1) || getopt_get_bool(getopt, "help")) {
        printf("Usage: %s [options] <input files>\n", argv[0]);
        getopt_do_usage(getopt);
        exit(0);
    }

#endif
#ifdef JS
    printf("Arg: %s\n", argv[1]);
    zarray_t *inputs = zarray_create(sizeof(char*));
    zarray_add(inputs, argv[1]);
#else
    const zarray_t *inputs = getopt_get_extra_args(getopt);
#endif
    apriltag_family_t *tf = NULL;

#ifdef JS
    tf = tag36h11_create();
#else
    const char *famname = getopt_get_string(getopt, "family");
    if (!strcmp(famname, "tag36h11"))
        tf = tag36h11_create();
    else if (!strcmp(famname, "tag36h10"))
        tf = tag36h10_create();
    else if (!strcmp(famname, "tag36artoolkit"))
        tf = tag36artoolkit_create();
    else if (!strcmp(famname, "tag25h9"))
        tf = tag25h9_create();
    else if (!strcmp(famname, "tag25h7"))
        tf = tag25h7_create();
    else {
        printf("Unrecognized tag family name. Use e.g. \"tag36h11\".\n");
        exit(-1);
    }
#endif

#ifdef JS
    tf->black_border = 1;
#else
    tf->black_border = getopt_get_int(getopt, "border");
#endif

    apriltag_detector_t *td = apriltag_detector_create();
    apriltag_detector_add_family(td, tf);
#ifdef JS
    td->quad_decimate = 1.0;
    td->quad_sigma = 0.0;
    td->nthreads = 1;
    td->debug = true;
    td->refine_edges = true;
    td->refine_decode = false;
    td->refine_pose = false;
#else
    td->quad_decimate = getopt_get_double(getopt, "decimate");
    td->quad_sigma = getopt_get_double(getopt, "blur");
    td->nthreads = getopt_get_int(getopt, "threads");
    td->debug = getopt_get_bool(getopt, "debug");
    td->refine_edges = getopt_get_bool(getopt, "refine-edges");
    td->refine_decode = getopt_get_bool(getopt, "refine-decode");
    td->refine_pose = getopt_get_bool(getopt, "refine-pose");
#endif

#ifdef JS
    int quiet = false;
    int maxiters = 1;
#else
    int quiet = getopt_get_bool(getopt, "quiet");

    int maxiters = getopt_get_int(getopt, "iters");
#endif

    const int hamm_hist_max = 10;

    for (int iter = 0; iter < maxiters; iter++) {

        int total_quads = 0;
        int total_hamm_hist[hamm_hist_max];
        memset(total_hamm_hist, 0, sizeof(total_hamm_hist));
        double total_time = 0;

        if (maxiters > 1)
            printf("iter %d / %d\n", iter + 1, maxiters);

#ifdef JS
        for (int input = 1; input < argc; input++) {
#else
        for (int input = 0; input < zarray_size(inputs); input++) {
#endif

            int hamm_hist[hamm_hist_max];
            memset(hamm_hist, 0, sizeof(hamm_hist));

            char *path;
#ifdef JS
            path = argv[input];
#else            
            zarray_get(inputs, input, &path);
#endif
            if (!quiet)
                printf("loading %s\n", path);
            else
                printf("%20s ", path);

            image_u8_t *im = NULL;
            if (str_ends_with(path, "pnm") || str_ends_with(path, "PNM") ||
                str_ends_with(path, "pgm") || str_ends_with(path, "PGM"))
                im = image_u8_create_from_pnm(path);
            else if (str_ends_with(path, "jpg") || str_ends_with(path, "JPG")) {
                int err = 0;
                pjpeg_t *pjpeg = pjpeg_create_from_file(path, 0, &err);
                if (pjpeg == NULL) {
                    printf("pjpeg error %d\n", err);
                    continue;
                }

                if (1) {
                    im = pjpeg_to_u8_baseline(pjpeg);
                } else {
                    printf("illumination invariant\n");

                    image_u8x3_t *imc =  pjpeg_to_u8x3_baseline(pjpeg);

                    im = image_u8_create(imc->width, imc->height);

                    for (int y = 0; y < imc->height; y++) {
                        for (int x = 0; x < imc->width; x++) {
                            double r = imc->buf[y*imc->stride + 3*x + 0] / 255.0;
                            double g = imc->buf[y*imc->stride + 3*x + 1] / 255.0;
                            double b = imc->buf[y*imc->stride + 3*x + 2] / 255.0;

                            double alpha = 0.42;
                            double v = 0.5 + log(g) - alpha*log(b) - (1-alpha)*log(r);
                            int iv = v * 255;
                            if (iv < 0)
                                iv = 0;
                            if (iv > 255)
                                iv = 255;

                            im->buf[y*im->stride + x] = iv;
                        }
                    }
                    image_u8x3_destroy(imc);
                    if (td->debug)
                        image_u8_write_pnm(im, "debug_invariant.pnm");
                }

                pjpeg_destroy(pjpeg);
            }

            if (im == NULL) {
                printf("couldn't load %s\n", path);
                continue;
            }

            zarray_t *detections = apriltag_detector_detect(td, im);

            for (int i = 0; i < zarray_size(detections); i++) {
                apriltag_detection_t *det;
                zarray_get(detections, i, &det);

                if (!quiet)
                    printf("detection %3d: id (%2dx%2d)-%-4d, hamming %d, goodness %8.3f, margin %8.3f\n",
                           i, det->family->d*det->family->d, det->family->h, det->id, det->hamming, det->goodness, det->decision_margin);

                hamm_hist[det->hamming]++;
                total_hamm_hist[det->hamming]++;
            }

            apriltag_detections_destroy(detections);

            if (!quiet) {
                timeprofile_display(td->tp);
            }

            total_quads += td->nquads;

            if (!quiet)
                printf("hamm ");

            for (int i = 0; i < hamm_hist_max; i++)
                printf("%5d ", hamm_hist[i]);

            double t =  timeprofile_total_utime(td->tp) / 1.0E3;
            total_time += t;
            printf("%12.3f ", t);
            printf("%5d", td->nquads);

            printf("\n");

            image_u8_destroy(im);
        }


        printf("Summary\n");

        printf("hamm ");

        for (int i = 0; i < hamm_hist_max; i++)
            printf("%5d ", total_hamm_hist[i]);
        printf("%12.3f ", total_time);
        printf("%5d", total_quads);
        printf("\n");

    }

    // don't deallocate contents of inputs; those are the argv
    apriltag_detector_destroy(td);

    tag36h11_destroy(tf);
    return 0;
}