#include <QtGui/QApplication>
#include <QtCore/QDir>
#include <QtCore/QFile>
#include <iostream>
#include <iomanip>
#include "find_object/MainWindow.h"
#include "find_object/Settings.h"
#include "find_object/FindObject.h"
#include "find_object/Camera.h"
#include "find_object/TcpServer.h"
#include "find_object/JsonWriter.h"
#include "find_object/utilite/ULogger.h"

bool running = true;

#ifdef WIN32
#include <windows.h> 
BOOL WINAPI my_handler(DWORD signal)
{
    if (signal == CTRL_C_EVENT)
	{
        printf("\nCtrl-C caught! Quitting application...\n");
		QCoreApplication::quit();
	}
    return TRUE;
    running = false;
}
#else
#include <signal.h>
void my_handler(int s)
{
	printf("\nCtrl-C caught! Quitting application...\n");
	QCoreApplication::quit();
	running = false;
}
inline void Sleep(unsigned int ms)
{
	struct timespec req;
	struct timespec rem;
	req.tv_sec = ms / 1000;
	req.tv_nsec = (ms - req.tv_sec * 1000) * 1000 * 1000;
	nanosleep (&req, &rem);
}
#endif

void setupQuitSignal()
{
// Catch ctrl-c to close Qt
#ifdef WIN32
	if (!SetConsoleCtrlHandler(my_handler, TRUE))
	{
		UERROR("Could not set control (ctrl-c) handler");
	}
#else
	struct sigaction sigIntHandler;
	sigIntHandler.sa_handler = my_handler;
	sigemptyset(&sigIntHandler.sa_mask);
	sigIntHandler.sa_flags = 0;
	sigaction(SIGINT, &sigIntHandler, NULL);
#endif
}

void showUsage()
{
	printf("\nUsage:\n"
#ifdef WIN32
			"  Find-Object.exe [options]\n"
#else
			"  find_object [options]\n"
#endif
			"Options:\n"
			"  --console              Don't use the GUI (by default the camera will be\n"
			"                           started automatically). Option --objects must also be\n"
			"                           used with valid objects.\n"
			"  --objects \"path\"       Directory of the objects to detect.\n"
			"  --config \"path\"        Path to configuration file (default: %s).\n"
			"  --scene \"path\"         Path to a scene image file.\n"
			"  --params               Show all parameters.\n"
			"  --My/Parameter \"value\" Set find-Object's parameter (look --params for parameters' name).\n"
			"                           It will override the one in --config. Example to set 4 threads:\n"
			"                           $ find_object --General/threads 4\n"
			"  --help                 Show usage.\n", Settings::iniDefaultPath().toStdString().c_str());
	if(JsonWriter::available())
	{
		printf("  --json \"path\"          Path to an output JSON file (only in --console mode with --scene).\n");
	}
	exit(-1);
}

int main(int argc, char* argv[])
{
	ULogger::setType(ULogger::kTypeConsole);
	ULogger::setLevel(ULogger::kInfo);
	ULogger::setPrintWhere(false);
	ULogger::setPrintTime(false);

	//////////////////////////
	// parse options BEGIN
	//////////////////////////
	bool guiMode = true;
	QString objectsPath = "";
	QString scenePath = "";
	QString configPath = Settings::iniDefaultPath();
	QString jsonPath;
	ParametersMap customParameters;

	for(int i=1; i<argc; ++i)
	{
		if(strcmp(argv[i], "-objs") == 0 ||
		   strcmp(argv[i], "--objs") == 0 ||
		   strcmp(argv[i], "-objects") == 0 ||
		   strcmp(argv[i], "--objects") == 0)
		{
			++i;
			if(i < argc)
			{
				objectsPath = argv[i];
				if(objectsPath.contains('~'))
				{
					objectsPath.replace('~', QDir::homePath());
				}
				if(!QDir(objectsPath).exists())
				{
					UERROR("Objects path not valid : %s", objectsPath.toStdString().c_str());
					showUsage();
				}
			}
			else
			{
				showUsage();
			}
			continue;
		}
		if(strcmp(argv[i], "-scene") == 0 ||
		   strcmp(argv[i], "--scene") == 0)
		{
			++i;
			if(i < argc)
			{
				scenePath = argv[i];
				if(scenePath.contains('~'))
				{
					scenePath.replace('~', QDir::homePath());
				}
				if(!QFile(scenePath).exists())
				{
					UERROR("Scene path not valid : %s", scenePath.toStdString().c_str());
					showUsage();
				}
			}
			else
			{
				showUsage();
			}
			continue;
		}
		if(strcmp(argv[i], "-config") == 0 ||
		   strcmp(argv[i], "--config") == 0)
		{
			++i;
			if(i < argc)
			{
				configPath = argv[i];
				if(configPath.contains('~'))
				{
					configPath.replace('~', QDir::homePath());
				}
				if(!QFile::exists(configPath))
				{
					UWARN("Configuration file \"%s\" doesn't exist, it will be created with default values...", configPath.toStdString().c_str());
				}
			}
			else
			{
				showUsage();
			}
			continue;
		}
		if(strcmp(argv[i], "-console") == 0 ||
		   strcmp(argv[i], "--console") == 0)
		{
			guiMode = false;
			continue;
		}
		if(strcmp(argv[i], "-help") == 0 ||
		   strcmp(argv[i], "--help") == 0)
		{
			showUsage();
		}
		if(JsonWriter::available())
		{
			if(strcmp(argv[i], "-json") == 0 ||
			   strcmp(argv[i], "--json") == 0)
			{
				++i;
				if(i < argc)
				{
					jsonPath = argv[i];
					if(jsonPath.contains('~'))
					{
						jsonPath.replace('~', QDir::homePath());
					}
				}
				else
				{
					showUsage();
				}
				continue;
			}
		}
		if(strcmp(argv[i], "--params") == 0)
		{
			ParametersMap parameters = Settings::getDefaultParameters();
			for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
			{
				std::string str = "Param: " + iter.key().toStdString() + " = \"" + iter.value().toString().toStdString() + "\"";
				std::cout <<
						str <<
						std::setw(60 - str.size()) <<
						" [" <<
						Settings::getDescriptions().value(iter.key()).toStdString().c_str() <<
						"]" <<
						std::endl;
			}
			UINFO("Node will now exit after showing default Find-Object's parameters because "
					 "argument \"--params\" is detected!");
			exit(0);
		}

		// Check for custom parameters:
		ParametersMap parameters = Settings::getDefaultParameters();
		QString name = argv[i];
		if(name.size() > 2)
		{
			//strip the "--"
			name.remove(0, 2);
			if(parameters.contains(name))
			{
				++i;
				if(i < argc)
				{
					customParameters.insert(name, argv[i]);
				}
				else
				{
					showUsage();
				}
				continue;
			}
		}

		UERROR("Unrecognized option : %s", argv[i]);
		showUsage();
	}

	UINFO("Options:");
	UINFO("   GUI mode = %s", guiMode?"true":"false");
	UINFO("   Objects path: \"%s\"", objectsPath.toStdString().c_str());
	UINFO("   Scene path: \"%s\"", scenePath.toStdString().c_str());
	UINFO("   Settings path: \"%s\"", configPath.toStdString().c_str());
	if(JsonWriter::available())
	{
		UINFO("   JSON path: \"%s\"", jsonPath.toStdString().c_str());
	}
	for(ParametersMap::iterator iter= customParameters.begin(); iter!=customParameters.end(); ++iter)
	{
		UINFO("   Param \"%s\"=\"%s\"", iter.key().toStdString().c_str(), iter.value().toString().toStdString().c_str());
	}

	//////////////////////////
	// parse options END
	//////////////////////////

	// Load settings, should be loaded before creating other objects
	Settings::init(configPath);

	// Override custom parameters:
	for(ParametersMap::iterator iter= customParameters.begin(); iter!=customParameters.end(); ++iter)
	{
		Settings::setParameter(iter.key(), iter.value());
	}

	// Create FindObject
	FindObject * findObject = new FindObject();

	// Load objects if path is set
	int objectsLoaded = 0;
	if(!objectsPath.isEmpty())
	{
		objectsLoaded = findObject->loadObjects(objectsPath);
		if(!objectsLoaded)
		{
			UWARN("No objects loaded from \"%s\"", objectsPath.toStdString().c_str());
		}
	}
	cv::Mat scene;
	if(!scenePath.isEmpty())
	{
		scene = cv::imread(scenePath.toStdString());
		if(scene.empty())
		{
			UERROR("Failed to load scene \"%s\"", scenePath.toStdString().c_str());
		}
	}

	if(guiMode)
	{
		QApplication app(argc, argv);
		MainWindow mainWindow(findObject, 0); // ownership transfered

		app.connect( &app, SIGNAL( lastWindowClosed() ), &app, SLOT( quit() ) );
		mainWindow.show();

		if(!scene.empty())
		{
			mainWindow.update(scene);
		}

		app.exec();

		// Save settings
		Settings::saveSettings();
	}
	else
	{
		if(objectsLoaded == 0)
		{
			UERROR("In console mode, at least one object must be loaded! See -console option.");
			delete findObject;
			showUsage();
		}

		QCoreApplication app(argc, argv);

		if(!scene.empty())
		{
			// process the scene and exit
			QTime time;
			time.start();
			DetectionInfo info;
			findObject->detect(scene, info);

			if(info.objDetected_.size() > 1)
			{
				UINFO("%d objects detected! (%d ms)", (int)info.objDetected_.size(), time.elapsed());
			}
			else if(info.objDetected_.size() == 1)
			{
				UINFO("Object %d detected! (%d ms)", (int)info.objDetected_.begin().key(), time.elapsed());
			}
			else if(Settings::getGeneral_sendNoObjDetectedEvents())
			{
				UINFO("No objects detected. (%d ms)", time.elapsed());
			}

			if(!jsonPath.isEmpty() && JsonWriter::available())
			{
				JsonWriter::write(info, jsonPath);
				UINFO("JSON written to \"%s\"", jsonPath.toStdString().c_str());
			}
		}
		else
		{
			Camera camera;
			TcpServer tcpServer(Settings::getGeneral_port());
			UINFO("Detection sent on port: %d (IP=%s)", tcpServer.getPort(), tcpServer.getHostAddress().toString().toStdString().c_str());

			// connect stuff:
			// [FindObject] ---ObjectsDetected---> [TcpServer]
			QObject::connect(findObject, SIGNAL(objectsFound(DetectionInfo)), &tcpServer, SLOT(publishDetectionInfo(DetectionInfo)));

			// [Camera] ---Image---> [FindObject]
			QObject::connect(&camera, SIGNAL(imageReceived(const cv::Mat &)), findObject, SLOT(detect(const cv::Mat &)));
			QObject::connect(&camera, SIGNAL(finished()), &app, SLOT(quit()));

			//use camera in settings
			setupQuitSignal();

			// start processing!
			while(running && !camera.start())
			{
				UERROR("Camera initialization failed!");
				running = false;
			}
			if(running)
			{
				app.exec();
			}

			// cleanup
			camera.stop();
			tcpServer.close();
		}

		delete findObject;
	}
}