package gosdk

/*
#cgo CFLAGS: -I. -I./sdk/face/include -I./sdk/darknet/include -I/usr/local/cuda/include -w -g
#cgo CXXFLAGS: -I. -I./sdk/face/include -I./sdk/darknet/include -I/usr/local/cuda/include -w -g -std=c++11
#cgo LDFLAGS: -L/usr/local/cuda/lib64 -L${SRCDIR}/sdk/face/lib/gpu -L${SRCDIR}/sdk/darknet/lib
#cgo LDFLAGS: -Wl,-rpath,${SRCDIR}/sdk/face/lib/gpu:${SRCDIR}/sdk/darknet/lib
#cgo LDFLAGS: -ldarknet -lTHFaceImage -lTHFeature -lTHFaceProperty -lTHFaceTracking -lcudart -lcublas -lcurand -lrt -ldl -lpthread
#include <stdlib.h>
#include "csdk.h"
*/
import "C"
import (
	"unsafe"
)

// YoloHandle wrap C
type YoloHandle struct {
	handle       C.YoloHandle
	LastYoloObjs []CObjTrackInfo //yolo跟踪的上一帧信息
	LastTrackID  uint64          //yolo 被使用的ID
}

const RatioInterTrack = 50 //跟踪判断重叠阈值

// SDKImage sdk image
type SDKImage struct {
	Data   []byte
	Width  int
	Height int
}

// InitYolo init yolo sdk
func InitYolo(fc, fw, fn string, gi int) *YoloHandle {

	c := C.CString(fc)
	defer C.free(unsafe.Pointer(c))
	w := C.CString(fw)
	defer C.free(unsafe.Pointer(w))
	n := C.CString(fn)
	defer C.free(unsafe.Pointer(n))

	g := C.int(gi)

	p := C.c_api_yolo_init(c, w, n, g)
	return &YoloHandle{handle: p}
}

// InitFaceDetector init face detector
func InitFaceDetector(tm, gi, minFaces, rollAngle int) {

	C.c_api_face_detector_init(C.int(tm), C.int(gi), C.int(minFaces), C.int(rollAngle))
}

// InitFaceProperty init face property
func InitFaceProperty(tm int) {

	C.c_api_face_property_init(C.int(tm))
}

// InitFaceExtractor init face extractor
func InitFaceExtractor(tm, gi int) {
	C.c_api_face_extractor_init(C.int(tm), C.int(gi))
}

// InitFaceTracker init face tracker
func InitFaceTracker(tm, gi, w, h, maxFaces, interval, sample int) {

	C.c_api_face_tracker_init(C.int(tm), C.int(gi), C.int(w), C.int(h), C.int(maxFaces), C.int(interval), C.int(sample))
}

// ResizeFaceTracker init face tracker
func ResizeFaceTracker(ch, w, h int) int {

	return int(C.c_api_face_track_resize(C.int(ch), C.int(w), C.int(h)))
}

// Free free sdk
func Free() {
	C.c_api_release()
}

// FaceDetect face detect
func FaceDetect(img SDKImage, ch int) []CFacePos {

	data := img.Data
	w := img.Width
	h := img.Height

	var count C.int
	cfpos := C.c_api_face_detect(&count, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))
	if cfpos != nil {
		return CFacePosArrayToGoArray(unsafe.Pointer(cfpos), int(count))
	}
	return nil
}

// FaceProperty face property
func FaceProperty(fpos CFacePos, img SDKImage, ch int) CThftResult {
	data := img.Data
	w := img.Width
	h := img.Height

	pos := (*C.cFacePos)(unsafe.Pointer(&fpos))
	result := C.c_api_face_property(pos, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))

	return *((*CThftResult)(unsafe.Pointer(&result)))
}

// FaceExtract face extract feature
func FaceExtract(fpos CFacePos, img SDKImage, ch int) []byte {

	data := img.Data
	w := img.Width
	h := img.Height

	var featLen C.int
	pos := (*C.cFacePos)(unsafe.Pointer(&fpos))

	p := C.c_api_face_extract(&featLen, pos, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))
	b := C.GoBytes(unsafe.Pointer(p), featLen)
	return b
}

// FaceCompare face compare
func FaceCompare(feat1 []byte, feat2 []byte) float32 {
	res := C.c_api_face_compare((*C.uchar)(unsafe.Pointer(&feat1[0])), (*C.uchar)(unsafe.Pointer(&feat2[0])))
	return float32(res)
}

// FaceTrackingInfo face track info
type FaceTrackingInfo struct {
	tracking bool
	faces    []CFaceInfo
}

// FaceTrack face tracking info
func FaceTrack(res map[int64]FaceTrackingInfo, img SDKImage, ch int) {
	data := img.Data
	w := img.Width
	h := img.Height

	var fCount C.int
	cFinfo := C.c_api_face_track(&fCount, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))
	if cFinfo == nil {
		return
	}
	goFinfo := CFaceInfoArrayToGoArray(unsafe.Pointer(cFinfo), int(fCount))

	// 空，添加
	if len(res) == 0 {
		for _, v := range goFinfo {
			var faces []CFaceInfo
			faces = append(faces, v)
			tInfo := FaceTrackingInfo{true, faces}
			res[v.NFaceID] = tInfo
		}
		// 非空
	} else {
		// 默认所有faces没有tracking
		for _, v := range res {
			v.tracking = false
		}
		// 查找是否存在tracking
		for _, v := range goFinfo {
			// 存在已有信息
			if info, ok := res[v.NFaceID]; ok {
				// tracking到face
				info.tracking = true
				// 如果tracking长度大于100，删除一些
				if len(info.faces) > 100 {
					info.faces = info.faces[1:]
				}
				info.faces = append(info.faces, v)
				// 不存在，新face，加入
			} else {
				var faces []CFaceInfo
				faces = append(faces, v)
				tInfo := FaceTrackingInfo{true, faces}
				res[v.NFaceID] = tInfo
			}
		}
		// 删除不再tracking的faces
		for k, v := range res {
			if !v.tracking {
				delete(res, k)
			}
		}
	}
}

func FaceInfo2FacePos(face CFaceInfo) (fPos CFacePos) {
	fPos.RcFace = face.RcFace
	fPos.PtLeftEye = face.PtLeftEye
	fPos.PtRightEye = face.PtRightEye
	fPos.PtNose = face.PtNose
	fPos.PtMouth = face.PtMouth
	fPos.FAngle.Yaw = face.FAngle.Yaw
	fPos.FAngle.Pitch = face.FAngle.Pitch
	fPos.FAngle.Roll = face.FAngle.Roll
	fPos.FAngle.Confidence = face.FAngle.Confidence

	copy(fPos.PFacialData[:], face.PFacialData[:512])

	return fPos
}

// FaceTrackSimple face tracking info
func FaceTrackSimple(img SDKImage, ch int) (faces []CFaceInfo) {
	data := img.Data
	w := img.Width
	h := img.Height

	var fCount C.int
	cFinfo := C.c_api_face_track(&fCount, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))
	// fmt.Println("cFinfo detected:", cFinfo)
	if cFinfo == nil {
		return faces
	}
	faces = CFaceInfoArrayToGoArray(unsafe.Pointer(cFinfo), int(fCount))
	//if len(faces) > 0{
	// fmt.Println("faces detected:", len(faces))
	//}

	return faces
}

// YoloDetect yolo detect
func YoloDetect(handle *YoloHandle, img SDKImage, thrsh float32, umns int) []CObjInfo {

	data := img.Data
	w := img.Width
	h := img.Height

	var count C.int

	cobjinfo := C.c_api_yolo_detect(handle.handle, &count, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.float(thrsh), C.int(umns))

	if cobjinfo != nil {
		return CYoloObjInfoArrayToGoArray(unsafe.Pointer(cobjinfo), int(count))
	}
	return nil
}

// YoloObjName obj name by type
func YoloObjName(typ int) string {
	p := C.c_api_yolo_obj_name(C.int(typ))

	return C.GoString(p)
}

func max(a, b int32) int32 {
	if a < b {
		return b
	}
	return a
}

func min(a, b int32) int32 {
	if a < b {
		return a
	}
	return b
}

func countInterAreaOfTwoRect(rect1 CRECT, rect2 CRECT) int32 {
	xMin := min(rect1.Left, rect2.Left)
	yMin := min(rect1.Top, rect2.Top)
	xMax := max(rect1.Right, rect2.Right)
	yMax := max(rect1.Bottom, rect2.Bottom)

	wRect1 := rect1.Right - rect1.Left
	hRect1 := rect1.Bottom - rect1.Top

	wRect2 := rect2.Right - rect2.Left
	hRect2 := rect2.Bottom - rect2.Top

	wInter := wRect1 + wRect2 - (xMax - xMin)
	hInter := hRect1 + hRect2 - (yMax - yMin)

	if (wInter <= 0) || (hInter <= 0) {
		return 0
	}

	areaInter := wInter * hInter
	areaRect1 := wRect1 * hRect1
	areaRect2 := wRect2 * hRect2
	ratio := areaInter * 100 / min(areaRect1, areaRect2)

	return ratio
}

// YoloDetect yolo detect   (只识别人)
func YoloDetectTrack(handle *YoloHandle, img SDKImage, thrsh float32, umns int) (allObjs []CObjTrackInfo, newObjs []CObjTrackInfo) {

	var tmp CObjTrackInfo
	//LastYoloObjs
	detectObjs := YoloDetect(handle, img, thrsh, umns)

	for _, vLast := range handle.LastYoloObjs {
		for i := 0; i < len(detectObjs); i++ {
			//fmt.Println("vNew.Typ:", vNew.Typ)
			if vLast.ObjInfo.Typ == detectObjs[i].Typ { //同一类别，比如都是人体
				ratio := countInterAreaOfTwoRect(vLast.ObjInfo.RcObj, detectObjs[i].RcObj)
				if ratio >= RatioInterTrack {
					//update LastYoloObjs
					vLast.ObjInfo.RcObj = detectObjs[i].RcObj
					vLast.ObjInfo.Prob = detectObjs[i].Prob

					allObjs = append(allObjs, vLast)
					detectObjs = append(detectObjs[:i], detectObjs[i+1:]...) //从检测目标里删除已经查到的跟踪目标
					i--
					break //上一帧跟踪的目标已经找到，无需往下处理其他检测目标
				}
			}
		}
	}

	//处理新出现的目标
	if len(detectObjs) > 0 {
		for _, vAdd := range detectObjs {
			tmp.ObjInfo = vAdd
			tmp.ID = handle.LastTrackID
			handle.LastTrackID++

			allObjs = append(allObjs, tmp)
			newObjs = append(newObjs, tmp)
		}
	}

	//刷新上一帧的跟踪目标
	handle.LastYoloObjs = allObjs

	return allObjs, newObjs
}

// YoloDetectTrack2 yolo detect   (只识别人)
func YoloDetectTrack2(handle *YoloHandle, LastYoloObjs []CObjTrackInfo, LastTrackID *uint64, img SDKImage, thrsh float32, umns int) (allObjs []CObjTrackInfo, newObjs []CObjTrackInfo) {

	var tmp CObjTrackInfo
	//LastYoloObjs
	detectObjs := YoloDetect(handle, img, thrsh, umns)

	for _, vLast := range LastYoloObjs {
		for i := 0; i < len(detectObjs); i++ {
			//fmt.Println("vNew.Typ:", vNew.Typ)
			if vLast.ObjInfo.Typ == detectObjs[i].Typ { //同一类别，比如都是人体
				ratio := countInterAreaOfTwoRect(vLast.ObjInfo.RcObj, detectObjs[i].RcObj)
				if ratio >= RatioInterTrack {
					//update LastYoloObjs
					vLast.ObjInfo.RcObj = detectObjs[i].RcObj
					vLast.ObjInfo.Prob = detectObjs[i].Prob

					allObjs = append(allObjs, vLast)
					detectObjs = append(detectObjs[:i], detectObjs[i+1:]...) //从检测目标里删除已经查到的跟踪目标
					i--
					break //上一帧跟踪的目标已经找到，无需往下处理其他检测目标
				}
			}
		}
	}

	//处理新出现的目标
	id := *LastTrackID
	if len(detectObjs) > 0 {
		for _, vAdd := range detectObjs {
			tmp.ObjInfo = vAdd
			tmp.ID = id
			id++

			allObjs = append(allObjs, tmp)
			newObjs = append(newObjs, tmp)
		}
	}
	*LastTrackID = id
	return allObjs, newObjs
}