#include "YoloDetectServerI.h"

#include <basic/util/app/AppPreference.hpp>
#include <QtCore/QString>
#include <QtCore/QSharedMemory>
#include <basic/timer_counter/Clocktimer.h>

YoloDetectServerI::YoloDetectServerI():m_thresh(0.5),m_hier_thresh(0.5),m_nms(0.5),names(nullptr),alphabet(nullptr),
    m_thdInit(init,this),m_bInitThd(false)
{
}

YoloDetectServerI::~YoloDetectServerI()
{}

::YoloDetect::ObjInfos YoloDetectServerI::YoloDetect(::Ice::Int w, ::Ice::Int h, const ::std::string& shM, const ::Ice::Current&)
{
    ClockTimer ct("YoloDetectServerI::YoloDetect");
    ::YoloDetect::ObjInfos objInfos;
    if(!m_bInitThd) return objInfos;
    QSharedMemory shareMemory(QString(shM.c_str()));
    if(shareMemory.attach()){
        int channel = 3;
        cv::Mat _mat = bufferToMat(w,h,channel,shareMemory.constData());

//        double bttime=what_time_is_it_now();
        image im = matToImg(_mat);
//        DBG("matToImg : "<<what_time_is_it_now()-bttime);
//        printf("matToImg %f seconds.\n", what_time_is_it_now()-bttime);
        image sized = letterbox_image(im, m_net->w, m_net->h);
        layer l = m_net->layers[m_net->n-1];

        float *X = sized.data;
        //attime=what_time_is_it_now();p->
        network_predict(m_net, X);
        //printf("Predicted in %f seconds.\n", what_time_is_it_now()-attime);
        int nboxes = 0;
        detection *dets = get_network_boxes(m_net, im.w, im.h, m_thresh, m_hier_thresh, 0, 1, &nboxes);
        if (m_nms) do_nms_sort(dets, nboxes, l.classes, m_nms);
        //  draw_detections(im, dets, nboxes, m_thresh, names, alphabet, l.classes);
        for(int i=0;i<nboxes;i++)
        {
            ::YoloDetect::ObjInfo objInfo;
            std::vector<float> vec(80);
            memcpy(&vec[0],dets[i].prob,sizeof(float)*80);
            int type = -1;
            for(int j = 0; j < l.classes; ++j){
//                if(j != 0){
//                    continue;
//                }
                if (dets[i].prob[j] > 0.0f){
                    if (type < 0) {
                        type = j;
                        objInfo.prob = dets[i].prob[j];
                    } else {
                    }
                } else{
                }
            }
            if(type >= 0){
//                if(type != 0){
//                    continue;
//                }
                objInfo.type = type;
                objInfo.rcObj.left = (dets[i].bbox.x-dets[i].bbox.w/2.);
                objInfo.rcObj.top = (dets[i].bbox.y-dets[i].bbox.h/2.);
                objInfo.rcObj.right = (dets[i].bbox.x+dets[i].bbox.w/2.);
                objInfo.rcObj.bottom = (dets[i].bbox.y+dets[i].bbox.h/2.);
                objInfos.push_back(objInfo);
            }


        }
        free_detections(dets, nboxes);
    //    show_image(im, "Video");
    //    cv::waitKey(10);
        free_image(im);
        free_image(sized);
        //printf("all time use %f seconds.\n", what_time_is_it_now()-bttime);
    }
    return objInfos;
}

int YoloDetectServerI::init(void* arg)
{
    YoloDetectServerI* p = (YoloDetectServerI*)arg;

    p->m_thresh = appPref.getFloatData("thresh.detect");
    cuda_set_device(appPref.getIntData("gpu.index"));

    char *datacfg = "cfg/coco.data";
    char *cfgfile = "cfg/yolov3.cfg";
    char *weightfile = "./yolov3.weights";

    double loadtime = what_time_is_it_now();
    list *options = read_data_cfg(datacfg);
    char *name_list = option_find_str(options, "names", "data/names.list");
    p->names = get_labels(name_list);

    p->alphabet = load_alphabet();
    p->m_net = load_network(cfgfile, weightfile, 0);
    set_batch_network(p->m_net, 1);
    printf("load mod use %f seconds.\n", what_time_is_it_now()-loadtime);

    srand(2222222);
    p->m_bInitThd = true;
    return 0;
}

cv::Mat YoloDetectServerI::bufferToMat(const int w,const int h,const int channels,const void* buffer)
{
    int nType = -1;
    switch(channels){case 1:{nType=CV_8UC1;break;}case 2:{nType=CV_8UC2;break;}case 3:{nType=CV_8UC3;break;}default:{nType=CV_8UC3;break;}}
    cv::Mat mat(h,w,nType,(void*)buffer);
    return mat;
}

image YoloDetectServerI::matToImg(cv::Mat& RefImg) {
    CV_Assert(RefImg.depth() == CV_8U);

    int h = RefImg.rows;
    int w = RefImg.cols;
    int channels = RefImg.channels();
    image im = make_image(w, h, 3);
    int count = 0;
    switch(channels){
        case 1:{
            cv::MatIterator_<unsigned char> it, end;
            for (it = RefImg.begin<unsigned char>(), end = RefImg.end<unsigned char>(); it != end; ++it){
                im.data[count] = im.data[w*h + count] = im.data[w*h*2 + count] = (float)(*it)/255.0;

                ++count;
            }
            break;
        }
        case 3:{
            float* desData = im.data;
            uchar* srcData = RefImg.data;

            int size = w*h;
            int size2 = size*2;
            for(int i = 0;i<size;i++){
                *(desData) = *(srcData + 2) /255.0f;
                *(desData+size) = *(srcData + 1) /255.0f;
                *(desData+size2) = *(srcData) /255.0f;

                desData++;
                srcData+=3;
            }
            break;
        }

        default:
            printf("Channel number not supported.\n");
            break;
    }
    return im;
}

YoloDetect::stringData YoloDetectServerI::getCocoData(const Ice::Current &)
{
    YoloDetect::stringData retval;
    std::fstream fs("./data/coco.names");
    std::string str;
    while(fs>>str){
        retval.push_back(str);
    }
    return retval;
}