#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");

//    std::thread::id key = std::this_thread::get_id();
//    DBG("key is " << key);
//    DnDetect::DnDetect *t_dnDetect = nullptr;
//    for (auto &item : map_dnDetRes) {
//        //是否发现pid
//        bool find_pid = false;
//
//        auto &pid_map = item.second.map_pid;
//        for (auto &pid_item : pid_map) {
//            if (pid_item.second == key) {
////                发现pid，获取资源句柄
//                find_pid = true;
//                break;
//            }
//        }
//        int map_pid_size = item.second.map_pid.size();
//        if (!find_pid && map_pid_size < item.second.i) {
//            //没发现句柄，并且map容量足够放入新的pid
//            map_pid_size++;
//            //#todo lock ?
//            item.second.map_pid[map_pid_size] = key;
//            find_pid = true;
//        }
//        //发现了pid退出循环
//        if (find_pid) {
//            t_dnDetect = item.second.dnDetect;
//            break;
//        }
//    }

    ::YoloDetect::ObjInfos objInfos;
    if (!m_bInitThd /*|| t_dnDetect == nullptr*/) {
        ERR("error ");
        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 (nboxes > 30) {
            DBG("nboxes="<<nboxes);
            return objInfos;
        }
        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;
}