package sdk

import (
	"analysis/logo"
	"analysis/work"
	"context"

	"analysis/gosdk"

	"basic.com/pubsub/protomsg.git"
	"github.com/gogo/protobuf/proto"
)

func (y *YoloDetect) detectTrack(ctx context.Context, in <-chan work.MsgRS, out chan<- work.MsgRS, typ string) {
	y.tracker = make(map[string]*trackInfo)
	FlowSimple(ctx, in, out, typ, y.list.Push, y.list.Pop, y.track, func() {})
}

func (y *YoloDetect) track(rMsg work.MsgRS, out chan<- work.MsgRS, typ string) {

	/////////////////////////////////////////////
	i := unpackImage(rMsg, typ)
	if i == nil || i.Data == nil || i.Width <= 0 || i.Height <= 0 {
		logo.Errorln("yolo image error: ", i)
		ejectResult(nil, rMsg, out)

		return
	}

	// conv to bgr24 and resize
	imgW, imgH := int(i.Width), int(i.Height)

	img := gosdk.SDKImage{Data: i.Data, Width: imgW, Height: imgH}

	v, ok := y.tracker[rMsg.Msg.Cid]
	if !ok {
		i := &trackInfo{}
		y.tracker[rMsg.Msg.Cid] = i
		v = i
	}
	allOrig, _ := gosdk.YoloDetectTrack2(y.yolo, v.lastTrackObjs, &v.lastTrackID, img, 0.4, 0)
	y.tracker[rMsg.Msg.Cid].lastTrackObjs = allOrig
	y.tracker[rMsg.Msg.Cid].lastTrackID = v.lastTrackID

	/// filter rules
	var allF []gosdk.CObjTrackInfo
	sdkid := rMsg.Msg.Tasklab.Sdkinfos[rMsg.Msg.Tasklab.Index].Ipcid
	for _, v := range allOrig {

		size := (v.ObjInfo.RcObj.Right - v.ObjInfo.RcObj.Left) * (v.ObjInfo.RcObj.Bottom - v.ObjInfo.RcObj.Top)
		if filter(rMsg.Msg.Tasklab.Taskid, sdkid, v.ObjInfo.Prob, 0, int(size)) {
			allF = append(allF, v)
		}
	}
	/// filter rules
	allO := allF
	// allO := allOrig

	var data []byte
	var err error
	if len(allO) > 0 {

		infos := convert2ProtoYoloTrack(allO, 1.0, 1.0)
		p := protomsg.ParamYoloObj{Infos: infos}
		// logo.Infoln("CID: ", rMsg.Msg.Cid, " TASK: ", rMsg.Msg.Tasklab.Taskid, " YOLO TRACK OBJS: ", len(infos))

		data, err = proto.Marshal(&p)
		if err != nil {
			logo.Errorln("ydetect track marshal proto yolo obj error", err)
			data = nil
		}
	}

	ejectResult(data, rMsg, out)
	var id, name string
	if rMsg.Msg.Tasklab != nil {
		id, name = rMsg.Msg.Tasklab.Taskid, rMsg.Msg.Tasklab.Taskname
	}
	logo.Infoln("CAMERAID: ", rMsg.Msg.Cid, " TASKID: ", id, " TASKNAME: ", name, " DETECT YOLO COUNT: ", len(allO))
}

func convert2ProtoYoloTrack(obj []gosdk.CObjTrackInfo, fx, fy float64) []*protomsg.ObjInfo {
	ret := []*protomsg.ObjInfo{}

	for _, v := range obj {
		if fx < 1.0 || fy < 1.0 {
			v.ObjInfo.RcObj.Left = (int32)((float64)(v.ObjInfo.RcObj.Left) / fx)
			v.ObjInfo.RcObj.Right = (int32)((float64)(v.ObjInfo.RcObj.Right) / fx)
			v.ObjInfo.RcObj.Top = (int32)((float64)(v.ObjInfo.RcObj.Top) / fy)
			v.ObjInfo.RcObj.Bottom = (int32)((float64)(v.ObjInfo.RcObj.Bottom) / fy)
		}

		rect := protomsg.Rect{
			Left:   v.ObjInfo.RcObj.Left,
			Right:  v.ObjInfo.RcObj.Right,
			Top:    v.ObjInfo.RcObj.Top,
			Bottom: v.ObjInfo.RcObj.Bottom,
		}
		obj := protomsg.ObjInfo{
			RcObj: &rect,
			Typ:   v.ObjInfo.Typ,
			Prob:  v.ObjInfo.Prob,
			ObjID: v.ID,
		}

		ret = append(ret, &obj)
	}
	return ret
}