//
// Created by Scheaven on 2020/3/23.
//

#include "ari_manager.h"
#include "../additional/fall_run_wander.h"

AriManager::AriManager()
{
    Config config;
    config.net_type = COMMON;

    if(m_staticStruct::type==2)
        config.net_type = SMALL;
    else
        config.net_type = COMMON;


    this->detector = std::shared_ptr<Detector>(new Detector());
    this->detector->init(config);
}

AriManager::~AriManager()
{

}

void AriManager::release()
{
    DetecterManager::getInstance()->release();
}

void AriManager::init_load_model()
{
    DEBUG("::loading detecter model!");
    DetecterManager::getInstance();
}

bool AriManager::add_cam(const int cam_id)
{
    if (cam_id==(this->CAMERAS_VCT.size()+1))
    {
        auto cam_tracker = std::make_shared<tracker>(max_cosine_distance, nn_budget);
        this->CAMERAS_VCT.push_back(cam_tracker);
        return true;
    }else if(cam_id<this->CAMERAS_VCT.size())
    {
        WARN("The camera ID " + to_string(cam_id) + "is occupied!");
        return false;
    }else
    {
        WARN("Camera ID" + to_string(cam_id) + "discontinuous!");
        return false;
    }
}

void AriManager::single_SDK(const int cam_id, const void *img, TResult *t_result, char* img_time, const char* mode)
{
    TImage *frame_img = (TImage*)img;
    // DEBUG((boost::format("%f, %f")%frame_img->width %frame_img->height).str());
    cv::Mat frame(Size(frame_img->width, frame_img->height), CV_8UC3); // size 是w,h    Mat是h,w
    frame.data = (uchar*)frame_img->data;   //注意不能写为：(uchar*)pFrameBGR->data
    cv::Mat draw_frame = frame.clone();
    Timer s_timer;
    s_timer.reset();
    DETECTIONS detections;
    DetecterManager::getInstance()->detecter_main(draw_frame, detections);
    s_timer.out("eve detecter_main");

    std::string mode_type = mode;
    DEBUG("detections human size::" + to_string(detections.size()));
    if(detections.size()>0)
    {
        if (mode_type == "video")
        {
            // if(HUMAN_STRUCT::reid_Extractor->featsEncoder(frame, detections) == false)
            // {
            //     WARN("Encoder human feature failed!");
            // }
            // auto t_strat2 =  std::chrono::steady_clock::now();
            // s_timer.out(to_string(detections.size())+" :eve reid_Extractor");
            single_tracker(cam_id, detections, img_time);
            s_timer.out("eve single_tracker");
            // auto t_strat3 =  std::chrono::steady_clock::now();
        //        std::cout<< "detections.size()" << detections.size()<< std::endl;
            switch_SDK_TResult(cam_id, frame, detections, t_result);
            // auto t_strat4 =  std::chrono::steady_clock::now();
            s_timer.out("eve switch_SDK_TResult");
            // double t_9 = std::chrono::duration<double, std::milli>(t_strat8 - t_strat9).count();
            // double t_8 = std::chrono::duration<double, std::milli>(t_strat7 - t_strat8).count();
            // double t_7 = std::chrono::duration<double, std::milli>(t_strat6 - t_strat7).count();
            // double t_6 = std::chrono::duration<double, std::milli>(t_strat1 - t_strat6).count();
            // double t_1 = std::chrono::duration<double, std::milli>(t_strat2 - t_strat1).count();
            // double t_2 = std::chrono::duration<double, std::milli>(t_strat3 - t_strat2).count();
            // double t_3 = std::chrono::duration<double, std::milli>(t_strat4 - t_strat3).count();
            // double t_0 = std::chrono::duration<double, std::milli>(t_strat4 - t_strat9).count();
            // std::cout << "fps time:" << to_string(t_9) << " : " <<  to_string(t_8) <<  " : " << to_string(t_7) << " : " << to_string(t_6) <<std::endl;
            // std::cout << "fps runing_time:" << to_string(t_1) << " : " <<  to_string(t_2) <<  " : " << to_string(t_3) << std::endl;
            // std::cout << "fps all time " << t_0<< std::endl;
        //    }
            DEBUG(":::::::::single_SDK end:::::");
        }
        else
        {
            switch_SDK_TResult(detections, t_result);
        }
    }

}

void AriManager::single_SDK(const int cam_id, const void *img, TResult* t_result)
{
    TImage *frame_img = (TImage*)img;
    cv::Mat frame(Size(frame_img->width, frame_img->height), CV_8UC3);
    frame.data = (uchar*)frame_img->data;

    std::vector<bbox_t> result_vec;

    std::vector<BatchResult> batch_res;
    std::vector<cv::Mat> batch_img;

    // cv::Mat image0 = cv::imread("/data/disk1/project/03_tensorRT/yolo-tensorrt/configs/dog.jpg", cv::IMREAD_UNCHANGED);
    // cv::Mat image1 = cv::imread("/data/disk1/project/03_tensorRT/yolo-tensorrt/configs/person.jpg", cv::IMREAD_UNCHANGED);
    batch_img.push_back(frame.clone());
    // batch_img.push_back(image1.clone());
    // batch_img.push_back(image1.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image0.clone());
    // batch_img.push_back(image1.clone());

    // cv::imshow("img",image0);
    // cv::waitKey(0);
    this->detector->detect(batch_img, batch_res);

    t_result->targets = (Target*)malloc(sizeof(Target)*batch_res[0].size());
    int w_count = 0;
    for (const auto &result_box:batch_res[0])
    {
        if(result_box.id == 1)
        {
            Target target;
            init_target(&target);

            target.rect.left = result_box.rect.x;
            target.rect.top =  result_box.rect.y;
            target.rect.right =  result_box.rect.x + result_box.rect.width;
            target.rect.bottom = result_box.rect.y + result_box.rect.height;

            target.confidence = result_box.prob*100;
            // target.id = 1; //

            //  target.attribute 可根据实际情况来添加，输出格式要求是json格式

            float mv_velocity = 0;
            int runScore = 0;
            string attribute_json = "{";

            if (m_staticStruct::fall_rate!=0)
            {
                // detect_fall(tmpbox, track);
                attribute_json += "\"fallScore\":" + to_string(0)+",";
            }

            if (m_staticStruct::mv_velocity!=0)
            {
                attribute_json += "\"runScore\":" + to_string(0)+",";
            }

            attribute_json += "\"hatScore\":" + to_string(0)+",";

            attribute_json += "\"helmetScore\":" + to_string(0)+",";

            attribute_json += "\"headScore\":" + to_string(0)+",";

            attribute_json += "\"maskScore\":" + to_string(0)+",";

            attribute_json += "\"smokingScore\":" + to_string(0)+",";

            DEBUG("image attribute_json:: "+ attribute_json);

            if(attribute_json.length()>2)
            {
                //转换输出的json格式 {"fallScore":100,"runScore":15.8,"wanderScore":10}
                attribute_json = attribute_json.substr(0, attribute_json.length()-1) +"}";
                target.attribute = new char[strlen(attribute_json.c_str())+1];
                target.attribute_size = strlen(attribute_json.c_str());
                strcpy(target.attribute, attribute_json.c_str());
            }

            t_result->targets[w_count] = target;
            w_count ++;
        }
    }
    std::cout << "eve batch_res size:: "<< batch_res[0].size() << " w_count: " << w_count <<std::endl;
    t_result->count = w_count;
    // draw_SDK_result(cam_id, frame, t_result);
}


void AriManager::switch_SDK_TResult(DETECTIONS detections, TResult *t_result)
{
    t_result->targets = (Target*)malloc(sizeof(Target) * detections.size());
    int w_count = 0;
    for(auto& detection :detections)
    {
        Target target;
        init_target(&target);
        // RESULT_STRUCT result;

        DETECTBOX tmpbox = detection.tlwh;

        istringstream iss(random_int(6));
        iss >> target.id;

        target.rect.left = tmpbox(0);
        target.rect.top =  tmpbox(1);
        target.rect.right = tmpbox(0) + tmpbox(2);
        target.rect.bottom = tmpbox(1) + tmpbox(3);

        target.confidence = detection.confidence*100;

        float mv_velocity = 0;
        int runScore = 0;
        string attribute_json = "{";

        if (m_staticStruct::fall_rate!=0)
        {
            // detect_fall(tmpbox, track);
            attribute_json += "\"fallScore\":" + to_string(detection.fallScore)+",";
        }

        if (m_staticStruct::mv_velocity!=0)
        {
            attribute_json += "\"runScore\":" + to_string(detection.runScore)+",";
        }

        attribute_json += "\"hatScore\":" + to_string(detection.hatScore)+",";

        attribute_json += "\"helmetScore\":" + to_string(detection.helmetScore)+",";

        attribute_json += "\"headScore\":" + to_string(detection.headScore)+",";

        attribute_json += "\"maskScore\":" + to_string(detection.maskScore)+",";

        attribute_json += "\"smokingScore\":" + to_string(detection.smokeScore)+",";

        DEBUG("image attribute_json:: "+ attribute_json);

        if(attribute_json.length()>2)
        {
            //转换输出的json格式 {"fallScore":100,"runScore":15.8,"wanderScore":10}
            attribute_json = attribute_json.substr(0, attribute_json.length()-1) +"}";
            target.attribute = new char[strlen(attribute_json.c_str())+1];
            target.attribute_size = strlen(attribute_json.c_str());
            strcpy(target.attribute, attribute_json.c_str());
        }

        t_result->targets[w_count] = target;
        w_count ++;
    }

    t_result->count = w_count;
}

// 转换成SDK 想要的结果
void AriManager::switch_SDK_TResult(int cam_id, cv::Mat img, DETECTIONS detections, TResult *t_result)
{
    t_result->targets = (Target*)malloc(sizeof(Target) * this->CAMERAS_VCT[cam_id]->tracks.size());
    int w_count = 0;
    for(auto& track :this->CAMERAS_VCT[cam_id]->tracks)
    {
        // if(not track->isCurrent) //当前画面没有则返回
        //     continue;
        Target target;
        init_target(&target);
        // RESULT_STRUCT result;
       if(!track->is_confirmed() || track->time_since_update >= 1) continue;
        // if(track->is_confirmed() && track->time_since_update >= 1) continue;

        /*
         * 算法思想：跟踪器跟踪的时候，是否能够强制将预测错位置的box框强制更新成新的box框，而id不发生变化
         * */

//         DETECTBOX tmpbox = track->to_tlwh();
        DETECTBOX tmpbox = track->to_xywh();

        target.rect.left = tmpbox(0);
        target.rect.top =  tmpbox(1);
        target.rect.right = tmpbox(0) + tmpbox(2);
        target.rect.bottom = tmpbox(1) + tmpbox(3);
        // DEBUG((boost::format("%s:%d, %s:%d, %s:%d, %s:%d") %"id:" %track->track_id %"conf:" %track->confidence %", to tmpbox y:" %tmpbox(1) %", tmpbox(3) h:" %tmpbox(3)).str());

        target.id = track->track_id;
        target.confidence = track->confidence;

        float mv_velocity = 0;
        int runScore = 0;
        string attribute_json = "{";

        if (m_staticStruct::fall_rate!=0)
        {
            // detect_fall(tmpbox, track);
            attribute_json += "\"fallScore\":" + to_string(track->rateScale)+"," + "\"fallTime\":" + to_string(track->fall_total_time) + ",";
        }

        if (m_staticStruct::mv_velocity!=0)
        {
            if(track->isRuning)
            {
                mv_velocity = detect_runing(tmpbox, track, img);
                float run_velocity = mv_velocity;
                if(tmpbox(2)/tmpbox(3)<0)
                {
                    run_velocity*=(img.cols*img.rows)/(tmpbox(2)*tmpbox(3));
                }else
                {
                    run_velocity*=10;
                }
//                    std::cout << mv_velocity <<  "mv_velocity::::::::::" << run_velocity << "::::::::::::"<<img.cols*img.rows<<":::"<<tmpbox(2)*tmpbox(3)<<std::endl;
                runScore = (track->confidence+2)*int(std::min(4*run_velocity, 100.0f));
                attribute_json += "\"runScore\":" + to_string(runScore)+",";
            }else if(track->is_hat)
            {
                mv_velocity = detect_runing(tmpbox, track, img);
                float run_velocity = mv_velocity;
                if(tmpbox(2)/tmpbox(3)<0)
                {
                    run_velocity*=(img.cols*img.rows)/(tmpbox(2)*tmpbox(3));
                }else
                {
                    run_velocity*=15;
                }
//                    std::cout << mv_velocity <<  "mv_velocity::::::::::" << run_velocity << "::::::::::::"<<img.cols*img.rows<<":::"<<tmpbox(2)*tmpbox(3)<<std::endl;
                runScore = int(std::min(4*run_velocity, 100.0f));
                attribute_json += "\"runScore\":" + to_string(runScore)+",";
            }else
            attribute_json += "\"runScore\":" + to_string(runScore)+",";


        }

        //std::cout << track->track_id <<"-- human wander last time:" << track->last_time << ":" << m_staticStruct::wander_time <<std::endl;

        if(m_staticStruct::wander_time!=0)
        {
            if (track->last_time>m_staticStruct::wander_time)
                track->isWander = true;
            else
                track->isWander = false;
            attribute_json += "\"wanderTime\":" + to_string(track->last_time)+",";
        }

       if(track->is_hat)
       {
           attribute_json += "\"hatScore\":" + to_string(track->hatScore)+",";
       }else
       {
           attribute_json += "\"hatScore\":" + to_string(10)+",";
       }

       if(track->is_mask)
       {
           attribute_json += "\"maskScore\":" + to_string(track->maskScore)+",";
       }else
       {
           attribute_json += "\"maskScore\":" + to_string(10)+",";
       }


        if(track->is_smoke)
        {
            attribute_json += "\"smokingScore\":" + to_string(track->smokeScore)+",";
        }else
        {
            attribute_json += "\"smokingScore\":" + to_string(10)+",";
        }

//            cout << ":::::::::::::"<<attribute_json << endl;

        if(attribute_json.length()>2)
        {
            //转换输出的json格式 {"fallScore":100,"runScore":15.8,"wanderScore":10}
            attribute_json = attribute_json.substr(0, attribute_json.length()-1) +"}";
            target.attribute = new char[strlen(attribute_json.c_str())+1];
            target.attribute_size = strlen(attribute_json.c_str());
            strcpy(target.attribute, attribute_json.c_str());
        }

        t_result->targets[w_count] = target;
        w_count ++;
    }

    t_result->count = w_count;
//    printf("================================%d\n\n\n\n", t_result->count);
#ifdef S_DEBUG
    draw_SDK_result(cam_id, img, t_result);
#endif
}

void AriManager::single_tracker(int cam_id, DETECTIONS& detections, char* img_time)
{
//    DETECTIONS detections = deal_features(boxes, feats_vec); // 使用传递特征追踪时需要打开该方法
//    printf("cam_id::::%d",cam_id);
    std::string str2 = img_time;
    img_time[str2.find_last_of(":")] = '.';

//    DEBUG( img_time);
    auto cam_tracker = this->CAMERAS_VCT[cam_id];

    DEBUG("single_tracker start:: ");
    cam_tracker->predict();
    cam_tracker->update(CAMERAS_VCT, detections, cam_id, img_time);
    DEBUG("single_tracker::");
    this->CAMERAS_VCT[cam_id] = cam_tracker;
}


void AriManager::init_target(Target *t)
{
    t->attribute = NULL;
    t->feature = NULL;
    t->id = 0;
    t->rect = TRect{0,0,0,0};
    t->confidence = 0;
    t->attribute_size = 0;
    t->feature_size = 0;
}