#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>

#include "FaultFinder.hpp"
#include "ImageManager.hpp"

#define ZERO 0
#define BITS8 0xff
#define BITS14 0x3fff
#define BITS16 0xffff

using namespace cv;

//Mat testFrame = imread("/home/midstate/Documents/flirTest.tif", CV_16UC1);

ImageManager::ImageManager(QObject *parent) : QObject(parent)
{
    socket = new QUdpSocket();
    socket->connectToHost(QHostAddress::LocalHost, 40000, QIODevice::ReadWrite);
}

ImageManager::~ImageManager()
{

}

void ImageManager::ProcessImage(int width, int height, uint8_t *imgPointer)
{
    Mat frame, mask, viewfinder;
    std::vector<std::vector<Point>> contours;

    static int lower_bound = ZERO;
    static int upper_bound = BITS14;
    static int temp_threshold = BITS14;
    static int fault_area = ZERO;

    if (throttle_count == THROTTLE_AMOUNT) 
    {
        throttle_count = 1;
    }
    else
    {
        throttle_count++;
        return;
    }

    // Read in frame
    //if (!test)
    //    frame = Mat(height, width, CV_16UC1, imgPointer, Mat::AUTO_STEP);
    //else
    //    frame = testFrame;

    // Create mask and then flatten
    GaussianBlur(frame, mask, cv::Size(0, 0), 1);
    threshold(mask, mask, temp_threshold, BITS16, THRESH_BINARY); // use inrange for mask in range of values
    mask.convertTo(mask, CV_8UC1);

    // Analyze mask
    findContours(mask, contours, RETR_EXTERNAL, CHAIN_APPROX_NONE);

    // Create viewfinder with results
    viewfinder = frame.clone();
    viewfinder.setTo(lower_bound, viewfinder < lower_bound);
    viewfinder.setTo(upper_bound, viewfinder > upper_bound);
    normalize(viewfinder, viewfinder, ZERO, BITS8, NORM_MINMAX, CV_8UC1);
    applyColorMap(viewfinder, viewfinder, COLORMAP_HOT);

    // Apply contours to viewfinder
    for(int i = 0; i< contours.size(); i++)
    {
       double area = contourArea(contours[i]);

       if (area > fault_area)
       {
           drawContours(viewfinder, contours, i, Scalar(ZERO, BITS8, ZERO), 2);
           ((FaultFinder*)(parent()))->fault_mgr->SaveImage();
       }
    }

    // Send image to other servers
    SendImage(viewfinder);
}

void ImageManager::SendImage(Mat image)
{
    std::vector<uchar> buff;
    cv::imencode(".jpg", image, buff);

    QByteArray *datagram = new QByteArray(reinterpret_cast<const char*>(buff.data()), buff.size());
    socket->write(*datagram);
}