/*
 * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a
 * copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
 * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 * DEALINGS IN THE SOFTWARE.
 */

#include <jetson-utils/videoSource.h>
#include <jetson-utils/videoOutput.h>
#include <jetson-utils/cudaFlip.h>
#include <jetson-utils/cudaResize.h>
#include <jetson-utils/cudaMappedMemory.h>
#include <jetson-utils/imageIO.h>
#include <jetson-inference/detectNet.h>
#include <iostream>
#include <signal.h>


#ifdef HEADLESS
	#define IS_HEADLESS() "headless"	// run without display
#else
	#define IS_HEADLESS() (const char*)NULL
#endif


bool signal_recieved = false;

void sig_handler(int signo)
{
	if( signo == SIGINT )
	{
		LogVerbose("received SIGINT\n");
		signal_recieved = true;
	}
}

int usage()
{
	printf("usage: detectnet [--help] [--network=NETWORK] [--threshold=THRESHOLD] ...\n");
	printf("                 input_URI [output_URI]\n\n");
	printf("Locate objects in a video/image stream using an object detection DNN.\n");
	printf("See below for additional arguments that may not be shown above.\n\n");
	printf("positional arguments:\n");
	printf("    input_URI       resource URI of input stream  (see videoSource below)\n");
	printf("    output_URI      resource URI of output stream (see videoOutput below)\n\n");

	printf("%s", detectNet::Usage());
	printf("%s", videoSource::Usage());
	printf("%s", videoOutput::Usage());
	printf("%s", Log::Usage());

	return 0;
}

int main( int argc, char** argv )
{
	/*
	 * parse command line
	 */
	commandLine cmdLine(argc, argv, IS_HEADLESS());

	if( cmdLine.GetFlag("help") )
		return usage();


	/*
	 * attach signal handler
	 */
	if( signal(SIGINT, sig_handler) == SIG_ERR )
		LogError("can't catch SIGINT\n");


	/*
	 * create input stream
	 */
	videoOptions ioptions;
	ioptions.width = 1920;
	ioptions.height = 1080;
	ioptions.frameRate = 30;
	ioptions.zeroCopy = true;
	ioptions.deviceType = videoOptions::DEVICE_CSI;
	ioptions.ioType = videoOptions::INPUT;
	ioptions.flipMethod = videoOptions::FLIP_COUNTERCLOCKWISE;
	ioptions.codec = videoOptions::CODEC_RAW;


	videoSource* input = videoSource::Create("csi://0", ioptions);

	if( !input )
	{
		LogError("test:  failed to create input stream\n");
		return 0;
	}

	/*
	 * create output stream
	 */
	videoOutput* output = videoOutput::Create("display://0");
	
	if( !output )
		LogError("test:  failed to create output stream\n");	
	

	/*
	 * create detection network
	 */
//	detectNet::NetworkType networkType = detectNet::NetworkTypeFromStr("ssd-mobilenet-v2");
//	detectNet* net = detectNet::Create(networkType, 0.5);
	
/*	if( !net )
	{
		LogError("test:  failed to load detectNet model\n");
		return 0;
	}
*/
	// parse overlay flags
	//const uint32_t overlayFlags = detectNet::OverlayFlagsFromStr(cmdLine.GetString("overlay", "box,labels,conf"));
	

	/*
	 * processing loop
	 */

	int counter = 0;
	while( !signal_recieved )
	{
		// capture next image image
		uchar3* image = NULL;

		if( !input->Capture(&image, 100) )
		{
			// check for EOS
			if( !input->IsStreaming() )
				break; 

			LogError("detect-test:  failed to capture video frame\n");
			continue;
		}
/*
		if (++counter % 30 == 1)
		{
		// detect objects in the frame
			detectNet::Detection* detections = NULL;
			const int numDetections = net->Detect(image, input->GetWidth(), input->GetHeight(), &detections, detectNet::OVERLAY_NONE);
			
			if( numDetections > 0 )
			{
				LogVerbose("%i objects detected\n", numDetections);
			
				for( int n=0; n < numDetections; n++ )
				{
					LogVerbose("detected obj %i  class #%u (%s)  confidence=%f\n", n, detections[n].ClassID, net->GetClassDesc(detections[n].ClassID), detections[n].Confidence);
					LogVerbose("bounding box %i  (%f, %f)  (%f, %f)  w=%f  h=%f\n", n, detections[n].Left, detections[n].Top, detections[n].Right, detections[n].Bottom, detections[n].Width(), detections[n].Height());
				}
			}	
		}
*/
		uchar3* imgOutput = NULL;
		if( !cudaAllocMapped(&imgOutput, 720, 1280))
		{
			// check for EOS
			LogError("detect-test: failed to allocate space for resize output\n");
			continue;
		}
		if( CUDA_FAILED(cudaResize(image, 1080, 1920, imgOutput, 720, 1280)))
		{
			LogError("detect-test: failed to resize image\n");
			continue;
		}
		uchar3* imgOutput2 = NULL;
		if( !cudaAllocMapped(&imgOutput2, 1280, 720))
		{
			// check for EOS
			LogError("detect-test: failed to allocate space for flip output\n");
			continue;
		}
		if( CUDA_FAILED(cudaFlip(imgOutput, imgOutput2, 3, 720, 1280)))
		{
			LogError("detect-test: failed to flip image\n");
			continue;
		}

		// render outputs
		if( output != NULL )
		{
			output->Render(imgOutput2, 1280, 720);

			//update the status bar
//			char str[256];
//			sprintf(str, "TensorRT %i.%i.%i | %s | Network %.0f FPS", NV_TENSORRT_MAJOR, NV_TENSORRT_MINOR, NV_TENSORRT_PATCH, precisionTypeToStr(net->GetPrecision()), net->GetNetworkFPS());
//			output->SetStatus(str);

			// check if the user quit
			if( !output->IsStreaming() )
				signal_recieved = true;
		}

		// print out timing inf
		//net->PrintProfilerTimes();
	}
	

	/*
	 * destroy resources
	 */
	LogVerbose("test:  shutting down...\n");
	
	SAFE_DELETE(input);
	SAFE_DELETE(output);
//	SAFE_DELETE(net);

	LogVerbose("test:  shutdown complete.\n");
	return 0;
}