use super::Qualibration;
use super::DEBUG;
//use opencv::prelude::MatTraitConst;
use opencv::prelude::*; //MatTraitConst;

use opencv::core::{add, subtract, Mat, Point as OcvPoint, Point3_, VecN, CV_8UC3};
use opencv::highgui::{self, create_trackbar, named_window, WINDOW_AUTOSIZE};
use opencv::imgproc::{cvt_color, line, COLOR_BGR2GRAY};
use opencv::Result;

opencv::opencv_branch_4! {
    use opencv::imgproc::LINE_AA;
}
opencv::not_opencv_branch_4! {
    use opencv::core::LINE_AA;
}

use super::Treshold;
const MAX_TRACKBAR: i32 = 255;

fn draw_histograme_dbg(
    window_name: &str,
    histo: &Vec<f64>,
    (from, to): (usize, usize),
) -> Result<()> {
    let v: VecN<f64, 4> = VecN::new(0., 0., 0., 255.);
    let c1: VecN<f64, 4> = VecN::new(128., 128., 128., 255.);
    let c2: VecN<f64, 4> = VecN::new(255., 255., 255., 255.);
    //let color: VecN<f64, 4> = VecN::new(255., 255., 255., 255.);
    let mut img = Mat::new_rows_cols_with_default(256 * 2, 256 * 2, CV_8UC3, v)?;

    let mut max = 0.;
    for i in 0..256 {
        if histo[i] > max {
            max = histo[i];
        }
    }

    let v_log = 10.;

    for i in 0..255 {
        let x1 = ((i + 0) * 2) as i32;
        let x2 = ((i + 1) * 2) as i32;
        let y1 =
            ((histo[i + 0] as f64 + 1.).log(v_log) / (max as f64).log(v_log) * 2. * 256.) as i32;
        let y2 =
            ((histo[i + 1] as f64 + 1.).log(v_log) / (max as f64).log(v_log) * 2. * 256.) as i32;
        let color = if i >= from && i <= to { c2 } else { c1 };
        let pt1 = OcvPoint::new(x1, y1);
        let pt2 = OcvPoint::new(x2, y2);
        line(&mut img, pt1, pt2, color, 1, LINE_AA, 0)?;
    }

    highgui::imshow(window_name, &img)?;

    Ok(())
}

fn draw_histograme(window_name: &str, histo: &Vec<f64>) -> Result<()> {
    let v: VecN<f64, 4> = VecN::new(0., 0., 0., 255.);
    let color: VecN<f64, 4> = VecN::new(255., 255., 255., 255.);
    let mut img = Mat::new_rows_cols_with_default(256 * 2, 256 * 2, CV_8UC3, v)?;

    let mut max = 0.;
    for i in 0..256 {
        if histo[i] > max {
            max = histo[i];
        }
    }

    let v_log = 10.;

    for i in 0..255 {
        let x1 = ((i + 0) * 2) as i32;
        let x2 = ((i + 1) * 2) as i32;
        let y1 =
            ((histo[i + 0] as f64 + 1.).log(v_log) / (max as f64).log(v_log) * 2. * 256.) as i32;
        let y2 =
            ((histo[i + 1] as f64 + 1.).log(v_log) / (max as f64).log(v_log) * 2. * 256.) as i32;
        let pt1 = OcvPoint::new(x1, y1);
        let pt2 = OcvPoint::new(x2, y2);
        line(&mut img, pt1, pt2, color, 1, LINE_AA, 0)?;
    }

    highgui::imshow(window_name, &img)?;

    Ok(())
}

fn draw_histograme_bgr(window_name: &str, histo: &Vec<Vec<f64>>) -> Result<()> {
    let v: VecN<f64, 4> = VecN::new(0., 0., 0., 255.);
    let b: VecN<f64, 4> = VecN::new(255., 0., 0., 255.);
    let g: VecN<f64, 4> = VecN::new(0., 255., 0., 255.);
    let r: VecN<f64, 4> = VecN::new(0., 0., 255., 255.);
    let color = vec![b, g, r];
    let mut img = Mat::new_rows_cols_with_default(256 * 2, 256 * 2, CV_8UC3, v)?;

    let mut range = vec![vec![f64::MAX, f64::MIN]; 3];
    for j in 0..3 {
        for i in 0..256 {
            if histo[j][i] > range[j][1] {
                range[j][1] = histo[j][i];
            }
            if histo[j][i] < range[j][0] {
                range[j][0] = histo[j][i];
            }
        }
    }

    //let v_log = 10.;

    for j in 0..3 {
        for i in 0..255 {
            let x1 = ((i + 0) * 2) as i32;
            let x2 = ((i + 1) * 2) as i32;
            let y1 = ((histo[j][i + 0] + 1.).log10() / range[j][1].log10() * 2. * 256.) as i32;
            let y2 = ((histo[j][i + 1] + 1.).log10() / range[j][1].log10() * 2. * 256.) as i32;
            let pt1 = OcvPoint::new(x1, y1);
            let pt2 = OcvPoint::new(x2, y2);
            line(&mut img, pt1, pt2, color[j], 1, LINE_AA, 0)?;
        }
    }

    highgui::imshow(window_name, &img)?;

    Ok(())
}

fn draw_histograme_bgr_tresh(
    window_name: &str,
    histo: &Vec<Vec<f64>>,
    tresh: &Treshold,
) -> Result<()> {
    let v: VecN<f64, 4> = VecN::new(0., 0., 0., 255.);
    let b: VecN<f64, 4> = VecN::new(255., 0., 0., 255.);
    let g: VecN<f64, 4> = VecN::new(0., 255., 0., 255.);
    let r: VecN<f64, 4> = VecN::new(0., 0., 255., 255.);
    let color1 = vec![b, g, r];
    let color2 = vec![b / 2., g / 2., r / 2.];
    let mut img = Mat::new_rows_cols_with_default(256 * 2, 256 * 2, CV_8UC3, v)?;

    let mut vmax = vec![f64::MIN; 3];
    for j in 0..histo.len() {
        for i in 0..histo[j].len() {
            if histo[j][i] > vmax[j] {
                vmax[j] = histo[j][i];
            }
        }
    }

    //let v_log = 10.;
    let max: Vec<f64> = [tresh.max_0 as f64, tresh.max_1 as f64, tresh.max_2 as f64].into();
    let min: Vec<f64> = [tresh.min_0 as f64, tresh.min_1 as f64, tresh.min_2 as f64].into();

    //println!("min: {min:?}\tmax: {max:?}");

    for j in 0..3 {
        for i in 0..255 {
            let x1 = ((i + 0) * 2) as i32;
            let x2 = ((i + 1) * 2) as i32;
            let y1 = ((histo[j][i + 0] + 1.).log10() / vmax[j].log10() * 2. * 256.) as i32;
            let y2 = ((histo[j][i + 1] + 1.).log10() / vmax[j].log10() * 2. * 256.) as i32;
            let pt1 = OcvPoint::new(x1, y1);
            let pt2 = OcvPoint::new(x2, y2);

            //let val = (histo[j][i] + 1.).log10() / max[j].log10();
            let (color, thickness) = if i as f64 >= min[j] && i as f64 <= max[j] {
                (color1[j], 2)
            } else {
                (color2[j], 1)
            };
            line(&mut img, pt1, pt2, color, thickness, LINE_AA, 0)?;
        }
    }

    highgui::imshow(window_name, &img)?;

    Ok(())
}

// limit = 0.35 c'est bien
pub fn is_same_frame(frame: &Mat, frame_prev: &Mat) -> Result<bool> {
    let nb_liss: i32 = 50; // plus on lisse la courbe plus on attein la limite facilement
    let limit = 0.45; // plus c'est haut, plus on tolere de changement entre 2 image

    let d_bgr = image_diff(frame, frame_prev)?;
    let histo = histogram_1d(&d_bgr, nb_liss)?;
    let ((_id1, v1), (_id2, v2)) = first_invert(&histo);

    if DEBUG {
        // on affiche l'image de la cam
        highgui::imshow("cam image", frame)?;
        // on affiche l'image de la cam
        highgui::imshow("prev image", frame_prev)?;
        // on affiche la difference
        highgui::imshow("diff image", &d_bgr)?;
        // on affiche l'histograme
        let ids = ((128 - _id2), (128 + _id1));
        draw_histograme_dbg("histograme", &histo, ids)?;
        // -- pour chaque image enregistrer on l'affiche ma ca se fait autre part
    }

    if DEBUG {
        println!("v1[{_id1}]:{v1}\tv2[{_id1}:{v2}");
    }

    if v1 >= limit || v2 >= limit {
        println!("\t XXX DIFFERENT XXX");
        Ok(false)
    } else {
        println!("\t  :)   Same    (: ");
        Ok(true)
    }
}

pub fn image_diff(frame: &Mat, frame_prev: &Mat) -> Result<Mat> {
    let mut diff_bgr = Mat::default();
    let mut diff_bgr_2 = Mat::default();
    let mut d_bgr = Mat::default();
    let (row, col) = (frame.rows(), frame.cols());
    let mask = Mat::default();
    let v: VecN<f64, 4> = VecN::new(128., 128., 128., 128.);
    let mid: Mat = Mat::new_rows_cols_with_default(row, col, CV_8UC3, v)?;

    // ca parait etonant d'enlever la difference dans l'autre sens mais paradoxalement, ca permet
    // d'avoir toutes les valeur, pck a chaque fois les valeur negative sont mise a 0 dans
    // l'operation de soustraction
    subtract(frame, frame_prev, &mut diff_bgr, &mask, -1)?;
    add(&diff_bgr, &mid, &mut diff_bgr_2, &mask, -1)?;
    subtract(frame_prev, frame, &mut diff_bgr, &mask, -1)?;
    subtract(&diff_bgr_2, &diff_bgr, &mut d_bgr, &mask, -1)?;

    Ok(d_bgr)
}

fn histogram_3d(m: &Mat, nb_liss: i32) -> Result<Vec<Vec<f64>>> {
    let (cols, rows) = (m.cols(), m.rows());
    let mut histo = vec![vec![0.; 256]; 3];

    // on calcule l'histograme
    for j in 0..rows {
        for i in 0..cols {
            let v: &Point3_<u8> = m.at_2d(j, i)?;
            let (b, g, r) = (v.x as usize, v.y as usize, v.z as usize);
            histo[2][r] += 1.;
            histo[1][g] += 1.;
            histo[0][b] += 1.;
        }
    }

    // on lisse l'histograme
    for j in 0..3 {
        let mut tmp = histo[j].clone();
        for _ in 0..nb_liss {
            for i in 1..(tmp.len() - 1) {
                histo[j][i] = (tmp[i - 1] + 1. * tmp[i] + tmp[i + 1]) / 3.;
            }
            tmp = histo[j].clone();
        }
    }

    Ok(histo)
}

fn histogram_1d(m: &Mat, nb_liss: i32) -> Result<Vec<f64>> {
    let (cols, rows) = (m.cols(), m.rows());
    let mut histo = vec![0; 256];
    let mut m_gray = Mat::default();

    // on convertie en gris
    cvt_color(m, &mut m_gray, COLOR_BGR2GRAY, 0)?;
    // on calcule l'histograme
    for j in 0..rows {
        for i in 0..cols {
            let v: &u8 = m_gray.at_2d(j, i)?;
            let id = *v as usize;
            histo[id] += 1;
        }
    }

    // on lisse l'histograme
    let mut histo: Vec<f64> = histo.iter().map(|x| *x as f64).collect();
    let mut tmp = histo.clone();
    for _ in 0..nb_liss {
        for i in 1..(histo.len() - 1) {
            histo[i] = (tmp[i - 1] + 2. * tmp[i] + tmp[i + 1]) / 4.;
        }
        tmp = histo.clone();
    }

    Ok(histo)
}

fn first_invert(histo: &Vec<f64>) -> ((usize, f64), (usize, f64)) {
    // on applique un log puis on normalise mar le log du max
    let mut normalised = vec![0.; histo.len()];
    let mut p1 = vec![0.; histo.len() / 2];
    let mut p2 = vec![0.; histo.len() / 2];
    let mut dp1 = vec![0.; histo.len() / 2];
    let mut dp2 = vec![0.; histo.len() / 2];
    let mid = (histo.len() + 1) / 2;
    let max = (histo[mid] as f64).log10(); // on par du principe que le max est au centre

    for i in 0..histo.len() {
        normalised[i] = (histo[i] as f64 + 1.).log10() / max;
    }
    for i in (mid)..(histo.len() - 1) {
        p1[i - mid] = mid as f64 * ((normalised[mid] - normalised[i + 1]) / (i - mid + 2) as f64);
    }
    for i in (1..mid).rev() {
        p2[mid - i - 1] = mid as f64 * ((normalised[mid] - normalised[i]) / (mid - i) as f64);
    }
    for i in 0..(mid - 1) {
        dp1[i] = p1[i + 1] - p1[i];
        dp2[i] = p2[i + 1] - p2[i];
    }

    let mut dist_1 = 0;
    for (i, v) in dp1.iter().enumerate() {
        if v < &0. {
            dist_1 = i;
            break;
        }
    }
    let mut dist_2 = 0;
    for (i, v) in dp2.iter().enumerate() {
        if v < &0. {
            dist_2 = i;
            break;
        }
    }

    (
        (dist_1, normalised[mid + dist_1]),
        (dist_2, normalised[mid - dist_2]),
    )
}

pub fn adding_trackbar(mem: &mut Qualibration, winname: &str) -> Result<()> {
    //println!("winname: {winname}");
    named_window(winname, WINDOW_AUTOSIZE)?;
    associate_trackbar(winname, &mut mem.tresh)?;
    create_trackbar(
        "nb_liss",
        winname,
        Some(&mut mem.nb_liss),
        MAX_TRACKBAR,
        None,
    )?;

    //highgui
    let winname = format!("{}: {}", winname, 0); //"bord selected: 0";
    named_window(winname.as_str(), WINDOW_AUTOSIZE)?;
    highgui::move_window(winname.as_str(), 20, 20)?;
    //
    create_trackbar(
        "canny min",
        winname.as_str(),
        Some(&mut mem.canny_v1),
        MAX_TRACKBAR,
        None,
    )?;
    create_trackbar(
        "canny max",
        winname.as_str(),
        Some(&mut mem.canny_v2),
        MAX_TRACKBAR,
        None,
    )?;

    create_trackbar(
        "rho     : ",
        winname.as_str(),
        Some(&mut mem.hough_param.rho),
        1000,
        None,
    )?;
    create_trackbar(
        "theta   : ",
        winname.as_str(),
        Some(&mut mem.hough_param.theta),
        1000,
        None,
    )?;
    create_trackbar(
        "treshold: ",
        winname.as_str(),
        Some(&mut mem.hough_param.treshold),
        255,
        None,
    )?;
    create_trackbar(
        "min_leng: ",
        winname.as_str(),
        Some(&mut mem.hough_param.min_length),
        1000,
        None,
    )?;
    create_trackbar(
        "max_gap : ",
        winname.as_str(),
        Some(&mut mem.hough_param.max_line_gap),
        500000,
        None,
    )?;

    //let winname = "bord selected: 0";
    //create_trackbar("scale   : ", winname, Some(&mut mem.lsd_param.scale      ), 1000, None)?;
    //create_trackbar("sigma_scal", winname, Some(&mut mem.lsd_param.sigma_scale), 1000, None)?;
    //create_trackbar("quant   : ", winname, Some(&mut mem.lsd_param.quant      ), 1000, None)?;
    //create_trackbar("ang_th  : ", winname, Some(&mut mem.lsd_param.ang_th     ), 1000, None)?;
    //create_trackbar("log_eps : ", winname, Some(&mut mem.lsd_param.log_eps    ), 1000, None)?;
    //create_trackbar("density_th", winname, Some(&mut mem.lsd_param.density_th ), 1000, None)?;
    //create_trackbar("n_bins  : ", winname, Some(&mut mem.lsd_param.n_bins     ), 1000, None)?;
    Ok(())
}

fn associate_trackbar(winname: &str, tresh: &mut Treshold) -> Result<()> {
    create_trackbar(
        "blue min: ",
        winname,
        Some(&mut tresh.min_0),
        MAX_TRACKBAR,
        None,
    )?;
    create_trackbar(
        "blue max: ",
        winname,
        Some(&mut tresh.max_0),
        MAX_TRACKBAR,
        None,
    )?;

    create_trackbar(
        "green min: ",
        winname,
        Some(&mut tresh.min_1),
        MAX_TRACKBAR,
        None,
    )?;
    create_trackbar(
        "green max: ",
        winname,
        Some(&mut tresh.max_1),
        MAX_TRACKBAR,
        None,
    )?;

    create_trackbar(
        "red min: ",
        winname,
        Some(&mut tresh.min_2),
        MAX_TRACKBAR,
        None,
    )?;
    create_trackbar(
        "red max: ",
        winname,
        Some(&mut tresh.max_2),
        MAX_TRACKBAR,
        None,
    )?;

    Ok(())
}