/*
 This file is part of the Structure SDK.
 Copyright © 2015 Occipital, Inc. All rights reserved.
 http://structure.io
*/

#import <UIKit/UIKit.h>
#import <AVFoundation/AVFoundation.h>
#import <CoreMotion/CoreMotion.h>
#define HAS_LIBCXX
#import <Structure/Structure.h>
#import "GPUImage.h"
 
#include <string>
#include <vector>

#import "Config.h"


struct Options //TODO get rid of mesh view/tracking params
{
 // Whether we should use depth aligned to the color viewpoint when Structure Sensor was calibrated.
 // This setting may get overwritten to false if no color camera can be used.
 
 bool useHardwareRegisteredDepth = false;
 
 // Focus position for the color camera (between 0 and 1). Must remain fixed one depth streaming
 // has started when using hardware registered depth.
 const float lensPosition = 0.75f;
 
 unsigned int colorEncodeBitrate = 5000;
 
 //meta-data (res, intrinsics)
 unsigned int colorWidth = 640;
 unsigned int colorHeight = 480;
 unsigned int depthWidth = 640;
 unsigned int depthHeight = 480;
 float colorFocalX = 578.0f; float colorFocalY = 578.0f; float colorCenterX = 320.0f; float colorCenterY = 240.0f; //default for VGA
 float depthFocalX = 570.5f; float depthFocalY = 570.5f; float depthCenterX = 320.0f; float depthCenterY = 240.0f; //default for VGA
 bool useHalfResColor = false;
 
 float colorToDepthExtrinsics[16];
 
 std::string sceneLabel = "";
 
 std::string deviceId = "";
 std::string deviceName = "";
 
 std::string specifiedSceneType = "";

 std::string userName = "";
};

enum ScannerState
{
 // scene label - wait for label (can't can until have one)
 ScannerStateSceneLabelling = 0,
 
 // before scanning (let user toggle awb, find good first frame)
 ScannerStateCubePlacement,
 
 // Scanning (scan!)
 ScannerStateScanning,
 
 // View all uploads
 ScannerStateViewing,
 
 NumStates
};

// SLAM-related members.
struct SlamData
{
 SlamData ()
 : initialized (false)
 , scannerState (ScannerStateCubePlacement)
 {}
 
 BOOL initialized;
 BOOL showingMemoryWarning = false;
 
 NSTimeInterval prevFrameTimeStamp = -1.0;
 
 ScannerState scannerState;
};

struct AppStatus
{
 NSString* const pleaseConnectSensorMessage = @"Please connect Structure Sensor.";
 NSString* const pleaseChargeSensorMessage = @"Please charge Structure Sensor.";
 NSString* const needColorCameraAccessMessage = @"This app requires camera access to capture color.\nAllow access by going to Settings → Privacy → Camera.";
 NSString* const needIntrinsicsMessage = @"No intrinsics received. Please restart the app.";
 
 enum SensorStatus
 {
 SensorStatusOk,
 SensorStatusNeedsUserToConnect,
 SensorStatusNeedsUserToCharge,
 SensorStatusNeedsIntrinsics,
 };
 
 // Structure Sensor status.
 SensorStatus sensorStatus = SensorStatusOk;
 
 // Whether iOS camera access was granted by the user.
 bool colorCameraIsAuthorized = true;
 
 // Whether there is currently a message to show.
 bool needsDisplayOfStatusMessage = false;
 
 // Flag to disable entirely status message display.
 bool statusMessageDisabled = false;
};

// Display related members.
struct DisplayData
{
 DisplayData ()
 {
 }
 
 ~DisplayData ()
 {
 if (lumaTexture)
 {
 CFRelease (lumaTexture);
 lumaTexture = NULL;
 }
 
 if (chromaTexture)
 {
 CFRelease (chromaTexture);
 lumaTexture = NULL;
 }
 
 if (videoTextureCache)
 {
 CFRelease(videoTextureCache);
 videoTextureCache = NULL;
 }
 
 /*
 if (corners)
 {
 corners = NULL;
 }*/
 }
 
 // OpenGL context.
 EAGLContext *context;
 
 // OpenGL Texture reference for y images.
 CVOpenGLESTextureRef lumaTexture;
 
 // OpenGL Texture reference for color images.
 CVOpenGLESTextureRef chromaTexture;
 
 // OpenGL Texture cache for the color camera.
 CVOpenGLESTextureCacheRef videoTextureCache;
 
 // Shader to render a GL texture as a simple quad.
 STGLTextureShaderYCbCr *yCbCrTextureShader;
 STGLTextureShaderRGBA *rgbaTextureShader;
 STGLTextureShaderGray *grayTextureShader;
 
 GLuint depthAsRgbaTexture;
 GLuint grayTexture;
 
 //uint8_t* cornerBuffer;

 // Renders the volume boundaries as a cube.
 //STCubeRenderer *cubeRenderer;
 
 // OpenGL viewport.
 GLfloat viewport[4];
 
 // OpenGL projection matrix for the color camera.
 GLKMatrix4 colorCameraGLProjectionMatrix = GLKMatrix4Identity;
 
 // OpenGL projection matrix for the depth camera.
 GLKMatrix4 depthCameraGLProjectionMatrix = GLKMatrix4Identity;
};

@interface ViewController : UIViewController <STBackgroundTaskDelegate, //MeshViewDelegate,
UIPopoverControllerDelegate, UIGestureRecognizerDelegate, NSURLSessionTaskDelegate, UITableViewDelegate, UITableViewDataSource, UIPickerViewDataSource, UIPickerViewDelegate>
{
 // Structure Sensor controller.
 STSensorController *_sensorController;
 STStreamConfig _structureStreamConfig;
 
 SlamData _slamState;
 
 Options _options;
 
 // Manages the app status messages.
 AppStatus _appStatus;
 
 DisplayData _display;
 
 // Most recent gravity vector from IMU.
 GLKVector3 _lastGravity;
 
 // Scale of the scanning volume.
 //PinchScaleState _volumeScale;
 
 // IMU handling.
 CMMotionManager *_motionManager;
 NSOperationQueue *_imuQueue;
 NSOperationQueue *_uploadQueue;
 NSOperationQueue *_verifyQueue;
 
 STDepthToRgba *_depthAsRgbaVisualizer;
 
 bool _useColorCamera;
 bool _renderDepthOverlay;
 
 FILE *g_imuFile;
 NSLock* g_imuLock;
 unsigned int g_numIMUmeasurements;
 
 FILE *g_cameraFile;
 NSLock* g_cameraLock;
 
 std::vector<NSTimeInterval> _colorTimestamps; // NSTimeInterval : double
 std::vector<NSTimeInterval> _depthTimestamps; // NSTimeInterval : double
 
 NSTimer *uploadErrorTimer;
 NSUInteger blinkCounter;
 
 
 NSMutableArray *myScanData;
 
 NSMutableArray *sceneTypes;
 
 NSString* specifiedSceneType;
 
 NSMutableArray *corners;
 
 //For Upload Task
 NSURLSession *defaultSession;
 
 int numPreviousCorners[12];
 int numPrevFramesTracked;
 
 NSArray *exposureLevels;
 
 NSString* exposureValue;
}

@property (weak, nonatomic) IBOutlet UIButton *toggleDepthButton;

@property (weak, nonatomic) IBOutlet UIButton *uploadButton;
@property (weak, nonatomic) IBOutlet UITextField *sceneLabelField;
@property (weak, nonatomic) IBOutlet UIView *sceneLabelFieldView;
@property (weak, nonatomic) IBOutlet UIProgressView *memProgressView;
@property (weak, nonatomic) IBOutlet UIView *memProgressFieldView;
@property (weak, nonatomic) IBOutlet UITextField *userNameField;


@property (weak, nonatomic) IBOutlet UIView *optionsView;
@property (weak, nonatomic) IBOutlet UISegmentedControl *colorResControl;
@property (nonatomic, retain) AVCaptureSession *avCaptureSession;
@property (nonatomic, retain) AVCaptureDevice *videoDevice;

@property (weak, nonatomic) IBOutlet UILabel *appStatusMessageLabel;
@property (weak, nonatomic) IBOutlet UIButton *scanButton;
@property (weak, nonatomic) IBOutlet UIButton *resetButton;
@property (weak, nonatomic) IBOutlet UIButton *doneButton;
@property (weak, nonatomic) IBOutlet UILabel *trackingLostLabel;

@property (weak, nonatomic) IBOutlet UIProgressView *progressView;
@property (weak, nonatomic) IBOutlet UILabel *uploadErrorIndicator;

@property (weak, nonatomic) IBOutlet UIButton *viewScans;
@property (weak, nonatomic) IBOutlet UITableView *exposureTable;


@property (nonatomic, retain) IBOutlet UITableView *tableView;
@property (weak, nonatomic) IBOutlet UILabel *tooCloseLabel;
@property (weak, nonatomic) IBOutlet UIProgressView *numCornersProgressView;

@property (weak, nonatomic) IBOutlet UIButton *changeExposure;
@property (weak, nonatomic) IBOutlet UILabel *AWBLabel;


//@property (weak, nonatomic) IBOutlet UILabel *percentTooClose;
@property (weak, nonatomic) IBOutlet UILabel *losingTrackingLabel;
@property (weak, nonatomic) IBOutlet UIPickerView *pickSceneType;
@property (weak, nonatomic) IBOutlet UILabel *uploadErrorDescription;

@property (weak, nonatomic) IBOutlet UISwitch *AWBSwitch;
- (IBAction)awbSwitchChanged:(id)sender;
- (IBAction)indexChanged:(UISegmentedControl *)sender;
//- (IBAction)enableNewTrackerSwitchChanged:(id)sender;
- (IBAction)scanButtonPressed:(id)sender;
- (IBAction)resetButtonPressed:(id)sender;
- (IBAction)doneButtonPressed:(id)sender;
- (IBAction)uploadButtonPressed:(id)sender;
- (IBAction)sceneLabelFieldEdited:(id)sender;
- (IBAction)toggleDepthButtonPressed:(id)sender;
- (IBAction)viewScansPressed:(id)sender;
- (IBAction)userNameFieldEdited:(id)sender;

- (IBAction)changeExposurePressed:(id)sender;


//- (NSInteger)tableView:(UITableView *)tableView numberOfRowsInSection:(NSInteger)section;

//- (UITableView *)tableView:(UITableView *)tableView cellForRowAtIndexPath:(NSIndexPath *)indexPath;

- (BOOL)isConnectedToWIFI;

- (void)enterSceneLabellingState;
- (void)enterCubePlacementState;
- (void)enterScanningState;
- (void)enterViewingState;
- (void)updateAppStatusMessage;
- (BOOL)currentStateNeedsSensor;
- (void)updateIdleTimer;
- (void)showTrackingMessage:(NSString*)message;
- (void)hideTrackingErrorMessage;

- (void)updateColorRes:(NSInteger)index;
- (void)loadOptions;
- (void)loadSceneLabel;

- (void)cleanUpAndReset;
- (void)blinkUploadErrorIndicator;

@end