// 单目标对空跟踪流程测试，关注跟踪器FPS

#include "NeoArithStandardDll.h"
#include "utils.h"
#include <iostream>
#include <memory>
#include <string.h>
#include <algorithm>
#include <thread>
#include "opencv2/opencv.hpp"
#include "TestAPI_Profile.h"
using std::cout;
using std::endl;

#define Test_Len 1000

int TestAPI_SOT_Sky_Y16()
{
    // 产生一个仿真Y16数据
	int nWidth = 640;
	int nHeight = 512;
	SimTargetImage factory(nWidth, nHeight);

	factory.setBackGround(120, 0);
    // 叠加一个初始目标
	Target t;

    t.x = 100;
    t.y = 100;
    t.width = 3;
    t.height = 3;
    t.vw = 0;
    t.vh = 0;
    t.vx = 1;
    t.vy = 1;
    t.color = cv::Scalar(255,255,255);
	factory.addTarget(t);
    //t.addTexture(cow_png,cow_png_len);


    // 创建算法句柄
	ArithHandle pTracker = STD_CreatEOArithHandle();
    // 初始化为凝视-对空模式
	ARIDLL_EOArithInitWithMode(pTracker,nWidth,nHeight,GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y16,
	GLB_SYS_MODE::GLB_SYS_STARE,GLB_SCEN_MODE::GLB_SCEN_SKY);

    // 算法输入部分
	ARIDLL_INPUTPARA stInputPara = { 0 };
	stInputPara.unFrmId++;
	stInputPara.stCameraInfo.fPixelSize = 15;
	stInputPara.stCameraInfo.nFocus = 300;

    // 算法输出部分
	ARIDLL_OUTPUT stOutput = { 0 };


    // 模拟算法执行流程
	int nTrackSuc = 0;
	for (int i = 0; i < Test_Len; i++)
	{
		stInputPara.unFrmId++;


		factory.update();

        cv::Mat src = factory.getImageY16();

		Target* gt = factory.getTarget(0);


        // 下发点锁定指令
		if (i == 5)
		{
			ARIDLL_LockCommand(pTracker, (int)gt->x, (int)gt->y,0,0);
		}

        // 构建图像类型
		GD_VIDEO_FRAME_S img = { 0 };
		img.enPixelFormat = GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y16;
		img.u32Width = nWidth;
		img.u32Height = nHeight;
		img.u32Stride[0] = img.u32Width * 2;
		img.u64VirAddr[0] = (UBYTE8*)src.data;

		// 红外目标检测API调用
		int targetNum = 0;

		// 目标搜索仅在搜索状态执行，保持与经典对空算法一致，用于与上一版本耗时对比
		// 新跟踪器中搜索在单独线程中不间断执行，本demo中仅展示用法，不做并行示范。
		//if (stOutput.nStatus == GLB_STATUS_SEARCH)
		{		
			targetNum = ARIDLL_SearchFrameTargets(pTracker, img);
		}

        // 运行算法主控逻辑API
		ARIDLL_RunController(pTracker, img, stInputPara, &stOutput);



		std::cout << gt->x << "   " << gt->y << std::endl;


#ifdef SHOW
		// 绘制跟踪结果
		cv::Mat rgb = factory.getImageRGB();
		showArithInfo(rgb,&stOutput);
		imshow("res",rgb);
		cv::waitKey(1);
#endif	

		if (stOutput.nStatus == GLB_STATUS_TRACK && stOutput.nTrackObjCnts == 1)
		{
			if (abs(stOutput.stTrackers[0].nX - gt->x) < 5 &&
				abs(stOutput.stTrackers[0].nY - gt->y) < 5)
			{
				nTrackSuc++;
			}
		}

	}

    if (nTrackSuc > Test_Len * 0.9)
	{
		cout << "pass" << endl;
	}

	printf("Suc:%d/A:%d\n",nTrackSuc,Test_Len);



	return 0;
}