// 单目标对地跟踪流程测试:将TLD从算法中剥离到外部，导致API调用形式调整
// 读取avi视频进行测试


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


#include <pthread.h>
#include <sys/time.h>

#include <arpa/inet.h>
#include <netinet/in.h>
#include <net/if.h>

#include <termios.h>
#include <unistd.h>






int main()
{
	//cv::VideoCapture capture("/mnt/wang/tv00.avi");
    std::string folder_path = "/app/sd/wang/cut/"; // 图片文件夹路径
    std::string file_extension = ".jpg";        // 文件扩展名
    int total_images = 1500;                     // 总图片数量


	std::stringstream filename;
    filename << folder_path << std::setw(4) << std::setfill('0') << 1 << file_extension;

	printf("filename:%s\n",filename.str().c_str());
    // 读取图像
    cv::Mat image = cv::imread(filename.str());




	int nWidth = int(image.cols);
	int nHeight = int(image.rows);

	printf("nWidth = %d,nHeight = %d\n",nWidth,nHeight);


    // 创建算法句柄
	ArithHandle pTracker = STD_CreatEOArithHandle();

    // 初始化为凝视-对地模式
	ARIDLL_EOArithInitWithMode(pTracker,nWidth,nHeight,GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_RGB_PACKED,
	GLB_SYS_MODE::GLB_SYS_STARE,GLB_SCEN_MODE::GLB_SCEN_GROUND);

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

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


	unsigned char* pY8Data = new unsigned char[nWidth * nHeight];


    // 模拟算法执行流程
	int nTrackSuc = 0;
	cv::Mat frame;
	while(1)
	{
		stInputPara.unFrmId++;

		std::stringstream filename;
        filename << folder_path << std::setw(4) << std::setfill('0') << stInputPara.unFrmId << file_extension;

        // 读取图像
        cv::Mat frame = cv::imread(filename.str());

		printf("read %s\n",filename.str());

        if(frame.empty())
            break;

		cv::Mat srcGray(nHeight,nWidth,CV_8UC1);
		cv::cvtColor(frame,srcGray,cv::COLOR_RGB2GRAY);

		for (size_t i = 0; i < nWidth * nHeight; i++)
		{
			pY8Data[i] = srcGray.data[i];
		}
		

        // 下发面锁定指令
		if (stInputPara.unFrmId == 100)
		{
			int tmpW = 20;
			int tmpH = 10;
			int tmpX = 955;
			int tmpY = 535;
			ARIDLL_LockCommand(pTracker, tmpX,tmpY,tmpW,tmpH);
		}

cv::TickMeter tm;tm.start();


        // 构建图像类型
        // 构建图像类型
		GD_VIDEO_FRAME_S img = { 0 };
		img.enPixelFormat = GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_RGB_PACKED;
		img.u32Width = nWidth;
		img.u32Height = nHeight;
		img.u32Stride[0] = img.u32Width * 3;
		img.u64VirAddr[0] = (unsigned char*)frame.data;

		ARIDLL_RunController(pTracker, img, stInputPara, &stOutput);


		tm.stop();

		printf("cv time = %g\n",tm.getTimeMilli());

		auto trackerOut = stOutput.stTrackers[0];
		cv::Rect outRect;
		outRect.width = MAX(15,(int)trackerOut.nObjW);
		outRect.height= MAX(15, (int)trackerOut.nObjW);
		outRect.x = (int)trackerOut.nX-outRect.width/2;
		outRect.y = (int)trackerOut.nY-outRect.height/2;
		//cv::rectangle(frame,outRect,cv::Scalar(0,0,255));

		stInputPara.bImageRataSys = true;
		stInputPara.nElevationDiff = 100;

		//cv::resize(frame,frame,cv::Size(nWidth/2,nHeight/2));
		//writer << frame;
		// imshow("res",frame);
		// cv::waitKey(2);


	}


	// if (nTrackSuc > 270 * 0.95)
	// {
	// 	cout << "pass" << endl;
	// }
	cout << "pass" << endl;

	return 0;
}