#include "auto_guidance.hpp"
#include "tasks/auto_guidance/guidance_detector/detector_base.hpp"
#include "tasks/auto_guidance/guidance_detector/detector_factory.hpp"
#include "tasks/auto_guidance/guidance_tracker/guidance_tracker.hpp"
#include "tasks/utils/utils.hpp"
#include "wust_vl/common/concurrency/queues.hpp"
#include "wust_vl/common/utils/logger.hpp"
#include "wust_vl/common/utils/timer.hpp"
namespace wust_vision {
namespace auto_guidance {
    struct AutoGuidance::Impl {
        ~Impl() {
            lights_queue_->stop();
            if (processing_thread_) {
                processing_thread_->stop();
                wust_vl::common::concurrency::ThreadManager::instance().unregisterThread(
                    processing_thread_->getName()
                );
            }
        }
        void init(const YAML::Node& config, const std::pair<cv::Mat, cv::Mat>& camera_info) {
            camera_info_ = camera_info;
            std::string backend = config["backend"].as<std::string>();
            std::cout << "backend: " << backend << std::endl;
            auto detector_cfg = config["detector"];
            detector_ = DetectorFactory::createDetector(backend, detector_cfg, debug_);
            detector_->setCallback(std::bind(
                &AutoGuidance::Impl::detectCallback,
                this,
                std::placeholders::_1,
                std::placeholders::_2
            ));
            tracker_ = GuidanceTracker::create(config["tracker"]);
            lights_queue_ =
                std::make_unique<wust_vl::common::concurrency::OrderedQueue<GreenLights>>(100, 500);
            latency_averager_ =
                std::make_unique<wust_vl::common::concurrency::Averager<double>>(100);
        }
        void pushInput(CommonFrame& frame) {
            img_recv_count_++;
            if (detector_) {
                detector_->pushInput(frame);
            }
        }

        void detectCallback(const std::vector<GreenLight>& objs, const CommonFrame& frame) {
            detect_finish_count_++;
            GreenLights lights;
            lights.lights = objs;
            lights.timestamp = frame.img_frame.timestamp;
            lights.id = frame.id;
            for (auto& light: lights.lights) {
                light.solvePnP(camera_info_.first, camera_info_.second);
                light.timestamp = frame.img_frame.timestamp;
                light.image_size = frame.img_frame.src_img.size();
            }
            green_lights_ = lights;
            lights_queue_->enqueue(lights);

            if (debug_) {
                std::lock_guard<std::mutex> lock(dbg_mutex_);
                dbg_.lights = lights;
                dbg_.img_frame = frame.img_frame;
            }
        }

        void lightsCallback(const GreenLights& lights) {
            if (lights.timestamp <= tracker_->getLastTime()) {
                WUST_WARN(logger_) << "Received out-of-order armor data, discarded.";
                return;
            }
            GuidanceTarget target;
            target = tracker_->track(lights);

            {
                std::lock_guard<std::mutex> lock(target_mutex_);
                guidance_target_ = target;
            }
            auto now = std::chrono::steady_clock::now();

            auto latency_ms = wust_vl::common::utils::time_utils::durationMs(lights.timestamp, now);
            latency_averager_->add(latency_ms);
            dbg_.latency_ms = latency_averager_->average();
            if (debug_) {
                std::lock_guard<std::mutex> lock(dbg_mutex_);
                dbg_.target = target;
            }
        }
        void start() {
            processing_thread_ = wust_vl::common::concurrency::MonitoredThread::create(
                "AutoAimProcessingThread",
                [this](wust_vl::common::concurrency::MonitoredThread::Ptr self) {
                    this->processingLoop(self);
                }
            );

            wust_vl::common::concurrency::ThreadManager::instance().registerThread(
                processing_thread_
            );
            run_flag_ = true;
        }
        void processingLoop(wust_vl::common::concurrency::MonitoredThread::Ptr self) {
            while (!self->isAlive()) {
                std::this_thread::sleep_for(std::chrono::milliseconds(10));
            }
            while (self->isAlive()) {
                if (!self->waitPoint())
                    break;
                self->heartbeat();
                printStats();
                GreenLights lights;
                bool skip;
                // if (lights_queue_->dequeue_wait(lights, skip)) {
                //     lightsCallback(lights);
                //     tracker_finish_count_++;
                //     if (skip) {
                //         WUST_DEBUG(logger_) << "OrderQueue skip";
                //     }
                // }
                if (!lights_queue_->try_dequeue(lights)) {
                    std::this_thread::sleep_for(std::chrono::milliseconds(3));
                    continue;
                }
                lightsCallback(lights);
                tracker_finish_count_++;
            }
        }
        GuidanceTarget getTarget() {
            timer_count_++;

            std::lock_guard<std::mutex> lock(target_mutex_);

            return guidance_target_;
        }
        void printStats() {
            utils::XSecOnce(
                [&] {
                    WUST_INFO(logger_)
                        << "Rec: " << img_recv_count_ << ", Det: " << detect_finish_count_
                        << ", Fin: " << tracker_finish_count_ << ", Lat: " << dbg_.latency_ms
                        << "ms"
                        << ", Tc:" << timer_count_;

                    img_recv_count_ = 0;
                    detect_finish_count_ = 0;
                    tracker_finish_count_ = 0;
                    timer_count_ = 0;
                },
                1.0
            );
        }
        std::unique_ptr<detector_base> detector_;
        std::string logger_ = "auto_guidance";
        std::chrono::steady_clock::time_point last_stat_time_steady_ =
            std::chrono::steady_clock::now();
        GuidanceTracker::Ptr tracker_;
        bool run_flag_ = false;
        int detect_finish_count_ = 0;
        int img_recv_count_ = 0;
        int tracker_finish_count_ = 0;
        int timer_count_ = 0;
        bool debug_ = false;
        GuidanceTarget guidance_target_;
        GreenLights green_lights_;
        std::shared_ptr<wust_vl::common::concurrency::MonitoredThread> processing_thread_;
        std::unique_ptr<wust_vl::common::concurrency::OrderedQueue<GreenLights>> lights_queue_;
        std::unique_ptr<wust_vl::common::concurrency::Averager<double>> latency_averager_;
        std::pair<cv::Mat, cv::Mat> camera_info_;
        AutoGuidanceDebug dbg_;
        std::mutex target_mutex_;
        std::mutex dbg_mutex_;
    };
    AutoGuidance::AutoGuidance(): _impl(std::make_unique<Impl>()) {}
    AutoGuidance::~AutoGuidance() {
        _impl.reset();
    }
    void
    AutoGuidance::init(const YAML::Node& config, const std::pair<cv::Mat, cv::Mat>& camera_info) {
        _impl->init(config, camera_info);
    }
    void AutoGuidance::start() {
        _impl->start();
    }
    void AutoGuidance::pushInput(CommonFrame& frame) {
        _impl->pushInput(frame);
    }
    void AutoGuidance::setDebug(bool debug) {
        _impl->debug_ = debug;
    }
    AutoGuidanceDebug AutoGuidance::getDebug() {
        std::lock_guard<std::mutex> lock(_impl->dbg_mutex_);
        return _impl->dbg_;
    }
    GuidanceTarget AutoGuidance::getTarget() {
        return _impl->getTarget();
    }
} // namespace auto_guidance
} // namespace wust_vision