/****************************************************************************
 *
 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

#include "CameraCalc.h"
#include "JsonHelper.h"
#include "Vehicle.h"
#include "CameraMetaData.h"

#include <QQmlEngine>

const char* CameraCalc::cameraNameName =                    "CameraName";
const char* CameraCalc::valueSetIsDistanceName =            "ValueSetIsDistance";
const char* CameraCalc::distanceToSurfaceName =             "DistanceToSurface";
const char* CameraCalc::distanceToSurfaceRelativeName =     "DistanceToSurfaceRelative";
const char* CameraCalc::imageDensityName =                  "ImageDensity";
const char* CameraCalc::frontalOverlapName =                "FrontalOverlap";
const char* CameraCalc::sideOverlapName =                   "SideOverlap";
const char* CameraCalc::adjustedFootprintFrontalName =      "AdjustedFootprintFrontal";
const char* CameraCalc::adjustedFootprintSideName =         "AdjustedFootprintSide";

const char* CameraCalc::_jsonCameraSpecTypeKey =            "CameraSpecType";

CameraCalc::CameraCalc(Vehicle* vehicle, const QString& settingsGroup, QObject* parent)
    : CameraSpec                    (settingsGroup, parent)
    , _vehicle                      (vehicle)
    , _dirty                        (false)
    , _disableRecalc                (false)
    , _distanceToSurfaceRelative    (true)
    , _metaDataMap                  (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraCalc.FactMetaData.json"), this))
    , _cameraNameFact               (settingsGroup, _metaDataMap[cameraNameName])
    , _valueSetIsDistanceFact       (settingsGroup, _metaDataMap[valueSetIsDistanceName])
    , _distanceToSurfaceFact        (settingsGroup, _metaDataMap[distanceToSurfaceName])
    , _imageDensityFact             (settingsGroup, _metaDataMap[imageDensityName])
    , _frontalOverlapFact           (settingsGroup, _metaDataMap[frontalOverlapName])
    , _sideOverlapFact              (settingsGroup, _metaDataMap[sideOverlapName])
    , _adjustedFootprintSideFact    (settingsGroup, _metaDataMap[adjustedFootprintSideName])
    , _adjustedFootprintFrontalFact (settingsGroup, _metaDataMap[adjustedFootprintFrontalName])
    , _imageFootprintSide           (0)
    , _imageFootprintFrontal        (0)
    , _knownCameraList              (_vehicle->staticCameraList())
{
    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);

    connect(&_valueSetIsDistanceFact,       &Fact::valueChanged,                            this, &CameraCalc::_setDirty);
    connect(&_distanceToSurfaceFact,        &Fact::valueChanged,                            this, &CameraCalc::_setDirty);
    connect(&_imageDensityFact,             &Fact::valueChanged,                            this, &CameraCalc::_setDirty);
    connect(&_frontalOverlapFact,           &Fact::valueChanged,                            this, &CameraCalc::_setDirty);
    connect(&_sideOverlapFact,              &Fact::valueChanged,                            this, &CameraCalc::_setDirty);
    connect(&_adjustedFootprintSideFact,    &Fact::valueChanged,                            this, &CameraCalc::_setDirty);
    connect(&_adjustedFootprintFrontalFact, &Fact::valueChanged,                            this, &CameraCalc::_setDirty);
    connect(&_cameraNameFact,               &Fact::valueChanged,                            this, &CameraCalc::_setDirty);
    connect(this,                           &CameraCalc::distanceToSurfaceRelativeChanged,  this, &CameraCalc::_setDirty);

    connect(&_cameraNameFact,               &Fact::valueChanged,                            this, &CameraCalc::_cameraNameChanged);
    connect(&_cameraNameFact,               &Fact::valueChanged,                            this, &CameraCalc::isManualCameraChanged);
    connect(&_cameraNameFact,               &Fact::valueChanged,                            this, &CameraCalc::isCustomCameraChanged);

    connect(&_distanceToSurfaceFact,    &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
    connect(&_imageDensityFact,         &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
    connect(&_frontalOverlapFact,       &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
    connect(&_sideOverlapFact,          &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
    connect(sensorWidth(),              &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
    connect(sensorHeight(),             &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
    connect(imageWidth(),               &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
    connect(imageHeight(),              &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
    connect(focalLength(),              &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
    connect(landscape(),                &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);

    _cameraNameChanged();

    setDirty(false);
}

void CameraCalc::setDirty(bool dirty)
{
    if (_dirty != dirty) {
        _dirty = dirty;
        emit dirtyChanged(_dirty);
    }
}

void CameraCalc::_cameraNameChanged(void)
{
    if (_disableRecalc) {
        return;
    }

    QString cameraName = _cameraNameFact.rawValue().toString();

    // Validate known camera name
    bool foundKnownCamera = false;
    CameraMetaData* cameraMetaData = nullptr;
    if (!isManualCamera() && !isCustomCamera()) {
        for (int cameraIndex=0; cameraIndex<_knownCameraList.count(); cameraIndex++) {
            cameraMetaData = _knownCameraList[cameraIndex].value<CameraMetaData*>();
            if (cameraName == cameraMetaData->name()) {
                foundKnownCamera = true;
                break;
            }
        }

        if (!foundKnownCamera) {
            // This will cause another camera changed signal which will recurse back to this routine
            _cameraNameFact.setRawValue(customCameraName());
            return;
        }
    }

    _disableRecalc = true;
    if (foundKnownCamera) {
        sensorWidth()->setRawValue          (cameraMetaData->sensorWidth());
        sensorHeight()->setRawValue         (cameraMetaData->sensorHeight());
        imageWidth()->setRawValue           (cameraMetaData->imageWidth());
        imageHeight()->setRawValue          (cameraMetaData->imageHeight());
        focalLength()->setRawValue          (cameraMetaData->focalLength());
        landscape()->setRawValue            (cameraMetaData->landscape());
        fixedOrientation()->setRawValue     (cameraMetaData->fixedOrientation());
        minTriggerInterval()->setRawValue   (cameraMetaData->minTriggerInterval());
    } else {
        if (isManualCamera() || isCustomCamera()) {
            // These values are unknown for these types
            fixedOrientation()->setRawValue(false);
            minTriggerInterval()->setRawValue(0);
            if (isManualCamera() && !valueSetIsDistance()->rawValue().toBool()) {
                valueSetIsDistance()->setRawValue(true);
            }
        } else {
            qWarning() << "Internal Error: Not known camera, but now manual or custom either";
        }
    }
    _disableRecalc = false;

    _recalcTriggerDistance();
    _adjustDistanceToSurfaceRelative();
}

void CameraCalc::_recalcTriggerDistance(void)
{
    if (_disableRecalc || isManualCamera()) {
        return;
    }

    _disableRecalc = true;

    double focalLength =    this->focalLength()->rawValue().toDouble();
    double sensorWidth =    this->sensorWidth()->rawValue().toDouble();
    double sensorHeight =   this->sensorHeight()->rawValue().toDouble();
    double imageWidth =     this->imageWidth()->rawValue().toDouble();
    double imageHeight =    this->imageHeight()->rawValue().toDouble();
    double imageDensity =   _imageDensityFact.rawValue().toDouble();

    if (focalLength <= 0 || sensorWidth <= 0 || sensorHeight <= 0 || imageWidth <= 0 || imageHeight <= 0 || imageDensity <= 0) {
        return;
    }

    if (_valueSetIsDistanceFact.rawValue().toBool()) {
        _imageDensityFact.setRawValue((_distanceToSurfaceFact.rawValue().toDouble() * sensorWidth * 100.0) / (imageWidth * focalLength));
    } else {
        _distanceToSurfaceFact.setRawValue((imageWidth * _imageDensityFact.rawValue().toDouble() * focalLength) / (sensorWidth * 100.0));
    }

    imageDensity = _imageDensityFact.rawValue().toDouble();

    if (landscape()->rawValue().toBool()) {
        _imageFootprintSide =       (imageWidth  * imageDensity) / 100.0;
        _imageFootprintFrontal =    (imageHeight * imageDensity) / 100.0;
    } else {
        _imageFootprintSide  =      (imageHeight * imageDensity) / 100.0;
        _imageFootprintFrontal =    (imageWidth  * imageDensity) / 100.0;
    }
    _adjustedFootprintSideFact.setRawValue      (_imageFootprintSide * ((100.0 - _sideOverlapFact.rawValue().toDouble()) / 100.0));
    _adjustedFootprintFrontalFact.setRawValue   (_imageFootprintFrontal * ((100.0 - _frontalOverlapFact.rawValue().toDouble()) / 100.0));

    emit imageFootprintSideChanged      (_imageFootprintSide);
    emit imageFootprintFrontalChanged   (_imageFootprintFrontal);

    _disableRecalc = false;
}

void CameraCalc::save(QJsonObject& json) const
{
    json[JsonHelper::jsonVersionKey] =      1;
    json[adjustedFootprintSideName] =       _adjustedFootprintSideFact.rawValue().toDouble();
    json[adjustedFootprintFrontalName] =    _adjustedFootprintFrontalFact.rawValue().toDouble();
    json[distanceToSurfaceName] =           _distanceToSurfaceFact.rawValue().toDouble();
    json[distanceToSurfaceRelativeName] =   _distanceToSurfaceRelative;
    json[cameraNameName] =                  _cameraNameFact.rawValue().toString();

    if (!isManualCamera()) {
        CameraSpec::save(json);
        json[valueSetIsDistanceName] = _valueSetIsDistanceFact.rawValue().toBool();
        json[imageDensityName] =       _imageDensityFact.rawValue().toDouble();
        json[frontalOverlapName] =     _frontalOverlapFact.rawValue().toDouble();
        json[sideOverlapName] =        _sideOverlapFact.rawValue().toDouble();
    }
}

bool CameraCalc::load(const QJsonObject& json, QString& errorString)
{
    QJsonObject v1Json = json;

    if (!json.contains(JsonHelper::jsonVersionKey)) {
        // Version 0 file. Differences from Version 1 for conversion:
        //  JsonHelper::jsonVersionKey not stored
        //  _jsonCameraSpecTypeKey stores CameraSpecType
        //  _jsonCameraNameKey only set if CameraSpecKnown
        int cameraSpec = v1Json[_jsonCameraSpecTypeKey].toInt(CameraSpecNone);
        if (cameraSpec == CameraSpecCustom) {
            v1Json[cameraNameName] = customCameraName();
        } else if (cameraSpec == CameraSpecNone) {
            v1Json[cameraNameName] = manualCameraName();
        }
        v1Json.remove(_jsonCameraSpecTypeKey);
        v1Json[JsonHelper::jsonVersionKey] = 1;
    }

    int version = v1Json[JsonHelper::jsonVersionKey].toInt();
    if (version != 1) {
        errorString = tr("CameraCalc section version %1 not supported").arg(version);
        return false;
    }

    QList<JsonHelper::KeyValidateInfo> keyInfoList1 = {
        { cameraNameName,                   QJsonValue::String, true },
        { adjustedFootprintSideName,        QJsonValue::Double, true },
        { adjustedFootprintFrontalName,     QJsonValue::Double, true },
        { distanceToSurfaceName,            QJsonValue::Double, true },
        { distanceToSurfaceRelativeName,    QJsonValue::Bool,   true },
    };
    if (!JsonHelper::validateKeys(v1Json, keyInfoList1, errorString)) {
        return false;
    }

    _disableRecalc = true;

    _distanceToSurfaceRelative = v1Json[distanceToSurfaceRelativeName].toBool();

    _cameraNameFact.setRawValue                 (v1Json[cameraNameName].toString());
    _adjustedFootprintSideFact.setRawValue      (v1Json[adjustedFootprintSideName].toDouble());
    _adjustedFootprintFrontalFact.setRawValue   (v1Json[adjustedFootprintFrontalName].toDouble());
    _distanceToSurfaceFact.setRawValue          (v1Json[distanceToSurfaceName].toDouble());

    if (!isManualCamera()) {
        QList<JsonHelper::KeyValidateInfo> keyInfoList2 = {
            { valueSetIsDistanceName,   QJsonValue::Bool,   true },
            { imageDensityName,         QJsonValue::Double, true },
            { frontalOverlapName,       QJsonValue::Double, true },
            { sideOverlapName,          QJsonValue::Double, true },
        };
        if (!JsonHelper::validateKeys(v1Json, keyInfoList2, errorString)) {
            _disableRecalc = false;
            return false;
        }

        _valueSetIsDistanceFact.setRawValue (v1Json[valueSetIsDistanceName].toBool());
        _frontalOverlapFact.setRawValue     (v1Json[frontalOverlapName].toDouble());
        _sideOverlapFact.setRawValue        (v1Json[sideOverlapName].toDouble());
        _imageDensityFact.setRawValue       (v1Json[imageDensityName].toDouble());

        if (!CameraSpec::load(v1Json, errorString)) {
            _disableRecalc = false;
            return false;
        }
    }

    _disableRecalc = false;

    return true;
}

QString CameraCalc::customCameraName(void)
{
    return tr("Custom Camera");
}

QString CameraCalc::manualCameraName(void)
{
    return tr("Manual (no camera specs)");
}

void CameraCalc::_adjustDistanceToSurfaceRelative(void)
{
    if (!isManualCamera()) {
        setDistanceToSurfaceRelative(true);
    }
}

void CameraCalc::setDistanceToSurfaceRelative(bool distanceToSurfaceRelative)
{
    if (distanceToSurfaceRelative != _distanceToSurfaceRelative) {
        _distanceToSurfaceRelative = distanceToSurfaceRelative;
        emit distanceToSurfaceRelativeChanged(distanceToSurfaceRelative);
    }
}

void CameraCalc::_setDirty(void)
{
    setDirty(true);
}
