#include "engines/engine.h"
#include "engines/yolo_onnx.h"
#include "engines/yoloworld_onnx.h"
#include "engines/zed_native.h"
#include "util/env.h"
#include "zed/camera.h"

#include <dora-node-api.h>
#include <opencv2/opencv.hpp>

#include <chrono>
#include <cstring>
#include <initializer_list>
#include <iostream>
#include <memory>
#include <string>
#include <vector>

namespace {

constexpr int FIELDS_PER_OBJECT = 37;

enum class PcMode { FULL, HALF, ROI };

rust::Vec<int64_t> make_shape(int height, int width, int channels) {
    rust::Vec<int64_t> shape;
    shape.push_back(height);
    shape.push_back(width);
    shape.push_back(channels);
    return shape;
}

rust::Vec<double> make_distortion(const std::vector<double>& distortion) {
    rust::Vec<double> values;
    for (double v : distortion) {
        values.push_back(v);
    }
    return values;
}

rust::Vec<int64_t> make_vector_int(std::initializer_list<int64_t> values) {
    rust::Vec<int64_t> out;
    for (int64_t v : values) {
        out.push_back(v);
    }
    return out;
}

std::vector<float> serialize_objects(const std::vector<engines::DetectedObject>& objects) {
    std::vector<float> buffer(objects.size() * FIELDS_PER_OBJECT);
    for (size_t i = 0; i < objects.size(); i++) {
        float* row = buffer.data() + i * FIELDS_PER_OBJECT;
        const auto& obj = objects[i];
        row[0] = static_cast<float>(obj.label_id);
        row[1] = obj.confidence;
        row[2] = obj.position[0];
        row[3] = obj.position[1];
        row[4] = obj.position[2];
        std::memcpy(row + 5, obj.bounding_box_2d, sizeof(obj.bounding_box_2d));
        std::memcpy(row + 13, obj.bounding_box_3d, sizeof(obj.bounding_box_3d));
    }
    return buffer;
}

} // namespace

int main() {
    auto dora_node = init_dora_node();

    auto config = zed::Config::from_env();
    zed::Camera camera(config);
    camera.open();
    camera.warmup();
    auto calib = camera.calibration();

    std::string engine_name = util::get_env_str("ZED_ENGINE", "native");
    std::unique_ptr<engines::Engine> detector;
    if (engine_name == "yolo_onnx" || engine_name == "onnx") {
        auto cfg = engines::YoloOnnxConfig::from_env();
        detector = std::make_unique<engines::YoloOnnx>(cfg);
    } else if (engine_name == "yoloworld_onnx" || engine_name == "open_vocab") {
        auto cfg = engines::YoloWorldOnnxConfig::from_env();
        detector = std::make_unique<engines::YoloWorldOnnx>(cfg);
    } else {
        auto cfg = engines::DetectionConfig::from_env();
        detector = std::make_unique<engines::ZedNative>(cfg);
    }
    detector->enable(camera.handle());

    std::string pc_mode_str = util::get_env_str("ZED_PC_MODE", "FULL");
    PcMode pc_mode = (pc_mode_str == "HALF") ? PcMode::HALF
                   : (pc_mode_str == "ROI")  ? PcMode::ROI
                                             : PcMode::FULL;

    int64_t frame_id = 0;
    while (true) {
        auto event = dora_node.events->next();
        auto type = event_type(event);

        if (type == DoraEventType::Stop || type == DoraEventType::AllInputsClosed) {
            break;
        }

        if (type != DoraEventType::Input) {
            continue;
        }

        auto input = event_as_input(std::move(event));
        std::string input_id = std::string(input.id);

        if (input_id == "update_vocabulary") {
            if (!input.data.empty()) {
                std::string labels(
                    reinterpret_cast<const char*>(input.data.data()),
                    input.data.size());
                detector->set_labels(labels);
                std::cout << "Vocabulary updated: " << labels << std::endl;
            }
            continue;
        }

        if (!camera.grab()) {
            std::cerr << "Grab failed; attempting to reconnect..." << std::endl;
            camera.close();
            camera.open();
            calib = camera.calibration();
            detector->enable(camera.handle());
            continue;
        }

        detector->detect(camera.handle());

        sl::Mat& image_mat = camera.image();
        sl::Mat& point_cloud_mat = camera.point_cloud();

        int width = image_mat.getWidth();
        int height = image_mat.getHeight();

        int64_t current_frame_id = frame_id++;
        int64_t timestamp_ns = static_cast<int64_t>(
            std::chrono::duration_cast<std::chrono::nanoseconds>(
                std::chrono::steady_clock::now().time_since_epoch()
            ).count()
        );

        // --- image_bgr ---
        cv::Mat image_rgba(height, width, CV_8UC4, image_mat.getPtr<sl::uchar1>());
        cv::Mat image_bgr;
        cv::cvtColor(image_rgba, image_bgr, cv::COLOR_BGRA2BGR);

        const auto image_size = static_cast<size_t>(image_bgr.total() * image_bgr.elemSize());
        rust::Slice<const uint8_t> image_slice{
            reinterpret_cast<const uint8_t*>(image_bgr.data), image_size};

        auto image_metadata = new_metadata();
        image_metadata->set_string("dtype", "uint8");
        image_metadata->set_string("encoding", "bgr8");
        image_metadata->set_string("layout", "HWC");
        image_metadata->set_list_int("shape", make_shape(height, width, 3));
        image_metadata->set_float("fx", calib.fx);
        image_metadata->set_float("fy", calib.fy);
        image_metadata->set_float("cx", calib.cx);
        image_metadata->set_float("cy", calib.cy);
        image_metadata->set_list_float("distortion", make_distortion(calib.distortion));
        image_metadata->set_int("frame_id", current_frame_id);
        image_metadata->set_int("timestamp_ns", timestamp_ns);

        auto image_result = send_output_with_metadata(
            dora_node.send_output, "image_bgr", image_slice, std::move(image_metadata));
        if (!std::string(image_result.error).empty()) {
            std::cerr << "Error sending image_bgr: " << std::string(image_result.error) << std::endl;
        }

        // --- point_cloud ---
        int pc_width  = point_cloud_mat.getWidth();
        int pc_height = point_cloud_mat.getHeight();

        std::vector<float> pc_buf;
        const uint8_t* pc_data_ptr = nullptr;
        size_t         pc_data_size = 0;
        auto pc_metadata = new_metadata();
        pc_metadata->set_string("dtype", "float32");
        pc_metadata->set_string("channels", "XYZRGBA");
        pc_metadata->set_string("units", "mm");
        pc_metadata->set_float("fx", calib.fx);
        pc_metadata->set_float("fy", calib.fy);
        pc_metadata->set_float("cx", calib.cx);
        pc_metadata->set_float("cy", calib.cy);
        pc_metadata->set_list_float("distortion", make_distortion(calib.distortion));

        if (pc_mode == PcMode::HALF) {
            int hw = pc_width / 2, hh = pc_height / 2;
            pc_buf.resize(static_cast<size_t>(hh * hw * 4));
            const sl::float4* src = point_cloud_mat.getPtr<sl::float4>();
            for (int y = 0; y < hh; y++) {
                for (int x = 0; x < hw; x++) {
                    const sl::float4& pt = src[(y * 2) * pc_width + (x * 2)];
                    float* dst = pc_buf.data() + (y * hw + x) * 4;
                    dst[0] = pt.x; dst[1] = pt.y; dst[2] = pt.z; dst[3] = pt.w;
                }
            }
            pc_metadata->set_string("layout", "HWC");
            pc_metadata->set_list_int("shape", make_shape(hh, hw, 4));
            pc_data_ptr  = reinterpret_cast<const uint8_t*>(pc_buf.data());
            pc_data_size = pc_buf.size() * sizeof(float);
        } else if (pc_mode == PcMode::ROI) {
            const auto& objs = detector->objects();
            for (const auto& obj : objs) {
                int x1 = std::max(0, static_cast<int>(obj.bounding_box_2d[0]));
                int y1 = std::max(0, static_cast<int>(obj.bounding_box_2d[1]));
                int x2 = std::min(pc_width  - 1, static_cast<int>(obj.bounding_box_2d[4]));
                int y2 = std::min(pc_height - 1, static_cast<int>(obj.bounding_box_2d[5]));
                for (int y = y1; y <= y2; y++) {
                    for (int x = x1; x <= x2; x++) {
                        sl::float4 pt;
                        point_cloud_mat.getValue(x, y, &pt);
                        if (!std::isnan(pt.x) && !std::isinf(pt.x)) {
                            pc_buf.push_back(pt.x); pc_buf.push_back(pt.y);
                            pc_buf.push_back(pt.z); pc_buf.push_back(pt.w);
                        }
                    }
                }
            }
            int N = static_cast<int>(pc_buf.size() / 4);
            pc_metadata->set_string("layout", "NC");
            pc_metadata->set_string("mode", "roi");
            pc_metadata->set_list_int("shape", make_vector_int({N, 4}));
            pc_data_ptr  = reinterpret_cast<const uint8_t*>(pc_buf.data());
            pc_data_size = pc_buf.size() * sizeof(float);
        } else {
            // FULL — send raw sl::Mat pointer directly (no copy)
            pc_data_size = static_cast<size_t>(pc_width * pc_height * sizeof(sl::float4));
            pc_data_ptr  = reinterpret_cast<const uint8_t*>(point_cloud_mat.getPtr<sl::float4>());
            pc_metadata->set_string("layout", "HWC");
            pc_metadata->set_list_int("shape", make_shape(pc_height, pc_width, 4));
        }

        rust::Slice<const uint8_t> pc_slice{pc_data_ptr, pc_data_size};
        auto pc_result = send_output_with_metadata(
            dora_node.send_output, "point_cloud", pc_slice, std::move(pc_metadata));
        if (!std::string(pc_result.error).empty()) {
            std::cerr << "Error sending point_cloud: " << std::string(pc_result.error) << std::endl;
        }

        // --- camera_info ---
        float camera_data[4] = {calib.fx, calib.fy, calib.cx, calib.cy};
        rust::Slice<const uint8_t> cam_slice{
            reinterpret_cast<const uint8_t*>(camera_data), sizeof(camera_data)};

        auto cam_metadata = new_metadata();
        cam_metadata->set_string("dtype", "float32");
        cam_metadata->set_string("layout", "C");
        cam_metadata->set_list_int("shape", make_vector_int({4}));
        cam_metadata->set_list_float("distortion", make_distortion(calib.distortion));

        auto cam_result = send_output_with_metadata(
            dora_node.send_output, "camera_info", cam_slice, std::move(cam_metadata));
        if (!std::string(cam_result.error).empty()) {
            std::cerr << "Error sending camera_info: " << std::string(cam_result.error) << std::endl;
        }

        // --- objects ---
        const auto& objects = detector->objects();
        auto obj_buffer = serialize_objects(objects);
        int num_objects = static_cast<int>(objects.size());

        const size_t obj_size = obj_buffer.size() * sizeof(float);
        rust::Slice<const uint8_t> obj_slice{
            reinterpret_cast<const uint8_t*>(obj_buffer.data()), obj_size};

        auto obj_metadata = new_metadata();
        obj_metadata->set_string("dtype", "float32");
        obj_metadata->set_string("layout", "RC");
        obj_metadata->set_string("units", "mm");
        obj_metadata->set_list_int("shape", make_vector_int({num_objects, FIELDS_PER_OBJECT}));
        obj_metadata->set_string("fields",
            "label_id,confidence,x,y,z,"
            "bb2d_x0,bb2d_y0,bb2d_x1,bb2d_y1,bb2d_x2,bb2d_y2,bb2d_x3,bb2d_y3,"
            "bb3d_x0,bb3d_y0,bb3d_z0,bb3d_x1,bb3d_y1,bb3d_z1,"
            "bb3d_x2,bb3d_y2,bb3d_z2,bb3d_x3,bb3d_y3,bb3d_z3,"
            "bb3d_x4,bb3d_y4,bb3d_z4,bb3d_x5,bb3d_y5,bb3d_z5,"
            "bb3d_x6,bb3d_y6,bb3d_z6,bb3d_x7,bb3d_y7,bb3d_z7");
        obj_metadata->set_string("label_names", detector->label_names());
        obj_metadata->set_string("engine", engine_name);
        obj_metadata->set_int("frame_id", current_frame_id);
        obj_metadata->set_int("timestamp_ns", timestamp_ns);
        obj_metadata->set_int("image_width", width);
        obj_metadata->set_int("image_height", height);

        auto obj_result = send_output_with_metadata(
            dora_node.send_output, "objects", obj_slice, std::move(obj_metadata));
        if (!std::string(obj_result.error).empty()) {
            std::cerr << "Error sending objects: " << std::string(obj_result.error) << std::endl;
        }
    }

    return 0;
}