#include "Perception.h"
#include "DistanceSensor.h"
#include "LinearAlgebra/Angle.h"
#include "NetworkSync.h"
#include "Switch.h"

#include <math.h>

// #define RC_DEBUG2
#ifdef RC_DEBUG2
#include <Arduino.h>
#endif

unsigned char Perception::maxObjectCount = 7;  // 7 is typically the maximum
                                               // number of object which can
                                               // be tracked by a human

Perception::Perception() {
  this->trackedObjects = new InterestingThing*[maxObjectCount];
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++)
    this->trackedObjects[objIx] = nullptr;
}

Perception::Perception(Sensor** sensors, unsigned int sensorCount)
    : Perception() {
  this->sensorCount = sensorCount;
  this->sensors = new Sensor*[this->sensorCount];
  for (unsigned char sensorIx = 0; sensorIx < this->sensorCount; sensorIx++)
    this->sensors[sensorIx] = sensors[sensorIx];

  this->trackedObjects = new InterestingThing*[maxObjectCount];
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++)
    this->trackedObjects[objIx] = nullptr;
}

unsigned int Perception::GetSensorCount() {
  return this->sensorCount;
}

Sensor* Perception::GetSensor(unsigned int sensorId) {
  if (sensorId >= this->sensorCount)
    return nullptr;

  Sensor* sensor = this->sensors[sensorId];
  return sensor;
}

unsigned int Perception::AddSensor(Sensor* newSensor) {
  unsigned int newSensorCount = this->sensorCount + 1;
  Sensor** newSensors = new Sensor*[newSensorCount];
  for (unsigned char sensorIx = 0; sensorIx < this->sensorCount; sensorIx++)
    newSensors[sensorIx] = sensors[sensorIx];

  unsigned int sensorId = this->sensorCount;
  newSensors[sensorId] = newSensor;

  Sensor** oldSensors = this->sensors;
  this->sensors = newSensors;
  this->sensorCount = newSensorCount;
  delete[] oldSensors;
  return sensorId;
}

Sensor* Perception::FindSensorOfType(unsigned int sensorType) {
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Sensor* sensor = this->sensors[sensorIx];
    if (sensor->type == sensorType)
      return sensor;
  }

  return nullptr;
}

float GetPlaneDistance(InterestingThing* plane,
                       float horizontalAngle,
                       float range) {
  float distance = plane->position.distance;
  float deltaAngle =
      Angle::Normalize((float)plane->position.horizontalAngle.ToFloat() -
                       horizontalAngle)
          .ToFloat();
  if (fabsf(deltaAngle) < fabsf(range)) {
    // distance = distance
    // printf("   plane distance = %f (%f-%f)+%f=%f", distance,
    //        (float)plane->position.horizontalAngle, horizontalAngle, range,
    //        deltaAngle);

  } else if (deltaAngle < -range) {
    float angle = deltaAngle + range;
    // printf("   plane distance < %f (%f-%f)+%f=%f %f", distance,
    //        (float)plane->position.horizontalAngle, horizontalAngle, range,
    //        angle, cosf(angle * Angle::Deg2Rad));
    if (angle > -90)
      distance = distance / cosf(angle * Passer::LinearAlgebra::Deg2Rad);
    else
      distance = 9999;  // infinity?

  } else if (deltaAngle > range) {
    float angle = deltaAngle - range;
    // printf("   plane distance > %f (%f-%f)-%f=%f %f", distance,
    //        (float)plane->position.horizontalAngle, horizontalAngle, range,
    //        angle, cosf(angle * Angle::Deg2Rad));
    if (angle < 90)
      distance = distance / cosf(angle * Passer::LinearAlgebra::Deg2Rad);
    else
      distance = 9999;  // infinity?
  }
  // printf("    distance = %f\n", distance);
  return distance;
}

float Perception::GetDistance(float horizontalDirection, float range) {
  float minDistance = INFINITY;
  if (range < 0)
    range = -range;

  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    InterestingThing* obj = trackedObjects[objIx];
    if (obj == nullptr)
      continue;

    if (obj->type == 0x080) {  // plane
      float planeDistance = GetPlaneDistance(obj, horizontalDirection, range);
      minDistance = fminf(minDistance, planeDistance);
    } else if (obj->position.horizontalAngle.ToFloat() >
                   horizontalDirection - range &&
               obj->position.horizontalAngle.ToFloat() <
                   horizontalDirection + range) {
      minDistance = fminf(minDistance, obj->position.distance);
    }
  }
  return minDistance;
}

float Perception::GetDistanceOfType(unsigned char thingType,
                                    float horizontalAngle,
                                    float range) {
  float minDistance = INFINITY;
  if (range < 0)
    range = -range;

  for (unsigned char thingIx = 0; thingIx < maxObjectCount; thingIx++) {
    InterestingThing* thing = trackedObjects[thingIx];
    if (thing == nullptr)
      continue;
    if (thing->type != thingType)
      continue;

    if (thing->type == 0x080) {  // plane
      float planeDistance = GetPlaneDistance(thing, horizontalAngle, range);
      minDistance = fminf(minDistance, planeDistance);
    } else if (thing->position.horizontalAngle.ToFloat() >
                   horizontalAngle - range &&
               thing->position.horizontalAngle.ToFloat() <
                   horizontalAngle + range) {
      minDistance = fminf(minDistance, thing->position.distance);
    }
  }
  return minDistance;
}

float Perception::GetDistance(float horizontalDirection,
                              float verticalDirection,
                              float range) {
  float minDistance = INFINITY;
  if (range < 0)
    range = -range;

  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    InterestingThing* obj = trackedObjects[objIx];
    if (obj == nullptr)
      continue;
    if (obj->position.horizontalAngle.ToFloat() > horizontalDirection - range &&
        obj->position.horizontalAngle.ToFloat() < horizontalDirection + range) {
      minDistance = fminf(minDistance, obj->position.distance);
    }
  }

  return minDistance;
}
bool Perception::ObjectNearby(float direction, float range) {
  if (range < 0)
    range = -range;

  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    InterestingThing* obj = trackedObjects[objIx];
    if (obj == nullptr)
      continue;

    if (obj->position.horizontalAngle.ToFloat() > direction - range &&
        obj->position.horizontalAngle.ToFloat() < direction + range) {
      if (obj->position.distance <= nearbyDistance)
        return true;
    }
  }
  return false;
}

// #include <WifiSync.h>
// This function is deprecated
void Perception::AddTrackedObject(Sensor* sensor,
                                  Polar position,
                                  unsigned char thingType,
                                  unsigned char networkId) {
  Spherical sPos = Spherical(position);
  Quaternion orientation = Quaternion::identity;
  AddTrackedObject(sensor, sPos, orientation, thingType, thingType, networkId);
  /*
    InterestingThing *obj = new InterestingThing(sensor, position);
    obj->type = thingType;

    unsigned char farthestObjIx = 0;
    int availableSlotIx = -1;
    for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
      if (this->trackedObjects[objIx] == nullptr) {
        availableSlotIx = objIx;
      }
      // Do we see the same object?
      else {
        if (obj->IsTheSameAs(this->trackedObjects[objIx])) {
  #ifdef RC_DEBUG2
          // Serial.print((int)this->trackedObjects[objIx]->id);
          // Serial.println(": update tracked object");
          printf("%d: update tracked object [/%d]\n", objIx, obj->id);
  #endif

          this->trackedObjects[objIx]->Refresh(obj->position);
          this->trackedObjects[objIx]->type = thingType;
          delete obj;
          return;
        }
        // Is this the fartest object we see?
        else if (this->trackedObjects[farthestObjIx] == nullptr ||
                 (this->trackedObjects[objIx]->position.distance >
                  this->trackedObjects[farthestObjIx]->position.distance)) {
          farthestObjIx = objIx;
        }
      }
    }

    // Check if an perception slot is available (we currently see less than the
    // max number of objects)
    if (availableSlotIx >= 0) { //< maxObjectCount) {
      // a slot is available
      this->trackedObjects[availableSlotIx] = obj;
      obj->networkId = networkId;
      obj->id = lastObjectId++; // availableSlotIx + 1;
  #ifdef RC_DEBUG2
      printf("%d: new tracked object [%d/%d]\n", availableSlotIx,
  obj->networkId, obj->id); #endif if (roboid->networkSync != nullptr) {
        roboid->networkSync->NewObject(obj);
        // ((WifiSync *)roboid->networkSync)->PublishTrackedObject(roboid, obj);
      }
    }
    // If this object is closer than the farthest object, then replace it
    else if (obj->position.distance <
             this->trackedObjects[farthestObjIx]->position.distance) {
      delete this->trackedObjects[farthestObjIx];
      this->trackedObjects[farthestObjIx] = obj;
      obj->networkId = networkId;
      obj->id = lastObjectId++; // availableSlotIx + 1;
  #ifdef RC_DEBUG2
      // Serial.print((int)obj->id);
      // Serial.println(": replaced tracked object");
      printf("%d: replaced tracked object [/%d]\n", farthestObjIx, obj->id);
  #endif
      if (roboid->networkSync != nullptr) {
        roboid->networkSync->NewObject(obj);
        // ((WifiSync *)roboid->networkSync)->PublishTrackedObject(roboid, obj);
      }
    } else {
  #ifdef RC_DEBUG2
      // Serial.print((int)obj->id);
      // Serial.println(": delete tracked object");
      printf("%d: delete tracked object [/%d]\n", -1, obj->id);

  #endif
      // No available slot, delete trackedobject
      delete obj;
    }
  */
}

InterestingThing* Perception::AddTrackedObject(Sensor* sensor,
                                               Spherical position,
                                               Quaternion orientation,
                                               unsigned char thingType,
                                               unsigned char thingId,
                                               unsigned networkId) {
  InterestingThing* thing = new InterestingThing(sensor, position, orientation);
  if (thingId != 0x00)
    thing->id = thingId;
  thing->type = thingType;

  unsigned char farthestObjIx = 0;
  unsigned char availableSlotIx = 0;
  for (unsigned char thingIx = 0; thingIx < maxObjectCount; thingIx++) {
    if (this->trackedObjects[thingIx] == nullptr) {
      availableSlotIx = thingIx;
    }
    // Do we see the same object?
    else {
      if (thing->IsTheSameAs(this->trackedObjects[thingIx])) {
        // if ((float)thing->position.horizontalAngle !=
        //     (float)this->trackedObjects[thingIx]->position.horizontalAngle)
        //   this->roboid->networkSync->SendText("Update\0");
        // else
        //   this->roboid->networkSync->SendText("Refresh\0");
        this->trackedObjects[thingIx]->Refresh(thing->position,
                                               thing->orientation);
        delete thing;
        return this->trackedObjects[thingIx];
      }
      // Is this the fartest object we see?
      else if (this->trackedObjects[farthestObjIx] == nullptr ||
               (this->trackedObjects[thingIx]->position.distance >
                this->trackedObjects[farthestObjIx]->position.distance)) {
        farthestObjIx = thingIx;
      }
    }
  }

  // Check if an perception slot is available (we currently see less than the
  // max number of objects)
  if (availableSlotIx < maxObjectCount) {
    // a slot is available
    this->trackedObjects[availableSlotIx] = thing;
    thing->networkId = networkId;
    if (thingId == 0x00)
      thing->id = lastObjectId++;  // availableSlotIx + 1;
    return thing;
  }
  // If this object is closer than the farthest object, then replace it
  else if (thing->position.distance <
           this->trackedObjects[farthestObjIx]->position.distance) {
    delete this->trackedObjects[farthestObjIx];
    this->trackedObjects[farthestObjIx] = thing;
    thing->networkId = networkId;
    if (thingId == 0x00)
      thing->id = lastObjectId++;  // availableSlotIx + 1;
    return thing;
  } else {
    // No available slot, delete trackedobject
    delete thing;
    return nullptr;
  }
}

InterestingThing* Perception::AddTrackedObject(Sensor* sensor,
                                               unsigned char networkId,
                                               unsigned char objectId,
                                               Spherical position,
                                               Quaternion orientation) {
  InterestingThing* thing = FindTrackedObject(networkId, objectId);
  if (thing == nullptr) {
    thing =
        AddTrackedObject(sensor, position, orientation, objectId, networkId);
    thing->networkId = networkId;
    thing->id = objectId;
    thing->type = 0xFF;  // unknown
  }
  return thing;
}

bool Perception::IsInteresting(float distance) {
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    InterestingThing* thing = this->trackedObjects[objIx];
    if (thing == nullptr)
      return true;
    if (thing->position.distance > distance)
      return true;
  }
  return false;
}

InterestingThing* Perception::FindTrackedObject(char objectId) {
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    InterestingThing* thing = this->trackedObjects[objIx];
    if (thing == nullptr)
      continue;
    if (thing->id == objectId) {
      return thing;
    }
  }
  return nullptr;
}

InterestingThing* Perception::FindTrackedObject(unsigned char networkId,
                                                unsigned char objectId) {
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    InterestingThing* thing = this->trackedObjects[objIx];
    if (thing == nullptr)
      continue;

    if (thing->networkId == networkId && thing->id == objectId) {
      return thing;
    }
  }
  return nullptr;
}

unsigned char Perception::TrackedObjectCount() {
  unsigned char objectCount = 0;
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    if (this->trackedObjects[objIx] != nullptr)
      objectCount++;
  }
  return objectCount;
}

InterestingThing** Perception::GetTrackedObjects() {
  return this->trackedObjects;
}

unsigned char Perception::ThingsOfType(unsigned char thingType,
                                       InterestingThing* buffer[],
                                       unsigned char bufferSize) {
  unsigned char thingCount = 0;
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    InterestingThing* thing = this->trackedObjects[objIx];
    if (thing == nullptr)
      continue;

    // printf("[%d/%d]%d  ", thing->networkId, thing->id, thing->type);
    if (thing->type == thingType) {
      buffer[thingCount] = thing;
      thingCount++;
      if (thingCount >= bufferSize) {
        // printf("\n");
        return bufferSize;
      }
    }
  }
  // printf("\n");
  return thingCount;
}

InterestingThing* Perception::ThingOfType(unsigned char thingType) {
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    InterestingThing* thing = this->trackedObjects[objIx];
    if (thing == nullptr)
      continue;

    if (thing->type == thingType)
      return thing;
  }
  return nullptr;
}

InterestingThing* Perception::GetMostInterestingThing() {
  if (this->trackedObjects == nullptr)
    return nullptr;

  InterestingThing* closestObject = nullptr;
  float closestDistance = INFINITY;
  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    InterestingThing* obj = this->trackedObjects[objIx];
    if (obj != nullptr) {
      if (obj->position.distance < closestDistance) {
        closestObject = obj;
        closestDistance = obj->position.distance;
      }
    }
  }
  return closestObject;
}

void Perception::Update(unsigned long currentTimeMs) {
  float deltaTime = (float)(currentTimeMs - lastUpdateTimeMs) / 1000.0f;
  if (deltaTime <= 0)
    return;

  lastUpdateTimeMs = currentTimeMs;

  // Update sensing
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Sensor* sensor = sensors[sensorIx];
    if (sensor == nullptr)
      continue;

    if (sensor->type == Thing::DistanceSensorType) {
      DistanceSensor* distanceSensor = (DistanceSensor*)sensor;

      float distance = distanceSensor->GetDistance();
      if (distance >= 0) {
        Angle angle = sensor->position.horizontalAngle;
        // Polar position = Polar(angle, distance);
        Polar position = Polar(distance, angle);
        AddTrackedObject(distanceSensor, position);
      }

    } else if (sensor->type == Thing::SwitchType) {
      Switch* switchSensor = (Switch*)sensor;
      if (switchSensor->IsOn()) {
        // Polar position = Polar(sensor->position.angle, nearbyDistance);
        Polar position =
            Polar(nearbyDistance, sensor->position.horizontalAngle);
        // AddTrackedObject(switchSensor, position);
      }
    } else {
      sensor->Update(currentTimeMs);
    }
  }

  for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
    InterestingThing* thing = trackedObjects[objIx];
    if (thing == nullptr)
      continue;

    if (thing->DegradeConfidence(deltaTime) == false) {
      // delete obj
      if (roboid != nullptr && roboid->networkSync != nullptr) {
        roboid->networkSync->DestroyObject(thing);
      }
      this->trackedObjects[objIx] = nullptr;
      delete thing;
    }
  }
}

void Perception::UpdatePose(Polar translation) {
  for (unsigned char thingIx = 0; thingIx < maxObjectCount; thingIx++) {
    InterestingThing* thing = trackedObjects[thingIx];
    if (thing == nullptr)
      continue;

    // We only support translations in the horizontal plane at this moment...
    // This needs Spherical operator- to be implemented to work in 3d space
    if (thing->type == 0x80) {  // plane
      // printf("[1/%d] %f (%f %f) ", thing->id, thing->position.distance,
      //        (float)thing->position.horizontalAngle,
      //        (float)thing->position.verticalAngle);
      // Update the closest point to the plane
      float angle = (float)thing->position.horizontalAngle.ToFloat() +
                    translation.angle.ToFloat();
      angle = fabsf(angle);

      float deltaDistance =
          translation.distance * cosf(angle * Passer::LinearAlgebra::Deg2Rad);
      // printf(" | translate %f %f %f | ", (float)translation.distance,
      //        (float)angle, deltaDistance);
      thing->position.distance -= deltaDistance;
      // printf("-> %f (%f %f)\n", thing->position.distance,
      //        (float)thing->position.horizontalAngle,
      //        (float)thing->position.verticalAngle);
    } else {
      Polar horizontalPosition =
          Polar(thing->position);  // obj->position.ProjectOnHorizontalPlane();
      Spherical newPosition = Spherical(horizontalPosition - translation);
      thing->position = newPosition;
    }
  }
}

void Perception::UpdatePose(Quaternion rotation) {
  // only rotation around vertical axis is supported for now
  float rotationAngle;
  Vector3 rotationAxis;
  rotation.ToAngleAxis(&rotationAngle, &rotationAxis);
  // Make sure rotation axis is positive
  if (rotationAxis.Up() < 0)
    rotationAngle = -rotationAngle;

  for (unsigned char thingIx = 0; thingIx < maxObjectCount; thingIx++) {
    InterestingThing* thing = trackedObjects[thingIx];
    if (thing == nullptr)
      continue;

    // printf("[1/%d] %f (%f %f) ", thing->id, thing->position.distance,
    //        (float)thing->position.horizontalAngle,
    //        (float)thing->position.verticalAngle);
    // printf("| rotate %f  | ", rotationAngle);

    thing->position.horizontalAngle = Angle::Normalize(
        thing->position.horizontalAngle.ToFloat() - rotationAngle);

    // printf("-> %f (%f %f) \n", thing->position.distance,
    //        (float)thing->position.horizontalAngle,
    //        (float)thing->position.verticalAngle);
  }
}