#include "screen_tracking.h"
#include "button.h"
#include "checkbox.h"
#include "tft.h"
#include "touch.h"
#include "pixy.h"
#include "system.h"
#include "pixy_helper.h"

static BUTTON_STRUCT b_back; //Button to navigate back
static BUTTON_STRUCT b_select; //Button to start the color region selection
static CHECKBOX_STRUCT c_frame_toggle; //Checkbox to toggle video data on/off
static TOUCH_AREA_STRUCT a_area; //Touch area for the color region selection

//Callback for when the user presses the "back" button
static void b_back_cb(void* button) {
        gui_screen_back(); //navigate back to the previous screen
}

static volatile bool frame_visible = false; //Whether or not the video data should be displayed
static void c_frame_toggle_cb(void *checkbox, bool checked) {
	frame_visible=checked; //Set the visibility of the frame to the checked state of the checkbox
	//Frame will be drawn in the main loop below
}

static enum {detecting, init, tracking, preselecting, abortselecting, selecting, selected} state; //Current state of the screen state machine

static POINT_STRUCT point1; //First point of the rectangle selected by the user (color region selection)
static POINT_STRUCT point2; //End point of the rectangle selected by the user (color region selection)
static bool point1_valid; //Whether or not we have a valid first point

//Callback for when the user presses the "select color" button
static void b_select_cb(void* button) {
	if(state==selecting) { //we're currently selecting a color region
		state = abortselecting; //Abort selecting!!
	} else if (state==tracking) { //we're currently watching the tracking
		state = preselecting; //start selecting
	}
}

//Video Region properties
//The camera records with 320*200px, but we need to keep a 1px border because of color interpolation (bayer format)
#define FRAME_START_X 1 //x-Coordinate of the top-left point of the frame rectangle on display
#define FRAME_START_Y 41 //y-Coordinate of the top-left point of the frame rectangle on display
#define FRAME_WIDTH 318 //Width of the video frame
#define FRAME_HEIGHT 198 //Height of the video frame
#define FRAME_END_X FRAME_START_X +FRAME_WIDTH-1 //x-Coordinate of the bottom-right point of the frame rectangle
#define FRAME_END_Y FRAME_START_Y +FRAME_HEIGHT-1 //y-Coordinate of the bottom-right point of the frame rectangle

//Callback for when the user touches the frame area to select a color region.
//Note: It doesn't matter in which direction the user draws the rectangle, we'll normalize the coordinates later
static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction) {
	POINT_STRUCT p = touch_get_last_point();
	switch(triggeredAction) {
		case PEN_DOWN: //The user just put down the pen
			point1.x = p.x-FRAME_START_X; //Calculate x-Coordinate relative to frame start
			point1.y = p.y-FRAME_START_Y; //Calculate y-Coordinate relative to frame start
			point1_valid= true; //The point1 is now valid
			break;
		case PEN_UP: //The user took the pen away
			if(point1_valid) { //only execute if point1 is valid
				point2.x = p.x-FRAME_START_X;  //Calculate x-Coordinate relative to frame start
				point2.y = p.y-FRAME_START_Y; //Calculate y-Coordinate relative to frame start
				state = selected;
			}
			break;
	}
}

void tracking_set_mode(enum Tracking_Implementation impl) {
	//not used yet
}

//Callback for when the screen is entered/loaded
static void enter(void* screen) {
	tft_clear(WHITE);
	
	//"Back" button
	b_back.base.x1=5; //Start X of Button
	b_back.base.y1=5; //Start Y of Button
	b_back.base.x2=AUTO; //Auto Calculate X2 with String Width
	b_back.base.y2=AUTO; //Auto Calculate Y2 with String Height
	b_back.txtcolor=WHITE; //Set foreground color
	b_back.bgcolor=HEX(0xAE1010); //Set background color (Don't take 255 or 0 on at least one channel, to make shadows possible)
	b_back.font=0; //Select Font
	b_back.text="Back"; //Set Text (For formatted strings take sprintf)
	b_back.callback=b_back_cb; //Call b_back_cb as Callback
	gui_button_add(&b_back); //Register Button (and run the callback from now on)


	//"Select color" button
	b_select.base.x1=150;
	b_select.base.y1=5;
	b_select.base.x2=AUTO;
	b_select.base.y2=AUTO;
	b_select.txtcolor=WHITE;
	b_select.bgcolor=HEX(0xAE1010);
	b_select.font=0;
	b_select.text="Select Color";
	b_select.callback=b_select_cb;
	gui_button_add(&b_select);

	//"Frame visible" checkbox
	c_frame_toggle.base.x1 = 50;
	c_frame_toggle.base.x2 = 50+16;
	c_frame_toggle.base.y1 = 5;
	c_frame_toggle.base.y2 = 5+16;
	c_frame_toggle.checked = frame_visible;
	c_frame_toggle.fgcolor = CHECKBOX_WIN_FG_COLOR;
	c_frame_toggle.callback = c_frame_toggle_cb;
	gui_checkbox_add(&c_frame_toggle);
	tft_print_line(73,8,BLACK,TRANSPARENT,0,"Show Video");


	//Area to select a "color region"
	a_area.hookedActions =  PEN_DOWN | PEN_UP;
	a_area.x1 = FRAME_START_X;
	a_area.y1 = FRAME_START_Y;
	a_area.x2 = FRAME_END_X;
	a_area.y2 = FRAME_END_Y;
	a_area.callback = touchCB;
    //Do not register it here, we do that later

	state=detecting; //Start with the detecting state
}

//Callback for when the screen is left/unloaded
static void leave(void* screen) {
	//Remove buttons and checkbox
	gui_button_remove(&b_back);
	gui_button_remove(&b_select);
	gui_checkbox_remove(&c_frame_toggle);

	if(state==selecting) { //the user left the screen in the "selecting" phase
		touch_unregister_area(&a_area); //remove the touch area
	}

	if(state==tracking) { //the user left the screen in the "tracking" phase
		//Stop reference tracking
		int32_t response;
		int return_value;
		return_value = pixy_command("stop", END_OUT_ARGS,  &response, END_IN_ARGS);
	}
}

//Callback for when the screen should be updated
//This is the main loop of the screen. This method will be called repeatedly
static void update(void* screen) {
	switch(state) {
	case detecting: //Detecting State: Where we try to connect to the pixy
		if(pixy_init()==0) { //Pixy connection ok
			state = init; //Go to next state
		}
		break;

	case init: //Init State: Where we start the tracking
	{
		//Run reference tracking
		int32_t response;
		int return_value;
		return_value = pixy_command("runprog", INT8(2), END_OUT_ARGS,  &response, END_IN_ARGS);
		state=tracking;
	}
	break;

	case tracking: //Tracking state: Where we render the frame and the tracked objects
		pixy_service(); //Receive events (e.g. block-data) from pixy

		if(pixy_blocks_are_new()) { //There are new blocks available
			if(frame_visible) { //If the user want's us to draw the video data
				pixy_render_full_frame(FRAME_START_X,FRAME_START_Y);
			} else { //the user want's a colored background
				tft_fill_rectangle(FRAME_START_X,FRAME_START_Y,FRAME_END_X,FRAME_END_Y,RGB(200,200,200));
			}

			struct Block block1; //Storage to receive one block from pixy
			if(pixy_get_blocks(1,&block1)==1) { //Receiving one block succeeded
				//block1.x and block1.y are the center coordinates of the object relative to the camera origin.
				uint16_t x = block1.x-1+FRAME_START_X -block1.width/2; //Calculate x-Coordinate on the display
				uint16_t y = block1.y-1+FRAME_START_Y -block1.height/2; //Calculate y-Coordinate on the display
				tft_draw_rectangle(x,y,x+block1.width-1, y+block1.height-1,WHITE); //Draw a white rectangle
			}
		}
		break;

	case preselecting: //Pre-Selecting State: Where we set up the color region selection
	{
		//Stop reference tracking
		int32_t response;
		int return_value;
		return_value = pixy_command("stop", END_OUT_ARGS,  &response, END_IN_ARGS);

		pixy_render_full_frame(FRAME_START_X,FRAME_START_Y); //Render one frame

		touch_register_area(&a_area); //Register touch area and receive events from now on
		point1_valid=false; //we start with an invalid point1

		b_select.text="Abort"; //Change the button text to "Abort"
		gui_button_redraw(&b_select); //redraw button

		state = selecting; //The user can now select a region
	}
	break;

	case selected: //Selected State: Where we send the users selection to pixy
	{
		//Ensure that (x1,y1) represent the top-left point and (x2,y2) the bottom-right.
	    unsigned int tmp;
	    if(point1.x > point2.x){
	        tmp = point1.x;
	        point1.x = point2.x;
	        point2.x = tmp;
	    }

	    if(point1.y > point2.y){
	        tmp = point1.y;
	        point1.y = point2.y;
	        point2.y = tmp;
	    }
	    //Send pixy the selected region
	    pixy_cc_set_region(1,point1.x,point1.y,point2.x-point1.x,point2.y-point1.y);
	}
	//no break here: We want the following code to be executed as well

	case abortselecting: //Abort-Selecting State: Where we deinitialize the stuff we used for region selection
	{
		touch_unregister_area(&a_area); //Remove the touch area. We'll no longer receive touch events

		b_select.text="Select Color"; //Change the button text back to "Select Color"
		gui_button_redraw(&b_select); //redraw button

		//Run reference tracking again
		int32_t response;
		int return_value;
		return_value = pixy_command("runprog", INT8(2), END_OUT_ARGS,  &response, END_IN_ARGS);
		state=tracking;
	}
	break;

	case selecting: //Selecting State: Where we wait on the user to select a color region
		pixy_service(); //receive pixy events
		//wait on user to select the image area
		break;
	}
}

//Declare screen callbacks
static SCREEN_STRUCT screen = {
	enter,
	leave,
	update
};


SCREEN_STRUCT* get_screen_tracking() {
	return &screen;
}