/**
 * Copyright (c) 2011, The University of Southampton and the individual contributors.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 *   *  Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *
 *   *  Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *
 *   *  Neither the name of the University of Southampton nor the names of its
 *      contributors may be used to endorse or promote products derived from this
 *      software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
package org.openimaj.demos.video;

import java.awt.GraphicsDevice;
import java.awt.GraphicsEnvironment;
import java.awt.Toolkit;
import java.awt.event.KeyEvent;
import java.awt.event.KeyListener;
import java.util.LinkedList;
import java.util.Queue;
import javax.swing.JFrame;
import javax.swing.SwingUtilities;

import org.openimaj.demos.Demo;
import org.openimaj.hardware.kinect.KinectController;
import org.openimaj.hardware.kinect.KinectException;
import org.openimaj.image.DisplayUtilities;
import org.openimaj.image.FImage;
import org.openimaj.image.MBFImage;
import org.openimaj.image.processing.resize.ResizeProcessor;
import org.openimaj.util.pair.IndependentPair;
import org.openimaj.video.Video;
import org.openimaj.video.VideoDisplay;


/**
 *      Kinect integration demo. Shows video and depth. Press t to toggle between 
 *      rgb and ir mode. Pressing w and x moves the device up or down. 
 *      Pressing s levels the device.
 * 
 * @author Jonathon Hare (jsh2@ecs.soton.ac.uk)
 */
@Demo(
                author = "Jonathon Hare", 
                description = "Kinect integration demo. Shows video and depth. Press t " +
                "to toggle between rgb and ir mode. Pressing w and x moves the device " +
                "up or down. Pressing s levels the device.", 
                keywords = { "kinect", "video" }, 
                title = "Kinect Integration",
                screenshot = "/org/openimaj/demos/screens/hardware/kinect.png",
                icon = "/org/openimaj/demos/icons/hardware/kinect.png"
)
public class KinectDepthSnapshot extends Video<MBFImage> implements KeyListener {
        private static final int MAX_HELD_FRAMES = 10;
        MBFImage currentFrame;
        KinectController controller;
        JFrame frame;
        private double tilt = 0;
        private boolean irmode = false;
        private VideoDisplay<MBFImage> videoFrame;
        private Queue<IndependentPair<FImage, MBFImage>> heldDepthFrames;
        private IndependentPair<FImage, MBFImage> currentDepthFrame;
        private int screenWidth;
        private int screenHeight;
        protected ResizeProcessor fullScreenResizeProcessor;

        /**
         *      Default constructor
         *  @param id of kinect controller
         *  @throws KinectException
         */
        public KinectDepthSnapshot(int id) throws KinectException {
                controller = new KinectController(id, irmode,true);
                GraphicsEnvironment ge = GraphicsEnvironment.getLocalGraphicsEnvironment();
                GraphicsDevice[] devices = ge.getScreenDevices();
                JFrame frame=new JFrame("Full Screen JFrame");
                //Set default close operation for JFrame  
                frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); 
                //Set JFrame size to full screen size follow current screen size  
                screenWidth = Toolkit.getDefaultToolkit().getScreenSize().width;
                screenHeight = Toolkit.getDefaultToolkit().getScreenSize().height;
                fullScreenResizeProcessor = new ResizeProcessor(screenWidth, screenHeight);
                frame.setBounds(0,0,screenWidth,screenHeight);  
                videoFrame = VideoDisplay.createVideoDisplay(this, new DisplayUtilities.ImageComponent(true));
                JFrame wholeWindow = new JFrame();
                wholeWindow.setUndecorated(true);
                wholeWindow.setAlwaysOnTop(true);
                wholeWindow.getContentPane().add(videoFrame.getScreen());
                devices[0].setFullScreenWindow(wholeWindow);
                ((JFrame)SwingUtilities.getRoot(videoFrame.getScreen())).setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
                SwingUtilities.getRoot(videoFrame.getScreen()).addKeyListener(this);

        }
        
        @Override
        public MBFImage getNextFrame() {
                FImage tmp = controller.depthStream.getNextFrame();
                MBFImage frame = (MBFImage) controller.videoStream.getNextFrame();//Transforms.Grey_To_Colour((FImage) tmp);

//              depth.bands.get(0).shiftRightInplace(50);
//              depth.bands.get(1).shiftRightInplace(50);
//              depth.bands.get(2).shiftRightInplace(50);
                
//              MBFImage depth = ((FImage) controller.videoStream.getNextFrame()).toRGB();
                
//              // Clean Frames
//              if (currentFrame == null || super.currentFrame % 600 == 0)
//              {
//                      currentFrame = frame.clone();
//              }
//
//              if(oldDepth == null || super.currentFrame % 600 == 0)
//              {
//                      oldDepth = tmp.clone();
//              }
                
                // Update held depths
                if(super.currentFrame % 30 == 0){
                        if (super.currentFrame % (60 * 2 * MAX_HELD_FRAMES) == 0)
                        {
                                removeAllFrames();
                        }

                        addDepthFrame(tmp,frame);
                        currentFrame = this.currentDepthFrame.secondObject();
                }
                else{
                        FImage oldDepth = this.currentDepthFrame.firstObject().clone();
                        currentFrame = this.currentDepthFrame.secondObject().clone();
                        for (int y = 0; y < tmp.height; y++) {
                                for (int x = 0; x < tmp.width; x++) {
                                        if (oldDepth.pixels[y][x] == 0 || (tmp.pixels[y][x] != 0 && oldDepth.pixels[y][x] > tmp.pixels[y][x])) {
//                                              oldDepth.pixels[y][x] = tmp.pixels[y][x];
                                                currentFrame.setPixel(x, y, frame.getPixel(x, y));
                                        }
                                }
                        }
                }

                super.currentFrame++;
//              return currentFrame.process(fullScreenResizeProcessor);
                return currentFrame;
        }

        private void removeAllFrames() {
                if (this.heldDepthFrames!=null)this.heldDepthFrames.clear();
        }

        private void addDepthFrame(FImage tmp, MBFImage frame) {
                if(this.heldDepthFrames == null){
                        this.heldDepthFrames = new LinkedList<IndependentPair<FImage,MBFImage>>();
                }
                if(this.heldDepthFrames.size() == MAX_HELD_FRAMES){
                        this.heldDepthFrames.poll();
                }
                
                
                this.heldDepthFrames.add(IndependentPair.pair(tmp.clone(), frame.clone()));
                System.out.println("Added frame, new frame size:" + this.heldDepthFrames.size());
                this.currentDepthFrame = constructDepthFrame();
        }
        
        private IndependentPair<FImage, MBFImage> constructDepthFrame() {
                FImage compiledDepth = null;
                MBFImage compiledRGB = null;
                for (IndependentPair<FImage, MBFImage> heldFrame : this.heldDepthFrames) {
                        
                        FImage heldDepth = heldFrame.firstObject();
                        MBFImage heldRGB = heldFrame.secondObject();
                        if(compiledDepth == null){
                                
                                compiledDepth = heldDepth.clone();
                                compiledRGB = heldRGB .clone();
                                continue;
                        }
                        
                        for (int y = 0; y < heldDepth.height; y++) {
                                for (int x = 0; x < heldDepth.width; x++) {
                                        if (compiledDepth.pixels[y][x] == 0 || (heldDepth.pixels[y][x] != 0 && compiledDepth.pixels[y][x] > heldDepth.pixels[y][x])) {
                                                compiledDepth.pixels[y][x] = heldDepth.pixels[y][x];
                                                compiledRGB.setPixel(x, y, heldRGB.getPixel(x, y));
                                        }
                                }
                        }
                }
                return IndependentPair.pair(compiledDepth, compiledRGB);
        }

        @Override
        public MBFImage getCurrentFrame() {
                return currentFrame;
        }

        @Override
        public int getWidth() {
                return this.screenWidth;
        }

        @Override
        public int getHeight() {
                return this.screenHeight;
        }

        @Override
        public boolean hasNextFrame() {
                return true;
        }

        @Override
        public long countFrames() {
                return -1;
        }

        @Override
        public void reset() {
                //do nothing
        }

        @Override
        public void keyTyped(KeyEvent e) {

        }

        @Override
        public void keyPressed(KeyEvent e) {
                if (e.getKeyChar() == 'w') {
                        controller.setTilt(tilt+=1);
                } else if (e.getKeyChar() == 'x') {
                        controller.setTilt(tilt-=1);
                } else if (e.getKeyChar() == 's') {
                        controller.setTilt(tilt=0);
                } else if (e.getKeyChar() == 't') {
                        controller.setIRMode(irmode=!irmode );
                }
        }

        @Override
        public void keyReleased(KeyEvent e) {

        }

        /**
         *      Default main 
         *  @param args Command-line arguments
         *  @throws KinectException
         */
        public static void main(String[] args) throws KinectException {
                new KinectDepthSnapshot(0);
        }

        @Override
        public long getTimeStamp()
        {
                return (long)(super.currentFrame * 1000 / getFPS());
        }

        @Override
        public double getFPS()
        {
                return 30;
        }

        /**
         *      Get the display showing the kinect video
         *  @return The video display
         */
        public VideoDisplay<MBFImage> getDisplay() {
                return videoFrame;
        }
}