#include "selfdrive/ui/ui.h"

#include <assert.h>
#include <stdio.h>
#include <unistd.h>

#include <cmath>

#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/common/visionimg.h"
#include "selfdrive/common/watchdog.h"
#include "selfdrive/hardware/hw.h"
#include "selfdrive/ui/paint.h"
#include "selfdrive/ui/qt/qt_window.h"

#define BACKLIGHT_DT 0.25
#define BACKLIGHT_TS 2.00
#define BACKLIGHT_OFFROAD 50


// Projects a point in car to space to the corresponding point in full frame
// image space.
static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out) {
  const float margin = 500.0f;
  const vec3 pt = (vec3){{in_x, in_y, in_z}};
  const vec3 Ep = matvecmul3(s->scene.view_from_calib, pt);
  const vec3 KEp = matvecmul3(s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep);

  // Project.
  float x = KEp.v[0] / KEp.v[2];
  float y = KEp.v[1] / KEp.v[2];

  nvgTransformPoint(&out->x, &out->y, s->car_space_transform, x, y);
  return out->x >= -margin && out->x <= s->fb_w + margin && out->y >= -margin && out->y <= s->fb_h + margin;
}

static void ui_init_vision(UIState *s) {
  // Invisible until we receive a calibration message.
  s->scene.world_objects_visible = false;

  for (int i = 0; i < s->vipc_client->num_buffers; i++) {
    s->texture[i].reset(new EGLImageTexture(&s->vipc_client->buffers[i]));

    glBindTexture(GL_TEXTURE_2D, s->texture[i]->frame_tex);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);

    // BGR
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_R, GL_BLUE);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_G, GL_GREEN);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_B, GL_RED);
  }
  assert(glGetError() == GL_NO_ERROR);
}

static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {
  const auto line_x = line.getX();
  int max_idx = 0;
  for (int i = 0; i < TRAJECTORY_SIZE && line_x[i] < path_height; ++i) {
    max_idx = i;
  }
  return max_idx;
}

static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, std::optional<cereal::ModelDataV2::XYZTData::Reader> line) {
  for (int i = 0; i < 2; ++i) {
    auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
    if (lead_data.getStatus()) {
      float z = line ? (*line).getZ()[get_path_length_idx(*line, lead_data.getDRel())] : 0.0;
      // negative because radarState uses left positive convention
      calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]);
    }
  }
}

static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
                             float y_off, float z_off, line_vertices_data *pvd, int max_idx) {
  const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
  vertex_data *v = &pvd->v[0];
  for (int i = 0; i <= max_idx; i++) {
    v += calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, v);
  }
  for (int i = max_idx; i >= 0; i--) {
    v += calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, v);
  }
  pvd->cnt = v - pvd->v;
  assert(pvd->cnt < std::size(pvd->v));
}

static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
  UIScene &scene = s->scene;
  auto model_position = model.getPosition();
  float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1],
                                  MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);

  // update lane lines
  const auto lane_lines = model.getLaneLines();
  const auto lane_line_probs = model.getLaneLineProbs();
  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
  for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
    scene.lane_line_probs[i] = lane_line_probs[i];
    update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
  }

  // update road edges
  const auto road_edges = model.getRoadEdges();
  const auto road_edge_stds = model.getRoadEdgeStds();
  for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
    scene.road_edge_stds[i] = road_edge_stds[i];
    update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx);
  }

  // update path
  auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
  if (lead_one.getStatus()) {
    const float lead_d = lead_one.getDRel() * 2.;
    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
  }
  max_idx = get_path_length_idx(model_position, max_distance);
  update_line_data(s, model_position, 0.5, 1.22, &scene.track_vertices, max_idx);
}

static void update_sockets(UIState *s){
  s->sm->update(0);
}

static void update_state(UIState *s) {
  SubMaster &sm = *(s->sm);
  UIScene &scene = s->scene;

  if (sm.updated("radarState")) {
    std::optional<cereal::ModelDataV2::XYZTData::Reader> line;
    if (sm.rcv_frame("modelV2") > 0) {
      line = sm["modelV2"].getModelV2().getPosition();
    }
    update_leads(s, sm["radarState"].getRadarState(), line);
  }
  if (sm.updated("liveCalibration")) {
    scene.world_objects_visible = true;
    auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
    Eigen::Vector3d rpy;
    rpy << rpy_list[0], rpy_list[1], rpy_list[2];
    Eigen::Matrix3d device_from_calib = euler2rot(rpy);
    Eigen::Matrix3d view_from_device;
    view_from_device << 0,1,0,
                        0,0,1,
                        1,0,0;
    Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib;
    for (int i = 0; i < 3; i++) {
      for (int j = 0; j < 3; j++) {
        scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j);
      }
    }
  }
  if (sm.updated("modelV2")) {
    update_model(s, sm["modelV2"].getModelV2());
  }
  if (sm.updated("pandaState")) {
    auto pandaState = sm["pandaState"].getPandaState();
    scene.pandaType = pandaState.getPandaType();
    scene.ignition = pandaState.getIgnitionLine() || pandaState.getIgnitionCan();
  } else if ((s->sm->frame - s->sm->rcv_frame("pandaState")) > 5*UI_FREQ) {
    scene.pandaType = cereal::PandaState::PandaType::UNKNOWN;
  }
  if (sm.updated("ubloxGnss")) {
    auto data = sm["ubloxGnss"].getUbloxGnss();
    if (data.which() == cereal::UbloxGnss::MEASUREMENT_REPORT) {
      scene.satelliteCount = data.getMeasurementReport().getNumMeas();
    }
  }
  if (sm.updated("carParams")) {
    scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
  }
  if (sm.updated("sensorEvents")) {
    for (auto sensor : sm["sensorEvents"].getSensorEvents()) {
      if (!Hardware::TICI() && sensor.which() == cereal::SensorEventData::LIGHT) {
        scene.light_sensor = sensor.getLight();
      }
      if (!scene.started && sensor.which() == cereal::SensorEventData::ACCELERATION) {
        auto accel = sensor.getAcceleration().getV();
        if (accel.totalSize().wordCount){ // TODO: sometimes empty lists are received. Figure out why
          scene.accel_sensor = accel[2];
        }
      } else if (!scene.started && sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
        auto gyro = sensor.getGyroUncalibrated().getV();
        if (gyro.totalSize().wordCount){
          scene.gyro_sensor = gyro[1];
        }
      }
    }
  }
  if (Hardware::TICI() && sm.updated("roadCameraState")) {
    auto camera_state = sm["roadCameraState"].getRoadCameraState();
    float gain = camera_state.getGainFrac() * (camera_state.getGlobalGain() > 100 ? 2.5 : 1.0) / 10.0;
    scene.light_sensor = std::clamp<float>((1023.0 / 1757.0) * (1757.0 - camera_state.getIntegLines()) * (1.0 - gain), 0.0, 1023.0);
  }
  scene.started = sm["deviceState"].getDeviceState().getStarted() || scene.driver_view;
}

static void update_params(UIState *s) {
  const uint64_t frame = s->sm->frame;
  UIScene &scene = s->scene;
  if (frame % (5*UI_FREQ) == 0) {
    scene.is_metric = Params().getBool("IsMetric");
  }
}

static void update_vision(UIState *s) {
  if (!s->vipc_client->connected && s->scene.started) {
    if (s->vipc_client->connect(false)){
      ui_init_vision(s);
    }
  }

  if (s->vipc_client->connected){
    VisionBuf * buf = s->vipc_client->recv();
    if (buf != nullptr){
      s->last_frame = buf;
    } else if (!Hardware::PC()) {
      LOGE("visionIPC receive timeout");
    }
  }
}

static void update_status(UIState *s) {
  if (s->scene.started && s->sm->updated("controlsState")) {
    auto controls_state = (*s->sm)["controlsState"].getControlsState();
    auto alert_status = controls_state.getAlertStatus();
    if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
      s->status = STATUS_WARNING;
    } else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) {
      s->status = STATUS_ALERT;
    } else {
      s->status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
    }
  }

  // Handle onroad/offroad transition
  static bool started_prev = false;
  if (s->scene.started != started_prev) {
    if (s->scene.started) {
      s->status = STATUS_DISENGAGED;
      s->scene.started_frame = s->sm->frame;

      s->scene.is_rhd = Params().getBool("IsRHD");
      s->scene.end_to_end = Params().getBool("EndToEndToggle");
      s->vipc_client = s->scene.driver_view ? s->vipc_client_front : s->vipc_client_rear;
    } else {
      s->vipc_client->connected = false;
    }
  }
  started_prev = s->scene.started;
}


QUIState::QUIState(QObject *parent) : QObject(parent) {
  ui_state.sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "liveLocationKalman",
    "pandaState", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss",
#ifdef QCOM2
    "roadCameraState",
#endif
  });

  ui_state.fb_w = vwp_w;
  ui_state.fb_h = vwp_h;
  ui_state.scene.started = false;
  ui_state.last_frame = nullptr;
  ui_state.wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;

  ui_state.vipc_client_rear = new VisionIpcClient("camerad", ui_state.wide_camera ? VISION_STREAM_RGB_WIDE : VISION_STREAM_RGB_BACK, true);
  ui_state.vipc_client_front = new VisionIpcClient("camerad", VISION_STREAM_RGB_FRONT, true);
  ui_state.vipc_client = ui_state.vipc_client_rear;

  // update timer
  timer = new QTimer(this);
  QObject::connect(timer, &QTimer::timeout, this, &QUIState::update);
  timer->start(0);
}

void QUIState::update() {
  update_params(&ui_state);
  update_sockets(&ui_state);
  update_state(&ui_state);
  update_status(&ui_state);
  update_vision(&ui_state);

  if (ui_state.scene.started != started_prev || ui_state.sm->frame == 1) {
    started_prev = ui_state.scene.started;
    emit offroadTransition(!ui_state.scene.started);

    // Change timeout to 0 when onroad, this will call update continously.
    // This puts visionIPC in charge of update frequency, reducing video latency
    timer->start(ui_state.scene.started ? 0 : 1000 / UI_FREQ);
  }

  watchdog_kick();
  emit uiUpdate(ui_state);
}

Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
  brightness_b = Params(true).get<float>("BRIGHTNESS_B").value_or(10.0);
  brightness_m = Params(true).get<float>("BRIGHTNESS_M").value_or(0.1);
}

void Device::update(const UIState &s) {
  updateBrightness(s);
  updateWakefulness(s);

  // TODO: remove from UIState and use signals
  QUIState::ui_state.awake = awake;
}

void Device::setAwake(bool on, bool reset) {
  if (on != awake) {
    awake = on;
    Hardware::set_display_power(awake);
    LOGD("setting display power %d", awake);
    emit displayPowerChanged(awake);
  }

  if (reset) {
    awake_timeout = 30 * UI_FREQ;
  }
}

void Device::updateBrightness(const UIState &s) {
  float clipped_brightness = std::min(100.0f, (s.scene.light_sensor * brightness_m) + brightness_b);
  if (Hardware::TICI() && !s.scene.started) {
    clipped_brightness = BACKLIGHT_OFFROAD;
  }

  int brightness = brightness_filter.update(clipped_brightness);
  if (!awake) {
    brightness = 0;
  }

  if (brightness != last_brightness) {
    std::thread{Hardware::set_brightness, brightness}.detach();
  }
  last_brightness = brightness;
}

void Device::updateWakefulness(const UIState &s) {
  awake_timeout = std::max(awake_timeout - 1, 0);

  bool should_wake = s.scene.started || s.scene.ignition;
  if (!should_wake) {
    // tap detection while display is off
    bool accel_trigger = abs(s.scene.accel_sensor - accel_prev) > 0.2;
    bool gyro_trigger = abs(s.scene.gyro_sensor - gyro_prev) > 0.15;
    should_wake = accel_trigger && gyro_trigger;
    gyro_prev = s.scene.gyro_sensor;
    accel_prev = (accel_prev * (accel_samples - 1) + s.scene.accel_sensor) / accel_samples;
  }

  setAwake(awake_timeout, should_wake);
}