#include <gst/gst.h>
#include <gst/app/gstappsink.h>
#include <sstream>
//#include <format>
#include <gst/video/gstvideometa.h>
#include <cstdlib>
#include <deque>
#include <iostream>
#include <mutex>
#include <fstream>

#include "osc/OscOutboundPacketStream.h"
#include "ip/UdpSocket.h"

#include "System.h"

// CHANGE HERE THE PORT
#define ADDRESS "127.0.0.1"
#define PORT 7000
#define OUTPUT_BUFFER_SIZE 1024

#define MY_GST_USE_OPENCV
#ifdef MY_GST_USE_OPENCV
#include "opencv2/opencv.hpp"
// TODO: use synchronized deque
std::mutex g_mutex;
std::deque<cv::Mat> frameQueue;
std::deque<double> timestampsQueue;
#endif // MY_GST_USE_OPENCV

GstFlowReturn new_preroll(GstAppSink *appsink, gpointer data) {
    g_print ("Got preroll!\n");
    return GST_FLOW_OK;
}

GstFlowReturn new_sample(GstAppSink *appsink, gpointer data) {
    static int framecount = 0;
    framecount++;

    std::cout << "nnew frame " << framecount << std::endl;

    GstSample *sample = gst_app_sink_pull_sample(appsink);
    GstCaps *caps = gst_sample_get_caps(sample);
    GstBuffer *buffer = gst_sample_get_buffer(sample);

    const auto& n_memory = gst_buffer_n_memory(buffer);
    std::cout << "n_memory = " << n_memory << std::endl;
    std::cout << "buffer->pts = " << buffer->pts << std::endl;
    std::cout << "buffer->dts = " << buffer->dts << std::endl;
    std::cout << "buffer->duration = " << buffer->duration << std::endl;
    std::cout << "buffer->offset = " << buffer->offset << std::endl;
    std::cout << "buffer->offset_end = " << buffer->offset_end << std::endl;

    const GstStructure *info = gst_sample_get_info(sample);

    GstMeta *gst_meta;
    gpointer state = nullptr;
    while ((gst_meta = gst_buffer_iterate_meta(buffer, &state))) {
        if (gst_meta->info == gst_video_caption_meta_get_info()) {
            auto specific_meta = (GstVideoCaptionMeta *) gst_meta;
            if (specific_meta) {
                auto x = (const char *) (specific_meta->data);
                std::cout << "MetaInfo is recognized to be [GstVideoCaptionMeta]"
                          << "caption = " << std::string(x, specific_meta->size)
                          << std::endl;
                std::string meta(x);
                int idx = meta.find("timestamp: ");
                int end_idx = meta.find(">");
                string ts_str = meta.substr(idx+11, end_idx-1-(idx+11));
//                std::cout << ts_str << std::endl;
                std::lock_guard<std::mutex> guard(g_mutex);
                timestampsQueue.push_back(std::stod(ts_str));

            }
        } else if (gst_meta->info == gst_video_time_code_meta_get_info()) {
            auto specific_meta = (GstVideoTimeCodeMeta *) gst_meta;
            if (specific_meta) {
                std::cout << "MetaInfo is recognized to be [GstVideoTimeCodeMeta]"
                          << " h = " << specific_meta->tc.hours
                          << " m = " << specific_meta->tc.minutes
                          << " s = " << specific_meta->tc.seconds
                          << " f = " << specific_meta->tc.frames
                          << std::endl;
            }
        } else if (gst_meta->info == gst_meta_get_info("GstNdiSrcMeta")) {
            std::cout << "MetaInfo is recognized to be [GstNdiSrcMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstNdiSinkAudioMeta")) {
            std::cout << "MetaInfo is recognized to be [GstNdiSinkAudioMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstVideoMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstVideoCropMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoCropMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstFramePositionerMeta")) {
            std::cout << "MetaInfo is recognized to be [GstFramePositionerMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstMetaDfbSurface")) {
            std::cout << "MetaInfo is recognized to be [GstMetaDfbSurface]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstSubtitleMeta")) {
            std::cout << "MetaInfo is recognized to be [GstSubtitleMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstRtmpMeta")) {
            std::cout << "MetaInfo is recognized to be [GstRtmpMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstMpegVideoMeta")) {
            std::cout << "MetaInfo is recognized to be [GstMpegVideoMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstSctpReceiveMeta")) {
            std::cout << "MetaInfo is recognized to be [GstSctpReceiveMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstSctpSendMeta")) {
            std::cout << "MetaInfo is recognized to be [GstSctpSendMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstCoreMediaMeta")) {
            std::cout << "MetaInfo is recognized to be [GstCoreMediaMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstCoreVideoMeta")) {
            std::cout << "MetaInfo is recognized to be [GstCoreVideoMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstAudioDownmixMeta")) {
            std::cout << "MetaInfo is recognized to be [GstAudioDownmixMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstAudioClippingMeta")) {
            std::cout << "MetaInfo is recognized to be [GstAudioClippingMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstGLSyncMeta")) {
            std::cout << "MetaInfo is recognized to be [GstGLSyncMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstRTPSourceMeta")) {
            std::cout << "MetaInfo is recognized to be [GstRTPSourceMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstRTPSourceMeta")) {
            std::cout << "MetaInfo is recognized to be [GstRTPSourceMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstVideoGLTextureUploadMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoGLTextureUploadMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstVideoRegionOfInterestMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoRegionOfInterestMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstVideoAFDMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoAFDMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstVideoBarMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoBarMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstVideoMultiviewMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoMultiviewMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstVideoOverlayCompositionMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoOverlayCompositionMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstMetaXImage")) {
            std::cout << "MetaInfo is recognized to be [GstMetaXImage]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstProtectionMeta")) {
            std::cout << "MetaInfo is recognized to be [GstProtectionMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstNetControlMessageMeta")) {
            std::cout << "MetaInfo is recognized to be [GstNetControlMessageMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstMetaTest")) {
            std::cout << "MetaInfo is recognized to be [GstMetaTest]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstNVMMParentMeta")) {
            std::cout << "MetaInfo is recognized to be [GstNVMMParentMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstAudioMeta")) {
            std::cout << "MetaInfo is recognized to be [GstAudioMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstAudioLevelMeta")) {
            std::cout << "MetaInfo is recognized to be [GstAudioLevelMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstVideoAffineTransformationMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoAffineTransformationMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("GstVideoCodecAlphaMeta")) {
            std::cout << "MetaInfo is recognized to be [GstVideoCodecAlphaMeta]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("StreamTimestamp")) {
            std::cout << "MetaInfo is recognized to be [StreamTimestamp]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                      << std::endl;
        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
            std::cout << "MetaInfo is recognized to be [XXX]"
                      << std::endl;
        } else {
            std::cout << "GstMetaInfo is not recognized."
                      << " info = " << gst_meta->info
                      << " api = " << gst_meta->info->api
                      << std::endl;
        }
    }

    // ---- Read frame and convert to opencv format ---------------

    GstMapInfo map;
    gst_buffer_map (buffer, &map, GST_MAP_READ);

#ifdef MY_GST_USE_OPENCV
    // convert gstreamer data to OpenCV Mat, you could actually
    // resolve height / width from caps...

    int width = 2560;
    int height = 1440;

    GstStructure *s = gst_caps_get_structure(caps, 0);
    gboolean res = true;
    res &= gst_structure_get_int (s, "width", &width);
    res &= gst_structure_get_int (s, "height", &height);

    cv::Mat frame(cv::Size(width, height), CV_8UC4, (char*)map.data, cv::Mat::AUTO_STEP);

    std::printf("The image width and height: %d %d", frame.cols, frame.rows);

//    int frameSize = map.size;
//    std::cout << "size from caps = (" << width << "," << height << ")" << "res =" << res
//              << " total size = " << map.size
//              << std::endl;

//    if (res) {
//        std::fstream file("example.bin", std::ios::out  | std::ios::binary | std::ios::app);
//        file.write((char*)map.data, map.size);
//        file.close();
//    }
//    throw 1;
    {
        std::lock_guard<std::mutex> guard(g_mutex);
        frameQueue.push_back(frame.clone());
    }
#endif

    gst_buffer_unmap(buffer, &map);

    // ------------------------------------------------------------

    // print dot every 30 frames
    if (framecount%30 == 0) {
        g_print (".");
    }

    // show caps on first frame
    if (framecount == 1) {
        g_print ("%s\n", gst_caps_to_string(caps));
    }

    gst_sample_unref (sample);
    return GST_FLOW_OK;
}

static gboolean my_bus_callback (GstBus *bus, GstMessage *message, gpointer data) {
    g_print ("Got %s message\n", GST_MESSAGE_TYPE_NAME (message));
    switch (GST_MESSAGE_TYPE (message)) {
    case GST_MESSAGE_ERROR: {
        GError *err;
        gchar *debug;

        gst_message_parse_error (message, &err, &debug);
        g_print ("Error: %s\n", err->message);
        g_error_free (err);
        g_free (debug);
        break;
    }
    case GST_MESSAGE_EOS: {
        /* end-of-stream */
        break;
    } default: {
        /* unhandled message */
        break;
    }
    }
    /* we want to be notified again the next time there is a message
     * on the bus, so returning TRUE (FALSE means we want to stop watching
     * for messages on the bus and our callback should not be called again)
     */
    return TRUE;
}

static gint repeats = 2;
static gchar* ndi_name = nullptr;
static gint use_gui = 0;
static gboolean beep = FALSE;

static GOptionEntry entries[] =
        {
                { "repeats", 'r', 0, G_OPTION_ARG_INT, &repeats,      "Среднее число повторений N",               "N" },
                { "ndi-name", 'n', 0, G_OPTION_ARG_STRING, &ndi_name, "you can enter the string here (ndi-name)", "M" },
                { "gui", 'g', 0, G_OPTION_ARG_INT, &use_gui,         "use gui",                                  nullptr },
                { "beep", 'b', 0, G_OPTION_ARG_NONE, &beep,           "Сигнал при выполнениии", NULL },
                { NULL }
        };

int main (int argc, char *argv[]) {
    std::cout << "argc = " << argc << std::endl;
    GError *error = nullptr;
    GOptionContext *context;

    char** argv_gst;
    int argc_gst = 2;
    argv_gst = new char* [2];
    argv_gst[0] = new char[200];
    argv_gst[1] = new char[200];

    strcpy(argv_gst[0], argv[0]);
    strcpy(argv_gst[1], argv[3]);

    context = g_option_context_new("- test tree model performance");
    g_option_context_add_main_entries(context, entries, "bla");
    g_option_context_parse(context, &argc_gst, &argv_gst, &error);
//    g_option_context_parse(context, &argc, &argv, &error);


    if (!ndi_name) {
        std::cout << "ndi-name is not provided" << std::endl;
        // ndi_name = (char*)malloc(sizeof(char) * 100);
        ndi_name = "DESKTOP-O5PNOBN (Test Pattern)";
        std::cout << "ndi-name (default) = '" <<  ndi_name << "'" << std::endl;
    } else {
        std::cout << "ndi-name = '" <<  ndi_name << "'" << std::endl;
    }

    GstStateChangeReturn ret;

    int fake_argc = 1;
//    gst_init (&fake_argc, &argv);
    gst_init (&fake_argc, &argv);

    /*
    s_pipeline = f'ndisrc ndi-name="{ndi_name}" ! ndisrcdemux name=demux   ' \
                 f'demux.video ! queue ! tee name=my_tee   ' \
                 f'my_tee. ! queue ! videoconvert ! autovideosink ' \
                 f'my_tee. ! queue ! videoconvert ! appsink name=my_sink'
    */
    std::stringstream ss;
    ss << "ndisrc ndi-name=\"" << ndi_name << "\" ! ndisrcdemux name=demux "
       << "demux.video ! queue ! tee name=my_tee "
       << "my_tee. ! queue ! videoconvert ! autovideosink "
       << "my_tee. ! queue ! videoconvert ! appsink name=my_sink";
    std::string my_pipeline = ss.str();

//    GstElement *my_src = nullptr;
//    my_src = gst_element_factory_make ("ndisrc", "my_ndi_src");
//    std::cout << my_src << std::endl;
//    if (!my_src) {
//        std::cerr << "Can't create ndivideosrc" << std::endl;
//        return -1;
//    }
//    std::cerr << "ndivideosrc is created with success!" << std::endl;

//    GstElement *my_sink = nullptr;
//    my_sink = gst_element_factory_make ("appsink", "my_sink");
//    std::cout << my_sink << std::endl;
//    if (!my_sink) {
//        std::cerr << "Can't create appsink" << std::endl;
//        return -1;
//    }
//    std::cerr << "appsink is created with success!" << std::endl;

    GstElement *pipeline = gst_parse_launch(my_pipeline.c_str(), nullptr);

//    GstElement *pipeline = nullptr;
//    pipeline = gst_pipeline_new ("test-pipeline");
//    std::cout << my_sink << std::endl;
//    if (!pipeline) {
//        std::cerr << "Can't create pipeline" << std::endl;
//        return -1;
//    }
//    std::cerr << "pipeline is created with success!" << std::endl;

//    gst_bin_add_many (GST_BIN (pipeline), my_src, my_sink, NULL);
//    std::cout << "here!" << std::endl;
//    if (!gst_element_link_many (my_src, my_sink, NULL)) {
//        g_printerr ("Elements could not be linked.\n");
//        gst_object_unref (pipeline);
//        return -1;
//    }
//    std::cout << "here -2 !" << std::endl;

    // g_object_set (my_src, "ndi-name", "ADMIN (lafvi 29.97fps)", NULL);
    /*
    [libndi_newtek @ 0x556ab959f400] Found 4 NDI sources:
    [libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (CameraVegasAR)'       '185.41.112.227:5962'
    [libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (NVIDIA Quadro RTX 5000 1)'    '185.41.112.227:5961'
    [libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (NVIDIA Quadro RTX 5000 2)'    '185.41.112.227:5963'
    [libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (Test Pattern)'        '185.41.112.227:5964'
     */
//    g_object_set (my_src, "ndi-name", ndi_name, NULL);

    /* get sink */
    GstElement *sink = gst_bin_get_by_name (GST_BIN (pipeline), "my_sink");

    gst_app_sink_set_emit_signals((GstAppSink*)sink, true);
    gst_app_sink_set_drop((GstAppSink*)sink, true);
    gst_app_sink_set_max_buffers((GstAppSink*)sink, 1);
    GstAppSinkCallbacks callbacks = { NULL, new_preroll, new_sample };
    gst_app_sink_set_callbacks (GST_APP_SINK(sink), &callbacks, NULL, NULL);

    GstBus *bus;
    guint bus_watch_id;
    bus = gst_pipeline_get_bus (GST_PIPELINE (pipeline));
    bus_watch_id = gst_bus_add_watch (bus, my_bus_callback, NULL);
    gst_object_unref (bus);

    /* Start playing */
    ret = gst_element_set_state (pipeline, GST_STATE_PLAYING);
    if (ret == GST_STATE_CHANGE_FAILURE) {
        g_printerr ("Unable to set the pipeline to the playing state.\n");
        gst_object_unref (pipeline);
        return -1;
    }

#ifdef MY_GST_USE_OPENCV
    auto lambda_1 = [] (char** argv) {
        std::cout << "The path to settings: " << argv[2] << std::endl;
        std::cout << "The path to vocabulary: " << argv[1] << std::endl;
        ORB_SLAM3::System SLAM(argv[1], argv[2], ORB_SLAM3::System::STEREO, false);
        std::printf("SLAM system initialized \n");

        while (true) {
            if (use_gui) {
                cv::namedWindow("preview", 1);
            } else {
                // cv::namedWindow("no preview", 1);
            }
            cv::Mat frame;
            double ts;

//            char * buffer = nullptr;
//            {
//                int length;
//                std::cout << "trying to open example.bin" << std::endl;
//                std::ifstream is;
//                is.open("example.bin", std::ios::binary);
//                is.seekg(0, std::ios::end);
//                length = is.tellg();
//                is.seekg(0, std::ios::beg);
//                buffer = new char [length];
//                is.read(buffer, length);
//                is.close();
//                frame = cv::Mat(cv::Size(1920, 1080), CV_8UC4, (char*)buffer, cv::Mat::AUTO_STEP);
//            }
            {
                std::lock_guard<std::mutex> guard(g_mutex);
                if (frameQueue.size() > 0) {
                    frame = frameQueue.front();
                    ts = timestampsQueue.front();
                    frameQueue.pop_front();
                    timestampsQueue.pop_front();
                    std::cout << "we have a frame to process..." << std::endl;
                }
            }
            if (!frame.empty()){
                cv::Rect leftROI(0, 0, frame.cols/2, frame.rows);
                cv::Rect rightROI(frame.cols/2, 0, frame.cols, frame.rows);
                cv::Mat imLeft = frame(leftROI);
                std::printf("The Left Image width and height: %d %d", imLeft.cols, imLeft.rows);
                cv::Mat imRight = frame(rightROI);
                std::printf("The Right Image width and height: %d %d", imRight.cols, imRight.rows);
                std::printf("The timestamp is: ", ts);
                Sophus::SE3f Tcw = SLAM.TrackStereo(imLeft, imRight, ts);
                Sophus::SE3f Twc = Tcw.inverse();
                Eigen::Matrix<float, 3, 3> Rwc = Twc.rotationMatrix();
                Eigen::Matrix<float, 3, 1> twc = Twc.translation();
                // TODO: Send the Twc matrix with the saving format you've seen in System.h to the Visualizer.
                // TODO: add the loading of Atlas
                // TODO: implement according to the checklist.

                UdpTransmitSocket transmitSocket(IpEndpointName(ADDRESS, PORT));
                char buffer[OUTPUT_BUFFER_SIZE];
                osc::OutboundPacketStream p(buffer, OUTPUT_BUFFER_SIZE);

                std::stringstream ss;
                ss << setprecision(9) << ts << Rwc(0,0) << " " << Rwc(0,1)  << " " << Rwc(0,2) << " "  << twc(0) << " " <<
                   Rwc(1,0) << " " << Rwc(1,1)  << " " << Rwc(1,2) << " "  << twc(1) << " " <<
                   Rwc(2,0) << " " << Rwc(2,1)  << " " << Rwc(2,2) << " "  << twc(2) << endl;
                char msg[100];
                strcpy(msg, ss.str().c_str());

                p << osc::BeginBundleImmediate
                  << osc::BeginMessage("/test3") << msg << osc::EndMessage << osc::EndBundle;

                transmitSocket.Send(p.Data(), p.Size());
                std::cout << "Message sent!" << std::endl;

                if (use_gui) {
                    if (!frame.empty()) {
                        cv::Mat edges;
                        cvtColor(frame, edges, cv::COLOR_BGR2BGRA);
                        cv::imshow("preview", frame);
                    }
                    cv::waitKey(30);
                }
//            delete [] buffer;
            }
        }
    };

    std::thread t1(lambda_1, argv);


    bool is_terminated = false;
    while (!is_terminated) {
        // g_main_iteration(false);
        g_main_context_iteration(NULL, false);
    }
    t1.join();
#else
    bool is_terminated = false;
    while (!is_terminated) {
        g_main_context_iteration(NULL, false);
    }
#endif // MY_GST_USE_OPENCV
    gst_element_set_state (GST_ELEMENT (pipeline), GST_STATE_NULL);
    gst_object_unref (GST_OBJECT (pipeline));

    return 0;
}