#include <QDebug>
#include <opencv2/highgui.hpp>

#include "aiengine.h"
#include "aiengineinference.h"
#ifdef SAVE_IMAGES
#include "aiengineimagesaver.h"
#endif

#if defined(OPI5_BUILD)
#include "src-opi5/aiengineinferenceopi5.h"
#elif defined(OPENCV_BUILD)
#include "src-opencv-onnx/aiengineinferenceopencvonnx.h"
#elif defined(NCNN_BUILD)
#include "src-ncnn/aiengineinferencencnn.h"
#else
#include "src-onnx-runtime/aiengineinferenceonnxruntime.h"
#endif



AiEngine::AiEngine(QString modelPath, QObject *parent) :
    QObject{parent},
    mRtspFrameCounter(0),
    mInferenceFrameCounter(0)

{
    mRtspListener = new AiEngineRtspListener(this);
    connect(mRtspListener, &AiEngineRtspListener::frameReceived, this, &AiEngine::frameReceivedSlot);

#if defined(OPI5_BUILD)
    mInference  = new AiEngineInferenceOpi5(modelPath);
    mInference->initialize(0);
    mInference2 = new AiEngineInferenceOpi5(modelPath);
    mInference2->initialize(1);
    mInference3 = new AiEngineInferenceOpi5(modelPath);
    mInference3->initialize(2);
#elif defined(OPENCV_BUILD)
    mInference = new AiEngineInferenceOpencvOnnx(modelPath);
#elif defined(NCNN_BUILD)
    mInference = new AiEngineInferencevNcnn(modelPath);
#else
    mInference = new AiEngineInferencevOnnxRuntime(modelPath);
#endif

    QThread *inferenceThread = new QThread(this);
    mInference->moveToThread(inferenceThread);
    connect(mInference, &AiEngineInference::resultsReady, this, &AiEngine::inferenceResultsReceivedSlot, Qt::QueuedConnection);
    connect(this, &AiEngine::inferenceFrame, mInference, &AiEngineInference::performInferenceSlot, Qt::QueuedConnection);
    inferenceThread->start();

#ifdef OPI5_BUILD
    QThread *inferenceThread2 = new QThread(this);
    mInference2->moveToThread(inferenceThread2);
    connect(mInference2, &AiEngineInference::resultsReady, this, &AiEngine::inferenceResultsReceivedSlot, Qt::QueuedConnection);
    connect(this, &AiEngine::inferenceFrame2, mInference2, &AiEngineInference::performInferenceSlot, Qt::QueuedConnection);
    inferenceThread2->start();

    QThread *inferenceThread3 = new QThread(this);
    mInference3->moveToThread(inferenceThread3);
    connect(mInference3, &AiEngineInference::resultsReady, this, &AiEngine::inferenceResultsReceivedSlot, Qt::QueuedConnection);
    connect(this, &AiEngine::inferenceFrame3, mInference3, &AiEngineInference::performInferenceSlot, Qt::QueuedConnection);
    inferenceThread3->start();
#endif

#ifdef GIMBAL
    mGimbalClient = new AiEngineGimbalClient(this);
#else
    mGimbalClient = nullptr;
#endif
}


void AiEngine::start(void)
{
    mRtspListener->startListening();
    mRtspElapsedTimer.start();
}


void AiEngine::stop(void)
{
    mRtspListener->stopListening();
}


void AiEngine::inferenceResultsReceivedSlot(AiEngineInferenceResult result)
{
    mInferenceFrameCounter++;
    float fps =mRtspElapsedTimer.elapsed() == 0 ? 0 : (mInferenceFrameCounter / (mRtspElapsedTimer.elapsed()/1000.0f));
    printf("Analyzed %d/%d frames with AI. FPS=%.1f\n", mInferenceFrameCounter, mRtspFrameCounter, fps);

    if (mGimbalClient != nullptr) {
        mGimbalClient->inferenceResultSlot(result);
    }

    cv::imshow("AI Engine", result.frame);

#ifdef SAVE_IMAGES
    static int imageCounter = 0;
    AiEngineImageSaver *saver = new AiEngineImageSaver(result.frame, ++imageCounter);
    saver->start();
    connect(saver, &AiEngineImageSaver::finished, saver, &QObject::deleteLater);
#endif
}


void AiEngine::frameReceivedSlot(cv::Mat frame)
{
    mRtspFrameCounter++;

    if (mInference->isActive() == false) {
        emit inferenceFrame(frame);
    }
#ifdef OPI5_BUILD
    else if (mInference2->isActive() == false) {
        emit inferenceFrame2(frame);
    }
    else if (mInference3->isActive() == false) {
        emit inferenceFrame3(frame);
    }
#endif
}