#include <QDebug>
#include <QVector>
#include "aienginegimbalcontrol.h"

AiEngineGimbalControl::AiEngineGimbalControl(QObject *parent)
    : QObject{parent}
{}


AiEngineRectangle AiEngineGimbalControl::getGroupCoordinates(QVector<AiEngineObject> &objects)
{
    AiEngineRectangle groupRectangle;
    groupRectangle.top    = 1000000;
    groupRectangle.left   = 1000000;
    groupRectangle.bottom = 0;
    groupRectangle.right  = 0;

    for (int i = 0; i < objects.size(); i++) {
        const AiEngineRectangle &objectRectangle = objects[i].rectangle;

        if (objectRectangle.top < groupRectangle.top) {
            groupRectangle.top = objectRectangle.top;
        }
        if (objectRectangle.left < groupRectangle.left) {
            groupRectangle.left = objectRectangle.left;
        }
        if (objectRectangle.bottom > groupRectangle.bottom) {
            groupRectangle.bottom = objectRectangle.bottom;
        }
        if (objectRectangle.right > groupRectangle.right) {
            groupRectangle.right = objectRectangle.right;
        }
    }

    return groupRectangle;
}


void AiEngineGimbalControl::inferenceResultSlot(AiEngineInferenceResult result)
{
    if (result.objects.size() == 0) {
        return;
    }

    // We got list of all recognized objects, but at least for now we will zoom to all objects at
    // once and not for each invidually. Got minimal coordinates which contains the all objects.
    AiEngineRectangle groupRect = getGroupCoordinates(result.objects);

    // AI did inference with 640x360 resolution. Scale back to A8's 1280x720 resolution.
    groupRect.top    *= 2;
    groupRect.left   *= 2;
    groupRect.bottom *= 2;
    groupRect.right  *= 2;

    if (groupRect.top > 720 || groupRect.bottom > 720) {
        qDebug() << "ERROR! inferenceResultSlot() groupRect.top > 720 || groupRect.bottom > 720";
        return;
    }

    if (groupRect.left > 1280 || groupRect.right > 1280) {
        qDebug() << "ERROR! inferenceResultSlot() groupRect.left > 1280 || groupRect.right > 1280";
        return;
    }

    if ((groupRect.bottom <= groupRect.top) || (groupRect.right <= groupRect.left)) {
        qDebug() << "ERROR! (groupRect.bottom <= groupRect.top) || (groupRect.right <= groupRect.left)";
        return;
    }

    qDebug() << "TUOMAS!! Zooming to square top=" << groupRect.top << "x" << groupRect.left << "and bottom:" << groupRect.bottom << "x" << groupRect.right;

    mRemoteControl.sendData(groupRect.top, groupRect.left, groupRect.bottom, groupRect.right);
}