package HikNetSDK

import (
    "fmt"
    "sync"
    "unsafe"
)

type HIKBallCamera struct {
    core          unsafe.Pointer
    State         bool
    BallCameraCfg BallCamera
    mux           sync.RWMutex
}

func NewHIKBallCamera(BallCameraCfg BallCamera) *HIKBallCamera {
    return &HIKBallCamera{
        core:          newHIKBallCamera(),
        BallCameraCfg: BallCameraCfg,
        State:         false,
        mux:           sync.RWMutex{},
    }
}

func (hikBC *HIKBallCamera) Login() bool {
    hikBC.mux.Lock()
    hikBC.State = initBallCamera(hikBC.core, hikBC.BallCameraCfg.Ip, hikBC.BallCameraCfg.Port, hikBC.BallCameraCfg.User, hikBC.BallCameraCfg.Password, hikBC.BallCameraCfg.Type)
    hikBC.mux.Unlock()
    return hikBC.State
}

func (hikBC *HIKBallCamera) opt(action func() bool) bool {
    hikBC.mux.RLock()
    if hikBC.State {
        hikBC.mux.RUnlock()
        hikBC.mux.Lock()
        hikBC.State = action()
        hikBC.mux.Unlock()
    } else {
        hikBC.mux.RUnlock()
    }
    return hikBC.State
}

func (hikBC *HIKBallCamera) PTZGet(P, T, Z *float32) bool {
    return hikBC.opt(func() bool {
        return ptzGet(hikBC.core, unsafe.Pointer(P), unsafe.Pointer(T), unsafe.Pointer(Z))
    })
}

func (hikBC *HIKBallCamera) PtzTo(Action int, P, T, Z float32) bool {
    return hikBC.opt(func() bool {
        return ptzTo(hikBC.core, Action, P, T, Z)
    })
}

func (hikBC *HIKBallCamera) StartBus(Direction, Speed int) bool {
    return hikBC.opt(func() bool {
        return startBus(hikBC.core, Direction, Speed)
    })
}

func (hikBC *HIKBallCamera) StopBus(Direction int) bool {
    return hikBC.opt(func() bool {
        return stopBus(hikBC.core, Direction)
    })
}

func (hikBC *HIKBallCamera) OneClickToSeeInFullView(point Point) bool {
    TransPoint := hikBC.WarpingPtByHomography(hikBC.BallCameraCfg.Matrix.Matrix, point)
    return hikBC.PtzTo(5,
        float32(hikBC.mapping(hikBC.BallCameraCfg.Matrix.PStart, hikBC.BallCameraCfg.Matrix.PMax, TransPoint.X, hikBC.BallCameraCfg.Matrix.PPositiveDirection, "inv")),
        float32(hikBC.mapping(hikBC.BallCameraCfg.Matrix.TStart, hikBC.BallCameraCfg.Matrix.TMax, TransPoint.Y, hikBC.BallCameraCfg.Matrix.TPositiveDirection, "inv")),
        0.0,
    )

}

func (hikBC *HIKBallCamera) PTZ2FullView() (Point, error) {
    var ptz PTZ
    if !hikBC.PTZGet(&ptz.P, &ptz.T, &ptz.Z) {
        return Point{}, fmt.Errorf("PTZ Get Error")
    }
    return hikBC.WarpingPtByHomography(hikBC.BallCameraCfg.Matrix.InvMatrix, Point{
        X: hikBC.mapping(hikBC.BallCameraCfg.Matrix.PStart, hikBC.BallCameraCfg.Matrix.PMax, float64(ptz.P), hikBC.BallCameraCfg.Matrix.PPositiveDirection, ""),
        Y: hikBC.mapping(hikBC.BallCameraCfg.Matrix.TStart, hikBC.BallCameraCfg.Matrix.TMax, float64(ptz.T), hikBC.BallCameraCfg.Matrix.TPositiveDirection, "")}), nil
}

func (hikBC *HIKBallCamera) WarpingPtByHomography(matrix []float64, p Point) Point {
    var x, y, z float64
    x = matrix[0]*p.X + matrix[1]*p.Y + 1.*matrix[2]
    y = matrix[3]*p.X + matrix[4]*p.Y + 1.*matrix[5]
    z = matrix[6]*p.X + matrix[7]*p.Y + 1.*matrix[8]

    x /= z
    y /= z
    return Point{X: x, Y: y}
}

func (hikBC *HIKBallCamera) Invert3x3() bool {

    a := hikBC.BallCameraCfg.Matrix.Matrix[0]
    b := hikBC.BallCameraCfg.Matrix.Matrix[1]
    c := hikBC.BallCameraCfg.Matrix.Matrix[2]
    d := hikBC.BallCameraCfg.Matrix.Matrix[3]
    e := hikBC.BallCameraCfg.Matrix.Matrix[4]
    f := hikBC.BallCameraCfg.Matrix.Matrix[5]
    g := hikBC.BallCameraCfg.Matrix.Matrix[6]
    h := hikBC.BallCameraCfg.Matrix.Matrix[7]
    i := hikBC.BallCameraCfg.Matrix.Matrix[8]

    det := a*(e*i-f*h) - b*(d*i-f*g) + c*(d*h-e*g)

    if det == 0 {
        return false
    }

    invDet := 1.0 / det
    hikBC.BallCameraCfg.Matrix.InvMatrix = []float64{
        (e*i - f*h) * invDet,
        (c*h - b*i) * invDet,
        (b*f - c*e) * invDet,
        (f*g - d*i) * invDet,
        (a*i - c*g) * invDet,
        (c*d - a*f) * invDet,
        (d*h - e*g) * invDet,
        (b*g - a*h) * invDet,
        (a*e - b*d) * invDet,
    }
    return true
}

func (hikBC *HIKBallCamera) mapping(startV float64, max float64, value float64, direction string, method string) float64 {
    if direction == "+" {
        if method == "inv" {
            if value > (max - startV) {
                return value - (max - startV)
            } else {
                return startV + value // 映射
            }
        } else {
            if value > startV {
                return value - startV
            } else {
                return (max - startV) + value // 映射
            }
        }
    } else {
        if value > startV {
            return startV + max - value
        } else {
            return startV - value
        }
    }
}