#include "depth_guide_controller_impl.h"
#include "core/imgui_utility.hpp"

depth_guide_controller::impl::impl(create_config _conf) {
    conf = _conf;
}

void depth_guide_controller::impl::build(render_config r_conf) {
    auto obj_ts = OBJ_TS(conf.img_in);
    if (obj_ts <= last_ts) return;

    auto img_in = OBJ_QUERY(image_u8c3, conf.img_in);
    auto depth_in = OBJ_QUERY(image_f32c1, conf.depth_in);
    if (img_in == nullptr || depth_in == nullptr) return;
    img_in->sync_create(r_conf.stream);
    depth_in->sync_create(r_conf.stream);

    auto out_info = create_image_info<uchar4>(img_in->size(), MEM_CUDA);
    auto depth_conf = depth_mask_config{
            .lower = depth_range.min * 1000.f, // mm -> m
            .upper = depth_range.max * 1000.f,
    };
    call_depth_mask(
            img_in->as_cuda(r_conf.stream), depth_in->as_cuda(r_conf.stream),
            out_info.as_cuda(), depth_conf, r_conf.stream->cuda);
    out_img = create_image(out_info, r_conf.stream);
    if (conf.img_out != invalid_obj_name) {
        OBJ_SAVE(conf.img_out, out_img);
    }
    last_ts = obj_ts;
}

void depth_guide_controller::impl::render(render_config r_conf) {
    build(r_conf);
    if (out_img == nullptr) return;
    auto ren_conf = color_image_render::config_type{
            .fmt = COLOR_RGBA, .flip_y = true, .stream = r_conf.stream,
    };
    ren.render_rgba(out_img->as_info(), ren_conf);
}

void depth_guide_controller::impl::show() {
    static constexpr float dep_hard_min = 0.15; // TODO: config value
    static constexpr float dep_hard_max = 1.00;
    ImGui::DragFloat2("Depth Range (m)", (float *) &depth_range, 0.02f,
                      dep_hard_min, dep_hard_max, "%.2f");
}

depth_guide_controller::depth_guide_controller(create_config conf)
        : pimpl(std::make_unique<impl>(conf)) {
}

depth_guide_controller::~depth_guide_controller() = default;

void depth_guide_controller::render(render_config conf) {
    pimpl->render(conf);
}

void depth_guide_controller::show() {
    pimpl->show();
}