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// live.cc - Classe Live
// robert - Programme du robot APBteam
// Copyright (C) 2005 Olivier Gaillard


/// @file live.cc Traitement de l'image dans le but d'�tre visualis� sur une interface 

#include <iostream>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <string>
#include <sstream>

#include "live.hh"
#include "image/raw_reader.hh"
#include "data/data_input_file.hh"
#include "video4linux/video4linux.hh"
#include "socket/server_socket.hh"
#include "socket/address.hh"

/// Constructeur
/// @param *filename nom de l'image a utiliser
Live::Live (const unsigned nbImg, const ImageInput imgInput)
    : reader_ (0), db_ (0), st_ (0), colorToFind_ (-1), group (0),
    width_ (640), height_ (480), imgInput_ (imgInput)
{
    if (nbImg < 6) nbImg_ = 6;
    else nbImg_ = nbImg;
}


/// Initialisation
void
Live::init (const Image::PixelFormat pf, const char *filename)
{
    tex = new unsigned[nbImg_];
    data = new unsigned char*[nbImg_];
    // Creation de oconfig
    oconfig = new OConfig ();
    width_ = oconfig->width;
    height_ = oconfig->height;
    // Cr�ation de l'image
    img = new ImgInterface;
    // Ouverture de l'image pilote et stockage
    switch (imgInput_)
      {
      case file:
	  {
	    // Copie du nom de l'image courante
	    strcpy (fname, filename);
	    std::string f (fname);
	    DataInputFile *dif = new DataInputFile (f);
	    DataInput *di = reinterpret_cast<DataInput*> (dif);
	    reader_ = new RawReader (*di, width_, height_, pf); 
	  }
	break;
      case cam:
	  {
	    Video4Linux *r;
	    r = new Video4Linux ("/dev/video", width_, height_, pf, oconfig->brightness);
	    r->calibrate ();
	    reader_ = reinterpret_cast<ImageReader*> (r);
	  }
	break;
      case socket:
	  {
	    // Serveur
	    ServerSocket ss (2000);
	    Address a;
	    SocketText *st_ = new SocketText (ss, a);
	    st_->nonblock ();
	    std::cerr << "<Live::init> Init socket\n";
	    // DataBuffer de reception
	    DataBuffer *db_ = new DataBuffer;
	    uint8_t c = 'a';
	    DataBuffer dbAskImg (&c, 1, 1, DataBuffer::AskImage);
	    std::cout << "Demande image...\n";
	    *st_ << dbAskImg;
	    std::cout << "envoye...\n";
	    st_->send ();
	    std::cout << "ok.\n";
	    // Reception des donn�es
	    std::cout << "Rcpt...\n";
	    while (!st_->recv ());
	    std::cout << "Lecture...\n";
	    *st_ >> *db_;
	    std::cout << "ok.\n";
	    if (db_->type () != DataBuffer::Image)
		std::cerr << "<Live::init> Echec de la transmission\n";
	    std::cout << "Reader...\n";
	    reader_ = new RawReader (*db_, width_, height_, pf);
	    std::cout << "Ok..\n";
	  }
	break;
      }
    img->load (*reader_);
    // Allocation memoire pour les images
    for (unsigned i=0; i<nbImg_; i++)
	data[i] = new unsigned char[img->nbPixels_*3];
    memcpy(data[0], img->tabData_, sizeof(char) * img->nbPixels_ * 3);
    tex[0] = loadImage(img->width_, img->height_, data[0], tex[0]);
    // Initialisation de la segmentation
    segm = new SegmLearn;
    segm->setMode (pf);
    segm->buildNN (oconfig->nnNbColor, Segm::loadFromFile);
    eraser = new Eraser (oconfig->width, 10);
    eraser->init ();
    mag = new Magnifier (img, segm, eraser, Group::ZoneType (oconfig->uiGroupToDisplay));
    space = 	new Space (img->width_, img->height_);
    // Calibration des longueurs
    space->addSetupPoint (56, 155, 50, 315);
    space->addSetupPoint (65, 51, 50, 465);
    space->addSetupPoint (164, 46, -50, 465);
    space->setup (0.003, -2.106, 561.391);
    segmAndGroup ();
    // Affichage de l'image pilote avec la couleur d'aquisition et en RGB
    tex[1] = loadImage (img->width_, img->height_, data[0], tex[1]);
    rootPics ();
}
 
/// Mis � jour de l'image
void
Live::updateImg (const Image::PixelFormat pf, const char *filename) 
{
    segm->setMode (pf);
    switch (imgInput_)
      {
      case file:
	  {
	    std::cout << "<Live::updateImg> Changement d'image : " << filename << std::endl;
	    // Copie du nom de l'image courante
	    strcpy (fname, filename);
	    std::string f (filename);
	    DataInputFile *dif = new DataInputFile (f);
	    DataInput *di = reinterpret_cast<DataInput*> (dif);
	    delete reader_;
	    reader_ = new RawReader (*di, width_, height_, pf); 
	  }
	break;
      case cam:
	    std::cout << "<Live::updateImg> Changement d'image cam�ra" << std::endl;
	    break;
      case socket:
	    std::cerr << "<Live::init> Ask data\n";
	    uint8_t c = 'a';
	    DataBuffer dbAskImg (&c, 1, 1, DataBuffer::AskImage);
	    *st_ << dbAskImg;
	    st_->send ();
	    // Reception des donn�es
	    while (!st_->recv ());
	    *st_ >> *db_;
	    if (db_->type () != DataBuffer::Image)
		std::cerr << "<Live::init> Echec de la transmission\n";
	    reader_ = new RawReader (*db_, width_, height_, pf);
	    break;
      }
    img->load (*reader_);
    memcpy(data[0], img->tabData_, sizeof(char) * img->nbPixels_ * 3);
    tex[0] = loadImage(img->width_, img->height_, data[0], tex[0]);
    segmAndGroup (colorToFind_);
    rootPics ();
}

/// Fixe une image s�gment�e et une image de groupe dans la partie centrale 
void
Live::rootPics ()
{   
    memcpy (data[1], data[2], sizeof (char)*img->nbPixels_*3);
    memcpy (data[4], data[5], sizeof (char)*img->nbPixels_*3);
    tex[1] = loadImage(img->width_, img->height_, data[1], tex[1]);
    tex[4] = loadImage(img->width_, img->height_, data[4], tex[4]);
    
}

/// Destructeur
Live::~Live()
{
    // Liberation de la memoire
    delete oconfig;
    delete segm;
    delete group;
    delete [] data;
    delete db_;
    delete st_;
    delete reader_;
}

/// Recharge le fichier de config
void 
Live::reloadConfig (const char *filename)
{
    oconfig->load (filename);
}


/// Segmente et group les couleurs
void
Live::segmAndGroup (const int numColorToShow)
{

    // Cr�ation des groupes
    delete group;
    group = new Group (img, segm, eraser);
    std::vector<Zone> list;
    if (numColorToShow >= 0)
      {
	group->jumpPoints(numColorToShow);
	list = group->getZoneList ();
      }
    else
      {
	group->jumpPoints (oconfig->groupColor);
	mag->analyse (group->getZoneList ());
	list = mag->getItemList ((Group::ZoneType)oconfig->uiGroupToDisplay);
	int x, y, dist;
	double angle;
	for (std::vector<Zone>::iterator iter = list.begin ();
	     iter != list.end (); ++iter)
	  {
	    mag->showZone (*iter);
	    space->getRealLoc (*iter, x, y, angle, dist);
	    std::cout << "<Live::segmAndGroup> position r�elle : "<< x << " " << y << " " << angle << " " << dist << "\n";
	  }
      }
    // Cr�ation de l'image des groupes
    segm->segmImg (img);
    img->doGroupImg (list);
    img->doImg (img->getTabSegm ());
    memcpy (data[5], img->getTabOut (), sizeof (char)*img->nbPixels_*3);
    // Cr�ation de l'image segment�e
    if (numColorToShow >= 0)
	segm->segmImg (img, numColorToShow);
    else
      {
	segm->segmImg (img);
	img->addGroupToDisplay (img->getTabSegm (), list);
      }
    // Cr�ation de l'image segment�e
    img->doImg ();
    memcpy (data[2], img->getTabOut (), sizeof (char)*img->nbPixels_*3);
//    tex[2] = loadImage(img->width_, img->height_, data[2], tex[2]);
//    tex[5] = loadImage(img->width_, img->height_, data[5], tex[5]);
}