using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using OpenCvSharp;
using System.Drawing;

namespace AtariRobot
{
    //Capture -- Should be pure OpenCV, get image from whatever.  Can also include clarification/rectification of image.
    //Recognize -- Recognize pieces of the image and determine what scene contains.  Takes current frame and previous frames.  Returns a custom screen state object.
    //Analyze -- Analyzes the current frame and past frames to determine best move.  Takes current state and previous states.  Returns a movement recommendation?
    //Move -- Interfaces with movement control.  For paddle, it's direction distatnce/speed/time, etc, joystick is u/d/l/r, and of course, buttons on both.




    class Program
    {
        [STAThread]
        static void Main(string[] args)
        {
            Options options = Options.GetOptions();

            CvWindow rawVideo = new CvWindow("RawVideo");
            CvWindow edgeVideo = new CvWindow("EdgeDetect");
            CvWindow contourVideo = new CvWindow("Contours");
            CvWindow recognizedVideo = new CvWindow("Recognized");
            CvWindow enlargedVideo = new CvWindow("Enlarged");

            CvCapture capture = null;

            if(string.IsNullOrEmpty(options.Filename))
            {
                capture = Cv.CreateCameraCapture(options.CameraIndex);
            }
            else
            {
                capture = CvCapture.FromFile(options.Filename);
            }

            //CalibrationInfo calibrationInfo = Calibrator.GetCalibrationInfo(capture);

            double fps = capture.Fps;
            if (fps == 0)
            {
                fps = 60;
            }
            int frameTime = (int)(1000 / fps);
            //frameTime = 250;

            //while (Cv.WaitKey(frameTime) < 0)
            //{
            //    IplImage frame = capture.QueryFrame();

            //    CvPoint2D32f[] chessboardPoints;
            //    CvSize size = new CvSize(7, 7);
            //    bool patternFound = Cv.FindChessboardCorners(frame, new CvSize(7, 7), out chessboardPoints);

            //    frame.DrawChessboardCorners(size, chessboardPoints, patternFound);

            //    rawVideo.Image = frame;
            //}


            PongLogic pongLogic = new PongLogic(options.ComPort);

            while (Cv.WaitKey(frameTime) < 0)
            {
                IplImage frame = capture.QueryFrame();
                if (frame == null)
                {
                    break;
                }

                rawVideo.Image = frame;

                pongLogic.HandleFrame(frame);

                IplImage enlarged = new IplImage(frame.Width * 2, frame.Height * 2, frame.Depth, frame.ElemChannels);
                frame.Resize(enlarged);
                enlargedVideo.Image = enlarged;
                enlarged.Dispose();
            }

            capture.Dispose();
            rawVideo.Dispose();
            edgeVideo.Dispose();
            contourVideo.Dispose();
            recognizedVideo.Dispose();
            enlargedVideo.Dispose();
        }
    }
}