/*! \example tutorial-ibvs-4pts-wireframe-robot-viper.cpp */
#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/robot/vpSimulatorViper850.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/vs/vpServo.h>

#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif

void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
                        const vpCameraParameters &cam)
{
  unsigned int thickness = 3;
  VP_ATTRIBUTE_NO_DESTROY static std::vector<vpImagePoint> traj[4];
  vpImagePoint cog;
  for (unsigned int i = 0; i < 4; i++) {
    // Project the point at the given camera position
    point[i].project(cMo);
    vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), cog);
    traj[i].push_back(cog);
  }
  for (unsigned int i = 0; i < 4; i++) {
    for (unsigned int j = 1; j < traj[i].size(); j++) {
      vpDisplay::displayLine(I, traj[i][j - 1], traj[i][j], vpColor::green, thickness);
    }
  }
}

int main()
{
#if defined(VISP_HAVE_THREADS)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  std::shared_ptr<vpDisplay> display;
#else
  vpDisplay *display = nullptr;
#endif
  try {
    vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
    vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));

    /*
    Top view of the world frame, the camera frame and the object frame

    world, also robot base frame :  --> w_y
                                    |
                                   \|/
                                      w_x

    object :
                     o_y
                  /|\
                   |
             o_x <--


    camera :
                     c_y
                  /|\
                   |
             c_x <--

    */
    vpHomogeneousMatrix wMo(vpTranslationVector(0.40, 0, -0.15), vpRotationMatrix(vpRxyzVector(-M_PI, 0, M_PI / 2.)));

    std::vector<vpPoint> point;
    point.push_back(vpPoint(-0.1, -0.1, 0));
    point.push_back(vpPoint(0.1, -0.1, 0));
    point.push_back(vpPoint(0.1, 0.1, 0));
    point.push_back(vpPoint(-0.1, 0.1, 0));

    vpServo task;
    task.setServo(vpServo::EYEINHAND_CAMERA);
    task.setInteractionMatrixType(vpServo::CURRENT);
    task.setLambda(0.5);

    vpFeaturePoint p[4], pd[4];
    for (unsigned int i = 0; i < 4; i++) {
      point[i].track(cdMo);
      vpFeatureBuilder::create(pd[i], point[i]);
      point[i].track(cMo);
      vpFeatureBuilder::create(p[i], point[i]);
      task.addFeature(p[i], pd[i]);
    }

    vpSimulatorViper850 robot(true);
    robot.setVerbose(true);

    // Enlarge the default joint limits
    vpColVector qmin = robot.getJointMin();
    vpColVector qmax = robot.getJointMax();
    qmin[0] = -vpMath::rad(180);
    qmax[0] = vpMath::rad(180);
    qmax[1] = vpMath::rad(0);
    qmax[2] = vpMath::rad(270);
    qmin[4] = -vpMath::rad(180);
    qmax[4] = vpMath::rad(180);

    robot.setJointLimit(qmin, qmax);

    std::cout << "Robot joint limits: " << std::endl;
    for (unsigned int i = 0; i < qmin.size(); i++)
      std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)"
      << std::endl;

    robot.init(vpViper850::TOOL_PTGREY_FLEA2_CAMERA, vpCameraParameters::perspectiveProjWithoutDistortion);
    robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
    robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
    robot.set_fMo(wMo);
    bool ret = robot.initialiseCameraRelativeToObject(cMo);
    if (ret == false)
      return EXIT_FAILURE; // Not able to set the position
    robot.setDesiredCameraPosition(cdMo);
    // We modify the default external camera position
    robot.setExternalCameraPosition(
        vpHomogeneousMatrix(vpTranslationVector(-0.4, 0.4, 2), vpRotationMatrix(vpRxyzVector(M_PI / 2, 0, 0))));

    vpImage<unsigned char> Iint(480, 640, 255);
#if defined(VISP_HAVE_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    display = vpDisplayFactory::createDisplay(Iint, 700, 0, "Internal view");
#else
    display = vpDisplayFactory::allocateDisplay(Iint, 700, 0, "Internal view");
#endif
#else
    std::cout << "No image viewer is available..." << std::endl;
#endif

    vpCameraParameters cam(840, 840, Iint.getWidth() / 2, Iint.getHeight() / 2);
    // Modify the camera parameters to match those used in the other
    // simulations
    robot.setCameraParameters(cam);

    bool start = true;
    // for ( ; ; )
    for (int iter = 0; iter < 275; iter++) {
      cMo = robot.get_cMo();

      for (unsigned int i = 0; i < 4; i++) {
        point[i].track(cMo);
        vpFeatureBuilder::create(p[i], point[i]);
      }

      vpDisplay::display(Iint);
      robot.getInternalView(Iint);
      if (!start) {
        display_trajectory(Iint, point, cMo, cam);
        vpDisplay::displayText(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
      }
      vpDisplay::flush(Iint);

      vpColVector v = task.computeControlLaw();
      robot.setVelocity(vpRobot::CAMERA_FRAME, v);

      // A click to exit
      if (vpDisplay::getClick(Iint, false))
        break;

      if (start) {
        start = false;
        v = 0;
        robot.setVelocity(vpRobot::CAMERA_FRAME, v);
        vpDisplay::displayText(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
        vpDisplay::flush(Iint);
        // vpDisplay::getClick(Iint);
      }

      vpTime::wait(1000 * robot.getSamplingTime());
    }
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
  }
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  if (display != nullptr) {
    delete display;
  }
#endif
#endif
}