/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Simulation of a 2D visual servoing on a cylinder.
 *
*****************************************************************************/
/*!
  \example servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp

  \brief Simulation of a 2D visual servoing:

  Simulation of a 2D visual servoing:
  - servo on a cylinder,
  - eye-in-hand control law,
  - camera velocities are computed,
  - display internal camera view and an external view.

  This example illustrates in one hand a classical visual servoing with a
  cylinder. And in the other hand it illustrates the behaviour of the robot
  when adding a secondary task.
*/

#include <iostream>
#include <stdio.h>
#include <stdlib.h>

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpCylinder.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpMath.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpProjectionDisplay.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>

// List of allowed command line options
#define GETOPTARGS "cdho"

void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);

/*!

  Print the program options.

  \param name : Program name.
  \param badparam : Bad parameter name.

*/
void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
Simulation of a 2D visual servoing on a cylinder:\n\
- eye-in-hand control law,\n\
- velocity computed in the camera frame,\n\
- display the camera view.\n\
          \n\
SYNOPSIS\n\
  %s [-c] [-d] [-o] [-h]\n",
          name);

  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
                  \n\
  -c\n\
     Disable the mouse click. Useful to automate the \n\
     execution of this program without human intervention.\n\
                  \n\
  -d \n\
     Turn off the display.\n\
                          \n\
  -o \n\
     Disable new projection operator usage for secondary task.\n\
                          \n\
  -h\n\
     Print the help.\n");

  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}

/*!

  Set the program options.

  \param argc : Command line number of parameters.
  \param argv : Array of command line parameters.
  \param click_allowed : false if mouse click is not allowed.
  \param display : false if the display is to turn off.
  \param new_proj_operator : If true, use new projection operator for secondary task.
  \return false if the program has to be stopped, true otherwise.

*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display, bool &new_proj_operator)
{
  const char *optarg_;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {

    switch (c) {
    case 'c':
      click_allowed = false;
      break;
    case 'd':
      display = false;
      break;
    case 'o':
      new_proj_operator = false;
      break;
    case 'h':
      usage(argv[0], NULL);
      return false;

    default:
      usage(argv[0], optarg_);
      return false;
    }
  }

  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], NULL);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }

  return true;
}

int main(int argc, const char **argv)
{
#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
  try {
    bool opt_display = true;
    bool opt_click_allowed = true;
    bool opt_new_proj_operator = true;

    // Read the command line options
    if (getOptions(argc, argv, opt_click_allowed, opt_display, opt_new_proj_operator) == false) {
      return EXIT_FAILURE;
    }

    vpImage<unsigned char> Iint(512, 512, 0);
    vpImage<unsigned char> Iext(512, 512, 0);

// We open a window if a display is available
#ifdef VISP_HAVE_DISPLAY
#if defined(VISP_HAVE_X11)
    vpDisplayX displayInt;
    vpDisplayX displayExt;
#elif defined(VISP_HAVE_GTK)
    vpDisplayGTK displayInt;
    vpDisplayGTK displayExt;
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI displayInt;
    vpDisplayGDI displayExt;
#elif defined(HAVE_OPENCV_HIGHGUI)
    vpDisplayOpenCV displayInt;
    vpDisplayOpenCV displayExt;
#elif defined(VISP_HAVE_D3D9)
    vpDisplayD3D displayInt;
    vpDisplayD3D displayExt;
#endif
#endif

    if (opt_display) {
#ifdef VISP_HAVE_DISPLAY
      // Display size is automatically defined by the image (Iint) and
      // (Iext) size
      displayInt.init(Iint, 100, 100, "Internal view");
      displayExt.init(Iext, 130 + static_cast<int>(Iint.getWidth()), 100, "External view");
#endif
      // Display the image
      // The image class has a member that specify a pointer toward
      // the display that has been initialized in the display declaration
      // therefore is is no longer necessary to make a reference to the
      // display variable.
      vpDisplay::display(Iint);
      vpDisplay::display(Iext);
      vpDisplay::flush(Iint);
      vpDisplay::flush(Iext);
    }

#ifdef VISP_HAVE_DISPLAY
    vpProjectionDisplay externalview;
#endif

    // Set the camera parameters
    double px, py;
    px = py = 600;
    double u0, v0;
    u0 = v0 = 256;

    vpCameraParameters cam(px, py, u0, v0);

    vpServo task;
    vpSimulatorCamera robot;

    // sets the initial camera location
    vpHomogeneousMatrix cMo(-0.2, 0.1, 2, vpMath::rad(5), vpMath::rad(5), vpMath::rad(20));

    vpHomogeneousMatrix wMc, wMo;
    robot.getPosition(wMc);
    wMo = wMc * cMo; // Compute the position of the object in the world frame

    // sets the final camera location (for simulation purpose)
    vpHomogeneousMatrix cMod(0, 0, 1, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));

    // sets the cylinder coordinates in the world frame
    vpCylinder cylinder(0, 1, 0, // direction
                        0, 0, 0, // point of the axis
                        0.1);    // radius

#ifdef VISP_HAVE_DISPLAY
    externalview.insert(cylinder);
#endif
    // sets the desired position of the visual feature
    cylinder.track(cMod);
    cylinder.print();

    // Build the desired line features thanks to the cylinder and especially
    // its paramaters in the image frame
    vpFeatureLine ld[2];
    for (unsigned int i = 0; i < 2; i++)
      vpFeatureBuilder::create(ld[i], cylinder, i);

    // computes  the cylinder coordinates in the camera frame and its 2D
    // coordinates sets the current position of the visual feature
    cylinder.track(cMo);
    cylinder.print();

    // Build the current line features thanks to the cylinder and especially
    // its paramaters in the image frame
    vpFeatureLine l[2];
    for (unsigned int i = 0; i < 2; i++) {
      vpFeatureBuilder::create(l[i], cylinder, i);
      l[i].print();
    }

    // define the task
    // - we want an eye-in-hand control law
    // - robot is controlled in the camera frame
    task.setServo(vpServo::EYEINHAND_CAMERA);
    task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE);
    //  it can also be interesting to test these possibilities
    // task.setInteractionMatrixType(vpServo::CURRENT,vpServo::PSEUDO_INVERSE)
    // ; task.setInteractionMatrixType(vpServo::MEAN, vpServo::PSEUDO_INVERSE)
    // ; task.setInteractionMatrixType(vpServo::CURRENT,
    // vpServo::PSEUDO_INVERSE) ;
    // task.setInteractionMatrixType(vpServo::DESIRED,  vpServo::TRANSPOSE) ;
    // task.setInteractionMatrixType(vpServo::CURRENT,  vpServo::TRANSPOSE) ;

    // we want to see  2 lines on 2 lines
    task.addFeature(l[0], ld[0]);
    task.addFeature(l[1], ld[1]);

    // Set the point of view of the external view
    vpHomogeneousMatrix cextMo(0, 0, 6, vpMath::rad(40), vpMath::rad(10), vpMath::rad(60));

    // Display the initial scene
    vpServoDisplay::display(task, cam, Iint);
#ifdef VISP_HAVE_DISPLAY
    externalview.display(Iext, cextMo, cMo, cam, vpColor::red);
#endif
    vpDisplay::flush(Iint);
    vpDisplay::flush(Iext);

    // Display task information
    task.print();

    if (opt_display && opt_click_allowed) {
      vpDisplay::displayText(Iint, 20, 20, "Click to start visual servo...", vpColor::white);
      vpDisplay::flush(Iint);
      vpDisplay::getClick(Iint);
    }

    // set the gain
    task.setLambda(1);

    // Display task information
    task.print();

    unsigned int iter = 0;
    bool stop = false;
    bool start_secondary_task = false;

    while (!stop) {
      std::cout << "---------------------------------------------" << iter++ << std::endl;

      // get the robot position
      robot.getPosition(wMc);
      // Compute the position of the object frame in the camera frame
      cMo = wMc.inverse() * wMo;

      // new line position
      // retrieve x,y and Z of the vpLine structure
      // Compute the parameters of the cylinder in the camera frame and in the
      // image frame
      cylinder.track(cMo);

      // Build the current line features thanks to the cylinder and especially
      // its paramaters in the image frame
      for (unsigned int i = 0; i < 2; i++) {
        vpFeatureBuilder::create(l[i], cylinder, i);
      }

      // Display the current scene
      if (opt_display) {
        vpDisplay::display(Iint);
        vpDisplay::display(Iext);
        vpServoDisplay::display(task, cam, Iint);
#ifdef VISP_HAVE_DISPLAY
        externalview.display(Iext, cextMo, cMo, cam, vpColor::red);
#endif
      }

      // compute the control law
      vpColVector v = task.computeControlLaw();

      // Wait primary task convergence before considering secondary task
      if (task.getError().sumSquare() < 1e-6) {
        start_secondary_task = true;
      }

      if (start_secondary_task) {
        // In this example the secondary task is cut in four
        // steps. The first one consists in imposing a movement of the robot along
        // the x axis of the object frame with a velocity of 0.5. The second one
        // consists in imposing a movement of the robot along the y axis of the
        // object frame with a velocity of 0.5. The third one consists in imposing a
        // movement of the robot along the x axis of the object frame with a
        // velocity of -0.5. The last one consists in imposing a movement of the
        // robot along the y axis of the object frame with a velocity of -0.5.
        // Each steps is made during 200 iterations.
        vpColVector e1(6);
        vpColVector e2(6);
        vpColVector proj_e1;
        vpColVector proj_e2;
        static unsigned int iter_sec = 0;
        double rapport = 0;
        double vitesse = 0.5;
        unsigned int tempo = 800;

        if (iter_sec > tempo) {
          stop = true;
        }

        if (iter_sec % tempo < 200) {
          e2 = 0;
          e1[0] = fabs(vitesse);
          proj_e1 = task.secondaryTask(e1, opt_new_proj_operator);
          rapport = vitesse / proj_e1[0];
          proj_e1 *= rapport;
          v += proj_e1;
        }

        if (iter_sec % tempo < 400 && iter_sec % tempo >= 200) {
          e1 = 0;
          e2[1] = fabs(vitesse);
          proj_e2 = task.secondaryTask(e2, opt_new_proj_operator);
          rapport = vitesse / proj_e2[1];
          proj_e2 *= rapport;
          v += proj_e2;
        }

        if (iter_sec % tempo < 600 && iter_sec % tempo >= 400) {
          e2 = 0;
          e1[0] = -fabs(vitesse);
          proj_e1 = task.secondaryTask(e1, opt_new_proj_operator);
          rapport = -vitesse / proj_e1[0];
          proj_e1 *= rapport;
          v += proj_e1;
        }

        if (iter_sec % tempo < 800 && iter_sec % tempo >= 600) {
          e1 = 0;
          e2[1] = -fabs(vitesse);
          proj_e2 = task.secondaryTask(e2, opt_new_proj_operator);
          rapport = -vitesse / proj_e2[1];
          proj_e2 *= rapport;
          v += proj_e2;
        }

        if (opt_display && opt_click_allowed) {
          std::stringstream ss;
          ss << std::string("New projection operator: ") +
                    (opt_new_proj_operator ? std::string("yes (use option -o to use old one)") : std::string("no"));
          vpDisplay::displayText(Iint, 20, 20, "Secondary task enabled: yes", vpColor::white);
          vpDisplay::displayText(Iint, 40, 20, ss.str(), vpColor::white);
        }

        iter_sec++;
      } else {
        if (opt_display && opt_click_allowed) {
          vpDisplay::displayText(Iint, 20, 20, "Secondary task: no", vpColor::white);
        }
      }

      // send the camera velocity to the controller
      robot.setVelocity(vpRobot::CAMERA_FRAME, v);

      std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;

      if (opt_display) {
        vpDisplay::displayText(Iint, 60, 20, "Click to stop visual servo...", vpColor::white);
        if (vpDisplay::getClick(Iint, false)) {
          stop = true;
        }
        vpDisplay::flush(Iint);
        vpDisplay::flush(Iext);
      }

      iter++;
    }

    if (opt_display && opt_click_allowed) {
      vpDisplay::display(Iint);
      vpServoDisplay::display(task, cam, Iint);
      vpDisplay::displayText(Iint, 20, 20, "Click to quit...", vpColor::white);
      vpDisplay::flush(Iint);
      vpDisplay::getClick(Iint);
    }

    // Display task information
    task.print();
    return EXIT_SUCCESS;
  } catch (const vpException &e) {
    std::cout << "Catch a ViSP exception: " << e << std::endl;
    return EXIT_FAILURE;
  }
#else
  (void)argc;
  (void)argv;
  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
  return EXIT_SUCCESS;
#endif
}