#include "sar3d_processor.hpp"
#include "gpr_processor.hpp"
#include "../processing/processors/src/sar3d_clean.hpp"

#include <algorithm>
#include <complex>
#include <iostream>
#include <numbers>
#include <vector>
#include <nlohmann/json.hpp>

using Json = nlohmann::json;
using namespace radar;

namespace {
auto complex_samples(const Json& samples) -> std::vector<std::complex<float>> {
    std::vector<std::complex<float>> values;
    for (const auto& sample : samples) {
        values.emplace_back(sample.at(0).get<float>(), sample.at(1).get<float>());
    }
    return values;
}

auto collection(const Json& source) -> ipc::PreprocessedCollection {
    ipc::PreprocessedCollection result;
    result.collection_id = source.at("id");
    result.monotonic_ns = source.at("timestamp");
    for (const auto& entry : source.at("traces")) {
        ipc::SweepTraceBlock trace;
        trace.combo = {entry.at("input"), entry.at("output")};
        trace.capture_start_ns = entry.at("start");
        trace.capture_end_ns = entry.at("end");
        trace.frequency_hz = entry.at("frequency").get<std::vector<float>>();
        for (const auto& sample : complex_samples(entry.at("s21"))) {
            trace.s21.push_back({sample.real(), sample.imag()});
        }
        if (result.traces.empty() || trace.capture_start_ns < result.capture_start_ns) {
            result.capture_start_ns = trace.capture_start_ns;
        }
        result.capture_end_ns = std::max(result.capture_end_ns, trace.capture_end_ns);
        result.traces.push_back(std::move(trace));
    }
    return result;
}

// Boxes around given CLEAN objects, rows [x, y, z, y_low, y_high, level], in a scene with the
// given X and Y bounds and radar placement (sar3d::marks).
auto marks(const Json& input) -> Json {
    std::vector<processing::sar3d::CleanObject> objects;
    for (const auto& row : input.at("objects")) {
        objects.push_back({.index = {}, .position = {row.at(0), row.at(1), row.at(2)},
                           .y_low = row.at(3), .y_high = row.at(4), .level = row.at(5)});
    }
    const auto x = input.at("x").get<std::vector<double>>();
    const auto y = input.at("y").get<std::vector<double>>();
    const processing::sar3d::VolumeRequest frame{
        .grid = {x, y, {}},
        .pitch_rad = input.at("pitch").get<double>() * (std::numbers::pi / 180.0),
        .ground_depth_m = input.at("ground"),
        .min_depth_m = input.at("min_depth"),
        .max_depth_m = input.at("max_depth"),
    };
    Json rows = Json::array();
    for (const auto& mark : processing::sar3d::marks(objects, frame)) {
        Json row = Json::array({static_cast<int>(mark.kind)});
        for (const double edge : mark.box) { row.push_back(edge); }
        rows.push_back(std::move(row));
    }
    return Json{{"marks", rows}};
}
}

// Runs GPR or sar3d on one request or a batch, retaining processor caches. Each request holds the antenna
// geometry, the live settings and the latest and previous collections; the
// published payloads go to stdout as JSON. A request with mode "marks" boxes given objects instead.
int main() {
    try {
        const Json source = Json::parse(std::cin);
        const bool batch = source.is_array();
        const Json requests = batch ? source : Json::array({source});
        Json results = Json::array();
        processing::Sar3dProcessor sar;
        processing::GprProcessor gpr;
        for (const auto& input : requests) {
            if (input.value("mode", "sar3d") == "marks") {
                results.push_back(marks(input));
                continue;
            }
            config::RunConfig config;
            config.rings.results.slot_size_bytes = input.value("slot", config.rings.results.slot_size_bytes);
            for (const auto& row : input.at("tx")) {
                config.gpr.tx_geometry.push_back({row.at(0), row.at(1), row.at(2), row.at(3)});
            }
            for (const auto& row : input.at("rx")) {
                config.gpr.rx_geometry.push_back({row.at(0), row.at(1), row.at(2), row.at(3)});
            }
            const bool gpr_mode = input.value("mode", "sar3d") == "gpr";
            processing::ProcessingLiveConfig live;
            live.gpr_start_freq_mhz = input.at("f_start").get<double>() / 1e6;
            live.gpr_stop_freq_mhz = input.at("f_stop").get<double>() / 1e6;
            live.gpr_min_depth_m = input.at("min_depth");
            live.gpr_max_depth_m = input.at("max_depth");
            live.gpr_speed_m_s = input.at("speed");
            live.gpr_look_angle_deg = input.at("pitch");
            live.pair_depth_equalize = input.value("equalize", true);
            live.gpr_background_subtract_enabled = input.value("subtract_mean", false);
            live.gpr_background_mean_count = input.value("mean_count", 10U);
            if (gpr_mode) {
                live.gpr_bp_ground_depth_m = input.at("ground");
                live.gpr_range_comp_power = input.at("power");
                live.gpr_motion_mode = input.value("motion", "int_minus");
                live.gpr_object_approach_min_frames = 1;
                live.gpr_remove_sidelobe_objects_enabled = false;
            } else {
                const auto& voxel = input.at("voxel");
                live.sar3d_voxel_x_m = voxel.at(0);
                live.sar3d_voxel_y_m = voxel.at(1);
                live.sar3d_voxel_z_m = voxel.at(2);
                live.sar3d_bp_ground_depth_m = input.at("ground");
                live.sar3d_frame_radius = input.at("radius");
                live.sar3d_comp_range_power = input.at("power");
                live.sar3d_use_compensation = input.at("compensation");
                live.sar3d_normalize_each_frame = input.at("normalize");
                live.sar3d_x_size_m = input.value("x_size", 0.0F);
                live.sar3d_y_min_m = input.value("y_min", -0.5F);
                live.sar3d_y_max_m = input.value("y_max", 2.0F);
                live.sar3d_z_size_m = input.value("z_size", 0.0F);
                live.sar3d_bg_gate_enabled = input.value("bg_gate", live.sar3d_bg_gate_enabled);
                live.sar3d_clean_enabled = input.value("clean", live.sar3d_clean_enabled);
            }
            std::vector<ipc::PreprocessedCollection> previous;
            for (const auto& member : input.at("previous")) {
                previous.push_back(collection(member));
            }
            const auto latest = collection(input.at("latest"));
            for (const auto& trace : latest.traces) { config.run_combos.push_back(trace.combo); }
            processing::ProcessorInterface& processor = gpr_mode
                ? static_cast<processing::ProcessorInterface&>(gpr) : static_cast<processing::ProcessorInterface&>(sar);
            const auto result = processor.process_collection(config, latest, previous, live);
            Json payloads = Json::array();
            for (const auto& payload : result.collection_payloads) {
                payloads.push_back({{"name", payload.processing_name},
                    {"x", payload.image_x_axis}, {"y", payload.image_y_axis},
                    {"image", payload.image_values}, {"table", payload.table_values},
                    {"columns", payload.table_columns}});
            }
            results.push_back(Json{{"payloads", payloads}});
        }
        std::cout << (batch ? results : results.at(0)) << '\n';
    } catch (const std::exception& error) {
        std::cout << Json{{"error", error.what()}} << '\n';
        return 1;
    }
}