///
/// Copyright (c) 2017 Sensus Metering Systems
///
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Threading;
using System.Timers;
using log4net;
using Renci.SshNet;
using Config.Entities;
using TBF.BenchControl.Network.Telnet;
using TBF.Resources;

namespace TBF.BenchControl.Network.Camera.CLP1611
{
	/// <summary>
	/// This class implements: (1) Camera device, (2) Measurement operation
	/// </summary>
	public class Camera : ComponentBase, GenericDevices.ICamera, Generic.IDevice, IOperation
	{
		private static readonly ILog log = LogManager.GetLogger(typeof(Camera));
		public override string ToString()
		{
			return string.Format("{0}, Name={1}, S/N={2}, IPAddress={3}, Serial={4}, Image={5}",
								 this.GetType().Namespace.Substring(17),
								 CameraCfg.Name,
								 CameraCfg.HardwareAddress,
								 ipAddress == null ? "not detected" : ipAddress.ToString(),
								 string.IsNullOrEmpty(cpuSerialNr) ? "not detected" : cpuSerialNr,
								 string.IsNullOrEmpty(sdCardVer) ? "not detected" : sdCardVer);
		}

		const string ClpUserName = "tbf";
		const string ClpPassword = "C1ern4V0d4";

		///
		/// Properties
		///
		public readonly CameraCfg CameraCfg;
		public readonly GenericDevices.INetworkAdapter NetAdapter;

		public IPAddress IPAddress { get { return ipAddress; } }
		IPAddress ipAddress;

		public string CpuHardware { get { return cpuHardware; } }
		string cpuHardware;

		public string CpuRevision { get { return cpuRevision; } }
		string cpuRevision;

		public string CpuSerialNr { get { return cpuSerialNr; } }
		string cpuSerialNr;

		public string SDCardVer { get { return sdCardVer; } }
		string sdCardVer;

		public bool Running { get { return running; } }
		bool running;

		public int CameraIdx { get { return cameraIdx; } }
		int cameraIdx;
		/// 
		static int nextCameraIdx = 0;
		static int GetCameraIdx() { return nextCameraIdx++; }	/// Used in Initialize()
		public static new void ResetStaticProperties() { nextCameraIdx = 0; }

		///
		/// Telnet support
		///
		const string TelnetPrompt = "$ ";
		const bool   TelnetSkipFirstLine = true;
		public Telnet.TelnetClient Telnet;
		private TerminalDlg terminalDlg;

		///
		/// scp support
		///
		Thread scpThread;
		PasswordConnectionInfo connectionInfo;
		ScpClient scpClient;
		bool scpConnected;
		bool stopScpThreadFlag;
		string scpSrcFileName;
		string scpDstFileName;
		enum ScpCommand
		{
			None,
			Get,
		}
		ScpCommand scpCommand;

		///
		/// MJpeg RTP protocol support
		///
		const int RtpUdpPortBase = 20000;
		int rtpUdpLocalPort;
		UdpClient rtpUdpClient;
		Thread rtpListenerThread;
		static bool stopRtpListenerFlag;

		///
		/// ROI related parameters
		///
		IList<string> roiParams;
		long cameraTimeMs;
		int[] result;
		/// 
		public void ClearRoiParams() { roiParams.Clear(); }
		public int RegisterRoi(string rParams)
		{
			this.roiParams.Add(rParams);
			int newHandle = this.roiParams.Count;
			result = new int[newHandle];
			return newHandle;
		}
		/// 
		public int GetResult(int roiHandle, out long timeMs)
		{
			timeMs = cameraTimeMs;

			if (roiHandle > 0 && roiHandle <= roiParams.Count)
			{
				return result[roiHandle - 1];
			}

			return 0;
		}



		///
		/// UDP Port number for 'MeasurementOp'
		///
		const int UdpPortRangeStart = 13800;
		const int UdpPortRangeEnd = 13850;
		static int nextUdpPortNr = UdpPortRangeStart;
		public static int GetNextUdpPortNr() { return nextUdpPortNr++; }
		/// 
		readonly int measurementUdpPortNr;
		UdpClient measurementListener;


		public Camera() {}

		public Camera(Generic.IComponentCfg cfg, IList<Generic.IComponent> components)
			: base(cfg)
		{
			CameraCfg = cfg as CameraCfg;
			NetAdapter = TbfComponents.FindComponent(cfg.ParentName, components) as GenericDevices.INetworkAdapter;
			if (NetAdapter == null) throw new ArgumentNullException("no network adapter");

			Telnet = null;
			terminalDlg = null;

			measurementUdpPortNr = GetNextUdpPortNr();

			roiParams = new List<string>();

			running = false;

			log.Debug(this.ToString());
		}



		public void Initialize()
		{
			cameraIdx = GetCameraIdx();

			if (CameraCfg.DebugLevel == DebugMode.Simulate) return;

			/// Detect a camera
            bool cameraDetected = DetectCamera(CameraCfg.HardwareAddress % 100, ref ipAddress, true,
											   out cpuHardware, out cpuRevision, out cpuSerialNr, out sdCardVer);


			if (CameraCfg.DebugLevel == DebugMode.AutoDetect)
			{
				CameraCfg.DebugLevel = cameraDetected ? DebugMode.DetectedOn : DebugMode.DetectedOff;
			}
			else if (!cameraDetected)
			{
				throw new Exception(string.Format("{0}={1}", Strings.Address, CameraCfg.HardwareAddress));
			}

			if (cameraDetected)
			{
				/// Open telnet clint and start the log-in process
				Telnet = new Telnet.TelnetClient(this, CameraCfg.Name, ClpUserName, ClpPassword, TelnetPrompt, TelnetSkipFirstLine, CameraCfg.DisplayTerminal);

				if (CameraCfg.DisplayTerminal)
				{
					terminalDlg = new TerminalDlg(CameraCfg.Name, Telnet);
					terminalDlg.Show();
				}

				Telnet.MeasurementDataReceivedHandler += delegate(object sender, MeasuredDataEventArgs msrmtData)
				{
					if (Program.MainWnd.InvokeRequired)
					{
						Program.MainWnd.Invoke(new EventHandler<MeasuredDataEventArgs>(OnMeasurementDataReceived), sender, msrmtData);
					}
					else
					{
						OnMeasurementDataReceived(sender, msrmtData);
					}
				};

				Telnet.Enqueue(new Telnet.Command(Network.Telnet.CmdAction.CONNECT, ipAddress.ToString(), 10, 30));


            	//measurementListener = new UdpClient(measurementUdpPortNr);
            	//new Thread(new ThreadStart(MeasurementUdpListener)).Start();


				scpThread = new Thread(new ThreadStart(ScpWorker));
				scpThread.Start();

				rtpUdpLocalPort = RtpUdpPortBase + 2 * cameraIdx;
				StartRtpListener(NetAdapter.IPAddress, rtpUdpLocalPort);

				running = true;

				log.FatalFormat("'{0}' with address {1} detected, IP address = {2}", Name, CameraCfg.HardwareAddress, ipAddress);
			}
			else
			{
				log.FatalFormat("'{0}' with address {1} not detected", Name, CameraCfg.HardwareAddress);
			}
		}

		public void StopDevice()
		{
			stopScpThreadFlag = true;
			stopRtpListenerFlag = true;

			if (Telnet != null)
			{
				Telnet.Dispose();
				Telnet = null;
			}

			if (scpThread != null) scpThread.Join(500);
			if (rtpListenerThread != null) rtpListenerThread.Join(1000);

			if (rtpUdpClient != null)
			{
				rtpUdpClient.Close();
				rtpUdpClient = null;
			}

			running = false;
		}

		public void RunDeviceBefore()
		{
		}
		
		public void RunDeviceAfter()
		{
//			if (running)
//			{
//				Console.WriteLine("Time={0} IP={1} scp={2}", StateMachine.Time, IPAddress, scpConnected ? "connected" : "disconnected");
//			}
		}



		/// <summary>
		/// Detect the camera with specified hardware address (DIP switches)
		/// </summary>
		/// <param name="hwAddress">Hardware address (DIP switches)</param>
		/// <param name="setDateTime">true = Broadcast 'SetDateTime' to all cameras</param>
		/// <param name="ipAddress">Detected IP address</param>
		/// <param name="hardware">Detected hardware</param>
		/// <param name="revision">Detected HW revision</param>
		/// <param name="serial">Detected serial number</param>
		/// <param name="sdCardVer">Detected OS image</param>
		/// <returns>true when camera detected successfully</returns>
        bool DetectCamera(int hwAddress, ref IPAddress ipAddress, bool setDateTime, out string hardware, out string revision, out string serial, out string sdCardVer)
		{
			for (int trials = 1; trials <= 3; trials++)
			{
                UdpClient udpClient = new UdpClient();

                try
                {
                    if (setDateTime)
                    {
                        SetDateTime(udpClient, DateTime.Now);
                    }

                    ///
                    /// Send a request for camera information
                    /// 
                    DateTime detectionStart = DateTime.Now;
                    CameraInfoRequest(udpClient, hwAddress);

                    ///
                    /// Receive a response or timeout
                    /// 
                    IAsyncResult asyncRslt = udpClient.BeginReceive(null, null);
                    if (asyncRslt.AsyncWaitHandle.WaitOne(500))
                    {
                        /// Response received within time limit
                        IPEndPoint cameraIPEndpoint = new IPEndPoint(IPAddress.Any, 1852);
                        byte[] inputBuffer = udpClient.EndReceive(asyncRslt, ref cameraIPEndpoint);

                        double duration_ms = (DateTime.Now - detectionStart).TotalMilliseconds;
                        ipAddress = cameraIPEndpoint.Address;

                        udpClient.Close();

                        string response = Encoding.ASCII.GetString(inputBuffer, 0, inputBuffer.Length);
                        string[] strArr = response.Split(new char[] { ' ', '=' });
                        if (strArr.Length == 10 && strArr[0] == "Address" && strArr[2] == "Hardware" &&
                            strArr[4] == "Revision" && strArr[6] == "Serial" && strArr[8] == "Image")
                        {
                            hardware = strArr[3];
                            revision = strArr[5];
                            serial = strArr[7];
                            sdCardVer = strArr[9];
                        }
                        else if (strArr.Length == 8 && strArr[0] == "Address" && strArr[2] == "Hardware" &&
                            strArr[4] == "Revision" && strArr[6] == "Serial")
                        {
                            hardware = strArr[3];
                            revision = strArr[5];
                            serial = strArr[7];
                            sdCardVer = string.Empty;
                        }
                        else
                        {
                            continue;
                        }

                        string msg = string.Format("Camera {0} detected in {1} ms: HWAddress={2} IPAddress={3} {4}",
                                        CameraCfg.Name,
                                        duration_ms,
                                        CameraCfg.HardwareAddress,
                                        ipAddress == null ? "not detected" : ipAddress.ToString(),
                                        response);
                        log.Info(msg);
                        Console.WriteLine(msg);

                        return true;	/// Camera detected
                    }
                }
                catch (Exception exc)
                {
                    log.ErrorFormat("Camera {0} with HWAddress={1} not detected : {2}", CameraCfg.Name, CameraCfg.HardwareAddress, exc.Message);
                }

				udpClient.Close();
			}

			ipAddress = null;
			hardware = null;
			revision = null;
			serial = null;
			sdCardVer = null;
			return false;			/// No camera detected
		}

		void CameraInfoRequest(UdpClient udpClient, int hardwareAddress)
		{
			string strToSend = string.Format("getinfo {0}", hardwareAddress);
			byte[] dataToSend = Encoding.ASCII.GetBytes(strToSend);
			udpClient.Send(dataToSend, dataToSend.Length, new IPEndPoint(NetAdapter.BroadcastAddress, 1852));
		}

		void SetDateTime(UdpClient udpClient, DateTime dateTime)
		{
			string strToSend = string.Format("setdatetime {0:yyMMddHHmmss}", dateTime);
			byte[] dataToSend = Encoding.ASCII.GetBytes(strToSend);
			udpClient.Send(dataToSend, dataToSend.Length, new IPEndPoint(NetAdapter.BroadcastAddress, 1852));
		}



		void ScpWorker()
		{
			try
			{
				connectionInfo = new PasswordConnectionInfo(IPAddress.ToString(), ClpUserName, ClpPassword);
				scpClient = new ScpClient(connectionInfo);
				scpClient.Connect();
				scpConnected = scpClient.IsConnected;
			}
			catch (Exception)
			{
				scpConnected = false;
			}


			if (scpConnected)
			{
				while (!stopScpThreadFlag)
				{
					switch (scpCommand)
					{
						case ScpCommand.Get:
							scpCommand = ScpCommand.None;
							scpClient.Download(scpSrcFileName, new System.IO.FileInfo(scpDstFileName));
							break;

						default:
							Thread.Sleep(250);
							break;
					}
				}

				scpClient.Disconnect();
				scpConnected = false;
			}
		}

		/// <summary>
		/// Transfer a file via SCP
		/// </summary>
		/// <param name="srcFileName"></param>
		/// <returns>0 (success), -1 (busy), -2 (no session)</returns>

		public int TransferFileViaScp(string srcFileName, string dstFileName)
		{
			if (!scpConnected) return -2;
			if (scpCommand != ScpCommand.None) return -1;

			scpSrcFileName = srcFileName;
			scpDstFileName = dstFileName;
			scpCommand = ScpCommand.Get;
			return 0;
		}



		private void StartRtpListener(IPAddress localIP, int localPort)
		{
			rtpUdpClient = new UdpClient(new IPEndPoint(localIP, localPort));

			rtpListenerThread = new Thread(new ThreadStart(RtpListener));
			rtpListenerThread.Start();
		}

		void RtpListener()
		{
			JpegFrame jpegFrame = new JpegFrame();
			bool synced = false;

			while (!stopRtpListenerFlag)
			{
				try
				{
					IPEndPoint endpoint = null;
					Byte[] data = rtpUdpClient.Receive(ref endpoint);

					if (data.Length > 20)
					{
						/// Process the packet
						RtpPacket newPacket = new RtpPacket(data);
						if (synced)
						{
							/// Sychronized: process the new packet
							switch (jpegFrame.AddPacket(newPacket))
							{
								case RtpFrame.STATE.Complete:
									UiBridge.Bridge.OnImage(this.cameraIdx, jpegFrame.ToImage());
									jpegFrame.Clear();
									break;
								case RtpFrame.STATE.Error:
									jpegFrame.Clear();
									synced = false;
									break;
								default:
									break;
							}
						}
						else if (newPacket.Mark)
						{
							/// Synchronize when a packet with Mark occurs, process the next packet
							jpegFrame.Clear();
							synced = true;
						}
						else
						{
							/// Stay unsynchronized
						}
					}
				}
				catch (Exception exc)
				{
					string msg = string.Format("Exception in the listener thread: {0}", exc.Message);
					log.Error(msg);
				}
			}

			return;
		}



		public IOperation LiveStreamOp(bool hiRes)
		{
			int wid = hiRes ? 1280 : 640;
			int hgh = hiRes ? 960 : 480;
			string command = string.Format("/opt/vc/bin/raspivid -t 0 -cd MJPEG -w {0} -h {1} -fps 30 -b 8000000 -o - | gst-launch-1.0 fdsrc ! \"image/jpeg,framerate=30/1\" ! jpegparse ! rtpjpegpay ! udpsink host={2} port={3}",
										   wid, hgh, NetAdapter.IPAddress.ToString(), rtpUdpLocalPort);

			return new LiveStreamOp(this, Telnet, command);
		}


		public IOperation GrabImagesOp(string[] imgFileNames, bool blackAndWhite, bool lowResolution, ImageRotation imageRotation)
		{
			return new GrabImagesOp(this, imgFileNames, blackAndWhite, lowResolution, imageRotation);
		}


		public IOperation MeasurementOp()
		{
			if (Telnet != null)
			{
				//new MeasurementOp(this, NetAdapter.IPAddress.ToString(), measurementUdpPortNr, roiParams);
				return this; 
			}
			else
			{
				return null;
			}
		}

		string command;
		bool measurementCommandSent;
		bool connectionEstablished;


		public void Start()
		{
			/// Prepare the telent command
			StringBuilder sb = new StringBuilder();
			foreach (var s in roiParams) sb.AppendFormat(" {0}", s);
			command = string.Format("clp/Measurement -udp {0} {1}{2}{3} 1 7 0 0 0",
									NetAdapter.IPAddress,
									measurementUdpPortNr,
									CameraCfg.UseTestImages ? (" -l " + CameraCfg.TestImagesCount.ToString()) : string.Empty,
									sb);

			measurementCommandSent = false;
			connectionEstablished = false;

			/// If ready send (=enqueue) the command
			if (Telnet.State == TelnetClient.TelnetState.Inactive)
			{
				Telnet.Enqueue(new Telnet.Command(CmdAction.SEND_MSRMNT_CMD, command));
				measurementCommandSent = true;
			}
		}

		public Event Run()
		{
			if (!measurementCommandSent)
			{
				/// When ready send (=enqueue) the command
				if (Telnet.State == TelnetClient.TelnetState.Inactive)
				{
					Telnet.Enqueue(new Telnet.Command(CmdAction.SEND_MSRMNT_CMD, command));
					measurementCommandSent = true;
				}
			}
			else if (!connectionEstablished)
			{
				connectionEstablished = true;
			}
			return Event.None;
		}

		public void Stop()
		{
			if (measurementCommandSent)
			{
				Telnet.Enqueue(new Telnet.Command(CmdAction.SEND_COMMAND, TelnetClient.CtrlCCommand));
			}
		}


		public void OnMeasurementDataReceived(object sender, MeasuredDataEventArgs msrmtData)
		{
			string[] pulsesArr = msrmtData.MeasuredData.Split(new char[] { ';' });

			uint uiVal;
			if (result != null && result.Length + 1 == pulsesArr.Length && uint.TryParse(pulsesArr[0], out uiVal))
			{
				cameraTimeMs = (long)uiVal;

				for (int i = 0; i < result.Length; i++)
				{
					int val;
					if (int.TryParse(pulsesArr[i + 1], out val))
					{
						result[i] = Math.Abs(val);
					}
				}
			}
		}


		void MeasurementUdpListener()
		{
			StringBuilder toBeProcessed = new StringBuilder();
			IPEndPoint ipEndPoint = new IPEndPoint(IPAddress.Any, measurementUdpPortNr);

			try
			{
				while (true)
				{
					byte[] byteArray = measurementListener.Receive(ref ipEndPoint);
					toBeProcessed.Append(Encoding.ASCII.GetString(byteArray, 0, byteArray.Length));
					log.DebugFormat("MeasurementUdpListener() ... toBeProcessed = {0}", toBeProcessed);

					while (true)
					{
						int from = toBeProcessed.ToString().IndexOf('[');
						if (from < 0) break;

						int len = toBeProcessed.ToString(from + 1, toBeProcessed.Length - from - 1).IndexOf(']');
						if (len < 0) break;

						string[] pulsesArr = toBeProcessed.ToString(from + 1, len).Split(new char[] { ';' });

						uint uiVal;
						if (result != null && result.Length + 1 == pulsesArr.Length && uint.TryParse(pulsesArr[0], out uiVal))
						{
//							cameraTimeMs = (long)uiVal;

							for (int i = 0; i < result.Length; i++)
							{
								int val;
								if (int.TryParse(pulsesArr[i + 1], out val))
								{
//									result[i] = Math.Abs(val);
								}
							}
						}

						toBeProcessed.Remove(0, from + len + 2);
					}
				}
			}
			catch
			{
				log.FatalFormat("Camera : MeasurementUdpListener() thread  failed");
			}
		}
	}
}