/**
 * @file display_stage.c
 * @author nicolas.brulez@parrot.com
 * @date 2012/09/25
 *
 * This stage is a naive example of how to display video using GTK2 + Cairo
 * In a complete application, all GTK handling (gtk main thread + widgets/window creation)
 *  should NOT be handled by the video pipeline (see the Navigation linux example)
 *
 * The window will be resized according to the picture size, and should not be resized bu the user
 *  as we do not handle any gtk event except the expose-event
 *
 * This example is not intended to be a GTK/Cairo tutorial, it is only an example of how to display
 *  the AR.Drone live video feed. The GTK Thread is started here to improve the example readability
 *  (we have all the gtk-related code in one file)
 */

// Self header file
#include "display_stage.h"

// GTK/Cairo headers
#include <cairo.h>
#include <gtk/gtk.h>

 //Opencv  
//#include <opencv2/opencv.h>
#include <opencv2/highgui/highgui_c.h>
#include <opencv2/imgproc/imgproc_c.h>

IplImage* inCamera;

// Funcs pointer definition
const vp_api_stage_funcs_t display_stage_funcs = {
    NULL,
    (vp_api_stage_open_t) display_stage_open,
    (vp_api_stage_transform_t) display_stage_transform,
    (vp_api_stage_close_t) display_stage_close
};

// Extern so we can make the ardrone_tool_exit() function (ardrone_testing_tool.c)
// return TRUE when we close the video window
extern int exit_program;

C_RESULT display_stage_open (display_stage_cfg_t *cfg)
{
    // Check that we use RGB565
    if (2 != cfg->bpp)
    {
        // If that's not the case, then don't display anything
        cfg->paramsOK = FALSE;
    }
    else
    {
        // Else, start GTK thread and window
        cfg->paramsOK = TRUE;
        cfg->frameBuffer = NULL;
        cfg->fbSize = 0;
        //START_THREAD (gtk, cfg);
    }
    return C_OK;
}

IplImage *ipl_image_from_data(uint8_t* data)
{
  IplImage *currframe;
  IplImage *dst;
  
  currframe = cvCreateImage(cvSize(640,360), IPL_DEPTH_8U, 3);
  dst = cvCreateImage(cvSize(640,360), IPL_DEPTH_8U, 3);
 
  currframe->imageData = data;
  cvCvtColor(currframe, dst, CV_BGR2RGB);
  cvReleaseImage(&currframe);
  return dst;
}

C_RESULT display_stage_transform (display_stage_cfg_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
    inCamera=ipl_image_from_data((uint8_t*)in->buffers[0]);
    
  
/*  // Process only if we are using RGB565
    if (FALSE == cfg->paramsOK)
    {
        return C_OK;
    }


    // Realloc frameBuffer if needed
    if (in->size != cfg->fbSize)
    {
        cfg->frameBuffer = vp_os_realloc (cfg->frameBuffer, in->size);
        cfg->fbSize = in->size;
    }
    // Copy last frame to frameBuffer
    vp_os_memcpy (cfg->frameBuffer, in->buffers[in->indexBuffer], cfg->fbSize);

    // Ask GTK to redraw the window
    uint32_t width = 0, height = 0;
    getPicSizeFromBufferSize (in->size, &width, &height);
    if (TRUE == gtkRunning)
    {
        gtk_widget_queue_draw_area (cfg->widget, 0, 0, width, height);
    }

    // Tell the pipeline that we don't have any output
    out->size = 0;*/

    return C_OK;
}

C_RESULT display_stage_close (display_stage_cfg_t *cfg)
{
    // Free all allocated memory
    if (NULL != cfg->frameBuffer)
    {
        vp_os_free (cfg->frameBuffer);
        cfg->frameBuffer = NULL;
    }

    return C_OK;
}