#include "ImageNetOperator.h"
#include "LogInfoCls.h"
#include "PrintMsgToQDebug.h"
#include <QDebug>
#include "ImageOperatorBase.h"
#include "GPUBaseTool.h"
#include "GPUBPImageNet.cuh"
#include "BaseTool.h"


void InitCreateImageXYZProcess(QString& outImageLLPath, QString& outImageXYZPath, QString& InEchoGPSDataPath,
	double& NearRange, double& RangeResolution, int64_t& RangeNum)
{
	qDebug() << "---------------------------------------------------------------------------------";
	qDebug() << u8"创建粗成像平面斜距投影网格";
	gdalImage antimg(InEchoGPSDataPath);
	qDebug() << u8"1. 回波GPS坐标点文件参数：\t";
	qDebug() << u8"文件路径：\t" << InEchoGPSDataPath;
	qDebug() << u8"GPS 点数：\t" << antimg.height;
	qDebug() << u8"文件列数：\t" << antimg.width;
	qDebug() << u8"2.斜距网格参数：";
	qDebug() << u8"近距离：\t" << NearRange;
	qDebug() << u8"分辨率：\t" << RangeResolution;
	qDebug() << u8"网格点数：\t" << RangeNum;
	qDebug() << u8"3.输出文件参数：";
	gdalImage outimgll = CreategdalImageDouble(outImageLLPath, antimg.height,RangeNum, 3,true,true);
	gdalImage outimgxyz = CreategdalImageDouble(outImageXYZPath, antimg.height, RangeNum, 3, true, true);
	qDebug() << u8"成像平面文件（经纬度）网格路径：\t" << outImageLLPath;
	qDebug() << u8"成像平面文件（XYZ）网格路径：\t" << outImageXYZPath;
	qDebug() << u8"4.开始创建成像网格XYZ";
	long prfcount = antimg.height;
	long rangeNum = RangeNum;
	double Rnear = NearRange;
	double dx = RangeResolution;
	
	long blockRangeCount = Memory1GB / sizeof(double) / 4 / prfcount *6;
	blockRangeCount = blockRangeCount < 1 ? 1 : blockRangeCount;

	std::shared_ptr<double>  Pxs((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);
	std::shared_ptr<double>  Pys((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);
	std::shared_ptr<double>  Pzs((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);
	std::shared_ptr<double>  AntDirectX((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);
	std::shared_ptr<double>  AntDirectY((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);
	std::shared_ptr<double>  AntDirectZ((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);

	{
		long colnum = 19;
		std::shared_ptr<double> antpos =readDataArr<double>(antimg,0,0,prfcount, colnum,1,GDALREADARRCOPYMETHOD::VARIABLEMETHOD);
		double time = 0;
		double Px = 0;
		double Py = 0;
		double Pz = 0;
		for (long i = 0; i < prfcount; i++) {

			Pxs.get()[i] = antpos.get()[i * 19 + 1]; // 卫星坐标
			Pys.get()[i] = antpos.get()[i * 19 + 2];
			Pzs.get()[i] = antpos.get()[i * 19 + 3];
			AntDirectX.get()[i] = antpos.get()[i * 19 + 13];// zero doppler
			AntDirectY.get()[i] = antpos.get()[i * 19 + 14];
			AntDirectZ.get()[i] = antpos.get()[i * 19 + 15];

			double NormAnt = std::sqrt(AntDirectX.get()[i] * AntDirectX.get()[i] +
				AntDirectY.get()[i] * AntDirectY.get()[i] +
				AntDirectZ.get()[i] * AntDirectZ.get()[i]);
			AntDirectX.get()[i] = AntDirectX.get()[i] / NormAnt;
			AntDirectY.get()[i] = AntDirectY.get()[i] / NormAnt;
			AntDirectZ.get()[i] = AntDirectZ.get()[i] / NormAnt;// 归一化
		}
		antpos.reset();
	}

	std::shared_ptr<double>  d_Pxs((double*)mallocCUDADevice(sizeof(double) * prfcount), FreeCUDADevice);
	std::shared_ptr<double>  d_Pys((double*)mallocCUDADevice(sizeof(double) * prfcount), FreeCUDADevice);
	std::shared_ptr<double>  d_Pzs((double*)mallocCUDADevice(sizeof(double) * prfcount), FreeCUDADevice);
	std::shared_ptr<double>  d_AntDirectX((double*)mallocCUDADevice(sizeof(double) * prfcount), FreeCUDADevice);
	std::shared_ptr<double>  d_AntDirectY((double*)mallocCUDADevice(sizeof(double) * prfcount), FreeCUDADevice);
	std::shared_ptr<double>  d_AntDirectZ((double*)mallocCUDADevice(sizeof(double) * prfcount), FreeCUDADevice);

	HostToDevice(Pxs.get(), d_Pxs.get(), sizeof(double) * prfcount);
	HostToDevice(Pys.get(), d_Pys.get(), sizeof(double) * prfcount);
	HostToDevice(Pzs.get(), d_Pzs.get(), sizeof(double) * prfcount);
	HostToDevice(AntDirectX.get(), d_AntDirectX.get(), sizeof(double) * prfcount);
	HostToDevice(AntDirectY.get(), d_AntDirectY.get(), sizeof(double) * prfcount);
	HostToDevice(AntDirectZ.get(), d_AntDirectZ.get(), sizeof(double) * prfcount);


	for (long startcolidx = 0; startcolidx < RangeNum; startcolidx = startcolidx + blockRangeCount) {

		long tempechocol = blockRangeCount;
		if (startcolidx + tempechocol >= RangeNum) {
			tempechocol = RangeNum - startcolidx;
		}
		qDebug() << " imgxyz :\t" << startcolidx << "\t-\t" << startcolidx + tempechocol << " / " << RangeNum;

		std::shared_ptr<double> demx = readDataArr<double>(outimgxyz, 0, startcolidx, prfcount, tempechocol, 1, GDALREADARRCOPYMETHOD::VARIABLEMETHOD);
		std::shared_ptr<double> demy = readDataArr<double>(outimgxyz, 0, startcolidx, prfcount, tempechocol, 2, GDALREADARRCOPYMETHOD::VARIABLEMETHOD);
		std::shared_ptr<double> demz = readDataArr<double>(outimgxyz, 0, startcolidx, prfcount, tempechocol, 3, GDALREADARRCOPYMETHOD::VARIABLEMETHOD);

		std::shared_ptr<double> h_demx((double*)mallocCUDAHost(sizeof(double) * prfcount * tempechocol), FreeCUDAHost);
		std::shared_ptr<double> h_demy((double*)mallocCUDAHost(sizeof(double) * prfcount * tempechocol), FreeCUDAHost);
		std::shared_ptr<double> h_demz((double*)mallocCUDAHost(sizeof(double) * prfcount * tempechocol), FreeCUDAHost);

#pragma omp parallel for 
		for (long ii = 0; ii < prfcount; ii++) {
			for (long jj = 0; jj < tempechocol; jj++) {
				h_demx.get()[ii * tempechocol + jj] = demx.get()[ii * tempechocol + jj];
				h_demy.get()[ii * tempechocol + jj] = demy.get()[ii * tempechocol + jj];
				h_demz.get()[ii * tempechocol + jj] = demz.get()[ii * tempechocol + jj];
			}
		}

		std::shared_ptr<double> d_demx((double*)mallocCUDADevice(sizeof(double) * prfcount * tempechocol), FreeCUDADevice);
		std::shared_ptr<double> d_demy((double*)mallocCUDADevice(sizeof(double) * prfcount * tempechocol), FreeCUDADevice);
		std::shared_ptr<double> d_demz((double*)mallocCUDADevice(sizeof(double) * prfcount * tempechocol), FreeCUDADevice);

		HostToDevice(h_demx.get(), d_demx.get(), sizeof(double) * prfcount * tempechocol);
		HostToDevice(h_demy.get(), d_demy.get(), sizeof(double) * prfcount * tempechocol);
		HostToDevice(h_demz.get(), d_demz.get(), sizeof(double) * prfcount * tempechocol);


		TIMEBPCreateImageGrid(
			d_Pxs.get(), d_Pys.get(), d_Pzs.get(),
			d_AntDirectX.get(), d_AntDirectY.get(), d_AntDirectZ.get(),
			d_demx.get(), d_demy.get(), d_demz.get(),
			prfcount, tempechocol, 0,
			Rnear + dx * startcolidx, dx // 更新最近修读
		);

		DeviceToHost(h_demx.get(), d_demx.get(), sizeof(double) * prfcount * tempechocol);
		DeviceToHost(h_demy.get(), d_demy.get(), sizeof(double) * prfcount * tempechocol);
		DeviceToHost(h_demz.get(), d_demz.get(), sizeof(double) * prfcount * tempechocol);

#pragma omp parallel for 
		for (long ii = 0; ii < prfcount; ii++) {
			for (long jj = 0; jj < tempechocol; jj++) {
				demx.get()[ii * tempechocol + jj] = h_demx.get()[ii * tempechocol + jj];
				demy.get()[ii * tempechocol + jj] = h_demy.get()[ii * tempechocol + jj];
				demz.get()[ii * tempechocol + jj] = h_demz.get()[ii * tempechocol + jj];
			}
		}

		outimgxyz.saveImage(demx, 0, startcolidx, prfcount, tempechocol, 1);
		outimgxyz.saveImage(demy, 0, startcolidx, prfcount, tempechocol, 2);
		outimgxyz.saveImage(demz, 0, startcolidx, prfcount, tempechocol, 3);

		// 将XYZ转换为经纬度
		std::shared_ptr<double> demllx = readDataArr<double>(outimgll, 0, startcolidx, prfcount, tempechocol, 1, GDALREADARRCOPYMETHOD::VARIABLEMETHOD);
		std::shared_ptr<double> demlly = readDataArr<double>(outimgll, 0, startcolidx, prfcount, tempechocol, 2, GDALREADARRCOPYMETHOD::VARIABLEMETHOD);
		std::shared_ptr<double> demllz = readDataArr<double>(outimgll, 0, startcolidx, prfcount, tempechocol, 3, GDALREADARRCOPYMETHOD::VARIABLEMETHOD);

#pragma omp parallel for 
		for (long ii = 0; ii < prfcount; ii++) {
			for (long jj = 0; jj < tempechocol; jj++) {
				double x = demx.get()[ii * tempechocol + jj];
				double y = demy.get()[ii * tempechocol + jj];
				double z = demz.get()[ii * tempechocol + jj];
				Landpoint point;
				XYZ2BLH_FixedHeight(x, y, z, 0, point);
				demllx.get()[ii * tempechocol + jj] = point.lon;
				demlly.get()[ii * tempechocol + jj] = point.lat;
				demllz.get()[ii * tempechocol + jj] = point.ati;
			}
		}


		outimgll.saveImage(demllx, 0, startcolidx, prfcount, tempechocol, 1);
		outimgll.saveImage(demlly, 0, startcolidx, prfcount, tempechocol, 2);
		outimgll.saveImage(demllz, 0, startcolidx, prfcount, tempechocol, 3);

	}

	qDebug() << u8"6.保存成像网格结果";
	qDebug() << "---------------------------------------------------------------------------------";
}

bool OverlapCheck(QString& ImageLLPath, QString& ImageDEMPath)
{
	// 检查DEM是否是WGS84坐标系
	//long demEPSG = GetEPSGFromRasterFile(ImageDEMPath);
	//if (demEPSG != 4326) {
	//	qDebug() << u8"DEM坐标系不是WGS84坐标系,ESPG:"<< demEPSG;
	//	return false;
	//}

	gdalImage demimg(ImageDEMPath);
	gdalImage imgll(ImageLLPath);

	long imgheight = imgll.height;
	long imgwidth = imgll.width;
	Eigen::MatrixXd imglonArr = imgll.getData(0, 0, imgheight, imgwidth, 1);
	Eigen::MatrixXd imglatArr = imgll.getData(0, 0, imgheight, imgwidth, 2);

	// 打印范围
	qDebug() << u8"影像范围：";
	qDebug() << u8"最小经度：\t" << imglonArr.minCoeff();
	qDebug() << u8"最大经度：\t" << imglonArr.maxCoeff();
	qDebug() << u8"最小纬度：\t" << imglatArr.minCoeff();
	qDebug() << u8"最大纬度：\t" << imglatArr.maxCoeff();
	qDebug() << u8"DEM范围：";
	RasterExtend demextend = demimg.getExtend();
	qDebug() << u8"最小经度：\t" << demextend.min_x;
	qDebug() << u8"最大经度：\t" << demextend.max_x;
	qDebug() << u8"最小纬度：\t" << demextend.min_y;
	qDebug() << u8"最大纬度：\t" << demextend.max_y;
	qDebug() << u8"影像大小：\t" << demimg.height << " * " << demimg.width;



	for (long i = 0; i < imgheight; i++)
	{
		for (long j = 0; j < imgwidth; j++)
		{
			double lon = imglonArr(i, j); // X
			double lat = imglatArr(i, j); // Y
			Landpoint point = demimg.getRow_Col(lon, lat);
			imglonArr(i, j) = point.lon;
			imglatArr(i, j) = point.lat;
		}
	}

	double minX = imglonArr.minCoeff();
	double maxX = imglonArr.maxCoeff();
	double minY = imglatArr.minCoeff();
	double maxY = imglatArr.maxCoeff();

	//打印范围
	qDebug() << u8"dem 的范围：";
	qDebug() << u8"minX:"<<minX<<"\t"<<demimg.width;
	qDebug() << u8"maxX:"<<maxX << "\t" << demimg.width;
	qDebug() << u8"minY:"<<minY << "\t" << demimg.height;
	qDebug() << u8"maxY:"<<maxY << "\t" << demimg.height;
	qDebug() << u8"图像行列：\t" << demimg.height << " , " << demimg.width;

	if (minX<1 || maxX>demimg.width - 1 || minY<1 || maxY>demimg.height - 1) {
		return false;
	}
	else {
		return true;
	}



}

bool GPSPointsNumberEqualCheck(QString& ImageLLPath, QString& InEchoGPSDataPath)
{

	gdalImage antimg(InEchoGPSDataPath);
	gdalImage imgll(ImageLLPath);
	return antimg.height == imgll.height;
 
}

void InterploateAtiByRefDEM(QString& ImageLLPath, QString& ImageDEMPath, QString& outImageLLAPath, QString& InEchoGPSDataPath)
{
	gdalImage demimg(ImageDEMPath);
	gdalImage imgll(ImageLLPath);
	gdalImage outimgll = CreategdalImageDouble(outImageLLAPath, imgll.height, imgll.width, 4, true, true); // 经度、纬度、高程、斜距

	long imgheight = imgll.height;
	long imgwidth = imgll.width;

	Eigen::MatrixXd imglonArr = imgll.getData(0, 0, imgheight, imgwidth, 1);
	Eigen::MatrixXd imglatArr = imgll.getData(0, 0, imgheight, imgwidth, 2);
	Eigen::MatrixXd demArr = demimg.getData(0, 0, demimg.height, demimg.width, 1);
	Eigen::MatrixXd imgatiArr = Eigen::MatrixXd::Zero(imgheight, imgwidth);
	Eigen::MatrixXd imgRArr = Eigen::MatrixXd::Zero(imgheight, imgwidth);

	outimgll.saveImage(imglonArr, 0, 0, 1);
	outimgll.saveImage(imglatArr, 0, 0, 2);


	double minX = imglonArr.minCoeff();
	double maxX = imglonArr.maxCoeff();
	double minY = imglatArr.minCoeff();
	double maxY = imglatArr.maxCoeff();
	//打印范围
	qDebug() << u8"dem 的范围：";
	qDebug() << u8"minX:" << minX << "\t" << demimg.width;
	qDebug() << u8"maxX:" << maxX << "\t" << demimg.width;
	qDebug() << u8"minY:" << minY << "\t" << demimg.height;
	qDebug() << u8"maxY:" << maxY << "\t" << demimg.height;
	qDebug() << u8"图像行列：\t" << demimg.height << " , " << demimg.width;



	for (long i = 0; i < imgheight; i++) {
		//printf("\rprocess:%f precent\t\t\t",i*100.0/imgheight);
		for (long j = 0; j < imgwidth; j++) {
			double lon = imglonArr(i, j);
			double lat = imglatArr(i, j);
			Landpoint point = demimg.getRow_Col(lon, lat);
			Landpoint p0, p11, p21, p12, p22;
			p0.lon = point.lon;
			p0.lat = point.lat;

			p11.lon = floor(p0.lon);
			p11.lat = floor(p0.lat);
			p11.ati = demArr(long(p11.lat), long(p11.lon));

			p12.lon = ceil(p0.lon);
			p12.lat = floor(p0.lat);
			p12.ati = demArr(long(p12.lat), long(p12.lon));

			p21.lon = floor(p0.lon);
			p21.lat = ceil(p0.lat);
			p21.ati = demArr(long(p21.lat), long(p21.lon));

			p22.lon = ceil(p0.lon);
			p22.lat = ceil(p0.lat);
			p22.ati = demArr(long(p22.lat), long(p22.lon));

			p0.lon = p0.lon - p11.lon;
			p0.lat = p0.lat - p11.lat;

			p12.lon = p12.lon - p11.lon;
			p12.lat = p12.lat - p11.lat;

			p21.lon = p21.lon - p11.lon;
			p21.lat = p21.lat - p11.lat;

			p22.lon = p22.lon - p11.lon;
			p22.lat = p22.lat - p11.lat;

			p11.lon = p11.lon - p11.lon;
			p11.lat = p11.lat - p11.lat;

			p0.ati=Bilinear_interpolation(p0, p11, p21, p12, p22);
			imgatiArr(i, j) = p0.ati;

		}
	}
	outimgll.saveImage(imgatiArr, 0, 0, 3);
	qDebug() << u8"计算每个点的斜距值";


	gdalImage antimg(InEchoGPSDataPath);
	qDebug() << u8"1. 回波GPS坐标点文件参数：\t";
	qDebug() << u8"文件路径：\t" << InEchoGPSDataPath;
	qDebug() << u8"GPS 点数：\t" << antimg.height;
	qDebug() << u8"文件列数：\t" << antimg.width;
	
	long prfcount = antimg.height;


	std::shared_ptr<double>  Pxs((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);
	std::shared_ptr<double>  Pys((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);
	std::shared_ptr<double>  Pzs((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);
	std::shared_ptr<double>  AntDirectX((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);
	std::shared_ptr<double>  AntDirectY((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);
	std::shared_ptr<double>  AntDirectZ((double*)mallocCUDAHost(sizeof(double) * prfcount), FreeCUDAHost);

	{
		long colnum = 19;
		std::shared_ptr<double> antpos = readDataArr<double>(antimg, 0, 0, prfcount, colnum, 1, GDALREADARRCOPYMETHOD::VARIABLEMETHOD);
		double time = 0;
		double Px = 0;
		double Py = 0;
		double Pz = 0;
		for (long i = 0; i < prfcount; i++) {

			Pxs.get()[i] = antpos.get()[i * 19 + 1]; // 卫星坐标
			Pys.get()[i] = antpos.get()[i * 19 + 2];
			Pzs.get()[i] = antpos.get()[i * 19 + 3];
			AntDirectX.get()[i] = antpos.get()[i * 19 + 13];// zero doppler
			AntDirectY.get()[i] = antpos.get()[i * 19 + 14];
			AntDirectZ.get()[i] = antpos.get()[i * 19 + 15];

			double NormAnt = std::sqrt(AntDirectX.get()[i] * AntDirectX.get()[i] +
				AntDirectY.get()[i] * AntDirectY.get()[i] +
				AntDirectZ.get()[i] * AntDirectZ.get()[i]);
			AntDirectX.get()[i] = AntDirectX.get()[i] / NormAnt;
			AntDirectY.get()[i] = AntDirectY.get()[i] / NormAnt;
			AntDirectZ.get()[i] = AntDirectZ.get()[i] / NormAnt;// 归一化
		}
		antpos.reset();
	}



#pragma omp parallel for 
	for (long prfid = 0; prfid < prfcount; prfid++) {
		double Px = Pxs.get()[prfid];
		double Py = Pys.get()[prfid];
		double Pz = Pzs.get()[prfid];
		double R = 0;
		Landpoint LLA = {};
		Point3 XYZ = {};
		for (long j = 0; j < imgwidth; j++) {
			LLA.lon = imglonArr(prfid, j);
			LLA.lat = imglatArr(prfid, j);
			LLA.ati = imgatiArr(prfid, j);

			LLA2XYZ(LLA, XYZ);

			R = sqrt(pow(Px - XYZ.x, 2) +
				pow(Py - XYZ.y, 2) +
				pow(Pz - XYZ.z, 2));
			imgRArr(prfid, j) = R;
		}
	}

	outimgll.saveImage(imgRArr, 0, 0, 4);

	qDebug() << u8"插值完成";
}