#include <stdio.h>
#include "verify.h"
#include <malloc.h>
#include <stdlib.h>
#include "msg.h"


#define MAXITEM 16
#define MAXLINE 1024

static const char* filename = "debug/verify_data";
static FILE* file = NULL;
static int index_i = 0;
static int index_j = 0;
static int index_count = 0;
static int index_i_upper = 0 ;
static int index_j_upper = 0;


typedef struct verify_item_s{
    float pix, piy, piz;
    float pjx, pjy, pjz;
    float r2;
    int fix, fiy, fiz;
    int fjx, fjy, fjz;
    char pad[76];
}verify_item_t;

static verify_item_t* vitem = NULL;

char* get_vitem(void)
{
    return (char*)vitem;
}

int set_uppers(int i_upper, int j_upper)
{
    index_i_upper = i_upper;
    index_j_upper = j_upper;
    
    return 0;
}

int
save_item(int count , int i, int j,
	  float _pix, float _piy, float _piz, 
	  float _pjx, float _pjy, float _pjz,
	  float _r2,
	  int _fix, int _fiy, int _fiz,
	  int _fjx, int _fjy, int _fjz)
{
    char buf[MAXLINE];
    
    if (file == NULL){
	printf("ERROR: file is NULL\n");
	return -1;
    }
    
    if (fprintf(file, "%d %d %d %f %f %f %f %f %f %f %d %d %d %d %d %d\n",
		count, i, j,
		_pix, _piy, _piz, _pjx, _pjy, _pjz, _r2, 
		_fix, _fiy, _fiz, _fjx, _fjy, _fjz)  <= 0){
	printf("ERROR: printing to file failed\n");
	return -1;
    }
   
    
    return 0;
    
}


int
save_input(int count , int i, int j, 
	   float _pix, float _piy, float _piz, 
	   float _pjx, float _pjy, float _pjz)
{
    char buf[MAXLINE];
    
    if (file == NULL){
	printf("ERROR: file is NULL\n");
	return -1;
    }
    
    if (fprintf(file, "%d %d %d %f %f %f %f %f %f %f %d %d %d %d %d %d\n",
		count, i, j,
		_pix, _piy, _piz, _pjx, _pjy, _pjz,
		0,
		0, 0, 0, 0, 0, 0) <= 0){
	printf("ERROR: printing to file failed\n");
	return -1;
    }
        
    return 0;
    
}

static int
fcmp(float a, float b)
{
    float tmp =  a - b;

    if (tmp > 1.0e-4){
	return 1;
    }else if (tmp < -1.0e-4){
	return -1;
    }
    
    return 0;
    
}


static int
icmp(int a, int b)
{
    /*
   float tmp =  a - b;
   tmp= 1.0*tmp/a;
    
    if (tmp > 1.0e-4){
	return 1;
    }else if (tmp < -1.0e-4){
	return -1;
    }
    */
    
    return a ==b ? 0:1;
    
}


int
compare_input(int count ,int i, int j,
	      float _pix, float _piy, float _piz, 
	      float _pjx, float _pjy, float _pjz)
     
{    
    verify_item_t* item;

    item = &vitem[i*index_j_upper + j];
    
    if ( fcmp(item->pix, _pix) == 0 &&
	 fcmp(item->piy, _piy) == 0 &&
	 fcmp(item->piz, _piz) == 0 &&
	 fcmp(item->pjx, _pjx) == 0 &&
	 fcmp(item->pjy, _pjy) == 0 &&
	 fcmp(item->pjz, _pjz) == 0 ){	
	
	return 0;
	
    }
    
    
    printf("ERROR: input match error\n");
    printf("input:  %f %f %f %f %f %f\n",
	   _pix, _piy, _piz, _pjx, _pjy, _pjz);
    printf("indsk:  %f %f %f %f %f %f %f %d %d %d %d %d %d\n",
	   item->pix, item->piy, item->piz, item->pjx, item->pjy, item->pjz, item->r2, 
	   item->fix, item->fiy, item->fiz, item->fjx, item->fjy, item->fjz);
    
    return -1;

}

int
compare_item(int count , int i, int j,
	     float _pix, float _piy, float _piz, 
	     float _pjx, float _pjy, float _pjz,
	     float _r2,
	     int _fix, int _fiy, int _fiz,
	     int _fjx, int _fjy, int _fjz)
{
    verify_item_t* item;


    item = &vitem[i*index_j_upper + j];
    
    if ( fcmp(item->pix, _pix) == 0 &&
	 fcmp(item->piy, _piy) == 0 &&
	 fcmp(item->piz, _piz) == 0 &&
	 fcmp(item->pjx, _pjx) == 0 &&
	 fcmp(item->pjy, _pjy) == 0 &&
	 fcmp(item->pjz, _pjz) == 0 &&
	 fcmp(item->r2,  _r2) == 0 &&
	 icmp(item->fix, _fix) == 0 &&
	 icmp(item->fiy, _fiy) == 0 &&
	 icmp(item->fiz, _fiz) == 0 &&
	 icmp(item->fjx, _fjx) == 0 &&
	 icmp(item->fjy, _fjy) == 0 &&
	 icmp(item->fjz, _fjz) == 0 ){
	
	return 0;
    }
    
    
    printf("ERROR: not match\n");
    printf("input:  %f %f %f %f %f %f %f %d %d %d %d %d %d\n",
	   _pix, _piy, _piz, _pjx, _pjy, _pjz, _r2, 
	   _fix, _fiy, _fiz, _fjx, _fjy, _fjz);
    printf("indsk:  %f %f %f %f %f %f %f %d %d %d %d %d %d\n",
	   item->pix, item->piy, item->piz, item->pjx, item->pjy, item->pjz, item->r2, 
	   item->fix, item->fiy, item->fiz, item->fjx, item->fjy, item->fjz);
    
    return -1;
}

int
close_disk_file(void)
{
    if(vitem){
	free(vitem);
	vitem = NULL;
    }

    fclose(file);
    file = 0;
    return 0;
}

static int
dump_vitem_to_file(const char* f)
{
    int i, j;

    FILE* fs = fopen(f, "w");
    if (fs == NULL){
	printf("ERROR: opening file(%s) failed\n", f);
	return -1;
    }
    
    for (i =0; i < index_i_upper; i++){
	for (j= i+1; j < index_j_upper; j++){

	    verify_item_t* item = &vitem[i* index_j_upper + j];
	    if (fprintf(fs, "%d %d %d %f %f %f %f %f %f %f %d %d %d %d %d %d\n",
			0, i, j,
			item->pix, item->piy, item->piz, item->pjx, item->pjy, item->pjz, item->r2, 
			item->fix, item->fiy, item->fiz, item->fjx, item->fjy, item->fjz)  <= 0){
		printf("fprintf failed \n");
		return -1;
	    }
	}
    }
    fclose(fs);
    
}

int
open_disk_file_for_read(void)
{
    char buf[MAXLINE];

    int count, i, j;
    float pix, piy, piz, pjx,pjy, pjz;
    float r2;
    int fix, fiy, fiz, fjx, fjy, fjz;
    
    file =  fopen( filename , "r+");

    if (file == NULL){
	printf("ERROR: Loading verify file (%s) failed\n", 
	       filename);
	return -1;	
    }
    
    //construct data struct
    if (index_i_upper == 0
	|| index_j_upper == 0){
	printf("PPU ERROR: index uppers not set\n");
	return -1;
    }
    
    vitem = (verify_item_t*)memalign(128, index_i_upper*index_j_upper*sizeof(verify_item_t));
    if (vitem == NULL){
	printf("ERROR: malloc failed for vitem\n");
	return -1;
    }
    
    while( fgets(buf, MAXLINE, file) != NULL){
	sscanf(buf, "%d %d %d %f %f %f %f %f %f %f %d %d %d %d %d %d",
	       &count, &i, &j,
	       &pix, &piy, &piz,&pjx, &pjy, &pjz,
	       &r2,
	       &fix, &fiy, &fiz, &fjx, &fjy, &fjz);
	
	int idx = i*index_j_upper + j;
	
	vitem[idx].pix = pix;
	vitem[idx].piy = piy;
	vitem[idx].piz = piz;
	vitem[idx].pjx = pjx;
	vitem[idx].pjy = pjy;
	vitem[idx].pjz = pjz;
	vitem[idx].r2 = r2;
	vitem[idx].fix = fix;
	vitem[idx].fiy = fiy;
	vitem[idx].fiz = fiz;
	vitem[idx].fjx = fjx;
	vitem[idx].fjy = fjy;
	vitem[idx].fjz = fjz;	    
    }
    
    fclose(file);
    file = NULL;
    
    //dump_vitem_to_file("/tmp/tmpdata");
    printf("Verification data struct completed\n");
    return 0;
}

int
open_disk_file_for_write(void)
{
    file =  fopen( filename , "w+");
    
    if (file == NULL){
	printf("ERROR: Loading verify file (%s) failed\n", 
	       filename);
	return -1;	
    }
    
    
    return 0;
    
}

int
set_file_name(const char* fname)
{
    if (fname == NULL){
	printf("ERROR: fname is NULL\n");
	return -1;
    }
    
    filename = fname;

    return 0;
}

const char*
get_file_name(void)
{
    return filename;
    
}