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#include <opencv2\opencv.hpp>
#include "opencv2/objdetect/objdetect.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
#include <stdio.h>

#include "tserial.h"
#include "tserial.cpp"

using namespace std;
using namespace cv;

/** Function Headers */
void detectAndDisplay(Mat frame);

/** Global variables */
String face_cascade_name = "haarcascade_frontalface_alt.xml";
String eyes_cascade_name = "haarcascade_eye_tree_eyeglasses.xml";
CascadeClassifier face_cascade;
CascadeClassifier eyes_cascade;
String window_name = "Capture - Face detection";

int arduino_command;
Tserial *arduino_com;
short MSBLSB = 0;
unsigned char MSB = 0;
unsigned char LSB = 0;

/** @function main */
int main(void)
{
    VideoCapture capture;
    Mat frame;

    // serial to Arduino setup 
    arduino_com = new Tserial();
    if (arduino_com != 0) {
        arduino_com->connect("COM7", 57600, spNONE);
    }
    // serial to Arduino setup 


    //-- 1. Load the cascades
    if (!face_cascade.load(face_cascade_name)) { printf("--(!)Error loading face cascade\n"); return -1; };
    if (!eyes_cascade.load(eyes_cascade_name)) { printf("--(!)Error loading eyes cascade\n"); return -1; };

    //-- 2. Read the video stream
    capture.open(1);
    if (!capture.isOpened()) { printf("--(!)Error opening video capture\n"); return -1; }

    while (capture.read(frame))
    {
        if (frame.empty())
        {
            printf(" --(!) No captured frame -- Break!");
            break;
        }

        //-- 3. Apply the classifier to the frame
        detectAndDisplay(frame);

        int c = waitKey(10);
        if ((char)c == 27) { break; } // escape
    }

    // Serial to Arduino - shutdown
    arduino_com->disconnect();
    delete arduino_com;
    arduino_com = 0;
    // Serial to Arduino - shutdown


    return 0;
}

/** @function detectAndDisplay */
void detectAndDisplay(Mat frame)
{
    std::vector<Rect> faces;
    Mat frame_gray;

    cvtColor(frame, frame_gray, COLOR_BGR2GRAY);
    equalizeHist(frame_gray, frame_gray);

    //-- Detect faces
    face_cascade.detectMultiScale(frame_gray, faces, 1.1, 2, 0 | CASCADE_SCALE_IMAGE, Size(30, 30));

    for (size_t i = 0; i < faces.size(); i++)
    {
        Point center(faces[i].x + faces[i].width / 2, faces[i].y + faces[i].height / 2);
        ellipse(frame, center, Size(faces[i].width / 2, faces[i].height / 2), 0, 0, 360, Scalar(255, 0, 255), 4, 8, 0);

        // send X,Y of face center to serial com port   
        // send X axis
        // read least significant byte 
        LSB = faces[i].x & 0xff;
        // read next significant byte 
        MSB = (faces[i].x >> 8) & 0xff;
        arduino_com->sendChar(MSB);
        arduino_com->sendChar(LSB);

        // Send Y axis
        LSB = faces[i].y & 0xff;
        MSB = (faces[i].y >> 8) & 0xff;
        arduino_com->sendChar(MSB);
        arduino_com->sendChar(LSB);
        // serial com port send 

        Mat faceROI = frame_gray(faces[i]);
        std::vector<Rect> eyes;

        //-- In each face, detect eyes
        eyes_cascade.detectMultiScale(faceROI, eyes, 1.1, 2, 0 | CASCADE_SCALE_IMAGE, Size(30, 30));

        for (size_t j = 0; j < eyes.size(); j++)
        {
            Point eye_center(faces[i].x + eyes[j].x + eyes[j].width / 2, faces[i].y + eyes[j].y + eyes[j].height / 2);
            int radius = cvRound((eyes[j].width + eyes[j].height)*0.25);
            circle(frame, eye_center, radius, Scalar(255, 0, 0), 4, 8, 0);
        }
    }
    //-- Show what you got
    imshow(window_name, frame);
}