package main

import (
	"flag"
	"github.com/cyrilix/robocar-road/road"
	"go.uber.org/zap"
	"gocv.io/x/gocv"
	"image"
	"image/color"
	"log"
	"os"
)

func main() {
	var imgName string
	flag.StringVar(&imgName, "image", "", "path to image file")

	logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
	flag.Parse()

	if imgName == "" {
		zap.S().Errorf("bad image value")
		flag.PrintDefaults()
		os.Exit(1)
	}

	if len(os.Args) <= 1 {
		flag.PrintDefaults()
		os.Exit(1)
	}

	config := zap.NewDevelopmentConfig()
	config.Level = zap.NewAtomicLevelAt(*logLevel)
	lgr, err := config.Build()
	if err != nil {
		log.Fatalf("unable to init logger: %v", err)
	}
	defer func() {
		if err := lgr.Sync(); err != nil {
			log.Printf("unable to Sync logger: %v\n", err)
		}
	}()
	zap.ReplaceGlobals(lgr)

	d := road.NewDetector(160, 120)

	img := gocv.IMRead(imgName, gocv.IMReadColor)
	defer func(img *gocv.Mat) {
		err := img.Close()
		if err != nil {
			zap.S().Warnf("unable to close image: %v", err)
		}
	}(&img)
	if img.Empty() {
		zap.S().Errorf("image %s is not a valid image", imgName)
		os.Exit(1)
	}
	roadLimits := d.Detect(&img)

	gocv.FillPoly(&img, gocv.NewPointsVectorFromPoints([][]image.Point{roadLimits}), color.RGBA{0, 0, 255, 128})
	window := gocv.NewWindow("Road")
	window.IMShow(img)
	window.WaitKey(0)

}