import { ProjectiveViewOps } from "./side_view_op.js";
import { BoxImageContext } from "./image.js";
import { saveWorldList, reloadWorldList } from "./save.js";
import { objIdManager } from "./obj_id_list.js";
import { globalKeyDownManager } from "./keydown_manager.js";
import { ml } from "./ml.js";
import { BooleanKeyframeTrack } from "./lib/three.module.js";
import { checkScene } from "./error_check.js";
import { logger } from "./log.js";

/*
2 ways to attach and edit a box
1) attach/detach
2) setTarget, tryAttach, resetTarget, this is only for batch-editor-manager
*/
function BoxEditor(
  parentUi,
  boxEditorManager,
  viewManager,
  cfg,
  boxOp,
  func_on_box_changed,
  func_on_box_remove,
  name
) {
  this.boxEditorManager = boxEditorManager;
  this.parentUi = parentUi;
  this.name = name;
  let uiTmpl = document.getElementById("box-editor-ui-template");
  let tmpui = uiTmpl.content.cloneNode(true); //sub-views

  parentUi.appendChild(tmpui);
  this.ui = parentUi.lastElementChild;
  this.boxInfoUi = this.ui.querySelector("#box-info");

  this.viewManager = viewManager;
  this.boxOp = boxOp;
  this.boxView = this.viewManager.addBoxView(this.ui); //this.editorUi.querySelector("#sub-views")
  this.projectiveViewOps = new ProjectiveViewOps(
    this.ui, //this.editorUi.querySelector("#sub-views"),
    cfg,
    this,
    this.boxView.views,
    this.boxOp,
    func_on_box_changed,
    func_on_box_remove
  );

  this.focusImageContext = new BoxImageContext(
    this.ui.querySelector("#focuscanvas")
  );

  this.pseudoBox = {
    position: { x: 0, y: 0, z: 0 },
    rotation: { x: 0, y: 0, z: 0 },
    scale: { x: 1, y: 1, z: 1 },
  };

  this.copyPseudoBox = function (b) {
    this.pseudoBox.position.x = b.position.x;
    this.pseudoBox.position.y = b.position.y;
    this.pseudoBox.position.z = b.position.z;

    this.pseudoBox.rotation.x = b.rotation.x;
    this.pseudoBox.rotation.y = b.rotation.y;
    this.pseudoBox.rotation.z = b.rotation.z;

    this.pseudoBox.scale.x = b.scale.x;
    this.pseudoBox.scale.y = b.scale.y;
    this.pseudoBox.scale.z = b.scale.z;
  };

  this.isInBatchMode = function () {
    return !!this.boxEditorManager;
  };

  this.target = {};

  this.setTarget = function (world, objTrackId, objType) {
    this.target = {
      world: world,
      objTrackId: objTrackId,
      objType: objType,
    };

    if (this.isInBatchMode()) {
      this.pseudoBox.world = world;
      this.boxView.attachBox(this.pseudoBox);
    }

    this.tryAttach();
    this.ui.style.display = "inline-block";
    this.updateInfo();
  };

  this.setIndex = function (index) {
    this.index = index; // index as of in all editors.
  };

  this.setSelected = function (selected, eventId) {
    if (selected) {
      this.ui.className = "selected";
      this.selected = true;
      this.selectEventId = eventId;
    } else {
      if (!eventId || this.selectEventId == eventId) {
        // cancel only you selected.
        this.ui.className = "";
        this.selected = false;
        this.selectEventId = null;
      }
    }
  };

  // this.onContextMenu = (event)=>{
  //     if (this.boxEditorManager)  // there is no manager for box editor in main ui
  //         this.boxEditorManager.onContextMenu(event, this);
  // };

  // this.ui.oncontextmenu = this.onContextMenu;

  this.resetTarget = function () {
    if (this.target.world) {
      //unload if it's not the main world
      // if (this.target.world !== this.target.world.data.world)
      //     this.target.world.unload();
    }

    this.detach();
    this.target = {};
    //this.ui.style.display="none";
  };

  this.tryAttach = function () {
    // find target box, attach to me
    if (this.target && this.target.world) {
      let box = this.target.world.annotation.findBoxByTrackId(
        this.target.objTrackId
      );
      if (box) {
        this.attachBox(box);
      }
    }
  };

  /*
     the projectiveView tiggers zoomratio changing event.
     editormanager broaccasts it to all editors
    */
  this._setViewZoomRatio = function (viewIndex, ratio) {
    this.boxView.views[viewIndex].zoom_ratio = ratio;
  };

  this.updateViewZoomRatio = function (viewIndex, ratio) {
    //this.upate();
    if (this.boxEditorManager)
      this.boxEditorManager.updateViewZoomRatio(viewIndex, ratio);
    else {
      this._setViewZoomRatio(viewIndex, ratio);
      this.update();
      //this.viewManager.render();
    }
  };

  this.onOpCmd = function (cmd) {
    if (this.boxEditorManager) this.boxEditorManager.onOpCmd(cmd, this);
    else {
      this.executeOpCmd(cmd);
    }
  };

  this.executeOpCmd = function (cmd) {
    if (!this.box) {
      return;
    }

    if (cmd.op == "translate") {
      for (let axis in cmd.params.delta) {
        this.boxOp.translate_box(this.box, axis, cmd.params.delta[axis]);
        //this.boxOp.translate_box(this.box, "y", delta.y);
      }

      func_on_box_changed(this.box);
    }
  };

  this.box = null;
  this.attachBox = function (box) {
    if (this.box && this.box !== box) {
      this.box.boxEditor = null;
      console.log("detach box editor");
      //todo de-highlight box
    }

    this.box = null;
    this.show();

    if (box) {
      box.boxEditor = this;
      this.box = box;
      //this.boxOp.highlightBox(box);
      this.boxView.attachBox(box);
      this.projectiveViewOps.attachBox(box);
      this.focusImageContext.updateFocusedImageContext(box);

      //this.update();
      this.updateInfo();
      // this.boxView.render();

      if (this.isInBatchMode()) {
        this.boxEditorManager.onBoxChanged(this);
      }
    }
  };

  this.detach = function (dontHide) {
    if (this.box) {
      if (this.box.boxEditor === this) {
        this.box.boxEditor = null;
      }
      //this.boxOp.unhighlightBox(this.box);
      //todo de-highlight box
      this.projectiveViewOps.detach();
      this.boxView.detach();

      if (this.isInBatchMode()) {
        this.copyPseudoBox(this.box);
        this.boxView.attachBox(this.pseudoBox);
      }

      this.focusImageContext.clear_canvas();
      this.box = null;
    }

    if (!dontHide) this.hide();
  };

  this.hide = function () {
    this.ui.style.display = "none";

    // this is a hack, if we don't have manager, this is the main editor
    // hide parent ui
    // todo, add a pseudo manager, hide itself when child hide
    if (!this.boxEditorManager) {
      this.parentUi.style.display = "none";
    }
  };
  this.show = function () {
    this.ui.style.display = ""; //"inline-block";
    if (!this.boxEditorManager) {
      this.parentUi.style.display = "";
    }
  };

  this.onBoxChanged = function () {
    this.projectiveViewOps.update_view_handle();
    this.focusImageContext.updateFocusedImageContext(this.box);
    this.boxView.onBoxChanged();

    // mark
    delete this.box.annotator; // human annotator doesn't need a name
    delete this.box.follows;
    this.box.changed = true;

    // don't mark world's change flag, for it's hard to clear it.

    // inform boxEditorMgr to transfer annotation to other frames.
    if (this.boxEditorManager) this.boxEditorManager.onBoxChanged(this);

    this.updateInfo();

    //this.boxView.render();
  };

  this.onDelBox = function () {
    let box = this.box;
    this.detach("donthide");
  };

  // windowresize...
  this.update = function (dontRender = false) {
    if (this.boxView) {
      this.boxView.onBoxChanged(dontRender);

      // this.boxView.updateCameraRange(this.box);
      // this.boxView.updateCameraPose(this.box);

      // if (!dontRender)
      //     this.boxView.render();
    }

    // boxview should be updated for pseudobox.

    if (this.box === null) return;

    this.projectiveViewOps.update_view_handle();

    // this is not needed somtime
    this.focusImageContext.updateFocusedImageContext(this.box);

    // should we update info?
    this.updateInfo();
  };

  this.updateInfo = function () {
    let info = "";
    if (this.target.world) {
      info += String(this.target.world.frameInfo.frame);

      if (this.box && this.box.annotator) info += "," + this.box.annotator;

      // if (this.box && this.box.changed)
      //     info += " *";
    }

    this.boxInfoUi.innerHTML = info;
  };

  this.updateBoxDimension = function () {};

  this.resize = function (width, height) {
    // if (height + "px" == this.ui.style.height &&  width + "px" == this.ui.style.width)
    // {
    //     return;
    // }

    this.ui.style.width = width + "px";
    this.ui.style.height = height + "px";
    this.boxView.render();
  };

  this.setResize = function (option) {
    this.ui.style.resize = option;
    this.ui.style["z-index"] = "0";

    if (option == "both") {
      this.lastSize = {
        width: 0,
        height: 0,
      };

      this.resizeObserver = new ResizeObserver((elements) => {
        let rect = elements[0].contentRect;
        console.log("sub-views resized.", rect);

        if (rect.height == 0 || rect.width == 0) {
          return;
        }

        if (
          rect.height != this.lastSize.height ||
          rect.width != this.lastSize.width
        ) {
          // viewManager will clear backgound
          // so this render is effectiveless.
          //this.boxView.render();

          // save

          if (this.boxEditorManager) {
            // there is no manager for box editor in main ui
            pointsGlobalConfig.setItem("batchModeSubviewSize", {
              width: rect.width,
              height: rect.height,
            });
            this.boxEditorManager.onSubViewsResize(rect.width, rect.height);
          } else {
            this.boxView.render();
          }

          //save
          this.lastSize.width = rect.width;
          this.lastSize.height = rect.height;
        }
      });

      this.resizeObserver.observe(this.ui);
    }
  };
}

//parentUi  #batch-box-editor
function BoxEditorManager(
  parentUi,
  viewManager,
  objectTrackView,
  cfg,
  boxOp,
  globalHeader,
  contextMenu,
  configMenu,
  func_on_box_changed,
  func_on_box_remove,
  func_on_annotation_reloaded
) {
  this.viewManager = viewManager;
  this.objectTrackView = objectTrackView;
  this.boxOp = boxOp;
  this.activeIndex = 0;
  this.editorList = [];
  this.cfg = cfg;
  this.globalHeader = globalHeader;
  this.contextMenu = contextMenu;
  this.parentUi = parentUi; //#batch-box-editor
  this.boxEditorGroupUi = parentUi.querySelector("#batch-box-editor-group");
  this.boxEditorHeaderUi = parentUi.querySelector("#batch-box-editor-header");
  this.batchSize = cfg.batchModeInstNumber;
  //this.configMenu = configMenu;

  this.activeEditorList = function () {
    return this.editorList.slice(0, this.activeIndex);
  };

  this.editingTarget = {
    data: null,
    sceneMeta: "",
    objTrackId: "",
    frame: "",
    frameIndex: NaN,
  };

  this.onExit = null;
  // frame specifies the center frame to edit

  // this.parentUi.addEventListener("contextmenu", event=>{
  //     this.contextMenu.show("boxEditorManager", event.clientX, event.clientY, this);
  //     event.stopPropagation();
  //     event.preventDefault();
  // })

  this.onSubViewsResize = function (width, height) {
    this.viewManager.mainView.clearView();
    this.editorList.forEach((e) => {
      e.resize(width, height);
    });

    //this.viewManager.render();
  };

  this.calculateBestSubviewSize = function (batchSize) {
    let parentRect = this.parentUi.getBoundingClientRect();
    let headerRect = this.boxEditorHeaderUi.getBoundingClientRect();
    let editorsGroupRect = this.boxEditorGroupUi.getBoundingClientRect();

    let availableHeight = parentRect.height - headerRect.height;
    let availableWidth = parentRect.width;

    if (availableHeight == 0 || availableWidth == 0) {
      this.batchSizeUpdated = true;
      return;
    }

    let defaultBoxWidth = 130;
    let defaultBoxHeight = 450;

    let rows = 1;
    let w = availableWidth / Math.ceil(batchSize / rows);
    let h = availableHeight / rows;
    let cost = Math.abs(w / h - defaultBoxWidth / defaultBoxHeight);
    let minCost = cost;
    let bestRows = rows;
    while (true) {
      rows += 1;

      let w = Math.floor(availableWidth / Math.ceil(batchSize / rows));
      let h = Math.floor(availableHeight / rows);
      let cost = Math.abs(w / h - defaultBoxWidth / defaultBoxHeight);

      if (cost < minCost) {
        minCost = cost;
        bestRows = rows;
      } else {
        break;
      }
    }

    //bestRows
    pointsGlobalConfig.batchModeSubviewSize = {
      width: Math.floor(availableWidth / Math.ceil(batchSize / bestRows)),
      height: Math.floor(availableHeight / bestRows),
    };
  };

  this.setBatchSize = function (batchSize) {
    this.calculateBestSubviewSize(batchSize);

    this.batchSize = batchSize;
    if (this.parentUi.style.display != "none") {
      this.edit(
        this.editingTarget.data,
        this.editingTarget.sceneMeta,
        this.editingTarget.frame,
        this.editingTarget.objTrackId,
        this.editingTarget.objType
      );
    }
  };

  this.onWindowResize = function () {
    this.setBatchSize(this.batchSize);
  };

  this.edit = function (data, sceneMeta, frame, objTrackId, objType, onExit) {
    this.show();
    this.reset();

    if (this.batchSizeUpdated) {
      this.batchSizeUpdated = false;
      this.calculateBestSubviewSize(this.batchSize);
    }

    if (onExit) {
      // next/prev call will not update onExit
      this.onExit = onExit;
    }
    let sceneName = sceneMeta.sceneId;

    this.editingTarget.data = data;
    this.editingTarget.sceneMeta = sceneMeta;
    this.editingTarget.objTrackId = objTrackId;

    this.editingTarget.objType = objType;

    this.editingTarget.frame = frame;

    // this.parentUi.querySelector("#object-track-id-editor").value=objTrackId;
    // this.parentUi.querySelector("#object-category-selector").value=objType;

    let centerIndex = sceneMeta.frames.findIndex((f) => f == frame);
    this.editingTarget.frameIndex = centerIndex;

    if (centerIndex < 0) {
      centerIndex = 0;
    }

    let startIndex = Math.max(0, centerIndex - this.batchSize / 2);

    if (startIndex > 0) {
      if (startIndex + this.batchSize > sceneMeta.frames.length) {
        startIndex -= startIndex + this.batchSize - sceneMeta.frames.length;

        if (startIndex < 0) {
          startIndex = 0;
        }
      }
    }

    let frames = sceneMeta.frames.slice(
      startIndex,
      startIndex + this.batchSize
    );

    //this.viewManager.mainView.clearView();

    frames.forEach(async (frame, editorIndex) => {
      let world = await data.getWorld(sceneName, frame);
      let editor = this.addEditor();
      //editor.setTarget(world, objTrackId, objType);
      editor.setIndex(editorIndex);
      editor.resize(
        pointsGlobalConfig.batchModeSubviewSize.width,
        pointsGlobalConfig.batchModeSubviewSize.height
      );

      if (this.editingTarget.frame == frame) {
        editor.setSelected(true);
      }

      data.activate_world(
        world,
        () => {
          //editor.tryAttach();

          editor.setTarget(world, objTrackId, objType);

          //
          //this.viewManager.render();
        },
        true
      );
    });

    // set obj selector
    this.globalHeader.setObject(objTrackId);
  };

  this.onContextMenu = function (event, boxEditor) {
    this.firingBoxEditor = boxEditor;

    if (boxEditor.selected) {
      // ok
    } else {
      this.getSelectedEditors().forEach((e) => e.setSelected(false));
      boxEditor.setSelected(true);
    }

    this.contextMenu.show("boxEditor", event.clientX, event.clientY, this);
    event.stopPropagation();
    event.preventDefault();
  };

  this.parentUi.oncontextmenu = (event) => {
    let ed = this.getEditorByMousePosition(event.clientX, event.clientY);

    this.onContextMenu(event, ed);
  };

  this.handleContextMenuKeydownEvent = function (event, menuPos) {
    switch (event.key) {
      case "s":
        this.activeEditorList().forEach((e) => e.setSelected(true));
        return true;
        break;
      case "a":
        this.autoAnnotateSelectedFrames();
        break;
      case "f":
        this.finalizeSelectedBoxes();
        break;
      case "d":
        this.deleteSelectedBoxes(menuPos);
        break;
      case "e":
        this.interpolateSelectedFrames();
        break;
      case "g":
        this.gotoThisFrame();
        break;
      case "t":
        this.showTrajectory();
        break;
      default:
        return true;
    }

    return false;
  };

  this.delayUpdateAutoGeneratedBoxesTimer = null;

  this.updateAutoGeneratedBoxes = function () {
    if (this.delayUpdateAutoGeneratedBoxesTimer) {
      clearTimeout(this.delayUpdateAutoGeneratedBoxesTimer);
    }

    this.delayUpdateAutoGeneratedBoxesTimer = setTimeout(async () => {
      if (this.cfg.autoUpdateInterpolatedBoxes) {
        await this.updateInterpolatedBoxes();
      }

      await this.updatePseudoBoxes();
    }, 500);
  };

  this.updateInterpolatedBoxes = async function () {
    let editorList = this.activeEditorList();
    let applyIndList = editorList.map((e) => e.box && e.box.annotator == "i");

    let boxList = editorList.map((e) => e.box);
    let worldList = editorList.map((e) => e.target.world);
    await this.boxOp.interpolateAsync(worldList, boxList, applyIndList);
    //this.activeEditorList().forEach(e=>e.tryAttach());

    this.globalHeader.updateModifiedStatus();
    //this.viewManager.render();
    editorList.forEach((e) => {
      if (e.box && e.box.annotator == "i") {
        e.boxView.onBoxChanged();
      }
    });
  };

  this.updatePseudoBoxes = async function () {
    let editorList = this.activeEditorList();
    let boxList = editorList.map((e) => e.box);
    let anns = boxList.map((b) =>
      b ? b.world.annotation.ann_to_vector_global(b) : null
    );

    let ret = await ml.interpolate_annotation(anns);

    editorList.forEach((e, i) => {
      if (!e.box) {
        let ann = e.target.world.annotation.vector_global_to_ann(ret[i]);
        e.copyPseudoBox(ann);
        e.boxView.onBoxChanged();
      }
    });
  };

  // manager
  this.onBoxChanged = function (e) {
    this.updateAutoGeneratedBoxes();
    //
  };

  let onBoxChangedInBatchMode = function (box) {
    if (box.boxEditor)
      // if in batch mode with less than 40 windows, some box don't have editor attached.
      box.boxEditor.update(); //render.

    box.world.annotation.setModified();
  };

  this.finalizeSelectedBoxes = function () {
    this.getSelectedEditors().forEach((e) => {
      if (e.box) {
        if (e.box.annotator) {
          delete e.box.annotator;
          func_on_box_changed(e.box);
          //e.box.world.annotation.setModified();
          e.updateInfo();
        }
      }
    });

    this.globalHeader.updateModifiedStatus();
  };

  this.interpolateSelectedFrames = function () {
    let applyIndList = this.activeEditorList().map((e) => false); //all shoud be applied.
    let selectedEditors = this.getSelectedEditors();

    // if interpolate only one box, remove it if exist.
    // no matter who is the annotator.
    if (selectedEditors.length == 1) {
      if (selectedEditors[0].box) {
        func_on_box_remove(selectedEditors[0].box, true);
      }
    }

    selectedEditors.forEach((e) => (applyIndList[e.index] = true));
    this.interpolate(applyIndList);

    this.updateAutoGeneratedBoxes();
  };

  this.deleteEmptyBoxes = function () {
    let editors = this.activeEditorList();
    editors.forEach((e) => {
      if (e.box) {
        if (e.box.world.lidar.get_box_points_number(e.box) == 0) {
          func_on_box_remove(e.box, true);
        }
      }
    });

    this.updateAutoGeneratedBoxes();
  };

  this.deleteIntersectedBoxes = function () {
    let editors = this.getSelectedEditors();
    editors.forEach((e) => {
      if (e.box) {
        let boxes = e.box.world.annotation.findIntersectedBoxes(e.box);

        boxes.forEach((b) => {
          func_on_box_remove(b, true);
        });

        onBoxChangedInBatchMode(e.box);
      }
    });
  };

  this.deleteSelectedBoxes = function (infoBoxPos) {
    let selectedEditors = this.getSelectedEditors();

    if (selectedEditors.length >= 2) {
      window.editor.infoBox.show(
        "Confirm",
        `Delete <span class="red">${selectedEditors.length}</span> selected boxes?`,
        ["yes", "no"],
        (btn) => {
          if (btn == "yes") {
            selectedEditors.forEach((e) => {
              if (e.box) func_on_box_remove(e.box, true);
            });

            this.updateAutoGeneratedBoxes();
          }
        },
        infoBoxPos
      );
    } else {
      selectedEditors.forEach((e) => {
        if (e.box) func_on_box_remove(e.box, true);
      });

      this.updateAutoGeneratedBoxes();
    }
  };

  this.autoAnnotateSelectedFrames = function () {
    let applyIndList = this.activeEditorList().map((e) => false); //all shoud be applied.
    this.getSelectedEditors().forEach((e) => (applyIndList[e.index] = true));
    this.autoAnnotate(applyIndList);
  };

  this.onOpCmd = function (cmd, firingEditor) {
    firingEditor.executeOpCmd(cmd);

    if (this.cfg.linkEditorsInBatchMode) {
      let editors = this.getSelectedEditors();

      if (editors.includes(firingEditor)) {
        editors
          .filter((x) => x != firingEditor)
          .forEach((e) => {
            if (e.box && !e.box.annotator) {
              e.executeOpCmd(cmd);
            }
          });
      }
    }
  };

  this.handleContextMenuEvent = function (event) {
    console.log(event.currentTarget.id, event.type);
    switch (event.currentTarget.id) {
      // manager
      case "cm-increase-box-editor":
        this.batchSize += 1;
        this.edit(
          this.editingTarget.data,
          this.editingTarget.sceneMeta,
          this.editingTarget.sceneMeta.frame,
          this.editingTarget.objTrackId,
          this.editingTarget.objType
        );
        break;

      case "cm-decrease-box-editor":
        this.batchSize -= 1;
        this.edit(
          this.editingTarget.data,
          this.editingTarget.sceneMeta,
          this.editingTarget.sceneMeta.frame,
          this.editingTarget.objTrackId,
          this.editingTarget.objType
        );
        break;

      /////////////////////// obj instance //

      case "cm-select-all":
        this.activeEditorList().forEach((e) => e.setSelected(true));
        return false; //don't hide context menu
        break;
      case "cm-select-all-previous":
        this.activeEditorList().forEach((e) =>
          e.setSelected(e.index <= this.firingBoxEditor.index)
        );
        return false; //don't hide context menu
        break;
      case "cm-select-all-next":
        this.activeEditorList().forEach((e) =>
          e.setSelected(e.index >= this.firingBoxEditor.index)
        );
        return false; //don't hide context menu
        break;

      case "cm-delete":
        this.deleteSelectedBoxes({ x: event.clientX, y: event.clientY });
        break;
      case "cm-delete-empty-boxes":
        this.deleteEmptyBoxes();
        break;
      case "cm-delete-intersected-boxes":
        this.deleteIntersectedBoxes();
        break;
      case "cm-interpolate":
        this.interpolateSelectedFrames();
        break;

      case "cm-auto-annotate":
        this.autoAnnotateSelectedFrames();
        break;

      case "cm-auto-annotate-wo-rotation":
        {
          let applyIndList = this.activeEditorList().map((e) => false); //all shoud be applied.
          this.getSelectedEditors().forEach(
            (e) => (applyIndList[e.index] = true)
          );
          this.autoAnnotate(applyIndList, "dontrotate");
        }
        break;

      case "cm-fit-moving-direction":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;

          let currentBox = e.box;
          let estimatedRot =
            boxOp.estimate_rotation_by_moving_direciton(currentBox);

          if (estimatedRot) {
            currentBox.rotation.z = estimatedRot.z;
            func_on_box_changed(currentBox);
          }
        });

        this.updateAutoGeneratedBoxes();

        break;
      case "cm-fit-size":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;

          boxOp.fit_size(e.box, ["x", "y"]);
          func_on_box_changed(e.box);
        });

        this.updateAutoGeneratedBoxes();
        break;
      case "cm-fit-position":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;
          boxOp.auto_rotate_xyz(
            e.box,
            null,
            null, //{x:false, y:false, z:true},
            func_on_box_changed, //onBoxChangedInBatchMode,
            "noscaling",
            "dontrotate"
          );
        });

        this.updateAutoGeneratedBoxes();
        break;
      case "cm-fit-rotation":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;
          boxOp.auto_rotate_xyz(
            e.box,
            null,
            null,
            func_on_box_changed, //onBoxChangedInBatchMode, //
            "noscaling"
          );
        });

        this.updateAutoGeneratedBoxes();
        break;
      case "cm-fit-bottom":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;
          boxOp.fit_bottom(e.box);

          func_on_box_changed(e.box);
        });

        this.updateAutoGeneratedBoxes();
        break;
      case "cm-fit-top":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;
          boxOp.fit_top(e.box);

          func_on_box_changed(e.box);
        });

        this.updateAutoGeneratedBoxes();
        break;
      case "cm-fit-left":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;
          boxOp.fit_left(e.box);

          func_on_box_changed(e.box);
        });

        this.updateAutoGeneratedBoxes();
        break;
      case "cm-fit-right":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;
          boxOp.fit_right(e.box);

          func_on_box_changed(e.box);
        });

        this.updateAutoGeneratedBoxes();
        break;
      case "cm-fit-rear":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;
          boxOp.fit_rear(e.box);

          func_on_box_changed(e.box);
        });

        this.updateAutoGeneratedBoxes();
        break;
      case "cm-fit-front":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;
          boxOp.fit_front(e.box);

          func_on_box_changed(e.box);
        });

        this.updateAutoGeneratedBoxes();
        break;
      case "cm-reverse-direction":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;
          if (e.box.rotation.z > 0) {
            e.box.rotation.z -= Math.PI;
          } else {
            e.box.rotation.z += Math.PI;
          }

          onBoxChangedInBatchMode(e.box);
        });

        //this.viewManager.render();

        this.updateAutoGeneratedBoxes();

        break;
      case "cm-reset-roll-pitch":
        this.getSelectedEditors().forEach((e) => {
          if (!e.box) return;
          e.box.rotation.x = 0;
          e.box.rotation.y = 0;
          e.update("dontrender");
          e.box.world.annotation.setModified();

          onBoxChangedInBatchMode(e.box);
        });

        //this.viewManager.render();
        this.updateAutoGeneratedBoxes();

        break;
      case "cm-show-trajectory":
        this.showTrajectory();
        break;

      case "cm-check":
        {
          let scene = this.editingTarget.sceneMeta.scene;
          checkScene(scene);
          logger.show();
          logger.errorBtn.onclick();
        }
        break;

      case "cm-finalize":
        this.finalizeSelectedBoxes();
        break;

      case "cm-sync-size":
        editor.data.worldList.forEach((w) => {
          let box = w.annotation.boxes.find(
            (b) => b.obj_track_id == this.firingBoxEditor.target.objTrackId
          );
          if (box && box !== this.firingBoxEditor.box) {
            box.scale.x = this.firingBoxEditor.box.scale.x;
            box.scale.y = this.firingBoxEditor.box.scale.y;
            box.scale.z = this.firingBoxEditor.box.scale.z;
            //saveList.push(w);
            w.annotation.setModified();

            onBoxChangedInBatchMode(box);
          }
        });

        //this.activeEditorList().forEach(e=>e.update('dontrender'));
        //this.viewManager.render();
        this.updateAutoGeneratedBoxes();

        break;
      case "cm-reload":
        {
          let selectedEditors = this.getSelectedEditors();
          this.reloadAnnotation(selectedEditors);

          this.updateAutoGeneratedBoxes();
        }
        break;

      case "cm-goto-this-frame":
        {
          this.gotoThisFrame();
        }
        break;
      case "cm-follow-static-objects":
        {
          let b = this.firingBoxEditor.box;
          editor.autoAdjust.followStaticObjects(b);
          this.globalHeader.updateModifiedStatus();

          this.activeEditorList().forEach((e) => {
            e.tryAttach();
          });

          //this.viewManager.render();
          this.updateAutoGeneratedBoxes();
        }
        break;
    }

    return true;
  };

  this.reset = function () {
    this.activeEditorList().forEach((e) => {
      e.setSelected(false);
      e.resetTarget();
    });

    this.viewManager.mainView.clearView();

    this.activeIndex = 0;
  };

  this.keydownHandler = (event) => {
    switch (event.key) {
      case "a":
        if (event.ctrlKey) {
          this.activeEditorList().forEach((e) => e.setSelected(true));
        }
        break;

      case "s":
        if (event.ctrlKey) {
          this._save();
          console.log("saved for batch editor");
        }
        break;
      case "+":
      case "=":
        this.editingTarget.data.scale_point_size(1.2);
        this.viewManager.render();
        break;
      case "-":
        this.editingTarget.data.scale_point_size(0.8);
        this.viewManager.render();
        break;
      case "v":
      case "Escape":
        {
          // let selected = this.getSelectedEditors();
          // if (selected.length >= 2){
          //     selected.forEach(e=>e.setSelected(false));
          // }
          // else
          {
            this.hide();
            this.reset();
            if (this.onExit) this.onExit();
          }
        }
        break;
      case "PageUp":
      case "3":
        this.prevBatch();
        break;
      case "PageDown":
      case "4":
        this.nextBatch();
        break;
      case "t":
        this.showTrajectory();
        break;
      default:
        console.log(`key ${event.key} igonored`);
        break;
    }

    return false;
  };

  let keydownHandler = (event) => this.keydownHandler(event);

  this.hide = function () {
    if (this.parentUi.style.display != "none") {
      this.parentUi.style.display = "none";
      this.toolbox.style.display = "none";
      //document.removeEventListener("keydown", keydownHandler);
      globalKeyDownManager.deregister("batch-editor");
    }
  };
  this.show = function () {
    if (this.parentUi.style.display == "none") {
      this.parentUi.style.display = "";
      //document.addEventListener("keydown", keydownHandler);
      globalKeyDownManager.register(keydownHandler, "batch-editor");
      this.toolbox.style.display = "";
    }
  };

  this.render = function () {
    if (this.parentUi.style.display != "none") {
      this.viewManager.render();
    }
  };

  this._addToolBox = function () {
    let template = document.getElementById("batch-editor-tools-template");
    let tool = template.content.cloneNode(true);
    // this.boxEditorHeaderUi.appendChild(tool);
    // return this.boxEditorHeaderUi.lastElementChild;

    document.getElementById("dynamic-buttons-placeholder").appendChild(tool);
    return document.getElementById("dynamic-buttons-placeholder")
      .lastElementChild;
  };

  this.toolbox = this._addToolBox();

  this.reloadAnnotation = function (editorList) {
    let done = (anns) => {
      // update editor
      editorList.forEach((e) => {
        e.tryAttach();
        e.update("dontrender");
      });

      // reload main view
      if (func_on_annotation_reloaded) func_on_annotation_reloaded();
      // render all, at last

      this.viewManager.render();

      this.globalHeader.updateModifiedStatus();
    };

    let worldList = editorList.map((e) => e.target.world);

    let modifiedFrames = worldList.filter((w) => w && w.annotation.modified);

    if (modifiedFrames.length > 0) {
      window.editor.infoBox.show(
        "Confirm",
        `Discard changes to ${modifiedFrames.length} frames, continue to reload?`,
        ["yes", "no"],
        (choice) => {
          if (choice == "yes") {
            reloadWorldList(worldList, done);
          }
        }
      );
    } else {
      reloadWorldList(worldList, done);
    }
  };

  this.interpolate = async function (applyIndList) {
    let boxList = this.activeEditorList().map((e) => e.box);
    let worldList = this.activeEditorList().map((e) => e.target.world);
    await this.boxOp.interpolateAsync(worldList, boxList, applyIndList);
    this.activeEditorList().forEach((e) => e.tryAttach());

    this.globalHeader.updateModifiedStatus();

    this.viewManager.render();
  };

  this.gotoThisFrame = function () {
    let targetFrame = this.firingBoxEditor.target.world.frameInfo.frame;
    let targetTrackId = this.firingBoxEditor.target.objTrackId;
    this.hide();

    this.reset();
    if (this.onExit) this.onExit(targetFrame, targetTrackId);
  };

  this.autoAnnotate = async function (applyIndList, dontRotate) {
    let editors = this.activeEditorList();
    let boxList = editors.map((e) => e.box);
    let worldList = editors.map((e) => e.target.world);

    let onFinishOneBox = (i) => {
      editors[i].tryAttach();
      editors[i].box.world.annotation.setModified();
      this.viewManager.render();

      this.updateAutoGeneratedBoxes();
    };

    await this.boxOp.interpolateAndAutoAdjustAsync(
      worldList,
      boxList,
      onFinishOneBox,
      applyIndList,
      dontRotate
    );

    this.globalHeader.updateModifiedStatus();
  };

  // this.parentUi.querySelector("#object-track-id-editor").addEventListener("keydown", function(e){
  //     e.stopPropagation();});

  // this.parentUi.querySelector("#object-track-id-editor").addEventListener("keyup", function(e){
  //     e.stopPropagation();
  // });

  // this.parentUi.querySelector("#object-track-id-editor").onchange = (ev)=>this.object_track_id_changed(ev);
  // this.parentUi.querySelector("#object-category-selector").onchange = (ev)=>this.object_category_changed(ev);

  // this should follow addToolBox

  // this.parentUi.querySelector("#instance-number").value = this.batchSize;
  // this.parentUi.querySelector("#instance-number").onchange = (ev)=>{
  //     this.batchSize = parseInt(ev.currentTarget.value);
  //     this.edit(
  //         this.editingTarget.data,
  //         this.editingTarget.sceneMeta,
  //         this.editingTarget.frame,
  //         this.editingTarget.objTrackId,
  //         this.editingTarget.objType
  //     );
  // }

  this.showTrajectory = () => {
    let tracks = this.editingTarget.data.worldList.map((w) => {
      let box = w.annotation.findBoxByTrackId(this.editingTarget.objTrackId);
      let ann = null;
      if (box) {
        ann = w.annotation.boxToAnn(box);
        ann.psr.position = w.lidarPosToUtm(ann.psr.position);
        ann.psr.rotation = w.lidarRotToUtm(ann.psr.rotation);
      }
      return [w.frameInfo.frame, ann, false];
    });

    tracks.sort((a, b) => (a[0] > b[0] ? 1 : -1));

    this.objectTrackView.setObject(
      this.editingTarget.objType,
      this.editingTarget.objTrackId,
      tracks,
      (targetFrame) => {
        //onExit
        this.getSelectedEditors().forEach((e) => e.setSelected(false));
        this.activeEditorList()
          .find((e) => e.target.world.frameInfo.frame == targetFrame)
          .setSelected(true);
      }
    );
  };

  this.toolbox.querySelector("#trajectory").onclick = (e) => {
    this.showTrajectory();
  };

  // this.toolbox.querySelector("#reload").onclick = (e) => {
  //   let selectedEditors = this.activeEditorList();
  //   this.reloadAnnotation(selectedEditors);
  // };

  // this.toolbox.querySelector("#interpolate").onclick = async () => {
  //   //this.boxOp.interpolate_selected_object(this.editingTarget.scene, this.editingTarget.objTrackId, "");

  //   let applyIndList = this.activeEditorList().map((e) => true); //all shoud be applied.
  //   this.interpolate(applyIndList);
  // };

  // this.toolbox.querySelector("#auto-annotate").onclick = async () => {
  //   let applyIndList = this.activeEditorList().map((e) => true); //all shoud be applied.
  //   this.autoAnnotate(applyIndList);
  // };

  // this.toolbox.querySelector("#auto-annotate-translate-only").onclick =
  //   async () => {
  //     let applyIndList = this.activeEditorList().map((e) => true); //all shoud be applied.
  //     this.autoAnnotate(applyIndList, "dontrotate");
  //   };

  this.toolbox.querySelector("#exit").onclick = () => {
    this.hide();

    this.reset();

    if (this.onExit) this.onExit();
  };

  // this.toolbox.querySelector("#next").onclick = () => {
  //   this.nextBatch();
  // };

  // this.toolbox.querySelector("#prev").onclick = () => {
  //   this.prevBatch();
  // };

  this.nextBatch = function () {
    let maxFrameIndex = this.editingTarget.sceneMeta.frames.length - 1;

    let editors = this.activeEditorList();
    let lastEditor = editors[editors.length - 1];
    if (lastEditor.target.world.frameInfo.frame_index == maxFrameIndex) {
      if (this.batchSize >= this.editingTarget.sceneMeta.frames.length) {
        this.nextObj();
      } else {
        window.editor.infoBox.show("Info", "当前已是最后一帧");
      }
    } else {
      this.edit(
        this.editingTarget.data,
        this.editingTarget.sceneMeta,
        this.editingTarget.sceneMeta.frames[
          Math.min(
            this.editingTarget.frameIndex + this.batchSize / 2,
            maxFrameIndex
          )
        ],
        this.editingTarget.objTrackId,
        this.editingTarget.objType
      );
    }
  };

  this.prevBatch = function () {
    let firstEditor = this.activeEditorList()[0];
    if (firstEditor.target.world.frameInfo.frame_index == 0) {
      if (this.batchSize >= this.editingTarget.sceneMeta.frames.length) {
        this.prevObj();
      } else {
        window.editor.infoBox.show(
          "信息",
          "当前已是第一帧"
        );
      }
    } else {
      this.edit(
        this.editingTarget.data,
        this.editingTarget.sceneMeta,
        this.editingTarget.sceneMeta.frames[
          Math.max(this.editingTarget.frameIndex - this.batchSize / 2, 0)
        ],
        this.editingTarget.objTrackId,
        this.editingTarget.objType
      );
    }
  };

  this.prevObj = function () {
    let idx = objIdManager.objectList.findIndex(
      (x) => x.id == this.editingTarget.objTrackId
    );

    let objNum = objIdManager.objectList.length;

    idx = (idx + objNum - 1) % objNum;

    let obj = objIdManager.objectList[idx];

    this.edit(
      this.editingTarget.data,
      this.editingTarget.sceneMeta,
      this.editingTarget.sceneMeta.frames[this.editingTarget.frameIndex],
      obj.id,
      obj.category
    );
  };

  this.gotoFrame = function (frameID) {
    this.getSelectedEditors().forEach((e) => e.setSelected(false));
    this.activeEditorList()
      .find((e) => e.target.world.frameInfo.frame == frameID)
      .setSelected(true);
  };

  this.gotoObjectFrame = function (frameId, objId) {
    if (objId != this.editingTarget.objTrackId) {
      let obj = objIdManager.getObjById(objId);

      this.edit(
        this.editingTarget.data,
        this.editingTarget.sceneMeta,
        frameId,
        objId,
        obj.category
      );
    }

    this.getSelectedEditors().forEach((e) => e.setSelected(false));
    this.activeEditorList()
      .find((e) => e.target.world.frameInfo.frame == frameId)
      .setSelected(true);
  };

  this.nextObj = function () {
    let idx = objIdManager.objectList.findIndex(
      (x) =>
        x.id == this.editingTarget.objTrackId &&
        x.category == this.editingTarget.objType
    );

    let objNum = objIdManager.objectList.length;

    idx = (idx + 1) % objNum;

    let obj = objIdManager.objectList[idx];

    this.edit(
      this.editingTarget.data,
      this.editingTarget.sceneMeta,
      this.editingTarget.sceneMeta.frames[this.editingTarget.frameIndex],
      obj.id,
      obj.category
    );
  };

  // this.toolbox.querySelector("#save").onclick = ()=>{
  //     this._save();
  // };

  this.toolbox.querySelector("#finalize").onclick = () => {
    this.finalize();
  };

  this.finalize = function () {
    this.activeEditorList().forEach((e) => {
      if (e.box) {
        if (e.box.annotator) {
          delete e.box.annotator;
          func_on_box_changed(e.box);
        }
        e.box.world.annotation.setModified();
        e.updateInfo();
      }
    });

    this.globalHeader.updateModifiedStatus();
  };

  this.object_track_id_changed = function (event) {
    var id = event.currentTarget.value;

    if (id == "new") {
      id = objIdManager.generateNewUniqueId();
      this.parentUi.querySelector("#object-track-id-editor").value = id;
    }

    this.activeEditorList().forEach((e) => {
      if (e.box) {
        e.box.obj_track_id = id;
      }
    });
  };

  this.object_category_changed = function (event) {
    let obj_type = event.currentTarget.value;
    this.activeEditorList().forEach((e) => {
      if (e.box) {
        e.box.obj_type = obj_type;
      }
    });
  };

  this._save = function () {
    let worldList = [];
    let editorList = [];
    this.activeEditorList().forEach((e) => {
      worldList.push(e.target.world);
      editorList.push(e);
    });

    saveWorldList(worldList);
  };

  this.updateViewZoomRatio = function (viewIndex, ratio) {
    const dontRender = true;
    this.activeEditorList().forEach((e) => {
      e._setViewZoomRatio(viewIndex, ratio);
      e.update(dontRender);
    });

    // render all
    this.viewManager.render();
  };

  this.addEditor = function () {
    let editor = this.allocateEditor();
    this.activeIndex += 1;
    return editor;
  };

  this.allocateEditor = function () {
    if (this.activeIndex >= this.editorList.length) {
      let editor = new BoxEditor(
        this.boxEditorGroupUi,
        this,
        this.viewManager,
        cfg,
        this.boxOp,
        func_on_box_changed,
        func_on_box_remove,
        String(this.activeIndex)
      );

      // resizable for the first editor

      if (this.editorList.length == 0) {
        editor.setResize("both");
      }

      this.editorList.push(editor);

      return editor;
    } else {
      return this.editorList[this.activeIndex];
    }
  };

  this.getEditorByMousePosition = function (x, y) {
    return this.editorList.find((e) => {
      let rect = e.ui.getBoundingClientRect();

      return x > rect.left && x < rect.right && y > rect.top && y < rect.bottom;
    });
  };

  this.parentUi.onmousedown = (event) => {
    if (event.which != 1) return;

    let eventId = Date.now();

    let select_start_pos = {
      x: event.clientX,
      y: event.clientY,
    };

    console.log("box editor manager, on mouse down.", select_start_pos);

    let select_end_pos = {
      x: event.clientX,
      y: event.clientY,
    };

    let leftMouseDown = true;

    // a1<a2, b1<b2
    function lineIntersect(a1, a2, b1, b2) {
      if (a1 > a2) [a1, a2] = [a2, a1];
      if (b1 > b2) [b1, b2] = [b2, b1];

      return (
        (a1 > b1 && a1 < b2) ||
        (a2 > b1 && a2 < b2) ||
        (b1 > a1 && b1 < a2) ||
        (b2 > a1 && b2 < a2)
      );
    }

    // a,b: left, right, right, bottom
    function intersect(domRect, mouseA, mouseB) {
      return (
        lineIntersect(
          select_end_pos.x,
          select_start_pos.x,
          domRect.left,
          domRect.right
        ) &&
        lineIntersect(
          select_end_pos.y,
          select_start_pos.y,
          domRect.top,
          domRect.bottom
        )
      );
    }

    this.parentUi.onmousemove = (event) => {
      select_end_pos.x = event.clientX;
      select_end_pos.y = event.clientY;

      this.editorList.forEach((e) => {
        let rect = e.ui.getBoundingClientRect();
        let intersected = intersect(rect, select_start_pos, select_end_pos);

        e.setSelected(intersected, event.ctrlKey ? eventId : null);
      });
    };

    this.parentUi.onmouseup = (event) => {
      if (event.which != 1) return;

      leftMouseDown = false;
      this.parentUi.onmousemove = null;
      this.parentUi.onmouseup = null;

      if (
        event.clientX == select_start_pos.x &&
        event.clientY == select_start_pos.y
      ) {
        // click

        let ed = this.getEditorByMousePosition(event.clientX, event.clientY);

        if (event.shiftKey) {
          let selectedEditors = this.getSelectedEditors();
          if (selectedEditors.length == 0) {
          } else if (ed.index < selectedEditors[0].index) {
            this.activeEditorList().forEach((e) => {
              if (e.index >= ed.index && e.index < selectedEditors[0].index) {
                e.setSelected(true);
              }
            });
          } else if (
            ed.index > selectedEditors[selectedEditors.length - 1].index
          ) {
            this.activeEditorList().forEach((e) => {
              if (
                e.index <= ed.index &&
                e.index > selectedEditors[selectedEditors.length - 1].index
              ) {
                e.setSelected(true);
              }
            });
          }
        } else if (event.ctrlKey) {
          ed.setSelected(!ed.selected);
        } else {
          let selectedEditors = this.getSelectedEditors();

          if (ed) {
            if (ed.selected && selectedEditors.length == 1) {
              ed.setSelected(false);
            } else {
              selectedEditors.forEach((e) => e.setSelected(false));
              ed.setSelected(true);
            }
          } else {
            selectedEditors.forEach((e) => e.setSelected(false));
          }
        }
      }
    };
  };

  this.getSelectedEditors = function () {
    return this.editorList.filter((e) => e.selected);
  };
}
export { BoxEditorManager, BoxEditor };