#include <opencv2/opencv.hpp>
#include <vector>
#include <iostream>

// Assuming a robot interface exists to control the arm
// Replace this with your actual robot interface
class RobotArm {
public:
    void moveTo(const cv::Point3f& position) {
        // Simulated movement to a target position
        std::cout << "Moving to position: (" << position.x << ", " << position.y << ", " << position.z << ")\n";
    }

    void grab() {
        // Simulate grabbing the cube
        std::cout << "Grabbing cube\n";
    }

    void release() {
        // Simulate releasing the cube
        std::cout << "Releasing cube\n";
    }
};

// Function to detect cubes of the specified color (blue)
std::vector<cv::Point3f> detectCubes(const cv::Mat& image, const cv::Scalar& colorLower, const cv::Scalar& colorUpper) {
    std::vector<cv::Point3f> cubes;

    // Convert image to HSV
    cv::Mat hsvImage;
    cv::cvtColor(image, hsvImage, cv::COLOR_BGR2HSV);

    // Create a mask for the specified color range
    cv::Mat mask;
    cv::inRange(hsvImage, colorLower, colorUpper, mask);

    // Find contours in the mask
    std::vector<std::vector<cv::Point>> contours;
    cv::findContours(mask, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);

    for (const auto& contour : contours) {
        if (cv::contourArea(contour) > 100) {  // Ignore small contours
            // Get the bounding box of the contour
            cv::Rect boundingBox = cv::boundingRect(contour);
            // Assuming z = 0 for simplicity, adjust this as needed for your setup
            cubes.push_back(cv::Point3f(boundingBox.x + boundingBox.width / 2.0f, 
                                        boundingBox.y + boundingBox.height / 2.0f, 
                                        0.0f));
        }
    }

    return cubes;
}

// Function to grab a cube
void grabCube(RobotArm& robot, const cv::Point3f& position) {
    robot.moveTo(position);
    robot.grab();
}

// Function to place the cube at a new position
void placeCube(RobotArm& robot, const cv::Point3f& position) {
    robot.moveTo(position);
    robot.release();
}

// Main function for pick and place operation
void pickAndPlace(cv::Mat& image, const cv::Scalar& colorLower, const cv::Scalar& colorUpper, const cv::Point3f& targetPosition) {
    // Detect all cubes in the workspace
    std::vector<cv::Point3f> cubes = detectCubes(image, colorLower, colorUpper);
    
    // Sort cubes by their y-coordinate (assuming y is the vertical axis)
    std::sort(cubes.begin(), cubes.end(), [](const cv::Point3f& a, const cv::Point3f& b) {
        return a.y < b.y;
    });

    // Create a robot arm instance
    RobotArm robot;

    // Iterate over the detected cubes, pick them, and place them on top of each other
    for (size_t i = 0; i < cubes.size(); ++i) {
        grabCube(robot, cubes[i]);

        // Calculate the new position to place the cube (stack on top of the previous cube)
        cv::Point3f newPosition = cv::Point3f(targetPosition.x, targetPosition.y, targetPosition.z + (i * 0.05f)); // Adjust height increment as needed

        placeCube(robot, newPosition);
    }
}

int main() {
    // Read an image from the camera or workspace
    cv::Mat image = cv::imread("workspace_image.jpg");

    if (image.empty()) {
        std::cerr << "Error: Could not open or find the image!" << std::endl;
        return -1;
    }

    // Define the HSV color range for blue (adjust this range based on your lighting conditions)
    cv::Scalar colorLower(100, 150, 0); // Lower bound of blue color
    cv::Scalar colorUpper(140, 255, 255); // Upper bound of blue color

    // Target position where cubes will be stacked (e.g., starting position)
    cv::Point3f targetPosition(0.5f, 0.5f, 0.0f); // Example position (x, y, z)

    // Execute the pick and place operation
    pickAndPlace(image, colorLower, colorUpper, targetPosition);

    return 0;
}
