dune-weaver/static/js/image2sand.js

/*
 * Image2Sand - Convert images to sand table coordinates
 * 
 * This script processes images and converts them to polar coordinates
 * according to the specified settings, supporting multiple output formats including:
 *  Default: HackPack Sand Garden .ino in this repository
 *  theta-rho format: for use with sand tables like Sisyphus and Dune Weaver Mini.
 * 
 * Note:
 *  For Dune Weaver Mini compatibility, this script uses continuous theta values
 *  that can exceed 2π (360 degrees). This allows the arm to make multiple revolutions
 *  without creating unintended circles in the patterns.
 */

class PriorityQueue {
    constructor() {
        this.heap = [];
    }

    enqueue(priority, key) {
        this.heap.push({ key, priority });
        this._bubbleUp(this.heap.length - 1);
    }

    dequeue() {
        const min = this.heap[0];
        const end = this.heap.pop();
        
        if (this.heap.length > 0) {
            this.heap[0] = end;
            this._sinkDown(0);
        }
        
        return min;
    }

    isEmpty() {
        return this.heap.length === 0;
    }

    _bubbleUp(index) {
        const element = this.heap[index];
        
        while (index > 0) {
            const parentIndex = Math.floor((index - 1) / 2);
            const parent = this.heap[parentIndex];
            
            if (element.priority >= parent.priority) break;
            
            this.heap[parentIndex] = element;
            this.heap[index] = parent;
            index = parentIndex;
        }
    }

    _sinkDown(index) {
        const length = this.heap.length;
        const element = this.heap[index];
        
        while (true) {
            const leftChildIndex = 2 * index + 1;
            const rightChildIndex = 2 * index + 2;
            let smallestChildIndex = null;
            
            if (leftChildIndex < length) {
                if (this.heap[leftChildIndex].priority < element.priority) {
                    smallestChildIndex = leftChildIndex;
                }
            }
            
            if (rightChildIndex < length) {
                if (
                    (smallestChildIndex === null && this.heap[rightChildIndex].priority < element.priority) ||
                    (smallestChildIndex !== null && this.heap[rightChildIndex].priority < this.heap[leftChildIndex].priority)
                ) {
                    smallestChildIndex = rightChildIndex;
                }
            }
            
            if (smallestChildIndex === null) break;
            
            this.heap[index] = this.heap[smallestChildIndex];
            this.heap[smallestChildIndex] = element;
            index = smallestChildIndex;
        }
    }
}


let currentContourIndex = 0;
let isFirstClick = true;
let originalImageElement = null;
let isGeneratingImage = false;
let isGeneratingCoords = false;

function drawAndPrepImage(imgElement) {
    const canvas = document.getElementById('original-image');
    const ctx = canvas.getContext('2d');
    canvas.width = imgElement.naturalWidth;
    canvas.height = imgElement.naturalHeight;
    ctx.drawImage(imgElement, 0, 0);

    // Set originalImageElement to the current image
    originalImageElement = imgElement;

    // Enable Generate button
    document.getElementById('generate-button').disabled = false;
}


async function generateImage(apiKey, prompt, autoprocess) {
    if (isGeneratingImage) {
        document.getElementById('generation-status').textContent = "Image is still generating - please don't press the button."; 
    } else {
        isGeneratingImage = true;
        document.getElementById('gen-image-button').disabled = true;
        document.getElementById('generation-status').style.display = 'block';
        try {

            const fullPrompt = `Draw an image of the following: ${prompt}. Make the line black and the background white. The drawing should be a single line, don't add any additional details to the image.`;

            const response = await fetch('https://api.openai.com/v1/images/generations', {
                method: 'POST',
                headers: {
                    'Authorization': `Bearer ${apiKey}`,
                    'Content-Type': 'application/json'
                },
                body: JSON.stringify({
                    model: 'dall-e-3',
                    prompt: fullPrompt,
                    size: '1024x1024',
                    quality: 'standard',
                    response_format: 'b64_json', // Specify base64 encoding
                    n: 1
                })
            });

            const data = await response.json();
            //const imageUrl = data.data[0].url;
            if ('error' in data) {
                throw new Error(data.error.message);
            }
            const imageData = data.data[0].b64_json;

            console.log("Image Data: ", imageData);

            const imgElement = new Image();
            imgElement.onload = function() {
                drawAndPrepImage(imgElement);
                if (autoprocess) {
                    convertImage();
                }
            };
            imgElement.src = `data:image/png;base64,${imageData}`;

            console.log(`Image generated successfully`);
        } catch (error) {
            console.error('Image generation error:', error);
        }
        isGeneratingImage = false;
        document.getElementById('generation-status').style.display = 'none';
        document.getElementById('generation-status').textContent = "Image is generating - please wait...";
        document.getElementById('gen-image-button').disabled = false;
    }

}


function handleImageUpload(event) {
    const file = event.target.files[0];
    const reader = new FileReader();

    reader.onload = e => {
        if (!originalImageElement) {
            originalImageElement = new Image();
            originalImageElement.id = 'uploaded-image';
            originalImageElement.onload = () => {
                drawAndPrepImage(originalImageElement);
            };
            document.getElementById('original-image').appendChild(originalImageElement);
        }
        originalImageElement.src = e.target.result;
    };

    reader.readAsDataURL(file);
}


function processImage(imgElement) {
    document.getElementById('processing-status').style.display = 'block';
    document.getElementById('generate-button').disabled = true;

    // Use setTimeout to allow the UI to update
    setTimeout(() => {
        const src = cv.imread(imgElement), dst = new cv.Mat();
        cv.cvtColor(src, src, cv.COLOR_RGBA2GRAY, 0);
        cv.Canny(src, dst, 50, 150, 3, false);

        // Add morphological operations
        const kernel = cv.getStructuringElement(cv.MORPH_RECT, new cv.Size(3, 3));
        cv.dilate(dst, dst, kernel);
        cv.erode(dst, dst, kernel);
        // Invert the colors of the detected edges image
        cv.bitwise_not(dst, dst);

        // Ensure edge-image canvas has the same dimensions as the original image
        const edgeCanvas = document.getElementById('edge-image');
        edgeCanvas.width = imgElement.naturalWidth;
        edgeCanvas.height = imgElement.naturalHeight;

        // Show the edge detection results
        cv.imshow('edge-image', dst);
        
        // Make the canvas visible
        edgeCanvas.classList.remove('hidden');
        
        // Hide the placeholder
        const placeholder = edgeCanvas.parentElement.querySelector('.upload-placeholder');
        if (placeholder) {
            placeholder.style.display = 'none';
        }
        
        // Switch to the edge detection tab
        switchTab('edge', 'image-converter');

        cv.bitwise_not(dst, dst);
        generateDots(dst);
        src.delete(); dst.delete();

        // Hide the processing status label
        document.getElementById('processing-status').style.display = 'none';
        document.getElementById('generate-button').disabled = false;
    }, 0);
}


function plotNextContour() {
    const canvas = document.getElementById('plotcontours');
    const ctx = canvas.getContext('2d');

    if (isFirstClick) {
        // Clear the canvas on first click
        ctx.clearRect(0, 0, canvas.width, canvas.height);
        isFirstClick = false;
    }

    console.log('Cur Contour: ', currentContourIndex + '/' + orderedContoursSave.length + ":", JSON.stringify(orderedContoursSave[currentContourIndex]));

    if (currentContourIndex < orderedContoursSave.length) {
        const contour = orderedContoursSave[currentContourIndex];
        const baseColor = getRandomColor();
        const [r, g, b] = hexToRgb(baseColor);
        const length = contour.length;

        contour.forEach((point, i) => {
            if (i === 0) {
                ctx.beginPath();
                ctx.moveTo(point.x, point.y);
            } else {
                ctx.lineTo(point.x, point.y);

                // Calculate color fade
                const ratio = i / length;
                const fadedColor = `rgb(${Math.round(r * (1 - ratio))}, ${Math.round(g * (1 - ratio))}, ${Math.round(b * (1 - ratio))})`;
                ctx.strokeStyle = fadedColor;
                ctx.lineWidth = 2;
                ctx.stroke();
                ctx.beginPath();
                ctx.moveTo(point.x, point.y);
            }
        });

        // Mark the start and end points
        ctx.fillStyle = baseColor;
        ctx.font = '12px Arial';

        // Start point
        ctx.fillText(`S${currentContourIndex + 1}`, contour[0].x, contour[0].y);
        ctx.beginPath();
        ctx.arc(contour[0].x, contour[0].y, 3, 0, 2 * Math.PI);
        ctx.fill();

        // End point
        ctx.fillText(`E${currentContourIndex + 1}`, contour[contour.length - 1].x, contour[contour.length - 1].y);
        ctx.beginPath();
        ctx.arc(contour[contour.length - 1].x, contour[contour.length - 1].y, 3, 0, 2 * Math.PI);
        ctx.fill();

        // Label the contour with its number
        const midPoint = contour[Math.floor(contour.length / 2)];
        ctx.fillText(`${currentContourIndex + 1}`, midPoint.x, midPoint.y);

        // Increment the contour index
        currentContourIndex++;
    } else {
        alert("All contours have been plotted. Starting over.");
        currentContourIndex = 0; // Reset the index
        isFirstClick = true; // Reset the first click flag
    }
}


function findNearestPoint(lastPoint, contours, visitedPoints) {
    let nearestPoint = null;
    let nearestDistance = Infinity;

    contours.forEach(contour => {
        contour.forEach(point => {
            if (!point || visitedPoints.has(JSON.stringify(point))) return;

            const distance = Math.sqrt(
                Math.pow(lastPoint.x - point.x, 2) + 
                Math.pow(lastPoint.y - point.y, 2)
            );

            if (distance < nearestDistance) {
                nearestDistance = distance;
                nearestPoint = point;
            }
        });
    });

    return nearestPoint;
}


function findMaximalCenter(points) {
    const minX = Math.min(...points.map(p => p.x));
    const maxX = Math.max(...points.map(p => p.x));
    const minY = Math.min(...points.map(p => p.y));
    const maxY = Math.max(...points.map(p => p.y));

    const centerX = (minX + maxX) / 2;
    const centerY = (minY + maxY) / 2;

    const width = maxX - minX;
    const height = maxY - minY;

    return { centerX, centerY, width, height };
}


function calculateCentroid(points) {
    let sumX = 0, sumY = 0;
    points.forEach(p => {
        sumX += p.x;
        sumY += p.y;
    });
    return { x: sumX / points.length, y: sumY / points.length };
}


function calculateDistances(contours) {
    const distances = [];

    for (let i = 0; i < contours.length; i++) {
        distances[i] = [];
        for (let j = 0; j < contours.length; j++) {
            if (i !== j) {
                const startToStart = Math.hypot(contours[i][0].x - contours[j][0].x, contours[i][0].y - contours[j][0].y);
                const startToEnd = Math.hypot(contours[i][0].x - contours[j][contours[j].length - 1].x, contours[i][0].y - contours[j][contours[j].length - 1].y);
                const endToStart = Math.hypot(contours[i][contours[i].length - 1].x - contours[j][0].x, contours[i][contours[i].length - 1].y - contours[j][0].y);
                const endToEnd = Math.hypot(contours[i][contours[i].length - 1].x - contours[j][contours[j].length - 1].x, contours[i][contours[i].length - 1].y - contours[j][contours[j].length - 1].y);
                distances[i][j] = Math.min(startToStart, startToEnd, endToStart, endToEnd);
            }
        }
    }

    return distances;
}


function tspNearestNeighbor(distances, contours) {
    const path = [0];
    const visited = new Set([0]);

    while (path.length < contours.length) {
        let last = path[path.length - 1];
        let nearest = -1;
        let nearestDistance = Infinity;

        for (let i = 0; i < contours.length; i++) {
            if (!visited.has(i) && distances[last][i] < nearestDistance) {
                nearestDistance = distances[last][i];
                nearest = i;
            }
        }

        if (nearest !== -1) {
            path.push(nearest);
            visited.add(nearest);
        }
    }

    return path;
}


function reorderContours(contours, path) {
    const orderedContours = [];
    console.log("Path:", path); // Debugging

    for (let i = 0; i < path.length; i++) {
        const contourIndex = path[i];
        let contour = contours[contourIndex];

        // Determine the direction to use the contour
        if (i > 0) {
            const prevContour = orderedContours[orderedContours.length - 1];
            const prevPoint = prevContour[prevContour.length - 1];
            
            if (isFullyClosed(contour)) {
                // Contour is fully closed, so can move the startPoint
                contour = reorderPointsForLoop(contour, startNear = prevPoint)
            } else if (prevPoint && contour[0]) {
                // Contour not fully closed, decide whether to reverse contour
                const startToStart = Math.hypot(prevPoint.x - contour[0].x, prevPoint.y - contour[0].y);
                const startToEnd = Math.hypot(prevPoint.x - contour[contour.length - 1].x, prevPoint.y - contour[contour.length - 1].y);

                if (startToEnd < startToStart) {
                    contour.reverse();
                }
            } else {
                console.error('Previous point or current contour start point is undefined.', { prevPoint, currentStart: contour[0] });
                continue; // Skip if any point is undefined
            }
        }

        orderedContours.push(contour);
    }

    return orderedContours;
}


function findClosestPoint(contours, point) {
    let minDistance = Infinity;
    let closestPoint = null;

    contours.forEach(contour => {
        contour.forEach(pt => {
            const distance = Math.hypot(point.x - pt.x, point.y - pt.y);
            if (distance < minDistance) {
                minDistance = distance;
                closestPoint = pt;
            }
        });
    });
    return closestPoint;
}


function createGraphWithConnectionTypes(contours) {
    const graph = [];
    const nodeMap = new Map(); // Map to quickly find nodes by coordinates
    const MAX_JUMP_CONNECTIONS = 10; // Limit the number of jump connections per node

    // Create nodes for each point in the contours
    contours.forEach(contour => {
        contour.forEach(pt => {
            const key = `${pt.x},${pt.y}`;
            if (!nodeMap.has(key)) {
                const node = { x: pt.x, y: pt.y, neighbors: [] };
                graph.push(node);
                nodeMap.set(key, node);
            }
        });
    });

    // Connect points within the same contour (regular path connections)
    contours.forEach(contour => {
        for (let i = 0; i < contour.length; i++) {
            const key = `${contour[i].x},${contour[i].y}`;
            const node = nodeMap.get(key);
            
            if (i > 0) {
                const prevKey = `${contour[i - 1].x},${contour[i - 1].y}`;
                const prevNode = nodeMap.get(prevKey);
                
                if (!node.neighbors.some(neighbor => neighbor.node === prevNode)) {
                    node.neighbors.push({ node: prevNode, isJump: false });
                    prevNode.neighbors.push({ node: node, isJump: false });
                }
            }
        }
    });

    // Create a spatial index for efficient nearest neighbor search
    const spatialIndex = [];
    graph.forEach(node => {
        spatialIndex.push({
            node: node,
            x: node.x,
            y: node.y
        });
    });

    // Connect nodes from different contours with jump connections, but limit the number
    graph.forEach(nodeA => {
        // Sort other nodes by distance to current node
        const distances = spatialIndex
            .filter(item => item.node !== nodeA)
            .map(item => ({
                node: item.node,
                distance: Math.hypot(nodeA.x - item.node.x, nodeA.y - item.node.y)
            }))
            .sort((a, b) => a.distance - b.distance);
        
        // Only connect to the closest MAX_JUMP_CONNECTIONS nodes
        distances.slice(0, MAX_JUMP_CONNECTIONS).forEach(({ node: nodeB, distance }) => {
            if (!nodeA.neighbors.some(neighbor => neighbor.node === nodeB)) {
                nodeA.neighbors.push({ node: nodeB, isJump: true, jumpDistance: distance });
            }
            if (!nodeB.neighbors.some(neighbor => neighbor.node === nodeA)) {
                nodeB.neighbors.push({ node: nodeA, isJump: true, jumpDistance: distance });
            }
        });
    });

    return graph;
}


function addStartEndToGraph(graph, start, end) {
    const nodeMap = new Map();
    const MAX_CONNECTIONS = 10; // Limit the number of connections from start/end points
    
    // Create a map for faster node lookups
    graph.forEach((node, index) => {
        nodeMap.set(`${node.x},${node.y}`, { node, index });
    });
    
    // Check if start and end points already exist in the graph
    const startKey = `${start.x},${start.y}`;
    const endKey = `${end.x},${end.y}`;
    
    let startIdx = nodeMap.has(startKey) ? nodeMap.get(startKey).index : graph.length;
    let endIdx = nodeMap.has(endKey) ? nodeMap.get(endKey).index : (startIdx === graph.length ? graph.length + 1 : graph.length);
    
    // Add start point if it doesn't exist
    if (!nodeMap.has(startKey)) {
        const startNode = { x: start.x, y: start.y, neighbors: [] };
        graph.push(startNode);
        nodeMap.set(startKey, { node: startNode, index: startIdx });
    }
    
    // Add end point if it doesn't exist
    if (!nodeMap.has(endKey)) {
        const endNode = { x: end.x, y: end.y, neighbors: [] };
        graph.push(endNode);
        nodeMap.set(endKey, { node: endNode, index: endIdx });
    }
    
    // Find the closest nodes to connect to start and end
    const startNode = graph[startIdx];
    const endNode = graph[endIdx];
    
    // Calculate distances from start to all other nodes
    const startDistances = [];
    graph.forEach((node, idx) => {
        if (idx !== startIdx) {
            const distance = Math.hypot(start.x - node.x, start.y - node.y);
            startDistances.push({ node, idx, distance });
        }
    });
    
    // Sort by distance and connect only to the closest MAX_CONNECTIONS nodes
    startDistances.sort((a, b) => a.distance - b.distance);
    startDistances.slice(0, MAX_CONNECTIONS).forEach(({ node, idx, distance }) => {
        startNode.neighbors.push({ node, isJump: true, jumpDistance: distance });
        node.neighbors.push({ node: startNode, isJump: true, jumpDistance: distance });
    });
    
    // Calculate distances from end to all other nodes
    const endDistances = [];
    graph.forEach((node, idx) => {
        if (idx !== endIdx) {
            const distance = Math.hypot(end.x - node.x, end.y - node.y);
            endDistances.push({ node, idx, distance });
        }
    });
    
    // Sort by distance and connect only to the closest MAX_CONNECTIONS nodes
    endDistances.sort((a, b) => a.distance - b.distance);
    endDistances.slice(0, MAX_CONNECTIONS).forEach(({ node, idx, distance }) => {
        endNode.neighbors.push({ node, isJump: true, jumpDistance: distance });
        node.neighbors.push({ node: endNode, isJump: true, jumpDistance: distance });
    });
    
    return { startIdx, endIdx };
}


function dijkstraWithMinimalJumps(graph, startIdx, endIdx) {
    const distances = Array(graph.length).fill(Infinity);
    const previous = Array(graph.length).fill(null);
    const totalJumpDistances = Array(graph.length).fill(Infinity);
    const priorityQueue = new PriorityQueue();
    const nodeIndices = new Map(); // Map to quickly find node indices
    
    // Create a map of node coordinates to indices for faster lookups
    graph.forEach((node, index) => {
        nodeIndices.set(`${node.x},${node.y}`, index);
    });

    distances[startIdx] = 0;
    totalJumpDistances[startIdx] = 0;
    priorityQueue.enqueue(0, startIdx);

    while (!priorityQueue.isEmpty()) {
        const { key: minDistanceNode } = priorityQueue.dequeue();

        if (minDistanceNode === endIdx) break;

        const currentNode = graph[minDistanceNode];
        currentNode.neighbors.forEach(neighbor => {
            // Use the map for faster node index lookup
            const neighborKey = `${neighbor.node.x},${neighbor.node.y}`;
            const neighborIdx = nodeIndices.get(neighborKey);
            
            const jumpDistance = neighbor.isJump ? neighbor.jumpDistance : 0;
            const alt = distances[minDistanceNode] + Math.hypot(currentNode.x - neighbor.node.x, currentNode.y - neighbor.node.y);
            const totalJumpDist = totalJumpDistances[minDistanceNode] + jumpDistance;

            if (totalJumpDist < totalJumpDistances[neighborIdx] || (totalJumpDist === totalJumpDistances[neighborIdx] && alt < distances[neighborIdx])) {
                distances[neighborIdx] = alt;
                previous[neighborIdx] = minDistanceNode;
                totalJumpDistances[neighborIdx] = totalJumpDist;
                priorityQueue.enqueue(totalJumpDist, neighborIdx);
            }
        });
    }

    const path = [];
    let u = endIdx;

    while (u !== null) {
        path.unshift({ x: graph[u].x, y: graph[u].y });
        u = previous[u];
    }

    return path;
}


function adjustEpsilon(epsilon, pointsOver) {
    if (pointsOver > 100) {
        return epsilon + 0.5;
    } else if (pointsOver <= 20) {
        return epsilon + 0.1;
    } else {
        // Scale adjustment for points over the target between 20 and 100
        let scale = (pointsOver - 20) / (100 - 20); // Normalized to range 0-1
        return epsilon + 0.1 + 0.5 * scale;  // Adjust between 0.1 and 0.5
    }
}

// Checks if a contour is nearly closed
function isNearlyClosed(contour, percentThreshold = 0.1) {
    // Get the bounding box of the contour
    const rect = cv.boundingRect(contour);
    const size = Math.sqrt(rect.width * rect.width + rect.height * rect.height);

    // Calculate the distance between the first and last points
    const startPoint = { x: contour.intPtr(0)[0], y: contour.intPtr(0)[1] };
    const endPoint = { x: contour.intPtr(contour.rows - 1)[0], y: contour.intPtr(contour.rows - 1)[1] };
    const distance = Math.sqrt((startPoint.x - endPoint.x) ** 2 + (startPoint.y - endPoint.y) ** 2);

    // Use a threshold based on the size of the object
    const threshold = size * percentThreshold;
    return (distance < threshold);
}

// Check if contour is fully closed
function isContourClosed(contour) {
    // Calculate the distance between the first and last points
    const startPoint = { x: contour.intPtr(0)[0], y: contour.intPtr(0)[1] };
    const endPoint = { x: contour.intPtr(contour.rows - 1)[0], y: contour.intPtr(contour.rows - 1)[1] };
    
    return (startPoint === endPoint);
}

// Checks if a PointList has the same first and last point
function isFullyClosed(points) {
    return ((points[0].x === points[points.length - 1].x) && (points[0].y === points[points.length - 1].y));
}

// Closes a contour by adding the first point at the end
function closeContour(points) {
    if (points.length > 1 && (points[0].x !== points[points.length - 1].x || points[0].y !== points[points.length - 1].y)) {
        points.push({ x: points[0].x, y: points[0].y });
    }
    return points;
}

function areContoursSimilar(contour1, contour2, similarityThreshold) {
    // Calculate the bounding boxes of the contours
    const rect1 = cv.boundingRect(contour1);
    const rect2 = cv.boundingRect(contour2);

    // Calculate the intersection of the bounding boxes
    const x1 = Math.max(rect1.x, rect2.x);
    const y1 = Math.max(rect1.y, rect2.y);
    const x2 = Math.min(rect1.x + rect1.width, rect2.x + rect2.width);
    const y2 = Math.min(rect1.y + rect1.height, rect2.y + rect2.height);

    // Check if there is an intersection
    const intersectionWidth = Math.max(0, x2 - x1);
    const intersectionHeight = Math.max(0, y2 - y1);
    const intersectionArea = intersectionWidth * intersectionHeight;

    // Calculate the union of the bounding boxes
    const area1 = rect1.width * rect1.height;
    const area2 = rect2.width * rect2.height;
    const unionArea = area1 + area2 - intersectionArea;

    // Calculate the similarity based on the intersection over union (IoU)
    const similarity = intersectionArea / unionArea;

    return similarity > similarityThreshold;
}

function deduplicateContours(contours, similarityThreshold = 0.5) {
    const uniqueContours = [];
    for (let i = 0; i < contours.size(); i++) {
        const contour = contours.get(i);
        let isDuplicate = false;
        for (let j = 0; j < uniqueContours.length; j++) {
            if (areContoursSimilar(contour, uniqueContours[j], similarityThreshold)) {
                isDuplicate = true;
                break;
            }
        }
        if (!isDuplicate) {
            uniqueContours.push(contour);
        }
    }
    return uniqueContours;
}

// Function to interpolate points along a straight line
function interpolatePoints(startPoint, endPoint, numPoints) {
    if (numPoints <= 2) return [startPoint, endPoint];
    
    const points = [];
    for (let i = 0; i < numPoints; i++) {
        const t = i / (numPoints - 1);
        const x = startPoint.x + t * (endPoint.x - startPoint.x);
        const y = startPoint.y + t * (endPoint.y - startPoint.y);
        points.push({ x, y });
    }
    return points;
}

// Function to calculate the distance between two points
function distanceBetweenPoints(p1, p2) {
    return Math.sqrt(Math.pow(p2.x - p1.x, 2) + Math.pow(p2.y - p1.y, 2));
}

// Function to add interpolated points to a contour based on segment length
function addInterpolatedPoints(points, epsilon) {
    if (points.length <= 1) return points;
    
    const result = [];
    for (let i = 0; i < points.length - 1; i++) {
        const startPoint = points[i];
        const endPoint = points[i + 1];
        
        // Calculate distance between points
        const distance = distanceBetweenPoints(startPoint, endPoint);
        
        // Determine how many points to add based on distance and epsilon
        // For longer segments and smaller epsilon values, we want more points
        // The smaller the epsilon, the more detailed the contour, so we add more points
        const pointsToAdd = Math.max(2, Math.ceil(distance / (epsilon * 5)));
        
        // Add interpolated points for this segment
        const interpolated = interpolatePoints(startPoint, endPoint, pointsToAdd);
        
        // Add all points except the last one (to avoid duplicates)
        if (i < points.length - 2) {
            result.push(...interpolated.slice(0, -1));
        } else {
            // For the last segment, include the end point
            result.push(...interpolated);
        }
    }
    
    return result;
}

function getOrderedContours(edgeImage, initialEpsilon, retrievalMode, maxPoints) {
    const contours = new cv.MatVector(), hierarchy = new cv.Mat();
    cv.findContours(edgeImage, contours, hierarchy, retrievalMode, cv.CHAIN_APPROX_SIMPLE);
    console.log("# Contours: ", contours.size());

    // Deduplicate contours
    const uniqueContours = deduplicateContours(contours);

    const maxIterations = 100;  // Maximum iterations to avoid infinite loop

    let contourPoints = [];
    let totalPoints = 0;
    let epsilon = initialEpsilon;
    let iterations = 0;

    do {
        totalPoints = 0;
        contourPoints = [];

        for (let i = 0; i < uniqueContours.length; i++) {
            const contour = uniqueContours[i]; // Use [] to access array elements
            const simplified = new cv.Mat();
            cv.approxPolyDP(contour, simplified, epsilon, true);
        
            let points = [];
            for (let j = 0; j < simplified.rows; j++) {
                const point = simplified.intPtr(j);
                points.push({ x: point[0], y: point[1] });
            }
            simplified.delete();
        
            if (points.length > 0) {  // Check for empty contours
                if (isNearlyClosed(contour)) {  // Only close the contour if it's nearly closed
                    points = closeContour(points);
                }
                
                // We no longer interpolate points here - we'll do it later only if needed
                
                if (isFullyClosed(points)) {
                    // Move starting point to nearest the center
                    points = reorderPointsForLoop(points);
                }
                contourPoints.push(points);
                totalPoints += points.length;
            }
        }        

        if (totalPoints > maxPoints) {
            let pointsOver = totalPoints - maxPoints;
            epsilon = adjustEpsilon(epsilon, pointsOver);
            iterations++;
        }
    } while (totalPoints > maxPoints && iterations < maxIterations);

    if (totalPoints > maxPoints && iterations >= maxIterations) {
        let flattenedPoints = contourPoints.flat();
        contourPoints = [flattenedPoints.slice(0, maxPoints)];  // Take the first N points
    }

    if (contourPoints.length === 0) {
        console.error("No valid contours found.");
        return [];
    }

    // Calculate distances and find the best path
    const distances = calculateDistances(contourPoints);
    const path = tspNearestNeighbor(distances, contourPoints);
    const orderedContours = reorderContours(contourPoints, path);

    return orderedContours;
}


function getRandomColor() {
    const letters = '0123456789ABCDEF';
    let color = '#';
    for (let i = 0; i < 6; i++) {
        color += letters[Math.floor(Math.random() * 16)];
    }
    return color;
}


function resetCanvas(canvasId) {
    const canvas = document.getElementById(canvasId);
    const ctx = canvas.getContext('2d');
    
    // Store current dimensions
    const width = canvas.width;
    const height = canvas.height;
    
    // Clear the canvas
    ctx.clearRect(0, 0, width, height);
    
    // Reset transformation matrix
    ctx.setTransform(1, 0, 0, 1, 0, 0);
    
    // Ensure dimensions are maintained
    canvas.width = width;
    canvas.height = height;
}


function traceContours(orderedContours, isLoop = false, minimizeJumps = true) {
    let result = [];
    let pathsUsed = [...orderedContours];
   
    for (let i = 0; i < orderedContours.length - (isLoop ? 0 : 1); i++) {
        const currentContour = orderedContours[i];
        
        // If looping, add 1st contour again
        const nextContour = orderedContours[(i + 1) % orderedContours.length];
        const start = currentContour[currentContour.length - 1];  // End of the current contour
        const end = nextContour[0];  // Start of the next contour

        let path = [];
        if (minimizeJumps){
            // Find path between contours
            path = findPathWithMinimalJumpDistances(pathsUsed, start, end);
        }
        
        result.push(currentContour);
        if (path.length > 0) {  // Add the path only if it has points
            result.push(path);
            pathsUsed.push(path);  // Add the used path to the list of paths
            //console.log('Added Path: ', i, JSON.stringify(path));
        } else {
            //console.log('No Path Needed', i)
        }
    }

    // If not looping, add the last contour as it doesn't need a connecting path and wasn't added above
    if (!isLoop) { result.push(orderedContours[orderedContours.length - 1]); }

    return result;
}


function removeConsecutiveDuplicates(points) {
    return points.filter((point, index) => {
        if (index === 0) return true; // Keep the first point
        const prevPoint = points[index - 1];
        return !(point.x === prevPoint.x && point.y === prevPoint.y);
    });
}


function findPathWithMinimalJumpDistances(contours, start, end) {
    const graph = createGraphWithConnectionTypes(contours);
    const { startIdx, endIdx } = addStartEndToGraph(graph, start, end);
    const path = dijkstraWithMinimalJumps(graph, startIdx, endIdx);
    return path;
}


function generateDots(edgeImage) {
    // Reset the canvas before drawing the new image
    resetCanvas('dot-image');
    resetCanvas('connect-image');
    
    // Ensure canvases have the same dimensions
    const dotCanvas = document.getElementById('dot-image');
    const connectCanvas = document.getElementById('connect-image');
    const originalCanvas = document.getElementById('original-image');
    const edgeCanvas = document.getElementById('edge-image');
    
    if (originalImageElement) {
        // Set all canvases to the same dimensions
        dotCanvas.width = originalImageElement.naturalWidth;
        dotCanvas.height = originalImageElement.naturalHeight;
        connectCanvas.width = originalImageElement.naturalWidth;
        connectCanvas.height = originalImageElement.naturalHeight;
    }

    const epsilon = parseFloat(document.getElementById('epsilon-slider').value),
        contourMode = document.getElementById('contour-mode').value,
        isLoop = document.getElementById('is-loop').checked,
        minimizeJumps = document.getElementById('no-shortcuts').checked,
        outputFormat = parseInt(document.getElementById('output-type').value),
        maxPoints = parseInt(document.getElementById('dot-number').value);
        // useGaussianBlur = document.getElementById('gaussian-blur-toggle').checked,
    const retrievalMode = (contourMode == 'External') ?  cv.RETR_EXTERNAL : cv.RETR_TREE;    
    
    orderedContours = getOrderedContours(edgeImage, epsilon, retrievalMode, maxPoints);

    console.log('Ordered Contours: ', JSON.stringify(orderedContours));

    const tracedContours = traceContours(orderedContours, isLoop, minimizeJumps);
    console.log('Traced: ', JSON.stringify(tracedContours));

    // Only apply additional interpolation if .thr format (format 2) is selected
    let processedContours;
    if (outputFormat === 2) {
        // Apply interpolation for .thr format which needs more points for straight lines
        processedContours = tracedContours.map(contour => 
            addInterpolatedPoints(contour, epsilon)
        );
    } else {
        processedContours = tracedContours;
    }

    plotContours(processedContours);
    // Save for future plotting
    orderedContoursSave = processedContours;

    let orderedPoints = processedContours.flat();

    // Should always be the case for isLoop
    if (isFullyClosed(orderedPoints) || isLoop) {
        orderedPoints = reorderPointsForLoop(orderedPoints);
    }

    orderedPoints = removeConsecutiveDuplicates(orderedPoints);

    // For final output - if last point is same as first point, drop it.
    if (isFullyClosed(orderedPoints)) {
        orderedPoints = [...orderedPoints.slice(0,orderedPoints.length-1)];
    }

    const polarPoints = drawDots(orderedPoints);
    WriteCoords(polarPoints, outputFormat);
    drawConnections(polarPoints);
    document.getElementById('total-points').innerText = `(${orderedPoints.length} Points)`;
}


function WriteCoords(polarPoints, outputFormat = 0){
    let formattedPolarPoints = '';
    switch (outputFormat) {
        case 0: //Default
            // For Image2Sand.ino code, we normalize the theta values
            // We'll use modulo for this format
            formattedPolarPoints = polarPoints.map(p => {
            const normalizedTheta = ((p.theta % 3600) + 3600) % 3600; // Ensure positive value between 0-3600
            return `{${p.r.toFixed(0)},${normalizedTheta.toFixed(0)}}`;
        }).join(',');
            break;

        case 1: //Single Byte
            // For single byte format, we need to normalize the theta values
            // We'll use modulo for this format since it's just for Arduino code
            formattedPolarPoints = polarPoints.map(p => {
                const normalizedTheta = ((p.theta % 3600) + 3600) % 3600; // Ensure positive value between 0-3600
                return `{${Math.round(255 * p.r / 1000)},${Math.round(255 * normalizedTheta / 3600)}}`;
            }).join(',');
            break;

        case 2: //.thr
            // For .thr format, we keep the continuous theta values
            // Convert from tenths of degrees back to radians
            // Apply a 90° clockwise rotation by subtracting π/2 (900 in tenths of degrees) from theta
            formattedPolarPoints = polarPoints.map(p => {
                // Subtract 900 (90 degrees) to rotate clockwise
                const rotatedTheta = p.theta - 900;
                return `${(-rotatedTheta * Math.PI / 1800).toFixed(5)} ${(p.r / 1000).toFixed(5)}`;
            }).join("\n");
            break;

        case 3: // whitespace (might cause problems as it outputs a space)
            // For whitespace format, we need to normalize the theta values
            // We'll use modulo for this format
            formattedPolarPoints = polarPoints.map(p => {
                const normalizedTheta = ((p.theta % 3600) + 3600) % 3600; // Ensure positive value between 0-3600
                return `${Math.round(255 * p.r / 1000).toString(2).padStart(8,'0').replaceAll('0',' ').replaceAll('1',"\t")}${Math.round(255 * normalizedTheta / 3600).toString(2).padStart(8,'0').replaceAll('0',' ').replaceAll('1',"\t")}`;
            }).join("\n");
            break;

        default: 
            break;
    }
   
    document.getElementById('polar-coordinates-textarea').value = formattedPolarPoints;
    document.getElementById('simple-coords').textContent = formattedPolarPoints;
    document.getElementById('simple-coords-title').style = 'visibility: hidden';
}


function reorderPointsForLoop(points, startNear = calculateCentroid(points)) {
    let minDist = Infinity;
    let startIndex = 0;

    // Find the point nearest to the centroid
    points.forEach((point, index) => {
        const dist = Math.hypot(point.x - startNear.x, point.y - startNear.y);
        if (dist < minDist) {
            minDist = dist;
            startIndex = index;
        }
    });

    // Reorder points to start from the point nearest to the centroid
    return removeConsecutiveDuplicates([...points.slice(startIndex), ...points.slice(0, startIndex+1)]);
    
}


function drawDots(points) {
    const canvas = document.getElementById('dot-image'), ctx = canvas.getContext('2d');
    
    // Set canvas dimensions to match the original image
    if (originalImageElement) {
        canvas.width = originalImageElement.naturalWidth;
        canvas.height = originalImageElement.naturalHeight;
    }
    
    ctx.clearRect(0, 0, canvas.width, canvas.height);

    const width = canvas.width, height = canvas.height;
    const scaleX = width / originalImageElement.width;
    const scaleY = height / originalImageElement.height;
    const scale = Math.min(scaleX, scaleY);

    points = points.map(p => ({ x: (p.x) * scale, y: (p.y) * scale }));

    points.forEach(point => {
        ctx.beginPath();
        ctx.arc(point.x, point.y, 2, 0, 2 * Math.PI);
        ctx.fill();
    });

    const formattedPoints = points.map(p => `{${p.x.toFixed(2)}, ${p.y.toFixed(2)}}`).join(',\n');

    // Calculate polar coordinates
    const center = findMaximalCenter(points);

    points = points.map(p => ({ x: p.x - center.centerX, y: p.y - center.centerY }));
    
    // Calculate initial angles for all points
    let polarPoints = points.map(p => {
        const r = Math.sqrt(p.x * p.x + p.y * p.y);
        // Get the basic angle in radians
        let theta = Math.atan2(p.y, p.x);
        
        // Adjust theta to align 0 degrees to the right and 90 degrees up by flipping the y-axis
        theta = -theta;
        
        return { 
            r: r * (1000 / Math.max(...points.map(p => Math.sqrt(p.x * p.x + p.y * p.y)))), 
            theta: theta, // Store in radians initially
            x: p.x,
            y: p.y
        };
    });
    
    // Process points to create continuous theta values
    for (let i = 1; i < polarPoints.length; i++) {
        const prev = polarPoints[i-1];
        const curr = polarPoints[i];
        
        // Calculate the difference between current and previous theta
        let diff = curr.theta - prev.theta;
        
        // If the difference is greater than π, it means we've wrapped around counterclockwise
        // Adjust by subtracting 2π
        if (diff > Math.PI) {
            curr.theta -= 2 * Math.PI;
        }
        // If the difference is less than -π, it means we've wrapped around clockwise
        // Adjust by adding 2π
        else if (diff < -Math.PI) {
            curr.theta += 2 * Math.PI;
        }
    }
    
    // Convert to degrees * 10 for the final format
    polarPoints = polarPoints.map(p => ({
        r: p.r,
        theta: p.theta * (1800 / Math.PI) // Convert radians to tenths of degrees
    }));

    return polarPoints;
}


function plotContours(orderedContours) {
    const canvas = document.getElementById('plotcontours');
    const ctx = canvas.getContext('2d');

    ctx.clearRect(0, 0, canvas.width, canvas.height);

    orderedContours.forEach((contour, index) => {
        const baseColor = getRandomColor();
        const [r, g, b] = hexToRgb(baseColor);
        const length = contour.length;

        contour.forEach((point, i) => {
            if (i === 0) {
                ctx.beginPath();
                ctx.moveTo(point.x, point.y);
            } else {
                ctx.lineTo(point.x, point.y);

                // Calculate color fade
                const ratio = i / length;
                const fadedColor = `rgb(${Math.round(r * (1 - ratio))}, ${Math.round(g * (1 - ratio))}, ${Math.round(b * (1 - ratio))})`;
                ctx.strokeStyle = fadedColor;
                ctx.lineWidth = 2;
                ctx.stroke();
                ctx.beginPath();
                ctx.moveTo(point.x, point.y);
            }
        });

        // Mark the start and end points
        ctx.fillStyle = baseColor;
        ctx.font = '12px Arial';

        // Start point
        ctx.fillText(`S${index + 1}`, contour[0].x, contour[0].y);
        ctx.beginPath();
        ctx.arc(contour[0].x, contour[0].y, 3, 0, 2 * Math.PI);
        ctx.fill();

        // End point
        ctx.fillText(`E${index + 1}`, contour[contour.length - 1].x, contour[contour.length - 1].y);
        ctx.beginPath();
        ctx.arc(contour[contour.length - 1].x, contour[contour.length - 1].y, 3, 0, 2 * Math.PI);
        ctx.fill();

        // Label the contour with its number
        const midPoint = contour[Math.floor(contour.length / 2)];
        ctx.fillText(`${index + 1}`, midPoint.x, midPoint.y);
    });
}


function hexToRgb(hex) {
    const bigint = parseInt(hex.slice(1), 16);
    return [
        (bigint >> 16) & 255,
        (bigint >> 8) & 255,
        bigint & 255
    ];
}


function drawConnections(polarPoints) {
    const canvas = document.getElementById('connect-image'), ctx = canvas.getContext('2d');
    ctx.clearRect(0, 0, canvas.width, canvas.height);

    const width = canvas.width, height = canvas.height;

    // Reset transformation matrix
    ctx.setTransform(1, 0, 0, 1, 0, 0);

    // Translate the context to the center of the canvas
    ctx.translate(width / 2, height / 2);

    // Scale the points based on the size of the original image
    const scaleX = width / 2000; // Since the circle radius is 1000
    const scaleY = height / 2000;
    const scale = Math.min(scaleX, scaleY);

    // Draw the outline circle
    ctx.beginPath();
    ctx.arc(0, 0, 1000 * scale, 0, 2 * Math.PI);
    ctx.strokeStyle = 'black';
    ctx.stroke();

    // Draw the connections based on polar coordinates
    for (let i = 0; i < polarPoints.length - 1; i++) {
        // Calculate the color for each segment
        const t = i / (polarPoints.length - 1);
        const color = `hsl(${t * 270}, 100%, 50%)`; // 270 degrees covers red to violet
        ctx.strokeStyle = color;

        const p1 = polarPoints[i];
        const p2 = polarPoints[i + 1];

        // Convert from tenths of degrees to radians for visualization
        const theta1 = p1.theta * Math.PI / 1800;
        const theta2 = p2.theta * Math.PI / 1800;

        // Adjust y-coordinate calculation to invert the y-axis
        const x1 = p1.r * Math.cos(theta1) * scale;
        const y1 = -p1.r * Math.sin(theta1) * scale;
        const x2 = p2.r * Math.cos(theta2) * scale;
        const y2 = -p2.r * Math.sin(theta2) * scale;

        ctx.beginPath();
        ctx.moveTo(x1, y1);
        ctx.lineTo(x2, y2);
        ctx.stroke();
    }
}


function convertImage() {
    originalImageElement && processImage(originalImageElement);
}


// Function to get URL parameters
function getUrlParams() {
    const params = new URLSearchParams(window.location.search);
    return {
        apikey: params.get('apikey'),
        prompt: params.get('prompt'),
        run: params.get('run')
    };
}


// Function to fill inputs from URL parameters
function fillInputsFromParams(params) {
    if (params.apikey) {
        document.getElementById('api-key').value = params.apikey;
    }
    if (params.prompt) {
        document.getElementById('prompt').value = params.prompt;
    }
}


function setDefaultsForAutoGenerate() {
    document.getElementById('epsilon-slider').value = 0.5;
    document.getElementById('dot-number').value = 300;
    document.getElementById('no-shortcuts').checked = true;
    document.getElementById('is-loop').checked = true;
    document.getElementById('contour-mode').value = 'Tree';
    hiddenResponse();
}

function hiddenResponse() {
    document.getElementById('master-container').style = 'display: none;';
    document.getElementById('simple-container').style = 'visibility: visible';
}


document.addEventListener('DOMContentLoaded', function() {
    const fileInput = document.getElementById('file-input');
    const fileButton = document.getElementById('file-button');
    const fileNameDisplay = document.getElementById('file-name');
    const generateButton = document.getElementById('generate-button');
    const epsilonSlider = document.getElementById('epsilon-slider');
    const epsilonValueDisplay = document.getElementById('epsilon-value-display');
    const dotNumberInput = document.getElementById('dot-number');
    const contourModeSelect = document.getElementById('contour-mode');
    //const gaussianBlurToggle = document.getElementById('gaussian-blur-toggle');

    document.getElementById('plotButton').addEventListener('click', plotNextContour);

    generateButton.addEventListener('click', convertImage);

    fileButton.addEventListener('click', function() {
        fileInput.click();
    });

    fileInput.addEventListener('change', function(event) {
        const file = event.target.files[0];
        if (file) {
            fileNameDisplay.textContent = file.name;
            if (typeof openImageConverter === 'function') {
                openImageConverter(file);
            } else {
                handleImageUpload(event);
            }
        }
    });

    epsilonSlider.addEventListener('input', function() {
        epsilonValueDisplay.textContent = epsilonSlider.value;
    });

    window.showTab = function(tabName) {
        const tabContents = document.querySelectorAll('.tab-content');
        tabContents.forEach(content => { content.style.display = 'none'; });
        document.getElementById(tabName).style.display = 'block'; 
    };

});


// Initialize the page with URL parameters if present
document.addEventListener('DOMContentLoaded', (event) => {
    const { apikey, prompt, run } = getUrlParams();

    // Fill inputs with URL parameters if they exist
    fillInputsFromParams({ apikey, prompt });
    if (apikey) {  
        document.getElementById('api-key-group').style.display = 'none'; 
    }

    // Generate image if all parameters are present
    if (apikey && prompt && run) {
        setDefaultsForAutoGenerate();
        generateImage(apikey, prompt, run);
        convertImage();
    }

    // Add event listener to the button inside the DOMContentLoaded event
    const genImageButton = document.getElementById('gen-image-button');
    if (genImageButton) {
        genImageButton.addEventListener('click', () => {
            const apiKeyElement = document.getElementById('api-key');
            const promptElement = document.getElementById('prompt');
            const googlyEyes = document.getElementById('googly-eyes');
            
            // Add null checks
            const apiKey = apiKeyElement?.value || '';
            const promptValue = promptElement?.value || '';
            const googlyEyesChecked = googlyEyes?.checked || false;
            
            const prompt = promptValue + (googlyEyesChecked ? ' with disproportionately large googly eyes' : '');
            generateImage(apiKey, prompt, false);
        });
    }
    
});