#ifndef WELDSEAM_IVRCONFIG_H
#define WELDSEAM_IVRCONFIG_H

#include <cstdint>
#include <string>
#include <vector>

#include "VrCommonConfig.h"
#include "VrHandEyeCalibConfig.h"
#include "SG_baseDataType.h"

// 参数默认值与 AppAlgo/lapWeldDetection/lapWeldDetection_test.cpp
// 中 BQ_thinWeldSeamTest 的 BQ_getWeldSeamPose 调用保持一致。
struct VrValleyParam
{
    double chkWinWidth = 2.5;
    double maxWidth = 20.0;
    double minHeight = 1.0;
};

struct VrTreeGrowParam
{
    int maxLineSkipNum = 50;
    double yDeviationMax = 1.0;
    double maxSkipDistance = 30.0;
    double zDeviationMax = 5.0;
    double minLTypeTreeLen = 50.0;
    double minVTypeTreeLen = 50.0;
};

struct VrWeldSeamParam
{
    int weldRefPoints = 3;
    EWD_FlawType detectFlawType = keWD_FlawType_Uknown;
};

struct VrAlgorithmParams
{
    VrValleyParam valleyParam;
    VrTreeGrowParam treeGrowParam;
    VrWeldSeamParam weldSeamParam;
    VrPlaneCalibParam planeCalibParam;
};

struct ConfigResult
{
    std::vector<DeviceInfo> cameraList;
    VrAlgorithmParams algorithmParams;
    std::vector<VrHandEyeCalibMatrix> handEyeCalibMatrixList;
    VrDebugParam debugParam;
    SerialConfig serialConfig;
    uint16_t tcpPort = 7800;
    int eulerOrder = 11;
    int outputEulerOrder = 10;
    int poseOutputOrder = 0;
    int byteOrder = 0;

    const VrHandEyeCalibMatrix* FindHandEyeMatrix(int cameraIndex) const
    {
        for (const auto& item : handEyeCalibMatrixList) {
            if (item.cameraIndex == cameraIndex) return &item;
        }
        return nullptr;
    }

    VrHandEyeCalibMatrix* FindHandEyeMatrix(int cameraIndex)
    {
        for (auto& item : handEyeCalibMatrixList) {
            if (item.cameraIndex == cameraIndex) return &item;
        }
        return nullptr;
    }

    VrHandEyeCalibMatrix& EnsureHandEyeMatrix(int cameraIndex)
    {
        if (auto* item = FindHandEyeMatrix(cameraIndex)) return *item;
        VrHandEyeCalibMatrix item;
        item.cameraIndex = cameraIndex;
        handEyeCalibMatrixList.push_back(item);
        return handEyeCalibMatrixList.back();
    }
};

enum LoadConfigErrorCode
{
    LOAD_CONFIG_SUCCESS = 0,
    LOAD_CONFIG_FILE_NOT_FOUND = -1,
    LOAD_CONFIG_PARSE_ERROR = -2,
    LOAD_CONFIG_INVALID_FORMAT = -3,
    LOAD_CONFIG_UNKNOWN_ERROR = -99
};

class IVrConfig
{
public:
    virtual ~IVrConfig() = default;
    static bool CreateInstance(IVrConfig** ppVrConfig);
    virtual int LoadConfig(const std::string& filePath, ConfigResult& configResult) = 0;
    virtual bool SaveConfig(const std::string& filePath, ConfigResult& configResult) = 0;
    virtual void SetConfigChangeNotify(IVrConfigChangeNotify* notify) = 0;
};

#endif // WELDSEAM_IVRCONFIG_H