#pragma once

#include <QImage>
#include <QString>
#include <cstddef>
#include <mutex>
#include <utility>
#include <vector>

#include "IVrConfig.h"
#include "IYWeldSeamStatus.h"
#include "LaserDataLoader.h"
#include "SG_baseDataType.h"
#include "VZNL_Types.h"

class DetectPresenter
{
public:
    DetectPresenter();
    static QString GetAlgoVersion();

    void ResetIncrementalData();
    bool ProcessDetectionLine(EVzResultDataType dataType,
                              const SVzLaserLineData& lineData,
                              const VrAlgorithmParams& algorithmParams,
                              const SSG_planeCalibPara& groundCalibParam,
                              LaserDataLoader& dataLoader);
    bool HasIncrementalData() const;

    int DetectWeldSeam(
        int cameraIndex,
        std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
        const VrAlgorithmParams& algorithmParams,
        const SSG_planeCalibPara& groundCalibParam,
        const VrDebugParam& debugParam,
        LaserDataLoader& dataLoader,
        DetectionResult& detectionResult);

private:
    void ResetIncrementalImage();
    void AddIncrementalImageLine(const std::vector<SVzNL3DPosition>& scanLine);
    QImage BuildIncrementalResultImage(
        const std::vector<std::vector<SVzNL3DPoint>>& weldPaths) const;

    mutable std::mutex m_incrementalMutex;
    std::vector<SSG_basicFeatureGap> m_pendingLineValleys;
    std::vector<SSG_gapFeatureTree> m_incrementalFeatureTrees;
    std::size_t m_incrementalLineCount = 0;
    QImage m_incrementalImage;
    double m_imageXMin = 0.0;
    double m_imageYMin = 0.0;
    double m_imageScale = 1.0;
    double m_observedXMin = 0.0;
    double m_observedXMax = 0.0;
    double m_observedYMin = 0.0;
    double m_observedYMax = 0.0;
    bool m_incrementalImageValid = false;
    std::size_t m_imageInputPointCount = 0;
    std::size_t m_imageOutputPointCount = 0;
};