#include <stdio.h>
#include <stdlib.h>

#include "stereo_bolt/c_api.h"

int main(int argc, char** argv) {
    if (argc != 5) {
        fprintf(stderr,
                "usage: c_example_centerline <config.yaml> <left_image> <right_image> <expected_count>\n");
        return 2;
    }

    const int expected_count = atoi(argv[4]);
    StereoBoltCtx* ctx = sb_create(argv[1]);
    if (ctx == NULL) {
        fprintf(stderr, "sb_create failed: %s\n", sb_last_error(NULL));
        return 1;
    }

    StereoBoltModuleResultC result;
    const sb_status_t status =
        sb_process_bolt_module_files(ctx, argv[2], argv[3], expected_count, &result);

    if (status != SB_OK && status != SB_ERR_ALGORITHM_REJECTED) {
        fprintf(stderr, "sb_process_bolt_module_files failed (%d): %s\n",
                (int)status, sb_last_error(ctx));
        sb_free_bolt_module_result(&result);
        sb_destroy(ctx);
        return 1;
    }

    printf("success=%d", result.success);
    if (!result.success) {
        printf(" failure_reason=%s left_rois=%d right_rois=%d pairs=%d\n",
               result.failure.reason,
               result.failure.n_left_rois,
               result.failure.n_right_rois,
               result.failure.n_pairs);
    } else {
        printf(" bolts=%d distances=%d\n",
               result.data.n_bolts,
               result.data.n_adjacent_distances);
    }

    for (int i = 0; i < result.data.n_bolts; ++i) {
        const StereoBoltModuleBoltC* b = &result.data.bolts[i];
        printf("  bolt_id=%d height=%.3f conf=%s status=%s foot=(%.3f,%.3f,%.3f) top=(%.3f,%.3f,%.3f)\n",
               b->bolt_id, b->height_mm,
               b->confidence == 0 ? "trusted" : "suspect", b->status,
               b->foot_xyz.x, b->foot_xyz.y, b->foot_xyz.z,
               b->top_xyz.x, b->top_xyz.y, b->top_xyz.z);
    }

    for (int i = 0; i < result.data.n_adjacent_distances; ++i) {
        const StereoBoltModuleDistanceC* d = &result.data.adjacent_distances[i];
        printf("  dist %d-%d %.3f mm\n",
               d->bolt_id_i, d->bolt_id_j, d->distance_mm);
    }

    const int rc = result.success ? 0 : 3;
    sb_free_bolt_module_result(&result);
    sb_destroy(ctx);
    return rc;
}