#pragma once

#include "IDroneScrewAlgo.h"

#include <atomic>
#include <mutex>
#include <vector>

#ifdef DRONESCREW_STEREO_BOLT_DIRECT_LINK
#include "stereo_bolt/c_api.h"
#else
struct StereoBoltCtx;
#endif

/**
 * @brief Adapter for AppAlgo/stereo_bolt_delivery.
 *
 * The class name is kept for compatibility with existing project files. The
 * implementation links libstereo_bolt.so directly and feeds left/right Mono8
 * camera buffers to the C API.
 */
class DroneScrewAlgoStub : public IDroneScrewAlgo
{
public:
    DroneScrewAlgoStub();
    ~DroneScrewAlgoStub() override;

    int Init(const DroneScrewAlgoParams& params) override;
    int UnInit() override;
    int Detect(const DroneScrewInputImage& leftImage,
               const DroneScrewInputImage& rightImage,
               DroneScrewResult& result) override;
    int DetectDistance(const DroneScrewInputImage& leftImage,
                       const DroneScrewInputImage& rightImage,
                       DroneScrewResult& result) override;
    int UpdateParams(const DroneScrewAlgoParams& params) override;
    std::string GetVersion() const override;

private:
#ifdef DRONESCREW_STEREO_BOLT_DIRECT_LINK
    bool buildRectifiedLeftToRawMap(const StereoBoltCalibC& calib,
                                    double rectAlpha,
                                    std::string& error);
    bool mapRectifiedLeftRoi(const StereoBoltModuleRoiC& roi,
                             int rawWidth,
                             int rawHeight,
                             DroneScrewBox& box) const;
    void appendRoiBox(const StereoBoltModuleRoiC& roi,
                      DroneScrewResult& result) const;
    void appendBoltBox(const StereoBoltModuleBoltC& bolt,
                       DroneScrewResult& result) const;
#endif

    DroneScrewAlgoParams    m_params;
    StereoBoltCtx*          m_ctx{nullptr};
    std::string             m_configPath;
    std::string             m_calibPath;
    std::string             m_modelPath;
    std::string             m_initError;
#ifdef DRONESCREW_STEREO_BOLT_DIRECT_LINK
    StereoBoltCalibC        m_calib{};
    double                  m_rectAlpha{1.0};
    int                     m_rectMapWidth{0};
    int                     m_rectMapHeight{0};
    std::vector<float>      m_leftRectToRawX;
    std::vector<float>      m_leftRectToRawY;
#endif
    mutable std::mutex      m_mutex;
    std::atomic<bool>       m_bInited{false};
};