#include "DetectPresenter.h"

#include <algorithm>

QString DetectPresenter::GetAlgoVersion()
{
    return QStringLiteral("停车引导预留算法接口 版本0.1");
}

int DetectPresenter::DetectParkingSpaceGuide(const QImage& frame,
                                             const RsCloudData& cloud,
                                             const VrAlgorithmParams& algorithmParams,
                                             DetectionResult& result)
{
    result = DetectionResult();
    result.cameraIndex = 1;
    result.errorCode = 0;
    result.image = frame;

    if (result.image.isNull()) {
        result.image = QImage(960, 540, QImage::Format_RGB32);
        result.image.fill(QColor(34, 37, 43));
    }

    const VrParkingSpaceGuideParam& p = algorithmParams.guideParam;
    const double cloudScale = cloud.empty() ? 1.0 : std::min<double>(2.0, 1.0 + cloud.size() / 1000.0);

    ParkingSpaceGuidePosition position;
    position.x = 0.0;
    position.y = p.targetStopOffset;
    position.z = 0.0;
    position.roll = 0.0;
    position.pitch = 0.0;
    position.yaw = 0.0;
    result.positions.push_back(position);

    ParkingSpaceGuideInfo info;
    info.hasException = false;
    info.distance = p.targetStopOffset * cloudScale;
    info.lateralOffset = 0.0;
    info.angle = 0.0;
    info.aircraftSpeed = 0.0;
    info.confidence = p.confidenceThreshold;
    info.guideStateCode = 0;
    info.guideText = QStringLiteral("预留算法接口");
    result.parkingSpaceInfoList.push_back(info);
    result.message = QStringLiteral("停车引导预留算法接口");

    return 0;
}