#ifndef MSG1_H
#define MSG1_H

#include <string>
#include <opencv2/opencv.hpp>
#include "LibapiMsg.h"

#define PARAM_POS_SRC_IMAGE 0
#define PARAM_POS_ROI_IMAGE 1
#define PARAM_POS_ENHANCE_IMAGE 2
#define PARAM_POS_LIDAR_DATA 4
#define PARAM_POS_LIDAR_2D3D 5
#define PARAM_POS_CMeasureInfo 6
#define PARAM_POS_MOTION_DETECTION_DATA 33

// 客户端到主任务的消息定义
#define CLIENT_MSG_NONE 0
#define CLIENT_MSG_CONTINUE 1
#define CLIENT_MSG_RESTART_DETECTION 2
#define CLIENT_MSG_STOP_DETECTION 3

// 发送到客户端得消息定义
#define TO_CLIENT_NOTIFY_BASE					1000
#define TO_CLIENT_NOTIFY_CAMERA_CAP_START		1 +	TO_CLIENT_NOTIFY_BASE
#define TO_CLIENT_NOTIFY_CAMERA_CAP_END			2 +	TO_CLIENT_NOTIFY_BASE
#define TO_CLIENT_NOTIFY_LIDAR_CAP_START		3 +	TO_CLIENT_NOTIFY_BASE
#define TO_CLIENT_NOTIFY_LIDAR_CAP_END			4 + TO_CLIENT_NOTIFY_BASE
#define TO_CLIENT_NOTIFY_DETECTION_START		5 + TO_CLIENT_NOTIFY_BASE
#define TO_CLIENT_NOTIFY_DETECTION_END			6 + TO_CLIENT_NOTIFY_BASE
#define TO_CLIENT_NOTIFY_CONNER2D_START			7 + TO_CLIENT_NOTIFY_BASE
#define TO_CLIENT_NOTIFY_CONNER2D_END			8 + TO_CLIENT_NOTIFY_BASE
#define TO_CLIENT_NOTIFY_CONNER3D_START			9 + TO_CLIENT_NOTIFY_BASE
#define TO_CLIENT_NOTIFY_CONNER3D_END			10 + TO_CLIENT_NOTIFY_BASE
#define TO_CLIENT_NOTIFY_MEASURE_START			11 + TO_CLIENT_NOTIFY_BASE
#define TO_CLIENT_NOTIFY_MEASURE_END			12 + TO_CLIENT_NOTIFY_BASE

#define DoCallback(ret) \
	MsgBase::Callback(ret, MsgBase::GetCodeInfo(ret));\

#define DoCallbackWithData(ret) \
	MsgBase::CallbackWithData(ret, MsgBase::GetCodeInfo(ret));\

typedef void (*FuncCallback)(void* returnMeasureInfo);
struct MsgBase : public LibapiMsg
{
public:
	// for test
	static MsgBase* msg_ptr1;
public:
	static bool bAllRoisConnersCheckIsEnd; // 所有的ROI边缘检测，角点检测结束
	static bool bCloudProjectIsOk; // 3D投影结束
	static int  iCameraToLidarMsg; // 2D第一阶段处理结束0：无回复 1：继续执行 2：重新检测 3：停止检测
	static int  iClinetMsg; // 客户端确认：0：无回复 1：继续执行 2：重新检测 3：停止检测
private:
	static FuncCallback pCallback;
public:
	std::string mLog;
	int mRoiCounts;
	int mRoiIndex;
	std::string mMsgType;

public:
	// for test
	static void SetMsgPtr1(MsgBase* msg);
	static MsgBase* GetMsgPtr1();
public:
	static void SetCallBack(FuncCallback f);
	static void Callback(void* data);
	static void Callback(int code, std::string errorInfo);
	static void CallbackWithData(int code, std::string errorInfo);
	static void WaitBool(bool& b);
	static void SetWaitBool(bool& b);
	static int WaitInt(int& val);
	static void SetWaitInt(int& it, int val);
	static std::string GetCodeInfo(int code);
};

// 给回调函数使用
typedef struct tagSubRoi
{
public:
	long mPparentId;
	long mId;
	char mInfo[256];
	bool isGood;
	float vpOffset[2];
	float mRoiPoints[4 * 2];
	float mInnerConners[4 * 2];
	float mInnerConners3D[4 * 3];
	float edges[4];
	float center[2];
	int cloud_size;
	float* mVc2D;
	float* mVc3D;
	float H[9];
}SubRoiData;

typedef struct tagCallbakInfo
{
public:
	int code; // 0：返回数据；1-99999 返回消息
	char errorInfo[256];
	bool bGetData;
	long mId;
	char mInfo[256];
	char mImPath[256];
	char mIm2D3DPtr[256];
	int roi_size;
	SubRoiData subRois[16];
}CallbackInfo;

#endif