GrabBag/App/DroneScrewbolt/DroneScrewServer/Algo/IDroneScrewAlgo.h

#pragma once

#include <cstdint>
#include <string>
#include <vector>
#include <memory>

/**
 * @brief 检测目标矩形框（图像像素坐标）
 */
struct DroneScrewBox
{
    int    classId{0};
    float  score{0.0f};
    int    x{0};
    int    y{0};
    int    width{0};
    int    height{0};
    bool   hasPhysicalHeight{false};
    float  physicalHeightMm{0.0f};
    bool   hasStereoMatch{false};
    bool   trusted{false};
    int    matchConfidence{1};
    std::string matchStatus;
    int    pairId{-1};
    int    leftIndex{-1};
    int    rightIndex{-1};
};

/**
 * @brief 单帧检测结果
 */
// Stereo distance result in millimeters.
struct DroneScrewDistance
{
    int   fromId{0};
    int   toId{0};
    float distanceMm{0.0f};
};

struct DroneScrewResult
{
    uint64_t                  frameId{0};
    int64_t                   timestampUs{0};
    int                       imageWidth{0};
    int                       imageHeight{0};
    std::vector<DroneScrewBox> boxes;
    std::vector<DroneScrewDistance> distances;

    bool                      success{true};
    int                       errorCode{0};
    std::string               message;
    bool                      isFinalResult{false};
    double                    rankScore{0.0};
    int                       rankSampleCount{0};
    uint64_t                  saveIndex{0};
};

/**
 * @brief 算法参数（页面可配置项，预留字段）
 */
struct DroneScrewAlgoParams
{
    float scoreThreshold{0.5f};
    float nmsThreshold{0.45f};

    int   inputWidth{4096};
    int   inputHeight{3000};

    std::string modelPath;     // stereo_bolt config yaml path
    int         modelType{1};  // 1=stereo_bolt_delivery
    int         expectedBoltCount{8};

    // 预留位置：客户实际算法接入后可扩展
};

/**
 * @brief 输入图像描述
 */
struct DroneScrewInputImage
{
    const unsigned char* data{nullptr};
    int                  width{0};
    int                  height{0};
    int                  stride{0};
    int                  pixelFormat{0};   // 0=Mono8, 1=BGR8, 2=RGB8, 3=BayerRG8 ...
    uint64_t             frameId{0};
    int64_t              timestampUs{0};
};

/**
 * @brief IDroneScrewAlgo
 *
 * 无人机螺杆/螺栓检测算法接口（预留）。
 *
 * 后续接入实际算法时，只需新增一个实现类替代 DroneScrewAlgoStub 即可。
 */
class IDroneScrewAlgo
{
public:
    virtual ~IDroneScrewAlgo() = default;

    /**
     * @brief 工厂：返回当前选定实现
     */
    static std::unique_ptr<IDroneScrewAlgo> CreateDefault();

    /**
     * @brief 初始化
     */
    virtual int Init(const DroneScrewAlgoParams& params) = 0;

    /**
     * @brief 反初始化
     */
    virtual int UnInit() = 0;

    /**
     * @brief 检测单帧（双目输入）
     * @param leftImage 左目图像
     * @param rightImage 右目图像
     * @param result 检测结果
     * @return 0-成功，非0-失败
     */
    virtual int Detect(const DroneScrewInputImage& leftImage,
                       const DroneScrewInputImage& rightImage,
                       DroneScrewResult& result) = 0;

    virtual int DetectDistance(const DroneScrewInputImage& leftImage,
                               const DroneScrewInputImage& rightImage,
                               DroneScrewResult& result) = 0;

    /**
     * @brief 动态更新参数
     */
    virtual int UpdateParams(const DroneScrewAlgoParams& params) = 0;

    /**
     * @brief 算法版本字符串
     */
    virtual std::string GetVersion() const = 0;
};