#include "RoadSegAnalysis.h"
#include "road_seg.h"

RoadSegAnalysis::RoadSegAnalysis(/* args */)
{
}

RoadSegAnalysis::~RoadSegAnalysis()
{
    release();
}

int RoadSegAnalysis::init(int devId){
    ACL_CALL(aclrtCreateContext(&ctx, devId), SY_SUCCESS, SY_FAILED);

    rs_param param;
    param.modelNames = "./models/road_seg/tzroad_seg240108_310p.om";
    param.thresld = 0.25;
    param.devId = devId;

    cout << "rs_init start " << endl;
    int ret = rs_init(&m_handle, param);
    if (ret != 0) {
        return -1;
	}

    cout << "rs_init success " << endl;

    return SY_SUCCESS;
}

int RoadSegAnalysis::detect(vector<sy_img> vec_img){

    ACL_CALL(aclrtSetCurrentContext(ctx), SY_SUCCESS, SY_FAILED);

    const int batchsize = vec_img.size();
    rs_result results[batchsize];
    const int fea_size = 360*640;
    for (int b = 0; b < batchsize; b++) {
        results[b].seg_array = new unsigned char[fea_size];
        results[b].direct_seg = new unsigned char[fea_size];
    }

    int ret = SY_FAILED;

    do
    {
        ret = rs_batch(m_handle, vec_img.data(), batchsize, results);
        if (SY_SUCCESS != ret) {
            printf("mrc_batch failed!");
            break;
        }
        
        // todo 结果处理
    } while (0);

     for (int b = 0; b < batchsize; b++) {
        delete[] results[b].seg_array; 
        results[b].seg_array = NULL;
        delete[] results[b].direct_seg; 
        results[b].direct_seg = NULL;
    }

    return ret;
}

int RoadSegAnalysis::release() {

    ACL_CALL(aclrtSetCurrentContext(ctx), SY_SUCCESS, SY_FAILED);	

    if (m_handle) {
        rs_release(&m_handle);
    }

    if(ctx){
        aclrtDestroyContext(ctx);
        ctx = nullptr;
    }

    return SY_SUCCESS;
}