#pragma once
#include <deque>
#include <map>
#include <vector>
#include <memory>
#include "../util/vpc_util.h"
#include "../ai_platform/task_param_manager.h"
#include "../ai_platform/macro_definition.h"
#include "ai_engine_header.h"
#include "traffic_light_det.h"
#include "acl/acl.h"
#include "acl/ops/acl_dvpp.h"

#define MAX_BATCH 16
#define IMAGE_CROP_EXPAND_RATIO 0
#define MAX_OBJ_BOX_COUNT 100
#define MAX_LANE_NUM 100
#define PRECISION 1e-8
#define Pi 3.14159265358979

namespace ai_engine_module
{
    namespace traffic_light_process
    {
        // typedef long id_t;
        using id_t = obj_key_t;
        using task_id_t = std::string;
        using algor_param_type = algor_config_param_manned_incident*;

        enum class label_t {
            PLACEHOLDER = -1,
            red = 0,        //直行红灯
            green = 1,      //直行绿灯
            yellow = 2,     //直行黄灯
            wred = 3,       //转向红灯
            wgreen = 4,     //转向绿灯
            wyellow = 5,    //转向黄灯
            pred = 6,       //行人红灯
            pyellow = 7,    //行人黄灯
            pgreen = 8,     //行人绿灯
            bred = 9,       //自行车红灯
            byellow = 10,   //自行车黄灯
            bgreen = 11,    //自行车绿灯
            no = 12,        //灭灯
        };

        enum class seg_label_t {
            PLACEHOLDER = -1,
            background = 0,             //背景
            vehicle_lanes = 1,          //机动车道
            nonvehicle_lanes = 2,       //非机动车道
            emerg_lanes = 3,            //应急车道
            guide_line = 4,             //导流线
            crosswalk = 5,              //人行横道
            no_parking_area = 6,        //禁停区域
            interestion_area = 7,       //十字路口区域
            yellow_solidline = 8,       //黄实线
            white_solidline = 9,        //白实线
            white_dottedline = 10,      //虚线
            yellow_dottedline = 11,     //黄虚线
        };

        typedef struct input_data_wrap_t
        {
            id_t id;
            long objId;
            std::string taskId;
            box_t box;
        } input_data_wrap_t;

        typedef struct tr_point {
            float x, y;
        }tr_point;


        typedef struct mn_frame_t
        {
            uint m_frame;
            uint n_frame;

            // explicit
            mn_frame_t(uint m = 0, uint n = 0)
                : m_frame(m)
                , n_frame(n)
            {}

            void reset()
            {
                m_frame = 0;
                n_frame = 0;
            }

        } mn_frame_t;


        typedef struct results_data_t 
        {
            box_t box;
            acldvppPicDesc* origin_img_desc{nullptr};
            acldvppPicDesc* roi_img_desc{nullptr};
            id_t id;
            long objId;
            std::string taskId;
            algorithm_type_t algor_type;
        } results_data_t;

        class TrafficLightProcess
        {
            /**
             * @brief
             *  1. move able
             */
        public:
            TrafficLightProcess();

            ~TrafficLightProcess();

            bool check_initied();
            bool init(int gpu_id, string models_dir);
            // bool update_mstreams(const std::vector<task_id_t>& taskIds, vector<sy_img> src_interest_imgs, vector<DeviceMemory*> vec_det_input_images, const std::vector<onelevel_det_result> &det_results); 
            bool update_mstreams(const std::vector<task_id_t>& taskIds, vector<sy_img> src_interest_imgs, vector<DeviceMemory*> vec_det_input_images, const vector<vector<vector<int>>>& traffic_region, const vector<vector<int>>& labels, map<OBJ_KEY, OBJ_INDEX> &m_total_obj_info, const std::vector<onelevel_det_result> &det_results); 
            std::shared_ptr<results_data_t> get_result_by_objectid(const id_t& id, bool do_erase = true);

            void force_release_result(const task_id_t& task_id);

            TrafficLightProcess(const TrafficLightProcess&) = delete;
            TrafficLightProcess& operator=(const TrafficLightProcess&) = delete;

        private:
            static algorithm_type_t algor_type_;
            int m_devId; 
            aclrtContext m_algorthim_ctx;

            bool init_;
            void* tools_;
            task_param_manager* task_param_manager_;
            std::map<id_t, mn_frame_t> id_to_mn_;
            std::map<id_t, results_data_t> id_to_result_;
        };
    }  // namespace traffic_light_process
} // namespace ai_engine_module