#pragma once



#include <stdbool.h>

#include <stddef.h>

#include <stdint.h>



#include "esp_camera.h"

#include "esp_err.h"



#ifdef __cplusplus

extern "C" {

#endif



struct httpd_req;



typedef enum {

    VISION_METHOD_CONTOUR = 0,

    VISION_METHOD_RECT,

} vision_method_t;



typedef struct {

    bool found;

    float cx;

    float cy;

    float radius;

    int area;

    uint32_t coarse_us;

    uint32_t refine_us;

    uint32_t morph_us;

    uint32_t mask_us;

    uint32_t jpeg_us;

    uint32_t detect_us;

    uint32_t total_us;

} vision_stats_t;



void vision_init(void);



bool vision_local_enabled(void);

bool vision_show_mask(void);

vision_method_t vision_get_method(void);



void vision_set_local_enabled(bool enabled);

void vision_set_show_mask(bool show);

void vision_set_method(vision_method_t method);



void vision_set_coarse_stride(int stride);

void vision_set_min_area(int area);

void vision_set_mask_full(bool full);

void vision_set_morph_roi(bool enable);



int vision_get_coarse_stride(void);

int vision_get_min_area(void);

bool vision_get_mask_full(void);

bool vision_get_morph_roi(void);



void vision_get_stats(vision_stats_t *out);



/* OpenCV-style H: 0-179, S/V: 0-255 */

void vision_set_hsv(uint8_t h, uint8_t s, uint8_t v);

void vision_get_hsv(uint8_t *h, uint8_t *s, uint8_t *v);

void vision_set_tolerance(uint8_t h_tol, uint8_t s_tol, uint8_t v_tol);

void vision_get_tolerance(uint8_t *h_tol, uint8_t *s_tol, uint8_t *v_tol);



void vision_set_color_bgr(uint8_t b, uint8_t g, uint8_t r);



esp_err_t vision_sample_hsv_from_frame(const camera_fb_t *fb, int x, int y);



void vision_format_ack(char *ack_buf, size_t ack_len);



esp_err_t vision_handle_update(

    bool has_local, bool local,

    bool has_show_mask, bool show_mask,

    bool has_method, const char *method,

    bool has_h, int h,

    bool has_s, int s,

    bool has_v, int v,

    bool has_h_tol, int h_tol,

    bool has_s_tol, int s_tol,

    bool has_v_tol, int v_tol,

    bool has_b, int b,

    bool has_g, int g,

    bool has_r, int r,

    bool has_coarse_stride, int coarse_stride,

    bool has_min_area, int min_area,

    bool has_mask_full, bool mask_full,

    bool has_morph_roi, bool morph_roi,

    char *ack_buf, size_t ack_len);



esp_err_t vision_encode_capture_jpeg(

    const camera_fb_t *fb,

    int quality,

    uint8_t **jpg_buf,

    size_t *jpg_len,

    vision_stats_t *stats_out);



esp_err_t vision_detect_on_frame(const camera_fb_t *fb, vision_stats_t *stats_out);



size_t vision_format_stats_json(const vision_stats_t *stats, char *buf, size_t len);



void vision_add_capture_headers(struct httpd_req *req, const vision_stats_t *stats);



#ifdef __cplusplus

}

#endif