#pragma once

#include <array>
#include <cstddef>
#include <cstdio>

#include <libcamera/pixel_format.h>

#include <QLineF>
#include <QList>

constexpr size_t img_width = 1280;
constexpr size_t img_height = 800;
constexpr uint32_t patternSize = 16;

struct Counters
{
    uint32_t timestampUs { 0 };
    uint32_t measurementCounter { 0 };
    int32_t encoderPosition { 0 };
};

struct Image
{
    int width;
    int height;
    uint16_t data[img_height][img_width];
    uint16_t rotated_cw[img_width][img_height];
    size_t dataSize;
    unsigned int stride;
    libcamera::PixelFormat pixelFormat;
    // float pixels[img_width];
    Counters counters {};
    // unsigned int measurementCounter;
    // uint32_t timestampUs;
    // int32_t encoderPosition;
};

struct Pixels
{
    Counters counters {};
    std::array<float, img_width> pixels { 0.f };

    Pixels& operator+=(const Pixels& other);
    Pixels& operator/=(const float divider);
};


size_t pgm_save(Image *img, FILE *outfile, bool really_save = false);

void unpack_10bit(uint8_t const *src, Image const &image, uint16_t *dest);
void unpack_16bit(uint8_t const *src, Image const &image, uint16_t *dest);

template <typename T>
T median3(const T& a, const T& b, const T& c) {
    using namespace std;
    return max(min(a,b), min(max(a,b),c));
}

void rotate(Image & image);
Pixels process_columns(Image & image);

QList<QLineF> pixelsToLines(const Pixels& rawProfile);
QList<QLineF> pointsToLines(const QList<QPointF>& points);