ad_plugins_rs/

roi.rs

use std::sync::Arc;

use ad_core_rs::ndarray::{NDArray, NDDataBuffer, NDDataType, NDDimension};
use ad_core_rs::ndarray_pool::NDArrayPool;
use ad_core_rs::plugin::runtime::{
    NDPluginProcess, ParamUpdate, PluginParamSnapshot, ProcessResult,
};
use asyn_rs::param::ParamType;
use asyn_rs::port::PortDriverBase;

/// Per-dimension ROI configuration.
#[derive(Debug, Clone)]
pub struct ROIDimConfig {
    pub min: usize,
    pub size: usize,
    pub bin: usize,
    pub reverse: bool,
    pub enable: bool,
    /// If true, size is computed as src_dim - min.
    pub auto_size: bool,
}

impl Default for ROIDimConfig {
    fn default() -> Self {
        Self {
            min: 0,
            size: 0,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        }
    }
}

/// Auto-centering mode for ROI.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum AutoCenter {
    None,
    CenterOfMass,
    PeakPosition,
}

/// ROI plugin configuration.
#[derive(Debug, Clone)]
pub struct ROIConfig {
    pub dims: [ROIDimConfig; 3],
    pub data_type: Option<NDDataType>,
    pub enable_scale: bool,
    pub scale: f64,
    pub collapse_dims: bool,
    pub autocenter: AutoCenter,
}

impl Default for ROIConfig {
    fn default() -> Self {
        Self {
            dims: [
                ROIDimConfig::default(),
                ROIDimConfig::default(),
                ROIDimConfig::default(),
            ],
            data_type: None,
            enable_scale: false,
            scale: 1.0,
            collapse_dims: false,
            autocenter: AutoCenter::None,
        }
    }
}

/// Compute the centroid (center of mass) of a 2D image.
fn find_centroid_2d(data: &NDDataBuffer, x_size: usize, y_size: usize) -> (usize, usize) {
    let mut cx = 0.0f64;
    let mut cy = 0.0f64;
    let mut total = 0.0f64;
    for iy in 0..y_size {
        for ix in 0..x_size {
            let val = data.get_as_f64(iy * x_size + ix).unwrap_or(0.0);
            total += val;
            cx += val * ix as f64;
            cy += val * iy as f64;
        }
    }
    if total > 0.0 {
        ((cx / total) as usize, (cy / total) as usize)
    } else {
        (x_size / 2, y_size / 2)
    }
}

/// Find the position of the maximum value in a 2D image.
fn find_peak_2d(data: &NDDataBuffer, x_size: usize, y_size: usize) -> (usize, usize) {
    let mut max_val = f64::NEG_INFINITY;
    let mut max_x = 0;
    let mut max_y = 0;
    for iy in 0..y_size {
        for ix in 0..x_size {
            let val = data.get_as_f64(iy * x_size + ix).unwrap_or(0.0);
            if val > max_val {
                max_val = val;
                max_x = ix;
                max_y = iy;
            }
        }
    }
    (max_x, max_y)
}

/// Extract an ROI from an NDArray, dispatching on dimensionality.
///
/// 2-D arrays go through [`extract_roi_2d`]. 3-D color arrays
/// (RGB1/RGB2/RGB3) are handled by [`extract_roi_3d`], which — like C++
/// `NDPluginROI` via `userDims = {xDim, yDim, colorDim}` — keeps ROI Dim0/Dim1
/// bound to the image X/Y axes and Dim2 to the color axis regardless of the
/// physical dimension order.
pub fn extract_roi(src: &NDArray, config: &ROIConfig) -> Option<NDArray> {
    use ad_core_rs::color::NDColorMode;
    if src.dims.len() >= 3 {
        let info = src.info();
        if matches!(
            info.color_mode,
            NDColorMode::RGB1 | NDColorMode::RGB2 | NDColorMode::RGB3
        ) {
            return extract_roi_3d(src, config);
        }
    }
    extract_roi_2d(src, config)
}

/// Extract an ROI from a 3-D RGB color array.
///
/// Mirrors C++ `NDPluginROI`: ROI `dims[0]` selects the X axis, `dims[1]` the
/// Y axis and `dims[2]` the color axis (`userDims = {xDim, yDim, colorDim}`),
/// so the ROI geometry is independent of the RGB1/RGB2/RGB3 memory layout.
/// Per-axis binning and reverse are applied; the output keeps the source
/// color mode and dimension order.
pub fn extract_roi_3d(src: &NDArray, config: &ROIConfig) -> Option<NDArray> {
    let info = src.info();
    let (src_x, src_y, src_c) = (info.x_size, info.y_size, info.color_size.max(1));
    if src_x == 0 || src_y == 0 || src_c == 0 {
        return None;
    }

    // Resolve offset/size per axis (C++ NDPluginROI clamping).
    let resolve = |cfg: &ROIDimConfig, dim_size: usize| -> (usize, usize) {
        if !cfg.enable || dim_size == 0 {
            return (0, dim_size);
        }
        let offset = cfg.min.min(dim_size - 1);
        let size = if cfg.auto_size { dim_size } else { cfg.size };
        let size = size.max(1).min(dim_size - offset);
        (offset, size)
    };
    let (x_min, x_roi) = resolve(&config.dims[0], src_x);
    let (y_min, y_roi) = resolve(&config.dims[1], src_y);
    let (c_min, c_roi) = resolve(&config.dims[2], src_c);

    let bin_x = config.dims[0].bin.max(1).min(x_roi);
    let bin_y = config.dims[1].bin.max(1).min(y_roi);
    let bin_c = config.dims[2].bin.max(1).min(c_roi);
    let (out_x, out_y, out_c) = (x_roi / bin_x, y_roi / bin_y, c_roi / bin_c);
    if out_x == 0 || out_y == 0 || out_c == 0 {
        return None;
    }

    // Source strides (elements) for X/Y/color.
    let (sxs, sys, scs) = (
        info.x_stride.max(1),
        info.y_stride.max(1),
        info.color_stride.max(1),
    );
    // Destination layout keeps the source color mode.
    let (dims, dxs, dys, dcs) = match info.color_mode {
        ad_core_rs::color::NDColorMode::RGB1 => (
            vec![
                NDDimension::new(out_c),
                NDDimension::new(out_x),
                NDDimension::new(out_y),
            ],
            out_c,
            out_x * out_c,
            1usize,
        ),
        ad_core_rs::color::NDColorMode::RGB2 => (
            vec![
                NDDimension::new(out_x),
                NDDimension::new(out_c),
                NDDimension::new(out_y),
            ],
            1usize,
            out_x * out_c,
            out_x,
        ),
        _ => (
            vec![
                NDDimension::new(out_x),
                NDDimension::new(out_y),
                NDDimension::new(out_c),
            ],
            1usize,
            out_x,
            out_x * out_y,
        ),
    };
    let total = out_x * out_y * out_c;

    macro_rules! extract3d {
        ($vec:expr, $T:ty, $zero:expr) => {{
            let mut out = vec![$zero; total];
            for oc in 0..out_c {
                for oy in 0..out_y {
                    for ox in 0..out_x {
                        let mut sum = 0.0f64;
                        for bc in 0..bin_c {
                            for by in 0..bin_y {
                                for bx in 0..bin_x {
                                    let sx = x_min + ox * bin_x + bx;
                                    let sy = y_min + oy * bin_y + by;
                                    let sc = c_min + oc * bin_c + bc;
                                    sum += $vec[sy * sys + sx * sxs + sc * scs] as f64;
                                }
                            }
                        }
                        let dx = if config.dims[0].reverse {
                            out_x - 1 - ox
                        } else {
                            ox
                        };
                        let dy = if config.dims[1].reverse {
                            out_y - 1 - oy
                        } else {
                            oy
                        };
                        let dc = if config.dims[2].reverse {
                            out_c - 1 - oc
                        } else {
                            oc
                        };
                        let scaled = if config.enable_scale && config.scale != 0.0 {
                            sum / config.scale
                        } else {
                            sum
                        };
                        out[dy * dys + dx * dxs + dc * dcs] = scaled as $T;
                    }
                }
            }
            out
        }};
    }

    let out_data = match &src.data {
        NDDataBuffer::U8(v) => NDDataBuffer::U8(extract3d!(v, u8, 0)),
        NDDataBuffer::U16(v) => NDDataBuffer::U16(extract3d!(v, u16, 0)),
        NDDataBuffer::I8(v) => NDDataBuffer::I8(extract3d!(v, i8, 0)),
        NDDataBuffer::I16(v) => NDDataBuffer::I16(extract3d!(v, i16, 0)),
        NDDataBuffer::I32(v) => NDDataBuffer::I32(extract3d!(v, i32, 0)),
        NDDataBuffer::U32(v) => NDDataBuffer::U32(extract3d!(v, u32, 0)),
        NDDataBuffer::I64(v) => NDDataBuffer::I64(extract3d!(v, i64, 0)),
        NDDataBuffer::U64(v) => NDDataBuffer::U64(extract3d!(v, u64, 0)),
        NDDataBuffer::F32(v) => NDDataBuffer::F32(extract3d!(v, f32, 0.0)),
        NDDataBuffer::F64(v) => NDDataBuffer::F64(extract3d!(v, f64, 0.0)),
    };

    // Single-color selection: when the color axis collapses to 1 and the
    // source is an RGB mode, C forces collapseDims and tags the output Mono
    // (NDPluginROI.cpp:177-200). The user collapseDims param otherwise still
    // collapses any size-1 dimension (NDPluginROI.cpp:202-215). When out_c == 1
    // the extracted buffer is already in [x, y] row-major order for every RGB
    // layout, so dropping the size-1 axes needs no data reordering.
    let single_color = out_c == 1
        && matches!(
            info.color_mode,
            ad_core_rs::color::NDColorMode::RGB1
                | ad_core_rs::color::NDColorMode::RGB2
                | ad_core_rs::color::NDColorMode::RGB3
        );
    let dims = if single_color || config.collapse_dims {
        let collapsed: Vec<NDDimension> = dims.into_iter().filter(|d| d.size > 1).collect();
        if collapsed.is_empty() {
            vec![NDDimension::new(1)]
        } else {
            collapsed
        }
    } else {
        dims
    };

    // Apply the requested output data type (C converts to ROIDataType, or the
    // input type when ROIDataType == -1, NDPluginROI.cpp:144,166-174). Mirrors
    // the 2-D path so a 3-D RGB ROI honours ROI_DATA_TYPE.
    let target_type = config.data_type.unwrap_or(src.data.data_type());
    let mut arr = NDArray::new(dims, target_type);
    if target_type == src.data.data_type() {
        arr.data = out_data;
    } else {
        let mut temp = NDArray::new(arr.dims.clone(), src.data.data_type());
        temp.data = out_data;
        match ad_core_rs::color::convert_data_type(&temp, target_type) {
            Ok(converted) => arr.data = converted.data,
            Err(e) => {
                tracing::warn!(
                    error = %e,
                    from = ?src.data.data_type(),
                    to = ?target_type,
                    "ROI 3-D output data-type conversion failed; dropping frame"
                );
                return None;
            }
        }
    }
    arr.unique_id = src.unique_id;
    arr.timestamp = src.timestamp;
    arr.time_stamp = src.time_stamp;
    arr.attributes = src.attributes.clone();
    // A single selected color plane is mono (C NDPluginROI.cpp:185/192/199
    // overrides the ColorMode attribute on the collapsed output).
    if single_color {
        use ad_core_rs::attributes::{NDAttrSource, NDAttrValue, NDAttribute};
        arr.attributes.add(NDAttribute::new_static(
            "ColorMode",
            "Color mode",
            NDAttrSource::Driver,
            NDAttrValue::Int32(ad_core_rs::color::NDColorMode::Mono as i32),
        ));
    }
    Some(arr)
}

/// Extract ROI sub-region from a 2D array.
pub fn extract_roi_2d(src: &NDArray, config: &ROIConfig) -> Option<NDArray> {
    if src.dims.len() < 2 {
        return None;
    }

    let src_x = src.dims[0].size;
    let src_y = src.dims[1].size;

    // Resolve effective min/size for one dimension, matching C++ NDPluginROI:
    //   offset  = MAX(offset, 0); offset = MIN(offset, dimSize-1);
    //   size    = autoSize ? dimSize : size;
    //   size    = MAX(size, 1); size = MIN(size, dimSize - offset);
    // When the dimension is disabled C++ uses offset=0, size=dimSize.
    let resolve = |cfg: &ROIDimConfig, dim_size: usize| -> (usize, usize) {
        if !cfg.enable || dim_size == 0 {
            return (0, dim_size);
        }
        // offset clamped to [0, dimSize-1] (one past the last index is illegal).
        let offset = cfg.min.min(dim_size - 1);
        let size = if cfg.auto_size { dim_size } else { cfg.size };
        // size clamped to [1, dimSize - offset].
        let size = size.max(1).min(dim_size - offset);
        (offset, size)
    };
    let (eff_x_min, eff_x_size) = resolve(&config.dims[0], src_x);
    let (eff_y_min, eff_y_size) = resolve(&config.dims[1], src_y);

    // Apply autocenter: shift ROI min so that the ROI is centered on the
    // centroid or peak, keeping the effective size the same.
    let (roi_x_min, roi_y_min) = match config.autocenter {
        AutoCenter::None => (eff_x_min, eff_y_min),
        AutoCenter::CenterOfMass => {
            let (cx, cy) = find_centroid_2d(&src.data, src_x, src_y);
            let mx = cx
                .saturating_sub(eff_x_size / 2)
                .min(src_x.saturating_sub(eff_x_size));
            let my = cy
                .saturating_sub(eff_y_size / 2)
                .min(src_y.saturating_sub(eff_y_size));
            (mx, my)
        }
        AutoCenter::PeakPosition => {
            let (px, py) = find_peak_2d(&src.data, src_x, src_y);
            let mx = px
                .saturating_sub(eff_x_size / 2)
                .min(src_x.saturating_sub(eff_x_size));
            let my = py
                .saturating_sub(eff_y_size / 2)
                .min(src_y.saturating_sub(eff_y_size));
            (mx, my)
        }
    };

    let roi_x_size = eff_x_size;
    let roi_y_size = eff_y_size;

    if roi_x_size == 0 || roi_y_size == 0 {
        return None;
    }

    // C++: binning = MAX(binning, 1); binning = MIN(binning, size).
    // A bin larger than the ROI is clamped to the ROI size, yielding a
    // 1-pixel output rather than collapsing to an empty (sink) result.
    let bin_x = config.dims[0].bin.max(1).min(roi_x_size);
    let bin_y = config.dims[1].bin.max(1).min(roi_y_size);
    let out_x = roi_x_size / bin_x;
    let out_y = roi_y_size / bin_y;

    if out_x == 0 || out_y == 0 {
        return None;
    }

    macro_rules! extract {
        ($vec:expr, $T:ty, $zero:expr) => {{
            let mut out = vec![$zero; out_x * out_y];
            for oy in 0..out_y {
                for ox in 0..out_x {
                    let mut sum = 0.0f64;
                    let mut _count = 0usize;
                    for by in 0..bin_y {
                        for bx in 0..bin_x {
                            let sx = roi_x_min + ox * bin_x + bx;
                            let sy = roi_y_min + oy * bin_y + by;
                            if sx < src_x && sy < src_y {
                                sum += $vec[sy * src_x + sx] as f64;
                                _count += 1;
                            }
                        }
                    }
                    // C++ sums binned pixels (no averaging); scale is a divisor
                    let val = sum;
                    let idx = if config.dims[0].reverse {
                        out_x - 1 - ox
                    } else {
                        ox
                    } + if config.dims[1].reverse {
                        out_y - 1 - oy
                    } else {
                        oy
                    } * out_x;
                    let scaled = if config.enable_scale && config.scale != 0.0 {
                        val / config.scale
                    } else {
                        val
                    };
                    out[idx] = scaled as $T;
                }
            }
            out
        }};
    }

    let out_data = match &src.data {
        NDDataBuffer::U8(v) => NDDataBuffer::U8(extract!(v, u8, 0)),
        NDDataBuffer::U16(v) => NDDataBuffer::U16(extract!(v, u16, 0)),
        NDDataBuffer::I8(v) => NDDataBuffer::I8(extract!(v, i8, 0)),
        NDDataBuffer::I16(v) => NDDataBuffer::I16(extract!(v, i16, 0)),
        NDDataBuffer::I32(v) => NDDataBuffer::I32(extract!(v, i32, 0)),
        NDDataBuffer::U32(v) => NDDataBuffer::U32(extract!(v, u32, 0)),
        NDDataBuffer::I64(v) => NDDataBuffer::I64(extract!(v, i64, 0)),
        NDDataBuffer::U64(v) => NDDataBuffer::U64(extract!(v, u64, 0)),
        NDDataBuffer::F32(v) => NDDataBuffer::F32(extract!(v, f32, 0.0)),
        NDDataBuffer::F64(v) => NDDataBuffer::F64(extract!(v, f64, 0.0)),
    };

    let out_dims = if config.collapse_dims {
        let all_dims = vec![NDDimension::new(out_x), NDDimension::new(out_y)];
        let filtered: Vec<NDDimension> = all_dims.into_iter().filter(|d| d.size > 1).collect();
        if filtered.is_empty() {
            vec![NDDimension::new(out_x)]
        } else {
            filtered
        }
    } else {
        vec![NDDimension::new(out_x), NDDimension::new(out_y)]
    };

    // Apply data type conversion if requested
    let target_type = config.data_type.unwrap_or(src.data.data_type());

    let mut arr = NDArray::new(out_dims, target_type);
    if target_type == src.data.data_type() {
        arr.data = out_data;
    } else {
        // Convert via color module
        let mut temp = NDArray::new(arr.dims.clone(), src.data.data_type());
        temp.data = out_data;
        match ad_core_rs::color::convert_data_type(&temp, target_type) {
            Ok(converted) => arr.data = converted.data,
            Err(e) => {
                // A data-type conversion failure must NOT publish an all-zero
                // buffer as if it were valid ROI output. Drop the frame and
                // log; the caller treats `None` as "no output this frame".
                tracing::warn!(
                    error = %e,
                    from = ?src.data.data_type(),
                    to = ?target_type,
                    "ROI output data-type conversion failed; dropping frame"
                );
                return None;
            }
        }
    }

    arr.unique_id = src.unique_id;
    arr.timestamp = src.timestamp;
    arr.attributes = src.attributes.clone();
    Some(arr)
}

/// Per-dimension param reasons.
#[derive(Default, Clone, Copy)]
pub struct ROIDimParams {
    pub min: usize,
    pub size: usize,
    pub bin: usize,
    pub reverse: usize,
    pub enable: usize,
    pub auto_size: usize,
    pub max_size: usize,
}

/// Param reasons for all ROI params.
#[derive(Default)]
pub struct ROIParams {
    pub dims: [ROIDimParams; 3],
    pub enable_scale: usize,
    pub scale: usize,
    pub data_type: usize,
    pub collapse_dims: usize,
    pub name: usize,
}

/// Pure ROI processing logic.
pub struct ROIProcessor {
    config: ROIConfig,
    params: ROIParams,
}

impl ROIProcessor {
    pub fn new(config: ROIConfig) -> Self {
        Self {
            config,
            params: ROIParams::default(),
        }
    }

    /// Access the registered ROI param reasons.
    pub fn params(&self) -> &ROIParams {
        &self.params
    }
}

impl NDPluginProcess for ROIProcessor {
    fn process_array(&mut self, array: &NDArray, _pool: &NDArrayPool) -> ProcessResult {
        // Report input array dimensions as MaxSize params
        let mut updates = Vec::new();
        for (i, dim_params) in self.params.dims.iter().enumerate() {
            let dim_size = array.dims.get(i).map(|d| d.size as i32).unwrap_or(0);
            updates.push(ParamUpdate::int32(dim_params.max_size, dim_size));
        }

        match extract_roi(array, &self.config) {
            Some(roi_arr) => ProcessResult {
                output_arrays: vec![Arc::new(roi_arr)],
                param_updates: updates,
                scatter: false,
            },
            None => ProcessResult::sink(updates),
        }
    }

    fn plugin_type(&self) -> &str {
        "NDPluginROI"
    }

    fn register_params(
        &mut self,
        base: &mut PortDriverBase,
    ) -> Result<(), asyn_rs::error::AsynError> {
        let dim_names = ["DIM0", "DIM1", "DIM2"];
        for (i, prefix) in dim_names.iter().enumerate() {
            self.params.dims[i].min =
                base.create_param(&format!("{prefix}_MIN"), ParamType::Int32)?;
            self.params.dims[i].size =
                base.create_param(&format!("{prefix}_SIZE"), ParamType::Int32)?;
            self.params.dims[i].bin =
                base.create_param(&format!("{prefix}_BIN"), ParamType::Int32)?;
            self.params.dims[i].reverse =
                base.create_param(&format!("{prefix}_REVERSE"), ParamType::Int32)?;
            self.params.dims[i].enable =
                base.create_param(&format!("{prefix}_ENABLE"), ParamType::Int32)?;
            self.params.dims[i].auto_size =
                base.create_param(&format!("{prefix}_AUTO_SIZE"), ParamType::Int32)?;
            self.params.dims[i].max_size =
                base.create_param(&format!("{prefix}_MAX_SIZE"), ParamType::Int32)?;

            // Set initial values from config
            base.set_int32_param(self.params.dims[i].min, 0, self.config.dims[i].min as i32)?;
            base.set_int32_param(self.params.dims[i].size, 0, self.config.dims[i].size as i32)?;
            base.set_int32_param(self.params.dims[i].bin, 0, self.config.dims[i].bin as i32)?;
            base.set_int32_param(
                self.params.dims[i].reverse,
                0,
                self.config.dims[i].reverse as i32,
            )?;
            base.set_int32_param(
                self.params.dims[i].enable,
                0,
                self.config.dims[i].enable as i32,
            )?;
            base.set_int32_param(
                self.params.dims[i].auto_size,
                0,
                self.config.dims[i].auto_size as i32,
            )?;
        }
        self.params.enable_scale = base.create_param("ENABLE_SCALE", ParamType::Int32)?;
        self.params.scale = base.create_param("SCALE_VALUE", ParamType::Float64)?;
        self.params.data_type = base.create_param("ROI_DATA_TYPE", ParamType::Int32)?;
        self.params.collapse_dims = base.create_param("COLLAPSE_DIMS", ParamType::Int32)?;
        self.params.name = base.create_param("NAME", ParamType::Octet)?;

        base.set_int32_param(self.params.enable_scale, 0, self.config.enable_scale as i32)?;
        base.set_float64_param(self.params.scale, 0, self.config.scale)?;
        base.set_int32_param(self.params.data_type, 0, -1)?; // -1 = Automatic
        base.set_int32_param(
            self.params.collapse_dims,
            0,
            self.config.collapse_dims as i32,
        )?;

        Ok(())
    }

    fn on_param_change(
        &mut self,
        reason: usize,
        snapshot: &PluginParamSnapshot,
    ) -> ad_core_rs::plugin::runtime::ParamChangeResult {
        let p = &self.params;
        for i in 0..3 {
            if reason == p.dims[i].min {
                self.config.dims[i].min = snapshot.value.as_i32().max(0) as usize;
                return ad_core_rs::plugin::runtime::ParamChangeResult::empty();
            }
            if reason == p.dims[i].size {
                self.config.dims[i].size = snapshot.value.as_i32().max(0) as usize;
                return ad_core_rs::plugin::runtime::ParamChangeResult::empty();
            }
            if reason == p.dims[i].bin {
                self.config.dims[i].bin = snapshot.value.as_i32().max(1) as usize;
                return ad_core_rs::plugin::runtime::ParamChangeResult::empty();
            }
            if reason == p.dims[i].reverse {
                self.config.dims[i].reverse = snapshot.value.as_i32() != 0;
                return ad_core_rs::plugin::runtime::ParamChangeResult::empty();
            }
            if reason == p.dims[i].enable {
                self.config.dims[i].enable = snapshot.value.as_i32() != 0;
                return ad_core_rs::plugin::runtime::ParamChangeResult::empty();
            }
            if reason == p.dims[i].auto_size {
                self.config.dims[i].auto_size = snapshot.value.as_i32() != 0;
                return ad_core_rs::plugin::runtime::ParamChangeResult::empty();
            }
        }
        if reason == p.enable_scale {
            self.config.enable_scale = snapshot.value.as_i32() != 0;
        } else if reason == p.scale {
            self.config.scale = snapshot.value.as_f64();
        } else if reason == p.data_type {
            let v = snapshot.value.as_i32();
            self.config.data_type = if v < 0 {
                None
            } else {
                NDDataType::from_ordinal(v as u8)
            };
        } else if reason == p.collapse_dims {
            self.config.collapse_dims = snapshot.value.as_i32() != 0;
        }
        ad_core_rs::plugin::runtime::ParamChangeResult::empty()
    }
}

/// Create an ROI plugin runtime, returning the handle and param reasons.
pub fn create_roi_runtime(
    port_name: &str,
    pool: Arc<NDArrayPool>,
    queue_size: usize,
    ndarray_port: &str,
    wiring: Arc<ad_core_rs::plugin::wiring::WiringRegistry>,
) -> (
    ad_core_rs::plugin::runtime::PluginRuntimeHandle,
    ROIParams,
    std::thread::JoinHandle<()>,
) {
    let processor = ROIProcessor::new(ROIConfig::default());
    let (handle, jh) = ad_core_rs::plugin::runtime::create_plugin_runtime(
        port_name,
        processor,
        pool,
        queue_size,
        ndarray_port,
        wiring,
    );
    // Recreate param layout on a scratch PortDriverBase to get matching reasons.
    let params = {
        let mut base =
            asyn_rs::port::PortDriverBase::new("_scratch_", 1, asyn_rs::port::PortFlags::default());
        let _ = ad_core_rs::params::ndarray_driver::NDArrayDriverParams::create(&mut base);
        let _ = ad_core_rs::plugin::params::PluginBaseParams::create(&mut base);
        let mut p = ROIParams::default();
        let dim_names = ["DIM0", "DIM1", "DIM2"];
        for (i, prefix) in dim_names.iter().enumerate() {
            p.dims[i].min = base
                .create_param(&format!("{prefix}_MIN"), asyn_rs::param::ParamType::Int32)
                .unwrap();
            p.dims[i].size = base
                .create_param(&format!("{prefix}_SIZE"), asyn_rs::param::ParamType::Int32)
                .unwrap();
            p.dims[i].bin = base
                .create_param(&format!("{prefix}_BIN"), asyn_rs::param::ParamType::Int32)
                .unwrap();
            p.dims[i].reverse = base
                .create_param(
                    &format!("{prefix}_REVERSE"),
                    asyn_rs::param::ParamType::Int32,
                )
                .unwrap();
            p.dims[i].enable = base
                .create_param(
                    &format!("{prefix}_ENABLE"),
                    asyn_rs::param::ParamType::Int32,
                )
                .unwrap();
            p.dims[i].auto_size = base
                .create_param(
                    &format!("{prefix}_AUTO_SIZE"),
                    asyn_rs::param::ParamType::Int32,
                )
                .unwrap();
            p.dims[i].max_size = base
                .create_param(
                    &format!("{prefix}_MAX_SIZE"),
                    asyn_rs::param::ParamType::Int32,
                )
                .unwrap();
        }
        p.enable_scale = base
            .create_param("ENABLE_SCALE", asyn_rs::param::ParamType::Int32)
            .unwrap();
        p.scale = base
            .create_param("SCALE_VALUE", asyn_rs::param::ParamType::Float64)
            .unwrap();
        p.data_type = base
            .create_param("ROI_DATA_TYPE", asyn_rs::param::ParamType::Int32)
            .unwrap();
        p.collapse_dims = base
            .create_param("COLLAPSE_DIMS", asyn_rs::param::ParamType::Int32)
            .unwrap();
        p.name = base
            .create_param("NAME", asyn_rs::param::ParamType::Octet)
            .unwrap();
        p
    };
    (handle, params, jh)
}

#[cfg(test)]
mod tests {
    use super::*;

    fn make_4x4_u8() -> NDArray {
        let mut arr = NDArray::new(
            vec![NDDimension::new(4), NDDimension::new(4)],
            NDDataType::UInt8,
        );
        if let NDDataBuffer::U8(ref mut v) = arr.data {
            for i in 0..16 {
                v[i] = i as u8;
            }
        }
        arr
    }

    #[test]
    fn test_extract_sub_region() {
        let arr = make_4x4_u8();
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 1,
            size: 2,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 1,
            size: 2,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };

        let roi = extract_roi_2d(&arr, &config).unwrap();
        assert_eq!(roi.dims[0].size, 2);
        assert_eq!(roi.dims[1].size, 2);
        if let NDDataBuffer::U8(ref v) = roi.data {
            // row 1, cols 1-2: [5,6], row 2, cols 1-2: [9,10]
            assert_eq!(v[0], 5);
            assert_eq!(v[1], 6);
            assert_eq!(v[2], 9);
            assert_eq!(v[3], 10);
        }
    }

    #[test]
    fn test_binning_2x2() {
        let arr = make_4x4_u8();
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 0,
            size: 4,
            bin: 2,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 4,
            bin: 2,
            reverse: false,
            enable: true,
            auto_size: false,
        };

        let roi = extract_roi_2d(&arr, &config).unwrap();
        assert_eq!(roi.dims[0].size, 2);
        assert_eq!(roi.dims[1].size, 2);
        if let NDDataBuffer::U8(ref v) = roi.data {
            // top-left 2x2: sum = 0+1+4+5 = 10 (C++ sums, not averages)
            assert_eq!(v[0], 10);
        }
    }

    #[test]
    fn test_reverse() {
        let arr = make_4x4_u8();
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 0,
            size: 4,
            bin: 1,
            reverse: true,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 1,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };

        let roi = extract_roi_2d(&arr, &config).unwrap();
        if let NDDataBuffer::U8(ref v) = roi.data {
            assert_eq!(v[0], 3);
            assert_eq!(v[1], 2);
            assert_eq!(v[2], 1);
            assert_eq!(v[3], 0);
        }
    }

    #[test]
    fn test_collapse_dims() {
        let arr = make_4x4_u8();
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 0,
            size: 4,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 1,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.collapse_dims = true;

        let roi = extract_roi_2d(&arr, &config).unwrap();
        assert_eq!(roi.dims.len(), 1);
        assert_eq!(roi.dims[0].size, 4);
    }

    #[test]
    fn test_scale() {
        let arr = make_4x4_u8();
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 0,
            size: 2,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 1,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.enable_scale = true;
        config.scale = 2.0;

        let roi = extract_roi_2d(&arr, &config).unwrap();
        if let NDDataBuffer::U8(ref v) = roi.data {
            // C++: scale is a divisor
            assert_eq!(v[0], 0); // 0 / 2 = 0
            assert_eq!(v[1], 0); // 1 / 2 = 0.5 → 0
        }
    }

    #[test]
    fn test_type_convert() {
        let arr = make_4x4_u8();
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 0,
            size: 2,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 1,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.data_type = Some(NDDataType::UInt16);

        let roi = extract_roi_2d(&arr, &config).unwrap();
        assert_eq!(roi.data.data_type(), NDDataType::UInt16);
    }

    // --- New ROIProcessor tests ---

    #[test]
    fn test_roi_processor() {
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 1,
            size: 2,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 1,
            size: 2,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };

        let mut proc = ROIProcessor::new(config);
        let pool = NDArrayPool::new(1_000_000);

        let arr = make_4x4_u8();
        let result = proc.process_array(&arr, &pool);
        assert_eq!(result.output_arrays.len(), 1);
        assert_eq!(result.output_arrays[0].dims[0].size, 2);
        assert_eq!(result.output_arrays[0].dims[1].size, 2);
    }

    // --- Auto-size / dim-disable / autocenter tests ---

    #[test]
    fn test_auto_size() {
        // 4x4 image, min_x=1 with auto_size => size_x = 4-1 = 3
        let arr = make_4x4_u8();
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 1,
            size: 0,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: true,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 0,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: true,
        };

        let roi = extract_roi_2d(&arr, &config).unwrap();
        // C++: autoSize sets size = dimSize, then size = MIN(size, dimSize -
        // offset). With offset_x = 1 the X size clamps to 4 - 1 = 3; the Y
        // dimension with offset 0 stays at the full 4.
        assert_eq!(roi.dims[0].size, 3);
        assert_eq!(roi.dims[1].size, 4);
    }

    #[test]
    fn test_dim_disable() {
        // Disabled dim uses full range: min=0, size=src_dim
        let arr = make_4x4_u8();
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 2,
            size: 1,
            bin: 1,
            reverse: false,
            enable: false,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 4,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };

        let roi = extract_roi_2d(&arr, &config).unwrap();
        // X dim disabled, so full range: size=4
        assert_eq!(roi.dims[0].size, 4);
        assert_eq!(roi.dims[1].size, 4);
    }

    #[test]
    fn test_autocenter_peak() {
        // Create 8x8 image with a peak at (6, 5)
        let mut arr = NDArray::new(
            vec![NDDimension::new(8), NDDimension::new(8)],
            NDDataType::UInt8,
        );
        if let NDDataBuffer::U8(ref mut v) = arr.data {
            for i in 0..64 {
                v[i] = 1;
            }
            // Place peak at x=6, y=5
            v[5 * 8 + 6] = 255;
        }

        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 0,
            size: 4,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 4,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.autocenter = AutoCenter::PeakPosition;

        let roi = extract_roi_2d(&arr, &config).unwrap();
        assert_eq!(roi.dims[0].size, 4);
        assert_eq!(roi.dims[1].size, 4);

        // ROI should be centered on peak (6,5) with size 4x4
        // min_x = 6 - 4/2 = 4, clamped to min(4, 8-4)=4
        // min_y = 5 - 4/2 = 3, clamped to min(3, 8-4)=3
        // So ROI covers x=[4..8), y=[3..7) and the peak at (6,5) should be inside
        // In the ROI, the peak is at local (6-4, 5-3) = (2, 2)
        if let NDDataBuffer::U8(ref v) = roi.data {
            assert_eq!(v[2 * 4 + 2], 255); // peak at local (2,2)
        }
    }

    #[test]
    fn test_offset_clamp_to_last_column() {
        // Regression: an offset equal to the dim size must clamp to dimSize-1
        // and still produce a 1-pixel ROI (C++ MIN(offset, dimSize-1)),
        // instead of collapsing to an empty sink.
        let arr = make_4x4_u8();
        let mut config = ROIConfig::default();
        // min == src_x (4): one past the last valid index.
        config.dims[0] = ROIDimConfig {
            min: 4,
            size: 10,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 1,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        let roi = extract_roi_2d(&arr, &config).unwrap();
        // offset clamps to 3, size clamps to 4-3 = 1.
        assert_eq!(roi.dims[0].size, 1);
        if let NDDataBuffer::U8(ref v) = roi.data {
            assert_eq!(v[0], 3); // last column of row 0
        }
    }

    #[test]
    fn test_bin_larger_than_roi_clamps() {
        // Regression: a bin larger than the ROI is clamped to the ROI size
        // (C++ MIN(binning, size)), yielding a 1-pixel output instead of a
        // None sink.
        let arr = make_4x4_u8();
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 0,
            size: 2,
            bin: 99, // far larger than the ROI
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 1,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        let roi = extract_roi_2d(&arr, &config).unwrap();
        // bin clamps to size 2 => out_x = 2/2 = 1.
        assert_eq!(roi.dims[0].size, 1);
        if let NDDataBuffer::U8(ref v) = roi.data {
            // sum of the 2-pixel bin: 0 + 1 = 1
            assert_eq!(v[0], 1);
        }
    }

    /// 2x2 RGB1 image: index = y*6 + x*3 + c, value = 100*y + 10*x + c.
    fn make_rgb1_2x2() -> NDArray {
        use ad_core_rs::attributes::{NDAttrSource, NDAttrValue, NDAttribute};
        let mut arr = NDArray::new(
            vec![
                NDDimension::new(3),
                NDDimension::new(2),
                NDDimension::new(2),
            ],
            NDDataType::UInt8,
        );
        arr.attributes.add(NDAttribute::new_static(
            "ColorMode",
            "",
            NDAttrSource::Driver,
            NDAttrValue::Int32(ad_core_rs::color::NDColorMode::RGB1 as i32),
        ));
        if let NDDataBuffer::U8(ref mut v) = arr.data {
            for y in 0..2 {
                for x in 0..2 {
                    for c in 0..3 {
                        v[y * 6 + x * 3 + c] = (100 * y + 10 * x + c) as u8;
                    }
                }
            }
        }
        arr
    }

    #[test]
    fn test_roi_3d_rgb1_x_subregion() {
        // ROI on an RGB1 image: Dim0 selects X, the color axis is preserved.
        let arr = make_rgb1_2x2();
        let mut config = ROIConfig::default();
        // X: take only column 1.
        config.dims[0] = ROIDimConfig {
            min: 1,
            size: 1,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 2,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[2] = ROIDimConfig {
            min: 0,
            size: 3,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        let roi = extract_roi(&arr, &config).unwrap();
        // RGB1 layout: dims = [color=3, x=1, y=2].
        assert_eq!(roi.dims[0].size, 3);
        assert_eq!(roi.dims[1].size, 1);
        assert_eq!(roi.dims[2].size, 2);
        if let NDDataBuffer::U8(ref v) = roi.data {
            // pixel (x=1,y=0) channels => 10,11,12
            assert_eq!(&v[0..3], &[10, 11, 12]);
            // pixel (x=1,y=1) channels => 110,111,112
            assert_eq!(&v[3..6], &[110, 111, 112]);
        } else {
            panic!("not u8");
        }
    }

    #[test]
    fn test_adp18_3d_rgb_honors_output_data_type() {
        // A 3-D RGB ROI with ROI_DATA_TYPE set must convert the output, like
        // the 2-D path (C NDPluginROI.cpp:144,166-174). The old 3-D path kept
        // the source type regardless of config.data_type.
        let arr = make_rgb1_2x2();
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 0,
            size: 2,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 2,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[2] = ROIDimConfig {
            min: 0,
            size: 3,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.data_type = Some(NDDataType::UInt16);

        let roi = extract_roi(&arr, &config).unwrap();
        assert_eq!(roi.data.data_type(), NDDataType::UInt16);
        // RGB1 dims preserved: [color=3, x=2, y=2].
        assert_eq!(roi.dims[0].size, 3);
        assert_eq!(roi.dims[1].size, 2);
        assert_eq!(roi.dims[2].size, 2);
        // Values preserved through the widening conversion: pixel (0,0) = 0,1,2.
        if let NDDataBuffer::U16(ref v) = roi.data {
            assert_eq!(&v[0..3], &[0, 1, 2]);
        } else {
            panic!("not u16");
        }
    }

    #[test]
    fn test_adp19_single_color_collapses_to_2d_mono() {
        use ad_core_rs::color::NDColorMode;
        // Select a single color plane (channel 1) of an RGB1 image. C forces
        // collapseDims and sets ColorMode=Mono (NDPluginROI.cpp:177-215), so
        // the output is a 2-D mono [x,y] array, not a 3-D RGB1 with a size-1
        // color axis.
        let arr = make_rgb1_2x2();
        let mut config = ROIConfig::default();
        config.dims[0] = ROIDimConfig {
            min: 0,
            size: 2,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[1] = ROIDimConfig {
            min: 0,
            size: 2,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };
        config.dims[2] = ROIDimConfig {
            min: 1,
            size: 1,
            bin: 1,
            reverse: false,
            enable: true,
            auto_size: false,
        };

        let roi = extract_roi(&arr, &config).unwrap();
        // Collapsed to 2-D [x=2, y=2].
        assert_eq!(roi.dims.len(), 2);
        assert_eq!(roi.dims[0].size, 2);
        assert_eq!(roi.dims[1].size, 2);
        // ColorMode forced to Mono.
        let cm = roi
            .attributes
            .get("ColorMode")
            .and_then(|a| a.value.as_i64())
            .unwrap();
        assert_eq!(cm, NDColorMode::Mono as i64);
        // Channel-1 value of pixel (x,y) = 100*y + 10*x + 1, in [x,y] order.
        if let NDDataBuffer::U8(ref v) = roi.data {
            assert_eq!(v, &[1, 11, 101, 111]);
        } else {
            panic!("not u8");
        }
    }
}