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//! V5 AI Vision Sensor

use core::ffi::{c_double, c_float};

use crate::{map_jump_table, V5_DeviceT};

#[repr(C)]
#[repr(packed)]
#[derive(Default, Debug, Copy, Clone, PartialEq)]
pub struct V5_DeviceAiVisionColor {
	pub id: u8,
	pub red: u8,
	pub grn: u8,
	pub blu: u8,
	pub hangle: c_float,
	pub hdsat: c_float,
	pub reserved: u32,
}

#[repr(C)]
#[repr(packed)]
#[derive(Copy, Clone)]
pub struct V5_DeviceAiVisionObject {
	pub id: u8,
	pub r#type: u8,
	pub object: V5_DeviceAiVisionObjectData,
}

#[repr(C)]
#[derive(Copy, Clone)]
pub union V5_DeviceAiVisionObjectData {
    pub color: V5_DeviceAiVisionColorData,
    pub tag: V5_DeviceAiVisionTagData,
    pub model: V5_DeviceAiVisionModelData,
}

/// Color Detection Data
#[repr(C)]
#[derive(Default, Debug, Copy, Clone, PartialEq)]
pub struct V5_DeviceAiVisionColorData {
	/// left side of object
	pub xoffset: u16,
	/// top of object
	pub yoffset: u16,
	/// width of object
	pub width: u16,
	/// height of object
	pub height: u16,
	/// angle of CC object in 0.1 deg units
	pub angle: u16,
}

/// Apriltag coordinate data
#[repr(C)]
#[derive(Default, Debug, Copy, Clone, PartialEq)]
pub struct V5_DeviceAiVisionTagData {
	pub x0: i16,
	pub y0: i16,
	pub x1: i16,
	pub y1: i16,
	pub x2: i16,
	pub y2: i16,
	pub x3: i16,
	pub y3: i16,
}

/// AI Model Data
#[repr(C)]
#[derive(Default, Debug, Copy, Clone, PartialEq)]
pub struct V5_DeviceAiVisionModelData {
	/// left side of object
	pub xoffset: u16,
	/// top of object
	pub yoffset: u16,
	/// width of object
	pub width: u16,
	/// height of object
	pub height: u16,
	/// confidence score
	pub score: u16,
}

#[repr(C)]
#[repr(packed)]
#[derive(Default, Debug, Copy, Clone, PartialEq)]
pub struct V5_DeviceAiVisionCode {
    pub id: u8,
    pub len: u8,
    pub c1: i16,
    pub c2: i16,
    pub c3: i16,
    pub c4: i16,
    pub c5: i16,
    pub c6: i16,
    pub c7: i16,
}

map_jump_table! {
	0xcd4 => pub fn vexDeviceAiVisionClassNameGet(device: V5_DeviceT, id: i32, pName: *mut u8) -> i32,
	0xcc4 => pub fn vexDeviceAiVisionCodeGet(device: V5_DeviceT, id: u32, pCode: *mut V5_DeviceAiVisionCode) -> bool,
	0xcc0 => pub fn vexDeviceAiVisionCodeSet(device: V5_DeviceT, pCode: *mut V5_DeviceAiVisionCode),
	0xcbc => pub fn vexDeviceAiVisionColorGet(device: V5_DeviceT, id: u32, pColor: *mut V5_DeviceAiVisionColor) -> bool,
	0xcb8 => pub fn vexDeviceAiVisionColorSet(device: V5_DeviceT, pColor: *mut V5_DeviceAiVisionColor),
	0xcac => pub fn vexDeviceAiVisionModeGet(device: V5_DeviceT) -> u32,
	0xca8 => pub fn vexDeviceAiVisionModeSet(device: V5_DeviceT, mode: u32),
	0xcb0 => pub fn vexDeviceAiVisionObjectCountGet(device: V5_DeviceT) -> i32,
	0xcb4 => pub fn vexDeviceAiVisionObjectGet(device: V5_DeviceT, indexObj: u32, pObject: *mut V5_DeviceAiVisionObject) -> i32,
	0xcd8 => pub fn vexDeviceAiVisionSensorSet(device: V5_DeviceT, brightness: c_double, contrast: c_double),
	0xcc8 => pub fn vexDeviceAiVisionStatusGet(device: V5_DeviceT) -> u32,
	0xccc => pub fn vexDeviceAiVisionTemperatureGet(device: V5_DeviceT) -> c_double,
}