#ifndef __SRV_PTZ_H__
#define __SRV_PTZ_H__

#ifdef __cplusplus
extern "C" {
#endif

#include <semaphore.h>
#include <pthread.h>

#include "capabilities/capa.h"

#define HK_IDS_2DE      1

#if defined(HK_IDS_2DE)

#define COEF_H_A      180
#define COEF_H_B      180

#define COEF_V_A      -52.5
#define COEF_V_B      37.5

#define COEF_Z_A      31
#define COEF_Z_B      1

#define MAX_FOVH      60.2
#define MIN_FOVH      2.3

#define MAX_FOVV      39.0
#define MIN_FOVV      2.1
#endif 

#define MAX_VAL       360

#define MAX_ZOOM      COEF_Z_A
#define MIN_ZOOM      0

#define MAX_SPEED     MAX_ZOOM
#define MIN_SPEED     MIN_ZOOM

#define MIN_TOUR_TIME   15
#define MIN_TOUR_POS    2

#define MAX_IMG_SCALE   0.5

#define PI              3.14159
#define  RAD2ANG(x)     (180 / PI * x)
#define ANG2RAD(x)      (PI / 180 * x)

#define COEF_FH_A       1.626
#define COEF_FH_B       0.634
#define COEF_FH_C       0.177

#define COEF_FV_A       0.953
#define COEF_FV_B       0.598
#define COEF_FV_C       0.166

/*PTZ working stat*/
enum PTZStat {
  RUNNING,
  IDLE,
  UNKNOWN,
};

/*the current PTZ positions*/
typedef struct _PosCur
{
  float p;
  float t;
  float z;

  enum PTZStat stat;

} PosCur;

/*the PTZ control command*/
enum PTZCMD
{
  PTZ_CMD_LEFT,
  PTZ_CMD_RIGHT,
  PTZ_CMD_UP,
  PTZ_CMD_DOWN,
  PTZ_CMD_LEFTUP,
  PTZ_CMD_LEFTDOWN,
  PTZ_CMD_RIGHTUP,
  PTZ_CMD_RIGHTDOWN,
  PTZ_CMD_ZOOM_IN,
  PTZ_CMD_ZOOM_OUT,
  PTZ_CMD_FOCUS_IN,
  PTZ_CMD_FOCUS_OUT,
  PTZ_CMD_FOCUS_STOP,
};

/*the tradditional preset control command*/
enum PreSetCMD
{
  PRESET_SET,
  PRESET_GOTO,
  PRESET_GET,
  PRESET_REMOVE,
};

/*the supported two types of tours*/
enum tourType {
  
  TOUR_PRIV, //our self-defined tour type  

  TOUR_COMM, //for the traditional tour type such as Hikon
};

/*Set the preset pos table:
 * Note (pos0_x, pos0_y) and (pos1_x, pos1_y) must be aligned with the image center pixle (x, y)
*/
typedef struct _PresetToure_node {

  int x; /*the pixel pos (x, y)*/
  int y;

  int pos0_x; /*the left-up pixel*/
  int pos0_y;

  int pos1_x; /*the right-down pixel*/
  int pos1_y; 

  int time_sec; /*the tour time*/
} PresetToure_node;

/*Set the preset pos table*/
typedef struct _PresetToure_tradnode {
  int posToken; /*the preset token*/
  
  int time_sec; /*the tour time*/
}PresetToure_tradnode;

/*the operational handle*/
typedef struct _PtzDevs {

  struct tagCapabilities capa;

  struct tagProfile *profiles;

  PresetToure_node *posNode;
  int posNode_count;

  PresetToure_tradnode *postradNode;
  int postradNode_count;

  timer_t timer_id;

  sem_t sem_tour;

  pthread_mutex_t node_mutex;

  pthread_cond_t cond;

  /*the device work stat*/
  char dev_stat;

  char wt_stat;

  /*the touring process work stat*/
  char proc_stat;

  char ip[PROTO_ADDRESS_SIZE];

  enum tourType tour_type;

} PtzDevs;

int proto_PTZInit(void);
void proto_PTZClose(void);
PtzDevs *proto_PTZGethandle(void);
int proto_PTZControl(PtzDevs *DevData, enum PTZCMD cmd, float speed_p, float speed_t, \
                       float speed_z, const char *username, const char *passwd);
int proto_PTZStop(PtzDevs *DevData, const char *username, const char *passwd);
int proto_PTZSetStep(PtzDevs *DevData, enum PTZCMD cmd, float pos_p, float pos_t, float pos_z, \
                        const char *username, const char *passwd);
int proto_PTZ_GetStatus(PtzDevs *DevData, PosCur *pos_get, const char *username, const char *passwd);
int proto_PTZSet(PtzDevs *DevData, float pos_p, float pos_t, float pos_z, const char *username, const char *passwd);
int proto_PTZGetPT(PtzDevs *DevData, int x, int y, float *p, float *t, const char *username, const char *passwd);

static float ptz_fovv_get(float pos);
static float ptz_fovh_get(float pos);

static float pos_calc_p(float pos);
static float pos_calc_t(float pos);
static float pos_calc_z(float pos);

static float pos_res_p(float pos);
static float pos_res_t(float pos);
static float pos_res_z(float pos);

static int img_w_get(PtzDevs *DevData);
static int img_h_get(PtzDevs *DevData);

int proto_PTZPreset(PtzDevs *DevData, const char *posName, enum PreSetCMD cmd, \
                      int *posToken, const char *username, const char *passwd);
int proto_PTZ_ImagingSet(PtzDevs *DevData, enum PTZCMD cmd, float speed, const char *username, const char *passwd);

static void *task_preset_touring(void *arg);
float proto_PTZZoom_get(PtzDevs *DevData, int x0, int y0, int x1, int y1); 
int proto_PTZPreset_tradtour_set(PtzDevs *DevData, PresetToure_tradnode *PosArr, int n);
int proto_PTZPreset_tour_set(PtzDevs *DevData, PresetToure_node *PosArr, int n);
int proto_PTZPreset_tour_start(PtzDevs *DevData, enum tourType type);
void proto_PTZWaitStopped(PtzDevs *DevData, const char *username, const char *passwd);
void proto_PTZPreset_tour_stop(PtzDevs *DevData);

static void ptz_timer_handler(union sigval para);

#ifdef __cplusplus
}
#endif

#endif