#ifndef HD_3DCAMERALMI_MODULE_H
#define HD_3DCAMERALMI_MODULE_H
#include <subModuleBase.h>
#include <QtCore/qglobal.h>
#include <QThread>
#include <QQueue>
#include <QMutex>
#include <GoSdk.h>
#include <QByteArray>
#pragma comment(lib, "winmm.lib")
#pragma comment(lib,"GoSdk.lib")
#pragma comment(lib,"kApi.lib")

using namespace std;
using namespace cv;

#pragma region LMI

static QByteArray mv_Status = "connected";//0106 新增相机断联报警
static long long picIndex = 0;
enum LmiStatus
{
    UnInit = 0,
    OK = 1,
    Grab = 2,
};

#define NM_TO_MM(VALUE) (((k64f)(VALUE))/1000000.0)
#define UM_TO_MM(VALUE) (((k64f)(VALUE))/1000.0)

#define INVALID_RANGE_16BIT     ((signed short)0x8000)          // gocator transmits range data as 16-bit signed integers. 0x8000 signifies invalid range data.
#define DOUBLE_MAX              ((k64f)1.7976931348623157e+308) // 64-bit double - largest positive value.
#define INVALID_RANGE_DOUBLE    ((k64f)-DOUBLE_MAX)             // floating point value to represent invalid range data.


struct MyTiff
{
    unsigned short* Tiff;
    int w;
    int h;
};

struct MyBmp
{
    unsigned char* Bmp;
    int w;
    int h;
};

struct DataContext
{
    k32u count;
};


static std::vector<GoDataMsg>DataSetCollection;
static std::mutex DataSetMutex;


static k32u id = 117599; //3D 序列号
static kAssembly api = kNULL;
static GoSystem system1 = kNULL;
static GoSensor sensor = kNULL;
static GoDataSet dataset = kNULL;
static DataContext* contextPointer = new DataContext();
static LmiStatus m_status = UnInit;
static bool m_lmiheightFlag = false;
static bool m_lmiluminanceFlag = false;
//static cv::Mat luminanceMat;
//static cv::Mat heightMat;
#pragma endregion


class Hd_3DCameraLMI_module:public dsModuleBase
{
public:
    Hd_3DCameraLMI_module();
    virtual ~Hd_3DCameraLMI_module();
    bool  readData(std::vector<cv::Mat>&, QByteArray&);
    bool  writeData(std::vector<cv::Mat>&, QByteArray&);
    bool  initParas(QByteArray&);
    bool  run();
};

extern "C"
{
Q_DECL_EXPORT Hd_3DCameraLMI_module * create();
Q_DECL_EXPORT void destory(Hd_3DCameraLMI_module * ptr);
}


#endif // HD_3DCAMERALMI_MODULE_H