// firmware/lib/cv/cv.h
#pragma once
#include <stdint.h>
#include <vector>

static const int CV_W = 96;
static const int CV_H = 96;
static const int CV_PIXELS = CV_W * CV_H;

static const uint8_t CV_DIFF_THRESH = 30;
static const int CV_MIN_BLOB_PX = 64;
static const float CV_MAX_MOVE = 15.0f;
static const int CV_MAX_MISSED = 10;

struct CVTrack {
    int   id;
    float x, y;
    bool  above_line;
    int   missed;
};

struct CVTuning {
    uint8_t  diff_thresh;   // per-pixel motion threshold
    int      min_blob_px;   // min foreground pixels for a blob
    float    max_move;      // max inter-frame track jump (px)
    int      max_missed;    // frames before drop
    uint8_t  line_offset;   // 0-100, percent of frame height for virtual line
    uint32_t cfg_version;   // monotonic; server increments on push
};

struct CVState {
    uint8_t  background[CV_PIXELS];
    bool     bg_valid;
    uint32_t last_motion_frame;
    uint32_t frame_index;
    int      next_id;
    std::vector<CVTrack> tracks;
    int entries;
    int exits;
    CVTuning tuning;
};

struct CVResult {
    int entries_delta;
    int exits_delta;
};

void cv_init(CVState& state);
CVResult cv_process(CVState& state, const uint8_t* frame, uint8_t line_pct);
void cv_reset_counts(CVState& state);