// 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;

// Event-based walker detector. Per-frame zone-flip approaches were direction-
// blind at realistic mounts: a walker traversing top-to-bottom and a walker
// traversing bottom-to-top produced identical zone-dominance sequences
// (geometric artifact of asymmetric zones + body spanning the line). The
// event approach buffers a whole walker event, then decides direction from
// the centroid trajectory: sign(first_centroid_y - peak_centroid_y) > 0 means
// the centroid moved upward through the frame during the event.
//
// Per-mount convention: UP through frame == ENTRY into store. Flip the camera
// mount or invert the mapping in cv_process if the physical install differs.

// fg_count thresholds that gate event start/end. Tuned against a real
// 8-walk isolated test (see .agent/walk_isolated_8walks.log). Lower than
// initial guesses because the 7' overhead mount produces smaller centroid
// excursions than we originally modelled.
static const int CV_EVENT_ENTER_THRESH = 250;
static const int CV_EVENT_EXIT_THRESH  = 150;

// Number of consecutive sub-EXIT frames required to end an event.
static const int CV_EVENT_QUIET_FRAMES = 3;

// Min/max event duration in frames. Below min = too brief to be a walker
// (noise burst). Above max = stationary object or stuck detection.
static const int CV_EVENT_MIN_FRAMES = 5;
// MAX bounds the event duration. Too low (15) cut events off while walker
// was still physically in frame — every fire hit dur=MAX+1 and bg snapped
// with a walker-ghost baked in, corrupting the next walk. Too high (40)
// merged multiple walkers. 25 frames (5s) lets a single walker reach the
// quiet-exit path (fg drops below EXIT_THRESH) before timeout, so bg snaps
// on a clean empty frame.
static const int CV_EVENT_MAX_FRAMES = 25;

// Required vertical extent: during the event, fg must have reached near the
// top of the frame (min_y <= TOP) AND near the bottom (max_y >= BOT). At a
// 7' overhead mount real walkers span fg y≈0..70, not 0..95 — the original
// 10/85 gates rejected most real walks. Relaxed to catch them while still
// filtering small local motion that doesn't span the doorway.
static const int CV_EVENT_EXTENT_TOP = 25;
static const int CV_EVENT_EXTENT_BOT = 50;

// Minimum centroid excursion (max of up_score/down_score) for a valid
// trajectory. At overhead mount walker centroid traverses ~15-40 pixels;
// 15 was too aggressive and dropped clean walks. 5 still filters wobble.
static const float CV_EVENT_MIN_TRAJ = 5.0f;

// Refractory period after a fire. Shorter than originally chosen — at 5 fps
// a second walker can arrive within 2s of the first, especially at busy
// doorways. 10 frames = 2s of back-pressure, tuned to match the gap between
// consecutive isolated walks in the test log.
static const uint32_t CV_EVENT_REFRACTORY_FRAMES = 10;

// Diagnostic only: tracks are kept for spawn logging. Counting does NOT
// depend on tracks.
struct CVTrack {
    int   id;
    float x, y;
    float spawn_y;
    int   missed;
};

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;

    // Event state machine.
    bool     event_active;
    uint32_t event_start_frame;
    int      event_frame_count;
    int      event_peak_n;
    float    event_first_c;
    float    event_last_c;
    float    event_min_c;        // min centroid_y observed during event
    float    event_max_c;        // max centroid_y observed during event
    int      event_min_y_seen;
    int      event_max_y_seen;
    int      event_quiet_count;
    uint32_t last_fire_frame;    // 0 = never; frame of last counted fire
};

struct CVResult {
    int entries_delta;
    int exits_delta;
    // Per-frame foreground diagnostics (populated every call).
    int   fg_count;
    int   fg_min_y;
    int   fg_max_y;
    float fg_centroid_y;
    // Populated only on a fire frame; zeroed otherwise.
    float fire_first_c;
    float fire_min_c;
    float fire_max_c;
    float fire_last_c;
    int   fire_duration;
};

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