#ifndef ALGO_GLOBALS_H
#define ALGO_GLOBALS_H

#include "ap_int.h"
#include "hls_stream.h"

#define VITIS_HLS	1

#define RGN_DATA_WIN_SIZE			16
#define RGN_DATA_PIXEL_WIDTH		2 //output 2 pixels per clock
#define MAX_PT_NUM 					3071

#define CAM2K_Y_WIDTH		12 //after calibration, may exceed 2048
#define CAM4K_Y_WIDTH		13 //after calibration, may exceed 4096
#define CAM4K_Y_RSV_BITS	(16-13)

#define ROW_COUNT			3072
#define CAM_MAX_Y			(ROW_COUNT-1)

union CharFloat
{
	float fdata;
	unsigned char buff[4];
};

union UintDouble
{
	double fdata;
	unsigned int buff[2];
};

union UintFloat
{
	float fdata;
	unsigned int unData;
};

struct PeakRun{
	ap_uint<8> start;
	ap_uint<8> len;
	ap_uint<8> value;
};

struct RgnPix
{
	ap_uint<CAM4K_Y_WIDTH>	LazerWinX;  //winStartX
	ap_uint<CAM4K_Y_WIDTH>	LazerWinY;
	ap_uint<11>	LazerWinRid;
	ap_uint<4>	LazerWinFlag;	//bit0:OverLap | bit1:Rflct
	ap_uint<1>	LazerWinRsv;
	ap_uint<2> 	Sync;			//FrmSync:b10 | LineSync:b01
	ap_uint<8>	RltvRdx;			// bit3~0:Str | bit7~4:End
};

struct RgnPixConvolve
{
	ap_uint<CAM4K_Y_WIDTH>	LazerWinX;  //winStartX
	ap_uint<CAM4K_Y_WIDTH>	LazerWinY;
	ap_uint<11>	LazerWinRid;
	ap_uint<4>	LazerWinFlag;	//bit0:OverLap | bit1:Rflct
	ap_uint<1>	LazerWinRsv;
	ap_uint<2> 	Sync;			//FrmSync:b10 | LineSync:b01
	ap_uint<8>	value;
	int nD1;
	int nD2;
};

struct RgnSubPix
{
	float x;
	ap_uint<CAM4K_Y_WIDTH>	y;  //support up to 4k camera
	ap_uint<11>	rid;
	ap_uint<4>	flag;	//bit0:OverLap | bit1:Rflct
	ap_uint<1>	rsv;
	ap_uint<2> 	Sync;			//FrmSync:b10 | LineSync:b01
	ap_uint<8>	value;
};

struct RgnSubPixCalib
{
	float x;
	float y;
	ap_uint<11>	rid;
	ap_uint<4>	flag;	//bit0:OverLap | bit1:Rflct
	ap_uint<1>	rsv;
	ap_uint<2> 	Sync;			//FrmSync:b10 | LineSync:b01
	ap_uint<8>	value;
};

struct InterpolateCalibSubpix
{
	float x;
	ap_uint<CAM4K_Y_WIDTH> y;  //support up to 4k camera
	ap_uint<11>	rid;
	ap_uint<8>	value;
	ap_uint<2>	flag;	//bit0:OverLap | bit1:Rflct
	ap_uint<2> 	Sync;			//FrmSync:b10 | LineSync:b01
};

struct BuffCalibSubpix
{
	float x;
	ap_uint<CAM4K_Y_WIDTH> y;  //support up to 4k camera
	ap_uint<11>	rid;
	ap_uint<8>	value;
	ap_uint<2>	flag;	//bit0:OverLap | bit1:Rflct
	ap_uint<2> matchFlag; //1£º L-R match; 2- L single side; 3: R single side
};

struct LRMatchedPoint
{
	float xL;
	float xR;
	ap_uint<14> y;  //may exceed 2048
	ap_uint<8>	valueL;
	ap_uint<8>	valueR;
	ap_uint<CAM4K_Y_WIDTH> match_seg_id;
	ap_uint<2> matchFlag;
	ap_uint<2> 	Sync;			//FrmSync:b10 | LineSync:b01
};

struct SubpixInfo
{
	float x;
	ap_uint<CAM4K_Y_WIDTH>	y;
	ap_uint<11>	rid;
	ap_uint<4>	flag;	//bit0:OverLap | bit1:Rflct
	ap_uint<1>	rsv;
	ap_uint<8>	value;
};
union Byte8
{
	//SubpixInfo subpix;
	unsigned int nData[2];
	float fData[2];
	double dData;
};
struct CalibData
{
	double calibK[2];
	//double calibK_ext[2];
	//SubCalib subpix_calib;
	ap_uint<2> 	Sync;			//FrmSync:b10 | LineSync:b01
};

struct Pnt3D
{
	float x;
	float y;
	float z;
	ap_uint<8> valueL;
	ap_uint<8> valueR;
	ap_uint<2> matchFlag;
	ap_uint<2> 	Sync;			//FrmSync:b10 | LineSync:b01
};

struct SRowData
{
	ap_uint<4> ptNum;
	BuffCalibSubpix pt1;
	BuffCalibSubpix pt2;
};

struct SPointMatchInfo
{
	ap_uint<CAM4K_Y_WIDTH> match_seg_id;
	ap_uint<2> match_flag;  //1: L-R match; 2:left single; 3: right single
	ap_uint<11> rid_L;
	ap_uint<11> rid_R;
	ap_uint<2> pt_idx_L;
	ap_uint<2> pt_idx_R;
};

struct SLineMatchInfo
{
	ap_uint<2> matchNum;
	SPointMatchInfo match1;
	SPointMatchInfo match2;
};

struct SMatchSegInfo
{
	ap_uint<CAM4K_Y_WIDTH> seg_id;
	ap_uint<CAM4K_Y_WIDTH> seg_ptSize;
};

struct SLRMatchOutput
{
	ap_uint<4> left_ptNum;
	BuffCalibSubpix left_pt1;
	BuffCalibSubpix left_pt2;
	ap_uint<4> right_ptNum;
	BuffCalibSubpix right_pt1;
	BuffCalibSubpix right_pt2;
	SLineMatchInfo matchInfo;
	ap_uint<2> syncWord;
};

#if 0
struct RgnPnt {
	ap_uint<12> winStartX;
	ap_uint<12> y;
	ap_uint<11> rid_data;  //HSync=1:rid; HSync=0:data
	ap_uint<1> overlalFlag;
	ap_uint<1> reflectFlag;
	ap_uint<1> rsvd;
	ap_uint<1> VSync;
	ap_uint<1> HSync;
	ap_uint<8> PkRltvRdx;

};
#endif
#endif