#define _CRT_SECURE_NO_WARNINGS
#include "SG_fireBrick.h"
#include "SG_fireBrickAlgo.h"
#include <string.h>
#include <stdlib.h>

#define API_VERSION "1.0.0"

int VzCreateAIObject(SVzAICreateParam* pParam) {
    if (nullptr == pParam)
        return -1;

    strcpy(pParam->szName, "SG_fireBrickPositioning");
    strcpy(pParam->szVersion, API_VERSION);
    pParam->pVoid = (void*)CSG_fireBrick::CreateInstance();

    return 0;
}

int VzDeleteAIObject(SVzAICreateParam* pParam) {
    if (nullptr == pParam)
        return -1;

    memcpy(pParam->szName, 0, sizeof(pParam->szName));
    memcpy(pParam->szVersion, 0, sizeof(pParam->szVersion));
    delete (CSG_fireBrick*)(pParam->pVoid);
    pParam->pVoid = nullptr;

    return 0;
}

class CSG_fireBrickImpl :
    public CSG_fireBrick
{
public:
    virtual void GetBrickPose(SVzNL3DLaserLine* scanData, std::vector<SSG_6AxisAttitude>& brickPoses, int* errCode) override;
    virtual void SortBrickPoses(std::vector<SSG_6AxisAttitude>& brickPoses, ESG_poseSortingMode sortingMode) override;
};

CSG_fireBrick* CSG_fireBrick::CreateInstance() {
    return new CSG_fireBrickImpl();
}


void CSG_fireBrickImpl::GetBrickPose(SVzNL3DLaserLine* scanData, std::vector<SSG_6AxisAttitude>& brickPoses, int* errCode) {
    return sgGetBrickPose(scanData, brickPoses, errCode);
}

void CSG_fireBrickImpl::SortBrickPoses(std::vector<SSG_6AxisAttitude>& brickPoses, ESG_poseSortingMode sortingMode)
{
    return sgSortBrickPoses(brickPoses, sortingMode);
}