// 调用完整流程，叠加3个静止目标，发送引导指令（引导2个），自动转入跟踪，且跟踪目标与引导批号一致。

#include "NeoArithStandardDll.h"
#include "utils.h"
#include <iostream>
#include <string.h>

using std::cout;
using std::endl;
int main()
{
	int nWidth = 640;
	int nHeight = 512;

	ArithHandle pTracker = STD_CreatEOArithHandle();

	ARIDLL_EOArithInit(pTracker, nWidth, nHeight, GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y16);

	ARIDLL_INPUTPARA stInputPara = { 0 };
	stInputPara.unFrmId++;
	stInputPara.stCameraInfo.fPixelSize = 15;
	stInputPara.stCameraInfo.nFocus = 300;


	ARIDLL_OUTPUT stOutput = { 0 };

	TargetGuide* guideList = new TargetGuide[2];
	memset(guideList, 0, sizeof(TargetGuide) * 2);
	guideList[0].ID = 1;
	guideList[0].stTargetPole.beta = 0.8;
	guideList[0].stTargetPole.alpha = 0.3;

	guideList[1].ID = 2;
	guideList[1].stTargetPole.beta = -0.8;
	guideList[1].stTargetPole.alpha = 0.3;

	SimTargetImage_Y16 factory(nWidth, nHeight);
	factory.setBackGround(5000, 10);


	factory.addTarget(100, 160, 3, 3, 6500);
	factory.addTarget(200, 340, 15, 15, 6500);
	factory.addTarget(499, 200, 15, 15, 6500);

	for (size_t i = 0; i < 300; i++)
	{
		stInputPara.unFrmId++;

		if (i == 3)
		{
			ARIDLL_GuideLockMultiCommand(pTracker, guideList,2);
		}

		GD_VIDEO_FRAME_S img = { 0 };
		img.enPixelFormat = GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y16;
		img.u32Width = nWidth;
		img.u32Height = nHeight;
		img.u32Stride[0] = img.u32Width * 2;
		img.u64VirAddr[0] = (UBYTE8*)factory.getImageData();

		int targetNum = 0;
		targetNum = ARIDLL_SearchFrameTargets(pTracker, img);

		ARIDLL_RunController(pTracker, img,stInputPara, &stOutput);

		if (stOutput.nStatus == GLB_STATUS_TRACK && stOutput.nTrackObjCnts == 2)
		{
			cout << "pass" << endl;
			break;
		}

	}

	return 0;
}