#include <pybind11/stl.h>  // 用于绑定 std::string 等
#include "StitchStruct.h" // 包含 API_UnderStitch 的定义
#include "API_UnderStitch.h"

// =========================================================================
// 2. PYBIND11 绑定代码
// =========================================================================
#include <pybind11/pybind11.h>
namespace py = pybind11;

// 辅助函数：只负责绑定所有公用结构体
void bind_public_structures(py::module_ &m) {

    // PointBLH
    py::class_<PointBLH>(m, "PointBLH", "地理坐标系，单位：度")
        .def(py::init<>())
        .def_readwrite("B", &PointBLH::B, "纬度")
        .def_readwrite("L", &PointBLH::L, "经度")
        .def_readwrite("H", &PointBLH::H, "高程");

    // EulerRPY
    py::class_<EulerRPY>(m, "EulerRPY", "RPY 姿态角，单位：度")
        .def(py::init<>())
        .def_readwrite("fRoll", &EulerRPY::fRoll, "横滚角")
        .def_readwrite("fPitch", &EulerRPY::fPitch, "俯仰角")
        .def_readwrite("fYaw", &EulerRPY::fYaw, "方位角");

    // ----------------------------------------------------
    // B. 嵌套结构体
    // ----------------------------------------------------

    // AirCraftInfo
    py::class_<AirCraftInfo>(m, "AirCraftInfo", "载体信息")
        .def(py::init<>())
        .def_readwrite("nPlaneID", &AirCraftInfo::nPlaneID, "载机ID")
        .def_readwrite("stPos", &AirCraftInfo::stPos, "位置 (PointBLH)")
        .def_readwrite("stAtt", &AirCraftInfo::stAtt, "姿态 (EulerRPY)");

    // CamInfo
    py::class_<CamInfo>(m, "CamInfo", "相机信息")
        .def(py::init<>())
        .def_readwrite("nFocus", &CamInfo::nFocus, "实时焦距值")
        .def_readwrite("fPixelSize", &CamInfo::fPixelSize, "像素尺寸")
        .def_readwrite("unVideoType", &CamInfo::unVideoType, "视频源类型")
        .def_readwrite("dCamx", &CamInfo::dCamx, "像主点偏移x")
        .def_readwrite("dCamy", &CamInfo::dCamy, "像主点偏移y")
        .def_readwrite("fAglReso", &CamInfo::fAglReso, "角分辨率");

    // ServoInfo
    py::class_<ServoInfo>(m, "ServoInfo", "伺服状态")
        .def(py::init<>())
        .def_readwrite("fServoAz", &ServoInfo::fServoAz, "当前帧伺服方位角")
        .def_readwrite("fServoPt", &ServoInfo::fServoPt, "当前帧伺服俯仰角")
        .def_readwrite("fServoAzSpeed", &ServoInfo::fServoAzSpeed, "当前帧伺服方位角速度")
        .def_readwrite("fServoPtSpeed", &ServoInfo::fServoPtSpeed, "当前帧伺服俯仰角速度");

    // ----------------------------------------------------
    // C. FrameInfo 和 UPanInfo
    // ----------------------------------------------------

    // FrameInfo
    py::class_<FrameInfo>(m, "FrameInfo", "帧内外方位元素")
        .def(py::init<>())
        .def_readwrite("nFrmID", &FrameInfo::nFrmID, "帧编号，唯一ID")
        .def_readwrite("craft", &FrameInfo::craft, "载体信息 (AirCraftInfo)")
        .def_readwrite("camInfo", &FrameInfo::camInfo, "相机信息 (CamInfo)")
        .def_readwrite("servoInfo", &FrameInfo::servoInfo, "伺服状态 (ServoInfo)")
        .def_readwrite("nEvHeight", &FrameInfo::nEvHeight, "相对高差")
        .def_readwrite("nWidth", &FrameInfo::nWidth, "图像宽度")
        .def_readwrite("nHeight", &FrameInfo::nHeight, "图像高度");

    // UPanInfo
    py::class_<UPanInfo>(m, "UPanInfo", "下视全景图配置")
        .def(py::init<>())
        .def_readwrite("m_pan_width", &UPanInfo::m_pan_width, "全景图宽度")
        .def_readwrite("m_pan_height", &UPanInfo::m_pan_height, "全景图高度")
        .def_readwrite("scale", &UPanInfo::scale, "比例尺")
        .def_readwrite("map_shiftX", &UPanInfo::map_shiftX, "平移X")
        .def_readwrite("map_shiftY", &UPanInfo::map_shiftY, "平移Y");

    // UPanConfig
    py::class_<UPanConfig>(m, "UPanConfig", "下视拼接参数控制")
        .def(py::init<>())
        .def_readwrite("bUseBA", &UPanConfig::bUseBA, "开启BA")
        .def_readwrite("bOutFrameTile", &UPanConfig::bOutFrameTile, "输出单帧正射图")
        .def_readwrite("bOutGoogleTile", &UPanConfig::bOutGoogleTile, "输出谷歌瓦片");
}