/// \file algorithm/distancepath.h
/// \copyright 2022 Sascha Nitsch
/// Licenced under MIT license
/// \brief declaration of the DistancePath class

#ifndef ALGORITHM_DISTANCEPATH_H_
#define ALGORITHM_DISTANCEPATH_H_
// system includes
#include <list>

// own includes
#include "algorithm.h"

// forward declaration
class Image;

namespace Algorithm {

/// \brief calculate value based on distance to start point
/// for a long description, see README.md
class DistancePath : public Algorithm {
 public:
  /// \brief constructor
  /// \param argc number of arguments
  /// \param argv arguments
  DistancePath(int argc, const char* argv[]);

  /// \brief destructor
  ~DistancePath();

  /// \brief process images
  /// \param input input image
  /// \param output output image
  /// \return 0 if ok, != 0 on error
  int8_t process(Image* input, Image* output);

 private:
  /// \brief do actual calculation on pixel
  /// \param inRAW pointer to raw image input
  /// \param outRow pointer to current row in output
  /// \param x x coordinate
  /// \param y y coordinate
  /// \param lastValue last value from source pixel
  /// \param width image width
  /// \param next list to put new pixel to
  /// \param outPixels pointer to output pixel array
  /// \param iteration current iteration number
  inline void processPixel(uint8_t* inRAW, float* outRow, uint16_t x, uint16_t y, float lastValue, uint16_t width, std::list<uint32_t>* next, uint16_t* outPixels, uint16_t iteration);

  /// \brief do actual calculation on pixel row
  /// \param inRAW pointer to raw image input
  /// \param outRAW pointer to output
  /// \param x x coordinate
  /// \param y y coordinate
  /// \param lastValue last value from source pixel
  /// \param width image width
  /// \param next list to put new pixel to
  /// \param outPixels pointer to output pixel array
  /// \param iteration current iteration number
  inline void processRow(uint8_t* inRAW, float* outRAW, uint16_t x, uint16_t y, float lastValue, uint16_t width, std::list<uint32_t>* next, uint16_t* outPixels, uint16_t iteration);

  /// weight for pathable neighbour
  float m_weightPath;
  /// weight for blocked neighbour
  float m_weightBlock;
  /// top cap
  float m_maxDistance;
  /// threshhold to mark pixel as traversable in output
  uint8_t m_threshhold;
  /// queue of pixels to process
  std::list<uint32_t> m_queue1;
};

}  // namespace Algorithm
#endif  // ALGORITHM_DISTANCEPATH_H_