#ifndef MAIN_H
#define MAIN_H

#include "zf_common_headfile.h"
#include "gl_common.h"

// extern uint8 *mt9v03x_image_copy[0];
extern int32_t pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2]; // 0:H,1:W
extern int32_t pts_left_count, pts_right_count;
extern float pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
extern int32_t pts_inv_l_count, pts_inv_r_count;
extern float pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
extern int32_t pts_filter_l_count, pts_filter_r_count;
extern float pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
extern int32_t pts_resample_left_count, pts_resample_right_count;
extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
extern float mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
extern int32_t mid_left_count, mid_right_count;

extern float angle_left[PT_MAXLEN];
extern float angle_right[PT_MAXLEN];
extern int angle_left_num, angle_right_num;

extern float angle_new_left[PT_MAXLEN];
extern float angle_new_right[PT_MAXLEN];
extern int angle_new_left_num, angle_new_right_num;

extern int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
extern bool Lpt0_found, Lpt1_found;
extern int Lpt1[2], Lpt0[2];

extern int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
extern bool Lpt_in0_found, Lpt_in1_found;
extern int Lpt_in1[2], Lpt_in0[2];

extern bool is_straight0, is_straight1;

extern bool is_turn0, is_turn1;

extern float rptsn[PT_MAXLEN][2];
extern int rptsn_num;
extern float aim_distance;

enum track_type_e {
    TRACK_LEFT,
    TRACK_RIGHT,
};

extern enum track_type_e track_type;

#endif // MAIN_H