GoWebScanVisionMergeTask.h

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/**
* @file    GoWebScanVisionMergeTask.h
* @brief   Declares a GoWebScanVisionMergeTask object.
*
* @internal
* Copyright (C) 2017-2026 by LMI Technologies Inc.
* Licensed under the MIT License.
* Redistributed files must retain the above copyright notice.
*/

#ifndef GO_WEB_SCAN_VISION_MERGE_TASK_H
#define GO_WEB_SCAN_VISION_MERGE_TASK_H

#include <GoWebScanSdk/GoWebScanSdkDef.h>
#include <GoWebScanSdk/GoWebScanPipe.h>
#include <GoWebScanSdk/GoWebScanPipeTask.h>
#include <GoWebScanSdk/GoWebScanConfig.h>

/**
* @class   GoWebScanVisionMergeTask
* @extends kObject
* @ingroup GoWebScanSdk-Control
* @brief   Represents a task for merging vision tiles along X-axis from the cameras in a top 
*          or bottom group. Specifically, the task accepts a list of vision tiles that 
*          correspond to the same Y-position, and merges them into a single group-wide tile 
*          according to their respective source locations along the X-axis. Gaps and overlaps 
*          between adjacent tiles are processed according to configuration options.
*          The task accepts GoWebScanTileListMsg objects and produces GoWebScanVisionTileMsg
*          objects. 
*          
*          Processing steps:
*          -# Clear the background of the output system tile.
*          -# Add GoWebScanTileListMsg input tiles to the processing queue
*          -# Blend the overlap between tiles. Overlaps are processed by searching for the last
*              valid left element and first valid right element within the overlapping region
*              between two tiles. If overlap exists, the overlapping elements are blended by
*              weighted average.    
*          -# Fill gaps between tiles. Gaps are processed by searching for the last valid left
*              element and first valid right element within the gap search window. If these 
*              elements are closer than the gap threshold, any null elements in between are 
*              filled in (nearest neighbour).
*/
typedef kObject GoWebScanVisionMergeTask;

// Forward declaration
typedef kObject GoWebScanProcess;

/**
* Constructs a GoWebScanVisionMergeTask object.
* 
* @public                      @memberof GoWebScanVisionMergeTask
* @param   task                Receives the constructed GoWebScanVisionMergeTask object.
* @param   process             Associated GoWebScanProcess object.
* @param   configGroup         Group configuration.
* @param   allocator           Memory allocator (or kNULL for default).
* @return                      Operation status.
*/
GoWebScanFx(kStatus) GoWebScanVisionMergeTask_Construct(GoWebScanVisionMergeTask* task, GoWebScanProcess process, GoWebScanConfigGroup configGroup, kAlloc allocator);

/**
* Sets the handler for receiving merged system vision tiles.
*
* @public           @memberof GoWebScanVisionMergeTask
* @param  task      GoWebScanVisionMergeTask object. 
* @param  send      Callback function
* @param  context   Receiver argument for callback.
* @return           Operation status.
*/
GoWebScanFx(kStatus) GoWebScanVisionMergeTask_SetReceiver(GoWebScanVisionMergeTask task, GoWebScanPipeSendFx send, kPointer context);

/**
* Adds a message to the processing queue. Dequeues a message at the end of the queue to submit
* to the pipe for scheduling if no other job is currently pending.
* 
* @public          @memberof GoWebScanVisionMergeTask
* @param   task    GoWebScanVisionMergeTask object.
* @param   msg     Tile list message to enqueue.
* @return          Operation status.
*/
GoWebScanFx(kStatus) GoWebScanVisionMergeTask_Send(GoWebScanVisionMergeTask task, GoWebScanPipeMsg msg);

#include <GoWebScanSdk/GoWebScanVisionMergeTask.x.h>

#endif