camera_diff_detection.h

#pragma once
 
#include "base_detection_module.h"
#include "motion_detector.h"
#include "sync.h"
#include "tracker.h"
 
#include <atomic>
#include <cstdint>
 
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
 
class FrameStore;
 
class CameraDiffDetection : public BaseDetectionModule
{
public:
    CameraDiffDetection() = default;
    ~CameraDiffDetection() override;
    CameraDiffDetection(const CameraDiffDetection&) = delete;
    CameraDiffDetection& operator=(const CameraDiffDetection&) = delete;
 
    bool begin();
 
    std::tuple<MoveX, MoveY> detect_object(camera_buffer_t frame) override;
 
    bool start_task(FrameStore& store);
 
    void reset() override;
 
    TrackSnapshot get_track_snapshot() const override;
    DetectionStats get_stats() const override;
 
private:
    struct Pipeline {
        tracking::GrayFrame gray;
        tracking::MotionDetector detector;
        tracking::Tracker tracker;
    };
 
    static void task_entry(void* arg);
    void task_loop();
    void apply_reset();
 
    Pipeline* _pipeline = nullptr;
    FrameStore* _store = nullptr;
    TaskHandle_t _task = nullptr;
    std::atomic<bool> _reset_requested{false};
    uint32_t _last_sequence = 0; 
    struct Published {
        TrackSnapshot snapshot;
        DetectionStats stats;
    };
    vsync::SpinGuarded<Published> _published;
};