peak_afl.hpp

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#pragma once

#include "peak_afl/peak_afl.h"
#include "peak_ipl/types/peak_ipl_image.hpp"
#include "peak_ipl/algorithm/peak_ipl_gain.hpp"
#include "peak/node_map/peak_node_map.hpp"

#include <type_traits>
#include <cstdint>
#include <exception>
#include <string>
#include <tuple>
#include <utility>
#include <vector>
#include <memory>
#include <functional>

#if __cplusplus >= 201703L || _MSVC_LANG >= 201703L
#    define PEAK_AFL_NO_DISCARD [[nodiscard]]
#    define PEAK_AFL_MAYBE_UNUSED [[maybe_unused]]
#else
#    ifdef _MSC_VER
#        define PEAK_AFL_NO_DISCARD _Check_return_
#        define PEAK_AFL_MAYBE_UNUSED
#    elif defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
#        define PEAK_AFL_NO_DISCARD __attribute__((warn_unused_result))
#        define PEAK_AFL_MAYBE_UNUSED __attribute__((unused))
#    else
#        define PEAK_AFL_NO_DISCARD
#        define PEAK_AFL_MAYBE_UNUSED
#    endif
#endif

namespace peak
{
namespace afl
{
namespace library
{

struct Version_t
{
    std::uint32_t major;    
    std::uint32_t minor;    
    std::uint32_t subminor; 
    std::uint32_t patch;    

    PEAK_AFL_NO_DISCARD std::string ToString() const
    {
        return std::to_string(major) + "." + std::to_string(minor) + "." + std::to_string(subminor) + "."
            + std::to_string(patch);
    }

    PEAK_AFL_NO_DISCARD uint32_t Major() const
    {
        return major;
    }

    PEAK_AFL_NO_DISCARD uint32_t Minor() const
    {
        return minor;
    }
    PEAK_AFL_NO_DISCARD uint32_t Subminor() const
    {
        return subminor;
    }

    PEAK_AFL_NO_DISCARD uint32_t Patch() const
    {
        return patch;
    }
};

inline void Init();

inline void Exit();

PEAK_AFL_NO_DISCARD inline std::string GetLastError();

PEAK_AFL_NO_DISCARD inline Version_t Version();
} // namespace library

namespace error
{


class Exception : public std::exception
{
public:
    explicit Exception(peak_afl_status code, bool get_text=true)
        : m_code(code)
    {
        if (get_text)
        {
            m_text = library::GetLastError();
        }
    }

    PEAK_AFL_NO_DISCARD peak_afl_status code() const
    {
        return m_code;
    }

    PEAK_AFL_NO_DISCARD const char* what() const noexcept override
    {
        if(m_text.empty())
        {
            return "-";
        }
        else
        {
            return m_text.c_str();
        }
    }

    PEAK_AFL_NO_DISCARD static std::string translateCode(peak_afl_status status)
    {
        switch(status)
        {
        case PEAK_AFL_STATUS_SUCCESS:
            return "PEAK_AFL_STATUS_SUCCESS";

        case PEAK_AFL_STATUS_ERROR:
            return "PEAK_AFL_STATUS_ERROR";

        case PEAK_AFL_STATUS_NOT_INITIALIZED:
            return "PEAK_AFL_STATUS_NOT_INITIALIZED";

        case PEAK_AFL_STATUS_INVALID_PARAMETER:
            return "PEAK_AFL_STATUS_INVALID_PARAMETER";

        case PEAK_AFL_STATUS_ACCESS_DENIED:
            return "PEAK_AFL_STATUS_ACCESS_DENIED";

        case PEAK_AFL_STATUS_BUSY:
            return "PEAK_AFL_STATUS_BUSY";

        case PEAK_AFL_STATUS_BUFFER_TOO_SMALL:
            return "PEAK_AFL_STATUS_BUFFER_TOO_SMALL";

        case PEAK_AFL_STATUS_INVALID_IMAGE_FORMAT:
            return "PEAK_AFL_STATUS_INVALID_IMAGE_FORMAT";

        case PEAK_AFL_STATUS_NOT_SUPPORTED:
            return "PEAK_AFL_STATUS_NOT_SUPPORTED";

        case PEAK_AFL_STATUS_VALUE_ADJUSTED:
            return "PEAK_AFL_STATUS_VALUE_ADJUSTED";

        default:
            return "Unknown Status code";
        }
    }

private:
    peak_afl_status m_code{};
    std::string m_text{};
};
} // namespace error

class Controller;

class Manager
{
public:
    inline explicit Manager(const std::shared_ptr<peak::core::NodeMap>& node_map);

    inline ~Manager();

    Manager(const Manager&) = delete;
    inline Manager(Manager&&) noexcept;

    Manager& operator=(const Manager&) noexcept = delete;
    inline Manager& operator=(Manager&&) noexcept;

    inline void AddController(const std::shared_ptr<Controller>& controller);

    inline void RemoveController(const std::shared_ptr<Controller>& controller);

    inline void Process(const peak::ipl::Image& image) const;

    PEAK_AFL_NO_DISCARD inline std::shared_ptr<Controller> CreateController(peak_afl_controllerType type);

    inline void DestroyAllController();

    inline void DestroyController(const std::shared_ptr<Controller>& controller);

    inline void SetGainIPL(const peak::ipl::Gain& gain);

    PEAK_AFL_NO_DISCARD inline bool Status() const;

    PEAK_AFL_NO_DISCARD inline std::vector<std::shared_ptr<Controller>> ControllerList() const;

    PEAK_AFL_NO_DISCARD inline size_t ControllerCount() const;

    PEAK_AFL_NO_DISCARD inline std::shared_ptr<Controller> GetController(peak_afl_controllerType type) const;

private:
    std::vector<std::shared_ptr<Controller>> m_controllerList;
    mutable std::mutex m_mutex{};
    peak_afl_manager_handle m_handle{};
};

template<typename... ControllerTypes>
std::tuple<Manager, std::vector<std::shared_ptr<Controller>>>
CreateManager(const std::shared_ptr<peak::core::NodeMap>& node_map, ControllerTypes... types)
{
    constexpr int size = sizeof...(types);
    constexpr std::array<peak_afl_controllerType, size> controller_types{types...};
    std::vector<std::shared_ptr<Controller>> controller{};
    Manager manager{node_map};
    controller.reserve(size);

    std::for_each(controller_types.cbegin(), controller_types.cend(), [&manager, &controller](peak_afl_controllerType type) {
        controller.emplace_back(std::move(manager.CreateController(type)));
    });

    return { std::move(manager), std::move(controller) };
}


template <typename T, typename std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
struct Range
{
    T min;
    T max;
    T inc;
};

namespace callback
{
using FinishedCallback = std::function<void(void)>;
using DataProcessingCallback = std::function<void(int, int)>;
using ComponentCallback = std::function<void(void)>;

using RegisterFunction = std::function<PEAK_AFL_API_STATUS(void*, void*)>;
using UnRegisterFunction = std::function<void()>;
}

class Controller : public std::enable_shared_from_this<Controller>
{
    friend class Manager;

    template<class T>
    class Callback
    {
#ifndef SWIG
    public:
        template<typename R, typename ...Args>
        Callback(const std::shared_ptr<peak::afl::Controller>& controller, callback::RegisterFunction register_function, 
            callback::UnRegisterFunction unregister_function,  std::function<R(Args...)> callback) :
            m_callback(std::move(callback)),
            m_unregister_function(std::move(unregister_function))
        {
            const auto ret = register_function(reinterpret_cast<void*>(&Callback::Func<Args...>), this);
            if (ret != PEAK_AFL_STATUS_SUCCESS)
            {
                throw error::Exception(ret);
            }
            m_controller = controller;
        }

        virtual ~Callback()
        {
            if (auto controller = m_controller.lock())
            {
                m_unregister_function();
            }
        }

    private:
        template<typename ...Args>
        static void Func(Args... args, void* ptr)
        {
            static_cast<Callback *>(ptr)->m_callback(args...);
        };
#endif

        std::weak_ptr<peak::afl::Controller> m_controller{};
        callback::UnRegisterFunction m_unregister_function{};
        T m_callback{};
    };

    
    inline explicit Controller(peak_afl_controller_handle handle)
        : m_handle(handle) {};

public:
    inline ~Controller();

    Controller(const Controller&) = delete;
    Controller(Controller&&) = delete;
    Controller& operator=(const Controller&) = delete;
    Controller& operator=(Controller&&) = delete;

    PEAK_AFL_NO_DISCARD inline static std::shared_ptr<Controller> Create(peak_afl_controllerType type);

    PEAK_AFL_NO_DISCARD inline bool IsSkipFramesSupported() const;

    inline void SetSkipFrames(std::uint32_t count);

    PEAK_AFL_NO_DISCARD inline std::uint32_t GetSkipFrames() const;

    PEAK_AFL_NO_DISCARD inline Range<std::uint32_t> GetSkipFramesRange() const;

    PEAK_AFL_NO_DISCARD inline bool IsROISupported() const;

    inline void SetROI(peak_afl_rectangle rect);

    PEAK_AFL_NO_DISCARD inline peak_afl_rectangle GetROI() const;

    PEAK_AFL_NO_DISCARD inline bool IsROIPresetSupported() const;

    inline void SetROIPreset(peak_afl_roi_preset preset);

    PEAK_AFL_NO_DISCARD inline bool IsModeSupported() const;

    inline void SetMode(peak_afl_controller_automode mode);

    PEAK_AFL_NO_DISCARD inline peak_afl_controller_automode GetMode() const;

    PEAK_AFL_NO_DISCARD inline peak_afl_controller_status Status() const;

    PEAK_AFL_NO_DISCARD inline std::uint8_t GetLastAutoAverage() const;

    PEAK_AFL_NO_DISCARD inline std::tuple<std::uint8_t, std::uint8_t, std::uint8_t> GetLastAutoAverages() const;

    PEAK_AFL_NO_DISCARD inline bool IsAutoTargetSupported() const;

    inline void SetAutoTarget(uint32_t target);

    PEAK_AFL_NO_DISCARD inline std::uint32_t GetAutoTarget() const;

    PEAK_AFL_NO_DISCARD inline Range<std::uint32_t> GetAutoTargetRange() const;

    PEAK_AFL_NO_DISCARD inline bool IsAutoToleranceSupported() const;

    inline void SetAutoTolerance(std::uint32_t tolerance);

    PEAK_AFL_NO_DISCARD inline std::uint32_t GetAutoTolerance() const;

    PEAK_AFL_NO_DISCARD inline Range<std::uint32_t> GetAutoToleranceRange() const;

    PEAK_AFL_NO_DISCARD inline bool IsAutoPercentileSupported() const;

    inline void SetAutoPercentile(double percentile);

    PEAK_AFL_NO_DISCARD inline double GetAutoPercentile() const;

    PEAK_AFL_NO_DISCARD inline Range<double> GetAutoPercentileRange() const;

    PEAK_AFL_NO_DISCARD inline peak_afl_controllerType Type() const;

    PEAK_AFL_NO_DISCARD inline bool IsAlgorithmSupported() const;

    inline void SetAlgorithm(peak_afl_controller_algorithm algorithm);

    PEAK_AFL_NO_DISCARD inline peak_afl_controller_algorithm GetAlgorithm() const;

    PEAK_AFL_NO_DISCARD inline std::vector<peak_afl_controller_algorithm> GetAlgorithmList() const;

    PEAK_AFL_NO_DISCARD inline bool IsSharpnessAlgorithmSupported() const;

    inline void SetSharpnessAlgorithm(peak_afl_controller_sharpness_algorithm algorithm);

    PEAK_AFL_NO_DISCARD inline peak_afl_controller_sharpness_algorithm GetSharpnessAlgorithm() const;

    PEAK_AFL_NO_DISCARD inline std::vector<peak_afl_controller_sharpness_algorithm> GetSharpnessAlgorithmList() const;

    inline void RegisterFinishedCallback(const callback::FinishedCallback& callback);

    inline void UnRegisterFinishedCallback();

    inline void RegisterComponentCallback(peak_afl_controller_brightness_component component, const callback::FinishedCallback& callback);

    inline void UnRegisterComponentCallback(peak_afl_controller_brightness_component component);

    inline void RegisterDataProcessingCallback(const callback::DataProcessingCallback& callback);

    inline void UnRegisterDataProcessingCallback();

    PEAK_AFL_NO_DISCARD inline bool IsWeightedROISupported() const;

    inline void SetWeightedROIs(const std::vector<peak_afl_weighted_rectangle>& list);

    inline void SetWeightedROI(const peak_afl_weighted_rectangle& rect);

    PEAK_AFL_NO_DISCARD inline peak_afl_size GetWeightedROIMinSize() const;

    PEAK_AFL_NO_DISCARD inline std::vector<peak_afl_weighted_rectangle> GetWeightedROIs() const;

    PEAK_AFL_NO_DISCARD inline bool IsLimitSupported() const;

    inline void SetLimit(peak_afl_controller_limit limit);

    PEAK_AFL_NO_DISCARD inline peak_afl_controller_limit GetLimit() const;

    PEAK_AFL_NO_DISCARD inline peak_afl_controller_limit GetDefaultLimit() const;

    PEAK_AFL_NO_DISCARD inline bool IsHysteresisSupported() const;

    inline void SetHysteresis(std::uint8_t hysteresis);

    PEAK_AFL_NO_DISCARD inline std::uint8_t GetHysteresis() const;

    PEAK_AFL_NO_DISCARD inline std::uint8_t GetDefaultHysteresis() const;

    PEAK_AFL_NO_DISCARD inline Range<std::uint8_t> GetHysteresisRange() const;

    PEAK_AFL_NO_DISCARD inline bool IsBrightnessComponentModeSupported() const;

    inline void BrightnessComponentSetMode(peak_afl_controller_brightness_component component, peak_afl_controller_automode mode);

    PEAK_AFL_NO_DISCARD inline peak_afl_controller_automode BrightnessComponentGetMode(peak_afl_controller_brightness_component component) const;

    PEAK_AFL_NO_DISCARD inline peak_afl_controller_status BrightnessComponentStatus(peak_afl_controller_brightness_component component) const;

    PEAK_AFL_NO_DISCARD inline bool IsGainLimitSupported() const;

    inline void SetGainLimit(peak_afl_double_limit limit);

    inline peak_afl_double_limit GetGainLimit() const;

    inline peak_afl_double_limit GetGainLimitRange() const;


private:
    using FinishedCallbackType = Callback<callback::FinishedCallback>;
    using DataProcessingCallbackType = Callback<callback::DataProcessingCallback>;
    using ComponentCallbackType = Callback<callback::ComponentCallback>;

    peak_afl_controller_handle m_handle{};
    std::unique_ptr<FinishedCallbackType> m_finishedCallback{};
    std::unique_ptr<DataProcessingCallbackType> m_dataProcessingCallback{};
    std::unique_ptr<ComponentCallbackType> m_finishedExposureCallback{};
    std::unique_ptr<ComponentCallbackType> m_finishedGainCallback{};
};

namespace library
{
inline void Init()
{
    const auto ret = peak_afl_Init();
    if (ret != PEAK_AFL_STATUS_SUCCESS)

    {
        throw error::Exception(ret, false);
    }
}

inline void Exit()
{
    const auto ret = peak_afl_Exit();
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret, false);
    }
}

inline Version_t Version()
{
    Version_t version{};

    const auto ret = peak_afl_GetVersion(&version.major, &version.minor, &version.subminor, &version.patch);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret, false);
    }

    return version;
}

inline std::string GetLastError()
{
    std::size_t lastErrorMessageSize;
    peak_afl_status code;

    auto ret = peak_afl_GetLastError(&code, nullptr, &lastErrorMessageSize);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        return "Cannot get last error!";
    }

    std::vector<char> text;
    text.resize(lastErrorMessageSize);

    ret = peak_afl_GetLastError(&code, text.data(), &lastErrorMessageSize);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        return "Cannot get last error!";
    }

    return { text.begin(), text.end() };
}
} // namespace library

inline Manager::Manager(const std::shared_ptr<peak::core::NodeMap>& node_map)
{
    if(!node_map)
    {
        throw std::runtime_error("Invalid node map handle!");
    }

    const auto ret = peak_afl_AutoFeatureManager_Create(&m_handle, node_map->Handle());
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline Manager::~Manager()
{
    if (m_handle != nullptr)
    {
        peak_afl_AutoFeatureManager_DestroyAllController(m_handle);

        {
            std::lock_guard<std::mutex> lck(m_mutex);
            for (auto& c : m_controllerList)
            {
                c->m_handle = nullptr;
            }
        }

        peak_afl_AutoFeatureManager_Destroy(m_handle);
        m_handle = nullptr;
    }
}

inline Manager::Manager(Manager&& other) noexcept {
    m_handle = other.m_handle;
    other.m_handle = nullptr;

    std::lock_guard<std::mutex> lck(other.m_mutex);
    m_controllerList = std::move(other.m_controllerList);
}

inline Manager& Manager::operator=(Manager&& other) noexcept
{
    m_handle = other.m_handle;
    other.m_handle = nullptr;

    std::lock_guard<std::mutex> lck(other.m_mutex);
    m_controllerList = std::move(other.m_controllerList);

    return *this;
}

inline void Manager::AddController(const std::shared_ptr<Controller>& controller)
{
    std::lock_guard<std::mutex> lck(m_mutex);

    auto cnt = std::any_of(m_controllerList.begin(), m_controllerList.end(), [controller](const std::shared_ptr<Controller>& c) {
        return c == controller;
    });

    if(cnt)
    {
        return;
    }

    const auto ret = peak_afl_AutoFeatureManager_AddController(m_handle, controller->m_handle);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    m_controllerList.emplace_back(controller);
}

inline void Manager::RemoveController(const std::shared_ptr<Controller>& controller)
{
    std::lock_guard<std::mutex> lck(m_mutex);

    const auto ret = peak_afl_AutoFeatureManager_RemoveController(m_handle, controller->m_handle);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    auto it = std::remove_if(m_controllerList.begin(), m_controllerList.end(), [controller](const std::shared_ptr<Controller>& c) {
        return c == controller;
    });

    m_controllerList.erase(it, m_controllerList.end());
}

inline void Manager::Process(const peak::ipl::Image& image) const
{
    const auto ret = peak_afl_AutoFeatureManager_Process(m_handle, ImageBackendAccessor::BackendHandle(image));
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline std::shared_ptr<Controller> Manager::CreateController(peak_afl_controllerType type)
{
    std::lock_guard<std::mutex> lck(m_mutex);

    peak_afl_controller_handle handle{};
    const auto ret = peak_afl_AutoFeatureManager_CreateController(m_handle, &handle, type);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    auto shared = std::shared_ptr<Controller>(new Controller(handle));
    m_controllerList.emplace_back(shared);

    return shared;
}

inline void Manager::DestroyAllController()
{
    std::lock_guard<std::mutex> lck(m_mutex);

    const auto ret = peak_afl_AutoFeatureManager_DestroyAllController(m_handle);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    for(auto& c : m_controllerList)
    {
        c->m_handle = nullptr;
    }

    m_controllerList.clear();
}

inline void Manager::DestroyController(const std::shared_ptr<Controller>& controller)
{
    std::lock_guard<std::mutex> lck(m_mutex);

    const auto ret = peak_afl_AutoFeatureManager_DestroyController(m_handle, controller->m_handle);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    auto it = std::remove_if(m_controllerList.begin(), m_controllerList.end(), [controller](const std::shared_ptr<Controller>& c) {
        return c == controller;
    });

    m_controllerList.erase(it, m_controllerList.end());

    controller->m_handle = nullptr;
}

inline void Manager::SetGainIPL(const peak::ipl::Gain& gain)
{
    const auto ret = peak_afl_AutoFeatureManager_SetGainIPL(m_handle, GainBackendAccessor::BackendHandle(gain));
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline bool Manager::Status() const
{
    std::uint8_t status;
    const auto ret = peak_afl_AutoFeatureManager_Status(m_handle, &status);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return status;
}

inline std::vector<std::shared_ptr<Controller>> Manager::ControllerList() const
{
    std::lock_guard<std::mutex> lck(m_mutex);

    std::vector<std::shared_ptr<Controller>> controller{};

    std::copy(m_controllerList.begin(), m_controllerList.end(), std::back_inserter(controller));

    return controller;
}

inline size_t Manager::ControllerCount() const
{
    return m_controllerList.size();
}

inline std::shared_ptr<Controller> Manager::GetController(peak_afl_controllerType type) const
{
    std::lock_guard<std::mutex> lck(m_mutex);

    auto it = std::find_if(m_controllerList.cbegin(), m_controllerList.cend(), [=](const std::shared_ptr<Controller>& controller) {
        return type == controller->Type();
    });

    if(it != m_controllerList.cend())
    {
        return *it;
    }
    else
    {
        throw error::Exception(PEAK_AFL_STATUS_ERROR, false);
    }
}

inline std::shared_ptr<Controller> Controller::Create(peak_afl_controllerType type)
{
    peak_afl_controller_handle handle{};
    const auto ret = peak_afl_AutoController_Create(&handle, type);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return std::shared_ptr<Controller>(new Controller(handle));
}

inline Controller::~Controller()
{
    if (m_handle != nullptr)
    {
        peak_afl_AutoController_Destroy(m_handle);
        m_handle = nullptr;
    }
}

inline bool Controller::IsSkipFramesSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_SkipFrames_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetSkipFrames(std::uint32_t count)
{
    const auto ret = peak_afl_AutoController_SkipFrames_Set(m_handle, count);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline std::uint32_t Controller::GetSkipFrames() const
{
    std::uint32_t count{};
    const auto ret = peak_afl_AutoController_SkipFrames_Get(m_handle, &count);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return count;
}

inline Range<std::uint32_t> Controller::GetSkipFramesRange() const
{
    Range<std::uint32_t> range{};
    const auto ret = peak_afl_AutoController_SkipFrames_GetRange(m_handle, &range.min, &range.max, &range.inc);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return range;
}

inline bool Controller::IsROISupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_ROI_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetROI(peak_afl_rectangle rect)
{
    const auto ret = peak_afl_AutoController_ROI_Set(m_handle, rect);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline peak_afl_rectangle Controller::GetROI() const
{
    peak_afl_rectangle rect{};
    const auto ret = peak_afl_AutoController_ROI_Get(m_handle, &rect);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return rect;
}

inline bool Controller::IsROIPresetSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_ROI_Preset_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetROIPreset(peak_afl_roi_preset preset)
{
    const auto ret = peak_afl_AutoController_ROI_Preset_Set(m_handle, preset);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline bool Controller::IsModeSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_Mode_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetMode(peak_afl_controller_automode mode)
{
    const auto ret = peak_afl_AutoController_Mode_Set(m_handle, mode);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline peak_afl_controller_automode Controller::GetMode() const
{
    peak_afl_controller_automode mode{};
    const auto ret = peak_afl_AutoController_Mode_Get(m_handle, &mode);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return mode;
}

inline peak_afl_controller_status Controller::Status() const
{
    peak_afl_controller_status status{};
    const auto ret = peak_afl_AutoController_Status(m_handle, &status);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return status;
}


inline std::uint8_t Controller::GetLastAutoAverage() const
{
    std::uint8_t average{};
    const auto ret = peak_afl_AutoController_GetLastAutoAverage(m_handle, &average);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return average;
}

inline std::tuple<std::uint8_t, std::uint8_t, std::uint8_t> Controller::GetLastAutoAverages() const
{
    std::uint8_t averageRed{}, averageGreen{}, averageBlue{};
    const auto ret = peak_afl_AutoController_GetLastAutoAverages(m_handle, &averageRed, &averageGreen, &averageBlue);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return { averageRed, averageGreen, averageBlue };
}

inline bool Controller::IsAutoTargetSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_AutoTarget_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetAutoTarget(std::uint32_t target)
{
    const auto ret = peak_afl_AutoController_AutoTarget_Set(m_handle, target);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline std::uint32_t Controller::GetAutoTarget() const
{
    std::uint32_t target{};
    const auto ret = peak_afl_AutoController_AutoTarget_Get(m_handle, &target);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return target;
}

inline Range<std::uint32_t> Controller::GetAutoTargetRange() const
{
    Range<std::uint32_t> range{};
    const auto ret = peak_afl_AutoController_AutoTarget_GetRange(m_handle, &range.min, &range.max, &range.inc);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return range;
}

inline bool Controller::IsAutoToleranceSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_AutoTolerance_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetAutoTolerance(uint32_t tolerance)
{
    const auto ret = peak_afl_AutoController_AutoTolerance_Set(m_handle, tolerance);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline uint32_t Controller::GetAutoTolerance() const
{
    std::uint32_t tolerance;
    const auto ret = peak_afl_AutoController_AutoTolerance_Get(m_handle, &tolerance);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return tolerance;
}

inline Range<uint32_t> Controller::GetAutoToleranceRange() const
{
    Range<uint32_t> range{};
    const auto ret = peak_afl_AutoController_AutoTolerance_GetRange(m_handle, &range.min, &range.max, &range.inc);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return range;
}

inline bool Controller::IsAutoPercentileSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_AutoPercentile_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetAutoPercentile(double percentile)
{
    const auto ret = peak_afl_AutoController_AutoPercentile_Set(m_handle, percentile);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline double Controller::GetAutoPercentile() const
{
    double percentile;
    const auto ret = peak_afl_AutoController_AutoPercentile_Get(m_handle, &percentile);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return percentile;
}

inline Range<double> Controller::GetAutoPercentileRange() const
{
    Range<double> range{};
    const auto ret = peak_afl_AutoController_AutoPercentile_GetRange(m_handle, &range.min, &range.max, &range.inc);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return range;
}

inline peak_afl_controllerType Controller::Type() const
{
    peak_afl_controllerType type{};
    const auto ret = peak_afl_AutoController_Type_Get(m_handle, &type);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return type;
}

inline bool Controller::IsAlgorithmSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_Algorithm_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetAlgorithm(peak_afl_controller_algorithm alg)
{
    const auto ret = peak_afl_AutoController_Algorithm_Set(m_handle, alg);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline peak_afl_controller_algorithm Controller::GetAlgorithm() const
{
    peak_afl_controller_algorithm alg{};
    const auto ret = peak_afl_AutoController_Algorithm_Get(m_handle, &alg);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return alg;
}

inline std::vector<peak_afl_controller_algorithm> Controller::GetAlgorithmList() const
{
    std::vector<peak_afl_controller_algorithm> algList{};
    std::uint32_t listSize{};

    auto ret = peak_afl_AutoController_Algorithm_GetList(m_handle, nullptr, &listSize);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    algList.resize(listSize);

    ret = peak_afl_AutoController_Algorithm_GetList(m_handle, algList.data(), &listSize);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return algList;
}

inline bool Controller::IsSharpnessAlgorithmSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_SharpnessAlgorithm_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetSharpnessAlgorithm(peak_afl_controller_sharpness_algorithm alg)
{
    const auto ret = peak_afl_AutoController_SharpnessAlgorithm_Set(m_handle, alg);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline peak_afl_controller_sharpness_algorithm Controller::GetSharpnessAlgorithm() const
{
    peak_afl_controller_sharpness_algorithm alg{};
    const auto ret = peak_afl_AutoController_SharpnessAlgorithm_Get(m_handle, &alg);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return alg;
}

inline std::vector<peak_afl_controller_sharpness_algorithm> Controller::GetSharpnessAlgorithmList() const
{
    std::vector<peak_afl_controller_sharpness_algorithm> algList{};
    std::uint32_t listSize{};

    auto ret = peak_afl_AutoController_SharpnessAlgorithm_GetList(m_handle, nullptr, &listSize);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    algList.resize(listSize);

    ret = peak_afl_AutoController_SharpnessAlgorithm_GetList(m_handle, algList.data(), &listSize);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return algList;
}

inline void Controller::RegisterFinishedCallback(const callback::FinishedCallback& callback)
{
    m_finishedCallback = std::make_unique<FinishedCallbackType>(shared_from_this(), 
        [handle = m_handle](void* ptr, void* ctx) {
            return peak_afl_AutoController_Callback_Set(handle, PEAK_AFL_CONTROLLER_CALLBACK_FINISHED, ptr, ctx); },
        [handle = m_handle] { 
            peak_afl_AutoController_Callback_Set(handle, PEAK_AFL_CONTROLLER_CALLBACK_FINISHED, nullptr, nullptr); },
         callback);
}

inline void Controller::UnRegisterFinishedCallback()
{
    m_finishedCallback.reset();
}

inline void Controller::RegisterComponentCallback(peak_afl_controller_brightness_component component, const callback::FinishedCallback& callback)
{
    if (!IsBrightnessComponentModeSupported())
    {
        throw error::Exception(PEAK_AFL_STATUS_NOT_SUPPORTED);
    }

    if (PEAK_AFL_CONTROLLER_BRIGHTNESS_COMPONENT_EXPOSURE == component)
    {
        m_finishedExposureCallback = std::make_unique<ComponentCallbackType>(shared_from_this(),
            [handle = m_handle, component](void* ptr, void* ctx) {
                return peak_afl_AutoController_BrightnessComponent_Callback_Set(handle, component, PEAK_AFL_CONTROLLER_CALLBACK_FINISHED,
                    ptr, ctx); },
            [handle = m_handle, component] {
                peak_afl_AutoController_BrightnessComponent_Callback_Set(handle, component, PEAK_AFL_CONTROLLER_CALLBACK_FINISHED,
                    nullptr, nullptr); },
            callback);
    }
    else if (PEAK_AFL_CONTROLLER_BRIGHTNESS_COMPONENT_GAIN == component)
    {
        m_finishedGainCallback = std::make_unique<ComponentCallbackType>(shared_from_this(),
            [handle = m_handle, component](void* ptr, void* ctx) {
                return peak_afl_AutoController_BrightnessComponent_Callback_Set(handle, component, PEAK_AFL_CONTROLLER_CALLBACK_FINISHED,
                    ptr, ctx); },
            [handle = m_handle, component] {
                peak_afl_AutoController_BrightnessComponent_Callback_Set(handle, component, PEAK_AFL_CONTROLLER_CALLBACK_FINISHED,
                    nullptr, nullptr); },
            callback);
    }
    else
    {
        throw error::Exception(PEAK_AFL_STATUS_INVALID_PARAMETER);
    }
}

inline void Controller::UnRegisterComponentCallback(peak_afl_controller_brightness_component component)
{
    if (PEAK_AFL_CONTROLLER_BRIGHTNESS_COMPONENT_EXPOSURE == component)
    {
        m_finishedExposureCallback.reset();
    }
    else if (PEAK_AFL_CONTROLLER_BRIGHTNESS_COMPONENT_GAIN == component)
    {
        m_finishedGainCallback.reset();
    }
    else
    {
        throw error::Exception(PEAK_AFL_STATUS_INVALID_PARAMETER);
    }
}

inline void Controller::RegisterDataProcessingCallback(const callback::DataProcessingCallback& callback)
{
    m_dataProcessingCallback = std::make_unique<DataProcessingCallbackType>(shared_from_this(), 
        [handle = m_handle](void* ptr, void* ctx) {
            return peak_afl_AutoController_Callback_Set(handle, PEAK_AFL_CONTROLLER_CALLBACK_PROCESSING_DATA, ptr, ctx); },
        [handle = m_handle] { 
            peak_afl_AutoController_Callback_Set(handle, PEAK_AFL_CONTROLLER_CALLBACK_PROCESSING_DATA, nullptr, nullptr);},
         callback);
}

inline void Controller::UnRegisterDataProcessingCallback()
{
    m_dataProcessingCallback.reset();
}

inline bool Controller::IsWeightedROISupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_Weighted_ROI_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetWeightedROIs(const std::vector<peak_afl_weighted_rectangle>& list)
{
    const auto ret = peak_afl_AutoController_Weighted_ROI_Set(m_handle, list.data(), static_cast<uint32_t>(list.size()));
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline void Controller::SetWeightedROI(const peak_afl_weighted_rectangle& rect)
{
    const auto ret = peak_afl_AutoController_Weighted_ROI_Set(m_handle, &rect, 1);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline peak_afl_size Controller::GetWeightedROIMinSize() const
{
    peak_afl_size minSize{};
    const auto ret = peak_afl_AutoController_Weighted_ROI_Min_Size(m_handle, &minSize);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return minSize;
}

inline std::vector<peak_afl_weighted_rectangle> Controller::GetWeightedROIs() const
{
    std::vector<peak_afl_weighted_rectangle> list;
    std::uint32_t listSize{};

    auto ret = peak_afl_AutoController_Weighted_ROI_Get(m_handle, nullptr, &listSize);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    list.resize(listSize);

    ret = peak_afl_AutoController_Weighted_ROI_Get(m_handle, list.data(), &listSize);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return list;
}

inline bool Controller::IsLimitSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_Limit_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetLimit(peak_afl_controller_limit limit)
{
    const auto ret = peak_afl_AutoController_Limit_Set(m_handle, limit);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline peak_afl_controller_limit Controller::GetLimit() const
{
    peak_afl_controller_limit limit{};
    const auto ret = peak_afl_AutoController_Limit_Get(m_handle, &limit);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return limit;
}

inline peak_afl_controller_limit Controller::GetDefaultLimit() const
{
    peak_afl_controller_limit limit{};
    const auto ret = peak_afl_AutoController_Limit_Default(m_handle, &limit);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return limit;
}

inline bool Controller::IsHysteresisSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_Hysteresis_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetHysteresis(std::uint8_t hysteresis)
{
    const auto ret = peak_afl_AutoController_Hysteresis_Set(m_handle, hysteresis);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline std::uint8_t Controller::GetHysteresis() const
{
    std::uint8_t hysteresis{};
    const auto ret = peak_afl_AutoController_Hysteresis_Get(m_handle, &hysteresis);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return hysteresis;
}

inline std::uint8_t Controller::GetDefaultHysteresis() const
{
    std::uint8_t hysteresis{};
    const auto ret = peak_afl_AutoController_Hysteresis_Default(m_handle, &hysteresis);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return hysteresis;
}

inline Range<std::uint8_t> Controller::GetHysteresisRange() const
{
    Range<std::uint8_t> hysteresis{};
    const auto ret = peak_afl_AutoController_Hysteresis_GetRange(
        m_handle, &hysteresis.min, &hysteresis.max, &hysteresis.inc);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return hysteresis;
}

PEAK_AFL_NO_DISCARD inline bool Controller::IsBrightnessComponentModeSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_BrightnessComponent_Mode_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::BrightnessComponentSetMode(
    peak_afl_controller_brightness_component component, peak_afl_controller_automode mode)
{
    const auto ret = peak_afl_AutoController_BrightnessComponent_Mode_Set(m_handle, component, mode);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

PEAK_AFL_NO_DISCARD inline peak_afl_controller_automode Controller::BrightnessComponentGetMode(
    peak_afl_controller_brightness_component component) const
{
    peak_afl_controller_automode mode{};
    const auto ret = peak_afl_AutoController_BrightnessComponent_Mode_Get(m_handle, component, &mode);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return mode;
}

PEAK_AFL_NO_DISCARD inline peak_afl_controller_status Controller::BrightnessComponentStatus(
    peak_afl_controller_brightness_component component) const
{
    peak_afl_controller_status status{};
    const auto ret = peak_afl_AutoController_BrightnessComponent_Status(m_handle, component, &status);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
    return status;
}

inline bool Controller::IsGainLimitSupported() const
{
    peak_afl_BOOL8 supported{};
    const auto ret = peak_afl_AutoController_GainLimit_IsSupported(m_handle, &supported);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return supported;
}

inline void Controller::SetGainLimit(peak_afl_double_limit limit)
{
    const auto ret = peak_afl_AutoController_GainLimit_Set(m_handle, limit);
    if (ret == PEAK_AFL_STATUS_VALUE_ADJUSTED)
    {
        // Do nothing. Not an error.
    }
    else if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }
}

inline peak_afl_double_limit Controller::GetGainLimit() const
{
    peak_afl_double_limit limit{};
    const auto ret = peak_afl_AutoController_GainLimit_Get(m_handle, &limit);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return limit;
}

inline peak_afl_double_limit Controller::GetGainLimitRange() const
{
    peak_afl_double_limit limit{};
    const auto ret = peak_afl_AutoController_GainLimit_GetRange(m_handle, &limit);
    if (ret != PEAK_AFL_STATUS_SUCCESS)
    {
        throw error::Exception(ret);
    }

    return limit;
}


} /* namespace afl */
} /* namespace peak */