#ifndef VOXEL_DISTANCE_API_H
#define VOXEL_DISTANCE_API_H

#include <cstdint>         
#include "CommonStructs.hpp"

#ifdef __cplusplus
extern "C" {
#endif

    // ========== 平台相关的导出宏 ==========
#ifdef _WIN32
#if defined(VOXEL_DISTANCE_EXPORTS) || defined(BUSBAR_PLANNER_EXPORTS)
    // 编译动态库时导出
#define VOXEL_API __declspec(dllexport)
#elif defined(BUSBAR_ROUTER_STATIC) || !defined(VOXEL_DLL)  // 新增：默认走静态分支
    // 编译可执行文件/静态库，无导入导出
#define VOXEL_API
#else
    // 使用动态库时导入（保留）
#define VOXEL_API __declspec(dllimport)
#endif
#else
#define VOXEL_API
#endif

// ========== 纯 C 接口 ==========

/**
 * 计算飞行距离(在非障碍空间中的最短路径)
 */
    VOXEL_API int CalculateFlightDistance(
        const int* component_A_coords,
        int component_A_count,
        const int* component_B_coords,
        int component_B_count,
        int xsize,
        int ysize,
        int zsize,
        const uint16_t* voxel_types,
        double threshold,
        const IniInPutStruct* inputDataA,
        size_t inputCountA,
        const IniInPutStruct* inputDataB,
        size_t inputCountB,
        const IniInPutStruct* pInputDataGlobal,
        size_t  inputDataGlobalSize,
        float offset_x,
        float offset_y,
        float offset_z,
        float rangeXMin,
        float rangeXMax,
        float rangeYMin,
        float rangeYMax,
        float rangeZMin,
        float rangeZMax,
        double* out_distance,
        int* out_start_x,
        int* out_start_y,
        int* out_start_z,
        int* out_end_x,
        int* out_end_y,
        int* out_end_z,
        float* out_path_coords,
        int* out_path_count,
        float voxel_size
    );

    /**
     * 计算爬行距离(在障碍物表面的最短路径)
     */
    VOXEL_API int CalculateCreepDistance(
        const int* component_A_coords,
        int component_A_count,
        const int* component_B_coords,
        int component_B_count,
        int xsize,
        int ysize,
        int zsize,
        const bool* obstacles,
        double threshold,
        double* out_distance,
        int* out_start_x,
        int* out_start_y,
        int* out_start_z,
        int* out_end_x,
        int* out_end_y,
        int* out_end_z,
        float* out_path_coords,
        int* out_path_count
    );

    /**
     * 获取最后一次错误信息
     */
    VOXEL_API const char* VoxelGetLastError(void);

#ifdef __cplusplus
}
#endif

#endif // VOXEL_DISTANCE_API_H