#pragma once

#include <cstdint>
#include <linux/videodev2.h>
#include <queue>
#include <thread>

#include "constants.h"
#include "image.h"

#include "icamera.h"

class VeyeIMX287m : public ICamera
{
    constexpr static char videoDevice[] = "/dev/video0";

public:
    using buffer_t = std::array<uint8_t, img_size>;

public:
    VeyeIMX287m();
    ~VeyeIMX287m() override;

public:
    static std::vector<std::shared_ptr<ICamera>> search();

public:
    bool startStream() override;

    bool init();

    bool setExposureTimeUs(int value) override;
    bool setGain(int value) override;

    bool setLaserLevel(int value) override;

    bool setSomething(int value) override;

    // bool dequeueImageBuffer(Image &image);
    bool dequeueImageBuffer(size_t &image);
    bool getImage(Image &image);
    // Image &getImage();

public:
    // libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
    // libcamera::Signal<std::shared_ptr<Image>> newImage;
    uint32_t processedCounter{0};

private:
    bool setCamParam(unsigned int v4l2controlId, int value);
    bool openCam();
    bool selectCam(int camIdx = 0);
    bool initCam();

    void dequeueFrameLoop(std::stop_token stopToken);
    void calcFrameLoop(std::stop_token stopToken);

private:
    int m_cam_fd{-1};

    static constexpr uint8_t BUFFER_COUNT{16};
    struct v4l2_plane planes[VIDEO_MAX_PLANES];

    std::array<std::mutex, BUFFER_COUNT> m_imageMutexes;
    std::array<Image, BUFFER_COUNT> m_images;
    std::array<std::mutex, BUFFER_COUNT> m_bufferMutexes;
    std::array<uint8_t *, BUFFER_COUNT> m_videoBuffers;

    struct buffer
    {
        unsigned int idx;
        unsigned int padding[VIDEO_MAX_PLANES];
        unsigned int size[VIDEO_MAX_PLANES];
        void *mem[VIDEO_MAX_PLANES];
    };
    std::vector<buffer> buffers;

    // std::mutex m_queueMtx;
    std::mutex m_camMtx;
    std::queue<size_t> m_buffersQueue;

    std::jthread m_streamThread;
    // std::jthread m_calcThreads[1];
    std::jthread m_calcThreads[4];
};