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#include <atomic>
#include <iomanip>
#include <iostream>
#include <signal.h>
#include <limits.h>
#include <memory>
#include <stdint.h>
#include <string>
#include <vector>
#include <unordered_map>
#include <queue>
#include <sstream>
#include <sys/mman.h>
#include <unistd.h>
#include <time.h>
#include <mutex>
#include <libcamera/controls.h>
#include <libcamera/control_ids.h>
#include <libcamera/property_ids.h>
#include <libcamera/libcamera.h>
#include <libcamera/camera.h>
#include <libcamera/camera_manager.h>
#include <libcamera/framebuffer_allocator.h>
#include <libcamera/request.h>
#include <libcamera/stream.h>
#include <libcamera/formats.h>
#include <libcamera/transform.h>
using namespace libcamera;
typedef struct {
uint8_t *imageData;
uint32_t size;
uint64_t request;
} LibcameraOutData;
class LibCamera {
public:
LibCamera(){};
~LibCamera(){};
int initCamera();
void configureStill(int width, int height, PixelFormat format, int buffercount, int rotation);
int startCamera();
int resetCamera(int width, int height, PixelFormat format, int buffercount, int rotation);
bool readFrame(LibcameraOutData *frameData);
void returnFrameBuffer(LibcameraOutData frameData);
void set(ControlList controls);
void stopCamera();
void closeCamera();
Stream *VideoStream(uint32_t *w, uint32_t *h, uint32_t *stride) const;
char * getCameraId();
private:
int startCapture();
int queueRequest(Request *request);
void requestComplete(Request *request);
void processRequest(Request *request);
void StreamDimensions(Stream const *stream, uint32_t *w, uint32_t *h, uint32_t *stride) const;
unsigned int cameraIndex_;
uint64_t last_;
std::unique_ptr<CameraManager> cm;
std::shared_ptr<Camera> camera_;
bool camera_acquired_ = false;
bool camera_started_ = false;
std::unique_ptr<CameraConfiguration> config_;
std::unique_ptr<FrameBufferAllocator> allocator_;
std::vector<std::unique_ptr<Request>> requests_;
// std::map<std::string, Stream *> stream_;
std::map<int, std::pair<void *, unsigned int>> mappedBuffers_;
std::queue<Request *> requestQueue;
ControlList controls_;
std::mutex control_mutex_;
std::mutex camera_stop_mutex_;
std::mutex free_requests_mutex_;
Stream *viewfinder_stream_ = nullptr;
std::string cameraId;
};
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