#include <iostream>
#include <memory>
#include <csignal>
#include <atomic>
#include <vizionsdk/VizionSDK.h>
#include "SocketServer.h"
#include "CameraController.h"

std::atomic<bool> g_running(true);

void signalHandler(int signal) {
    std::cout << "\nReceived signal " << signal << ", shutting down..." << std::endl;
    g_running = false;
}

int main() {
    // Setup signal handlers for clean shutdown
    signal(SIGINT, signalHandler);
    signal(SIGTERM, signalHandler);

    // List available cameras
    std::vector<std::string> devList;
    const int deviceCount = VxDiscoverCameraDevices(devList);

    if (deviceCount == 0) {
        std::cout << "No cameras found" << std::endl;
        return -1;
    }

    std::cout << "Found " << deviceCount << " camera(s):" << std::endl;
    for (size_t i = 0; i < devList.size(); i++) {
        std::cout << "[" << i << "] " << devList[i] << std::endl;
    }

    // Find VCI-AR0234 camera
    int cameraIndex = -1;
    for (size_t i = 0; i < devList.size(); i++) {
        if (devList[i].find("VCI-AR0234") != std::string::npos) {
            cameraIndex = static_cast<int>(i);
            std::cout << "Selected camera [" << cameraIndex << "]: " << devList[i] << std::endl;
            break;
        }
    }

    if (cameraIndex == -1) {
        std::cout << "VCI-AR0234 camera not found, using default (index 0)" << std::endl;
        cameraIndex = 0;
    }

    // Open camera
    auto cam = VxInitialCameraDevice(cameraIndex);
    if (!cam || VxOpen(cam) != 0) {
        std::cout << "Failed to initialize/open camera" << std::endl;
        return -1;
    }

    // Get and set default format
    std::vector<VxFormat> fmtList;
    if (VxGetFormatList(cam, fmtList) != 0) {
        std::cout << "Failed to get format list" << std::endl;
        VxClose(cam);
        return -1;
    }

    if (VxSetFormat(cam, fmtList[0]) != 0) {
        std::cout << "Failed to set format" << std::endl;
        VxClose(cam);
        return -1;
    }

    std::cout << "Initial format: " << fmtList[0].width << "x" << fmtList[0].height
              << " @ " << fmtList[0].framerate << " fps" << std::endl;

    // Create camera controller
    const auto controller = std::make_shared<CameraController>(cam);

    // Start Unix domain socket server
    const std::string socketPath = "/tmp/vizion_control.sock";
    SocketServer server(socketPath);

    if (!server.start([controller](const std::string& cmd) {
        return controller->processCommand(cmd);
    })) {
        std::cout << "Failed to start socket server" << std::endl;
        VxClose(cam);
        return -1;
    }

    std::cout << "\n========================================" << std::endl;
    std::cout << "VizionStreamer Ready" << std::endl;
    std::cout << "Author: Maik Jurischka <m.jurischka@scidre.de" << std::endl;
    std::cout << "========================================" << std::endl;
    std::cout << "Control socket: " << socketPath << std::endl;
    std::cout << "Default pipeline: videoconvert ! autovideosink" << std::endl;
    std::cout << "\nQuick start:" << std::endl;
    std::cout << R"(  echo '{"command":"start_stream"}' | socat - UNIX-CONNECT:)" << socketPath << std::endl;
    std::cout << "\nTo change pipeline before starting:" << std::endl;
    std::cout << R"(  echo '{"command":"set_pipeline","params":{"pipeline":"YOUR_PIPELINE"}}' | socat - UNIX-CONNECT:)" << socketPath << std::endl;
    std::cout << "\nPress Ctrl+C to exit.\n" << std::endl;

    // Main loop - keep running until signaled to stop
    while (g_running) {
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }

    // Cleanup
    std::cout << "Shutting down..." << std::endl;

    // Stop streaming engine if running
    if (controller->getStreamingEngine()->isRunning()) {
        controller->getStreamingEngine()->stop();
    }

    server.stop();
    VxClose(cam);

    std::cout << "Shutdown complete." << std::endl;
    return 0;
}