#include "fgc/VimbaCameraSource.h"

// The SDK comes first on purpose. <VmbCPP/VmbCPP.h> pulls in
// VmbCPP/LoggerDefines.h, which on some SDK versions (the 2024-era /opt/VimbaX on
// the LattePanda, though not 2025-3) defines a FUNCTION-like LOG_ERROR(txt,
// errCode). Ours is object-like - `LOG_ERROR << "..."` - so whichever header is
// included last wins the redefinition, and when theirs wins the stream form never
// expands and fails to compile. Take the SDK's macros, drop them, then define
// ours over the top. The #undefs are harmless no-ops on SDKs that lack them.
#include <VmbCPP/VmbCPP.h>
#undef LOG_ERROR
#undef LOG_FREE_TEXT

#include "fgc/Logger.h"

#include <algorithm>
#include <atomic>
#include <chrono>
#include <memory>
#include <mutex>
#include <stdexcept>
#include <string>
#include <thread>

using namespace VmbCPP;

namespace fgc {

namespace {

long long nowMs() {
    return std::chrono::duration_cast<std::chrono::milliseconds>(
               std::chrono::system_clock::now().time_since_epoch())
        .count();
}

// Cumulative per-camera acquisition stats. Lives in Impl (NOT the observer) so it
// survives the restart-on-stall, which recreates the observer each session.
struct CamStats {
    std::atomic<long long> delivered{0};
    std::atomic<long long> dropped{0};
    std::atomic<long long> restarts{0};
    std::atomic<unsigned>  last_w{0};
    std::atomic<unsigned>  last_h{0};
    std::atomic<long long> last_bytes{0};
};

// Frame observer for the free-running stream: keeps the most recent COMPLETE
// frame. trigger() (once per scan waypoint) reads it out; the intermediate frames
// just give the on-camera auto-exposure/gain time to converge to the current
// light.
class FrameObserver : public IFrameObserver {
public:
    FrameObserver(CameraPtr camera, int cam_id, CamStats* stats)
        : IFrameObserver(camera), cam_id_(cam_id), stats_(stats) {}

    // Copy out the latest complete frame; false if none has arrived yet.
    bool takeLatest(Frame& out) {
        std::lock_guard<std::mutex> lock(mutex_);
        if (!has_) return false;
        out = latest_;
        return true;
    }

    // Timestamp of the latest complete frame (0 if none) - lets the source detect a
    // stalled stream (timestamp stops advancing) without copying the whole frame.
    long long latestTimestamp() {
        std::lock_guard<std::mutex> lock(mutex_);
        return has_ ? latest_.timestamp_ms : 0;
    }

    void FrameReceived(const FramePtr pFrame) override {
        VmbFrameStatusType status;
        VmbErrorType       rc = pFrame->GetReceiveStatus(status);
        if (rc == VmbErrorSuccess && status == VmbFrameStatusComplete) {
            VmbUint32_t       w = 0, h = 0, sz = 0;
            const VmbUchar_t* buf = nullptr;
            if (pFrame->GetWidth(w) == VmbErrorSuccess &&
                pFrame->GetHeight(h) == VmbErrorSuccess &&
                pFrame->GetBufferSize(sz) == VmbErrorSuccess &&
                pFrame->GetBuffer(buf) == VmbErrorSuccess && buf && w && h) {
                Frame f;
                f.width        = w;
                f.height       = h;
                f.channels     = static_cast<int>(sz / (static_cast<size_t>(w) * h));
                f.cam_id       = cam_id_;
                f.timestamp_ms = nowMs();
                f.data.assign(buf, buf + sz);
                {
                    std::lock_guard<std::mutex> lock(mutex_);
                    latest_ = std::move(f);
                    has_    = true;
                }
                if (stats_) {
                    stats_->delivered.fetch_add(1);
                    stats_->last_w.store(w);
                    stats_->last_h.store(h);
                    stats_->last_bytes.store(sz);
                }
                LOG_TRACE_CAT(LogCat::Camera)
                    << "RX frame cam" << cam_id_ << ' ' << w << 'x' << h << ' ' << sz << 'B';
            }
        } else {
            // Incomplete/invalid delivery - usually USB bandwidth starvation on large
            // frames. Surface it instead of silently dropping.
            if (stats_) stats_->dropped.fetch_add(1);
            LOG_WARN << "camera cam" << cam_id_ << " dropped frame (status="
                     << (rc == VmbErrorSuccess ? static_cast<int>(status) : -1) << ')';
        }
        m_pCamera->QueueFrame(pFrame);
    }

private:
    int        cam_id_;
    CamStats*  stats_;
    std::mutex mutex_;
    Frame      latest_;
    bool       has_ = false;
};

// Read a float/string feature, returning `fallback`/"" if absent (tolerant, for telemetry).
double getFloat(const CameraPtr& cam, const char* name, double fallback = 0.0) {
    FeaturePtr f;
    double     v = fallback;
    if (SP_ACCESS(cam)->GetFeatureByName(name, f) == VmbErrorSuccess && f->GetValue(v) == VmbErrorSuccess)
        return v;
    return fallback;
}
std::string getString(const CameraPtr& cam, const char* name) {
    FeaturePtr  f;
    std::string v;
    if (SP_ACCESS(cam)->GetFeatureByName(name, f) == VmbErrorSuccess && f->GetValue(v) == VmbErrorSuccess)
        return v;
    return {};
}

bool parseBool(const std::string& v) {
    return v == "1" || v == "true" || v == "True" || v == "yes" || v == "on";
}

// Write one feature from a mode file, converting the string to whatever type the
// camera says the feature is. Mode files are hand-edited and cameras differ in
// which features they expose (and which are locked at a given moment), so a
// failure is a warning, never fatal - the warning IS the feedback that a mode
// file has a typo in it.
void applyFeature(const CameraPtr& cam, const std::string& name, const std::string& value) {
    FeaturePtr f;
    if (SP_ACCESS(cam)->GetFeatureByName(name.c_str(), f) != VmbErrorSuccess) {
        LOG_WARN << "camera: no such feature '" << name << "' (skipped)";
        return;
    }

    VmbFeatureDataType type = VmbFeatureDataUnknown;
    if (f->GetDataType(type) != VmbErrorSuccess) {
        LOG_WARN << "camera: cannot read type of feature '" << name << "' (skipped)";
        return;
    }

    VmbErrorType rc = VmbErrorSuccess;
    try {
        switch (type) {
            case VmbFeatureDataInt:
                rc = f->SetValue(static_cast<VmbInt64_t>(std::stoll(value)));
                break;
            case VmbFeatureDataFloat:
                rc = f->SetValue(std::stod(value));
                break;
            case VmbFeatureDataBool:
                rc = f->SetValue(parseBool(value));
                break;
            case VmbFeatureDataEnum:
            case VmbFeatureDataString:
                rc = f->SetValue(value.c_str());
                break;
            default:
                LOG_WARN << "camera: feature '" << name << "' is not settable from a mode file";
                return;
        }
    } catch (const std::exception&) {
        LOG_WARN << "camera: feature '" << name << "' rejected value '" << value
                 << "' (wrong number format)";
        return;
    }

    if (rc != VmbErrorSuccess)
        LOG_WARN << "camera: could not set " << name << '=' << value << " (error " << rc << ')';
    else
        LOG_TRACE_CAT(LogCat::Camera) << "SET " << name << '=' << value;
}

// Apply a whole mode, IN FILE ORDER - GenICam selectors are stateful, so order is
// part of the meaning (see CameraMode.h).
void applyMode(const CameraPtr& cam, const CameraMode& mode) {
    for (const auto& [name, value] : mode.features) applyFeature(cam, name, value);
    LOG_INFO << "camera mode '" << mode.name << "' applied (" << mode.features.size()
             << " features)";
}

}  // namespace

struct VimbaCameraSource::Impl {
    explicit Impl(CameraConfig cfg) : config(std::move(cfg)), sys(VmbSystem::GetInstance()) {}

    struct Identity { std::string id, model, serial; };
    struct Telemetry {
        double exposure_us = 0, gain_db = 0, temperature_c = 0, actual_fps = 0;
    };

    CameraConfig                           config;
    CameraMode                             mode;      // applied at start() and by setMode()
    VmbSystem&                             sys;
    std::vector<CameraPtr>                 cameras;
    std::vector<IFrameObserverPtr>         observers;
    std::vector<std::unique_ptr<CamStats>> stats;      // one per camera; survives restart
    std::vector<Identity>                  identity;    // read once at open()
    std::vector<Telemetry>                 telemetry;   // live values, cached ~1 Hz
    long long                              telemetry_ms = 0;  // last telemetry refresh
    ICameraSource::FrameCallback           callback;
    bool                                   started          = false;
    long long                              last_captured_ts = 0;  // freshness watermark
    long long                              last_no_frame_warn_ms = 0;

    // Begin/end a free-run acquisition session (fresh observers each time). Split out so
    // trigger() can restart the stream when it stalls. Stats persist across restarts.
    void startAcquisition() {
        observers.clear();
        int cam_id = 0;
        for (auto& cam : cameras) {
            IFrameObserverPtr observer(new FrameObserver(cam, cam_id, stats[cam_id].get()));
            if (cam->StartContinuousImageAcquisition(5, observer) != VmbErrorSuccess)
                throw std::runtime_error("Could not start acquisition");
            observers.push_back(observer);
            ++cam_id;
        }
    }
    void stopAcquisition() {
        for (auto& cam : cameras) cam->StopContinuousImageAcquisition();
        observers.clear();
    }
    // Newest frame timestamp across all cameras (0 if none delivered yet).
    long long newestTs() {
        long long t = 0;
        for (auto& obs : observers)
            t = std::max(t, SP_DYN_CAST<FrameObserver>(obs)->latestTimestamp());
        return t;
    }

};

VimbaCameraSource::VimbaCameraSource(CameraConfig config)
    : impl_(std::make_unique<Impl>(std::move(config))) {}

VimbaCameraSource::~VimbaCameraSource() {
    try {
        stop();
        close();
    } catch (const std::exception& e) {
        LOG_WARN << "VimbaCameraSource shutdown: " << e.what();
    }
}

void VimbaCameraSource::open() {
    if (impl_->sys.Startup() != VmbErrorSuccess)
        throw std::runtime_error("Could not start Vimba X API");
    for (const auto& id : impl_->config.ids) {
        CameraPtr cam;
        if (impl_->sys.GetCameraByID(id.c_str(), cam) != VmbErrorSuccess)
            throw std::runtime_error("Camera not found: " + id);
        if (cam->Open(VmbAccessModeFull) != VmbErrorSuccess)
            throw std::runtime_error("Could not open camera: " + id);
        impl_->cameras.push_back(cam);
        // Per-camera stats (persist across restart) + identity (read once here).
        impl_->stats.push_back(std::make_unique<CamStats>());
        impl_->telemetry.emplace_back();
        impl_->identity.push_back({id, getString(cam, "DeviceModelName"),
                                   getString(cam, "DeviceSerialNumber")});
        LOG_INFO << "Opened camera " << id << " (" << impl_->identity.back().model << ')';
    }
}

void VimbaCameraSource::close() {
    for (auto& cam : impl_->cameras) cam->Close();
    impl_->cameras.clear();
    impl_->sys.Shutdown();
}

void VimbaCameraSource::setInitialMode(CameraMode mode) { impl_->mode = std::move(mode); }

void VimbaCameraSource::start() {
    for (auto& cam : impl_->cameras) applyMode(cam, impl_->mode);
    impl_->startAcquisition();
    impl_->started = true;
}

bool VimbaCameraSource::setMode(const CameraMode& mode) {
    impl_->mode = mode;
    if (!impl_->started) return true;  // start() will apply it

    // Binning, ROI and pixel format cannot be written while the stream runs, and a
    // mode may change any of them, so always cycle the stream. Mode switches are
    // rare; a per-feature "is this writable live" allow-list would be fragile.
    try {
        impl_->stopAcquisition();
        for (auto& cam : impl_->cameras) applyMode(cam, impl_->mode);
        impl_->startAcquisition();
    } catch (const std::exception& e) {
        LOG_ERROR << "camera: applying mode '" << mode.name << "' failed: " << e.what();
        return false;
    }
    // The next trigger() must not hand back a frame exposed under the old mode.
    impl_->last_captured_ts = nowMs();
    return true;
}

void VimbaCameraSource::stop() {
    impl_->stopAcquisition();
    impl_->started = false;
}

bool VimbaCameraSource::trigger() {
    // Deliver the freshest complete frame per waypoint. This host's USB3
    // stream reliably delivers the first frames of a session but stalls after a burst; if
    // no frame newer than the last capture is available, the stream has stalled - restart
    // acquisition to unstick it and wait briefly for a fresh frame. Without this, keep-latest
    // would hand the same stale frame to every remaining waypoint (all overwriting one file).
    if (impl_->newestTs() <= impl_->last_captured_ts) {
        LOG_TRACE_CAT(LogCat::Camera) << "stream stale; restarting acquisition";
        for (auto& s : impl_->stats) s->restarts.fetch_add(1);
        try {
            impl_->stopAcquisition();
            impl_->startAcquisition();
        } catch (const std::exception& e) {
            LOG_WARN << "camera: acquisition restart failed: " << e.what();
        }
        const long long deadline = nowMs() + 3000;
        while (impl_->newestTs() <= impl_->last_captured_ts && nowMs() < deadline)
            std::this_thread::sleep_for(std::chrono::milliseconds(50));
    }

    bool any = false;
    for (auto& obs : impl_->observers) {
        Frame f;
        if (SP_DYN_CAST<FrameObserver>(obs)->takeLatest(f)) {
            LOG_TRACE_CAT(LogCat::Camera) << "capture cam" << f.cam_id << " ts=" << f.timestamp_ms;
            impl_->last_captured_ts = std::max(impl_->last_captured_ts, f.timestamp_ms);
            if (impl_->callback) impl_->callback(f);
            any = true;
        }
    }
    if (!any) {
        // The scheduler retries trigger() every tick until a frame is ready, so a brief
        // warm-up (or a fully stalled stream) would otherwise flood the log. Rate-limit.
        long long now = nowMs();
        if (now - impl_->last_no_frame_warn_ms > 5000) {
            LOG_WARN << "camera: no frame available to capture yet (stream warming up or stalled)";
            impl_->last_no_frame_warn_ms = now;
        }
    }
    return any;
}

void VimbaCameraSource::setFrameCallback(FrameCallback cb) { impl_->callback = std::move(cb); }

int VimbaCameraSource::cameraCount() const { return static_cast<int>(impl_->cameras.size()); }

std::vector<CameraDeviceInfo> VimbaCameraSource::deviceInfo() {
    // Refresh the live sensor telemetry at most ~1 Hz - deviceInfo() is called every UI
    // tick (~10 Hz) but runs on the control thread (serialized with trigger()), and reading
    // camera features is not free. Identity + stats come from cached/atomic state.
    const long long now = nowMs();
    if (now - impl_->telemetry_ms > 1000) {
        impl_->telemetry_ms = now;
        for (size_t i = 0; i < impl_->cameras.size(); ++i) {
            auto&      cam = impl_->cameras[i];
            auto&      t   = impl_->telemetry[i];
            t.exposure_us    = getFloat(cam, "ExposureTime");
            t.gain_db        = getFloat(cam, "Gain");
            t.temperature_c  = getFloat(cam, "DeviceTemperature");
            t.actual_fps     = getFloat(cam, "AcquisitionFrameRate");
        }
    }

    std::vector<CameraDeviceInfo> out;
    out.reserve(impl_->cameras.size());
    for (size_t i = 0; i < impl_->cameras.size(); ++i) {
        const CamStats&        s = *impl_->stats[i];
        const Impl::Telemetry& t = impl_->telemetry[i];
        CameraDeviceInfo       d;
        d.id            = impl_->identity[i].id;
        d.model         = impl_->identity[i].model;
        d.serial        = impl_->identity[i].serial;
        d.streaming     = impl_->started && !impl_->observers.empty();
        d.width         = s.last_w.load();
        d.height        = s.last_h.load();
        d.payload_bytes = s.last_bytes.load();
        d.exposure_us   = t.exposure_us;
        d.gain_db       = t.gain_db;
        d.temperature_c = t.temperature_c;
        d.actual_fps    = t.actual_fps;
        d.frames_delivered = s.delivered.load();
        d.frames_dropped   = s.dropped.load();
        d.restarts         = s.restarts.load();
        out.push_back(std::move(d));
    }
    return out;
}

}  // namespace fgc