#include "video_pipeline.hpp"

#include <chrono>

VideoPipeline::VideoPipeline() : running_(false) {}

VideoPipeline::~VideoPipeline() {
	Stop();
}

void VideoPipeline::Start(const std::string& inputUrl, const std::string& outputUrl) {
	if (running_)
		return;
	running_ = true;
	spdlog::info("Starting VideoPipeline with Input: {}", inputUrl);

	processingThread_ = std::thread(&VideoPipeline::processLoop, this, inputUrl, outputUrl);
}

void VideoPipeline::Stop() {
	if (!running_)
		return;
	running_ = false;
	if (processingThread_.joinable()) {
		processingThread_.join();
	}
	spdlog::info("VideoPipeline Stopped.");
}

std::vector<DetectionResult> VideoPipeline::mockInference(const cv::Mat& frame) {
	std::vector<DetectionResult> results;
	static int dummyX = 100;
	static int direction = 5;

	// 简单的移动逻辑，模拟每帧的变化
	dummyX += direction;
	if (dummyX > frame.cols - 200 || dummyX < 0)
		direction *= -1;

	DetectionResult res;
	res.x = dummyX;
	res.y = 200;
	res.width = 150;
	res.height = 300;
	res.label = "EV CAR";
	res.confidence = 0.95f;

	results.push_back(res);
	return results;
}

void VideoPipeline::drawOverlay(cv::Mat& frame, const std::vector<DetectionResult>& results) {
	for (const auto& res : results) {
		cv::rectangle(frame, cv::Rect(res.x, res.y, res.width, res.height), cv::Scalar(0, 255, 0),
					  2);
		std::string text = res.label + " " + std::to_string(res.confidence).substr(0, 4);
		cv::putText(frame, text, cv::Point(res.x, res.y - 5), cv::FONT_HERSHEY_SIMPLEX, 0.6,
					cv::Scalar(0, 255, 0), 2);
	}
	cv::putText(frame, "RK3588 H.264 @ 20FPS", cv::Point(20, 50), cv::FONT_HERSHEY_SIMPLEX, 1.0,
				cv::Scalar(0, 0, 255), 2);
}

void VideoPipeline::processLoop(std::string inputUrl, std::string outputUrl) {
	cv::VideoCapture cap;

	// [MOD] 尝试设置 FFmpeg 后端参数以减少延迟（可选，依赖于 OpenCV 版本）
	// os.environ["OPENCV_FFMPEG_CAPTURE_OPTIONS"] = "rtsp_transport;tcp" //
	// C++中通常通过API设置或环境变量

	cap.open(inputUrl);

	if (!cap.isOpened()) {
		spdlog::error("Failed to open input RTSP stream: {}", inputUrl);
		running_ = false;
		return;
	}

	// [MOD] 强制指定 20 FPS
	// 虽然 cap.get 可能读取到 20，但为了稳健性，我们在输出端强制使用 20
	const double TARGET_FPS = 20.0;

	int width = cap.get(cv::CAP_PROP_FRAME_WIDTH);
	int height = cap.get(cv::CAP_PROP_FRAME_HEIGHT);

	spdlog::info("Video Source: {}x{} | Input FPS: {} | Target Output FPS: {}", width, height,
				 cap.get(cv::CAP_PROP_FPS), TARGET_FPS);

	// === [MOD] 优化后的 GStreamer H.264 推流管道 ===
	// 1. appsrc: OpenCV 数据源
	// 2. videoconvert: 像素格式转换
	// 3. capsfilter: 强制转换为 NV12 (RK3588 编码器首选格式) 并 锁定 20/1 帧率
	// 4. mpph264enc: Rockchip 硬件 H.264 编码器
	// 5. h264parse: 解析 NALU，对 RTSP 传输至关重要
	// 6. rtspclientsink: 推流到 MediaMTX

	std::stringstream pipeline;
	pipeline << "appsrc ! "
			 << "videoconvert ! "
			 << "video/x-raw,format=NV12,width=" << width << ",height=" << height
			 << ",framerate=20/1 ! "
			 << "mpph264enc ! "
			 << "h264parse ! "
			 << "rtspclientsink location=" << outputUrl
			 << " protocols=tcp";  // [MOD] 使用 TCP 协议推流更稳定

	spdlog::debug("GStreamer Pipeline: {}", pipeline.str());

	cv::VideoWriter writer;
	// [MOD] 在 open 时传入 TARGET_FPS (20.0)
	writer.open(pipeline.str(), cv::CAP_GSTREAMER, 0, TARGET_FPS, cv::Size(width, height), true);

	if (!writer.isOpened()) {
		spdlog::error("Failed to initialize VideoWriter. Check GStreamer plugins.");
	}

	cv::Mat frame;

	// [MOD] 帧率控制辅助
	// 如果摄像头实际输出稍微快于或慢于20帧，OpenCV的阻塞读取会自动对齐
	// 但如果源断流，我们需要处理

	while (running_) {
		// [MOD] 记录时间以监测实际处理耗时
		auto start = std::chrono::steady_clock::now();

		if (!cap.read(frame)) {
			spdlog::warn("Frame read failed. Reconnecting...");
			std::this_thread::sleep_for(std::chrono::seconds(1));
			cap.release();
			cap.open(inputUrl);
			continue;
		}

		if (frame.empty())
			continue;

		// 1. 算法处理
		auto results = mockInference(frame);

		// 2. 绘制叠加
		drawOverlay(frame, results);

		// 3. 硬件编码推流
		if (writer.isOpened()) {
			writer.write(frame);
		}

		// 简单监控处理延迟
		auto end = std::chrono::steady_clock::now();
		std::chrono::duration<double, std::milli> elapsed = end - start;

		// 如果处理太快（例如只是简单的画框，几毫秒就完了），
		// 这里的 cap.read 会自动阻塞等待下一帧，所以不需要手动 sleep。
		// 只要输入是 20fps，这个循环就会被输入流“带”着以 20fps 运行。
	}

	cap.release();
	writer.release();
}