#include "camera_pipeline.hpp"
#include "config.hpp"
#include "stop_signals.hpp"
#include "visualizer.hpp"
#include <cstdlib>
#include <functional>
#include <iostream>
#include <map>

int main(int argc,char** argv)try {
    auto root=std::filesystem::canonical("/proc/self/exe").parent_path().parent_path();
    auto configPath=root/"config/camera.json";
    cms::OutputOptions output;output.directory=root/"output";
    bool visualize=true,disableCan=false;
    std::filesystem::path recordSession,replaySession;
    std::map<std::string,std::function<void(int&)>> arguments{
        {"--record-session",[&](int&i){if(++i>=argc)throw std::invalid_argument("--record-session needs a directory");recordSession=argv[i];}},
        {"--replay-session",[&](int&i){if(++i>=argc)throw std::invalid_argument("--replay-session needs a directory");replaySession=argv[i];}},
        {"--save-original",[&](int&){output.original=true;}},
        {"--save-annotated",[&](int&){output.annotated=true;}},
        {"--save-results",[&](int&){output.results=true;}},
        {"--no-can",[&](int&){disableCan=true;}},
        {"--visualize",[&](int&){visualize=true;}},
        {"--no-visualize",[&](int&){visualize=false;}},
        {"--config",[&](int&i){if(++i>=argc)throw std::invalid_argument("--config needs a file");configPath=argv[i];}},
        {"--help",[](int&){std::cout<<"camera_risk [--record-session NEW_DIR] [--replay-session DIR] [--save-original] [--save-annotated] [--save-results] [--config FILE] [--no-can] [--visualize|--no-visualize]\nLive CAN/CANFD reception on CH0 and change-triggered 0x1F6 binary risk transmission on CH1 are enabled by default.\nRisk: clear/watch/unavailable=0, warning/danger/unknown=1; send initial state once, then only binary changes. No automatic retries. --no-can disables reception and transmission.\nReplay uses recorded CAN only and never transmits.\nVisualization is enabled by default for live inference, recording and replay.\nContinuous camera inference; replay runs to EOF without a camera.\nH.264 sessions require a new recording directory. Stop with Ctrl+C or SIGTERM to finalize video.\n";std::exit(0);}}
    };
    for(int i=1;i<argc;++i){auto handler=arguments.find(argv[i]);if(handler==arguments.end())throw std::invalid_argument("Unknown option: "+std::string(argv[i]));handler->second(i);}

    auto config=cms::loadConfig(configPath);config.output=output;config.record_session=recordSession;config.replay_session=replaySession;
    if(disableCan)config.can.enabled=false;
    cms::CameraPipeline pipeline(config);
    cms::StopSignals signals(pipeline);
    pipeline.start();
    /*
     * 下游使用示例：在下游自己的线程/调用位置读取最新结果。
     * 首帧尚未完成时 result 为空；读取不会影响取图和推理。
     *
     * auto result = pipeline.latest();
     * if (result) {
     *     const auto& risk = result->risk;
     *     const auto& people = result->persons;
     *     // result->frame_index / track_ids / boxes
     *     // result->image / door_mask_pixels / capture / timing
     *     // people[i].selected / smoothed / temporal：各 133 个关键点
     * }
     */
    // Optional observer. Closing/failing the window never requests inference stop.
    if(visualize) {
        auto display=std::getenv("DISPLAY");auto wayland=std::getenv("WAYLAND_DISPLAY");
        if((!display||!*display)&&(!wayland||!*wayland))std::cerr<<"No display session; inference continues without visualization.\n";
        else try {cms::runLocalVisualization(pipeline);}
        catch(std::exception const& e){std::cerr<<"Visualization unavailable; inference continues: "<<e.what()<<std::endl;}
    }
    pipeline.join();
    return 0;
}catch(std::exception const& e){std::cerr<<"Camera pipeline failed: "<<e.what()<<std::endl;return 1;}