#pragma once
#include "camera.hpp"
#include "frame_result.hpp"
#include "output_writer.hpp"
#include <filesystem>
#include <memory>

namespace cms {
struct PipelineConfig {
    CameraConfig camera;
    OutputOptions output;
    std::filesystem::path engines,door_mask,door_zone_config;
    bool can_enabled{true};
    std::string can_side{"left"},active_door{"can"};
    double can_timeout_ms{1000};
    std::uint64_t max_frames{};
    std::filesystem::path results_path,pose_records_path;
    double detector_confidence{0.30};
    int max_people{3};
    double warning_relative{0.30},release_relative{0.45};
    std::size_t queue_capacity{2};
    bool door_mask_calibration_verified{false};
};
struct PipelineStats {
    std::uint64_t captured{},published{},driver_sequence_gaps{},discarded_error_frames{};
    double mean_capture_to_result_ms{};
};
// One lifecycle per instance. start() warms engines before starting capture.
// Runs continuously until requestStop() or a worker failure.
// latest() reads the immutable result variable without removing or acknowledging it.
// No result queue, consumer registration or frame-count termination.
// Stop is safe from any thread;
// destruction closes queues, interrupts capture and joins every worker.
class CameraPipeline {
public:
    explicit CameraPipeline(PipelineConfig config);
    ~CameraPipeline();
    CameraPipeline(CameraPipeline const&)=delete;
    CameraPipeline& operator=(CameraPipeline const&)=delete;
    void start();
    FrameResultPtr latest() const;
    bool running() const noexcept;
    void requestStop() noexcept;
    void join();
    PipelineStats stats() const;
private:
    struct Impl;
    std::unique_ptr<Impl> impl_;
};
}