#include <iostream>
#include <chrono>
#include <string>
#include <csignal>

#include <cvb/device_factory.hpp>
#include <cvb/driver/composite_stream.hpp>
#include <cvb/driver/driver.hpp>
#include <cvb/driver/genicam_device.hpp>
#include <cvb/genapi/node_map.hpp>

using namespace std;

static void signalHandler(int sig)
{
    cerr << endl << "=== SEGFAULT (signal " << sig << ") ===" << endl;
    exit(1);
}

static void printNode(Cvb::NodeMapPtr nodeMap, const char* name)
{
    auto node = nodeMap->Node(name);
    if (!node) { cout << "  " << name << " = (not found)" << endl; return; }
    auto e = std::dynamic_pointer_cast<Cvb::EnumerationNode>(node);
    if (e) { cout << "  " << name << " = " << e->Value() << endl; return; }
    auto i = std::dynamic_pointer_cast<Cvb::IntegerNode>(node);
    if (i) { cout << "  " << name << " = " << i->Value() << endl; return; }
    auto b = std::dynamic_pointer_cast<Cvb::BooleanNode>(node);
    if (b) { cout << "  " << name << " = " << (b->Value() ? "true" : "false") << endl; return; }
    cout << "  " << name << " = (unknown type)" << endl;
}

int main()
{
    signal(SIGSEGV, signalHandler);
    signal(SIGBUS, signalHandler);

    cout << "=== MechMind CVB Acquisition Test ===" << endl;
    cout << "CVB: /opt/cvb (14.01.007)" << endl;
    cout << "Stream type: CompositeStream" << endl;

    // [1] Discover
    cout << "\n[1] Discovering..." << endl;
    auto cameras = Cvb::DeviceFactory::Discover(Cvb::DiscoverFlags::IgnoreVins);
    if (cameras.empty()) { cerr << "No devices" << endl; return 1; }
    for (size_t i = 0; i < cameras.size(); i++) {
        Cvb::String serial{"?"}, model{"?"};
        cameras[i].TryGetProperty(Cvb::Driver::DiscoveryProperties::DeviceSerialNumber, serial);
        cameras[i].TryGetProperty(Cvb::Driver::DiscoveryProperties::DeviceModel, model);
        cout << "  [" << i << "] " << model << " serial=" << serial << endl;
    }

    // [2] Open
    cout << "\n[2] Opening..." << endl;
    Cvb::DevicePtr device;
    try {
        device = Cvb::DeviceFactory::Open<Cvb::GenICamDevice>(
            cameras[0].AccessToken(), Cvb::AcquisitionStack::GenTL);
    } catch (const std::exception& e) {
        cerr << "Open error: " << e.what() << endl; return 1;
    }
    cout << "  Opened OK" << endl;

    auto genDevice = std::dynamic_pointer_cast<Cvb::GenICamDevice>(device);
    if (!genDevice) { cerr << "Not GenICamDevice" << endl; return 1; }

    auto nodeMap = device->NodeMaps()["Device"];
    if (!nodeMap) { cerr << "No Device NodeMap" << endl; return 1; }

    // [3] Read parameters
    cout << "\n[3] Device parameters:" << endl;
    printNode(nodeMap, "DeviceScanType");
    printNode(nodeMap, "ComponentSelector");
    printNode(nodeMap, "PixelFormat");
    printNode(nodeMap, "AcquisitionMode");
    printNode(nodeMap, "DataAcquisitionMethod");
    printNode(nodeMap, "DataAcquisitionTriggerSource");
    printNode(nodeMap, "LineScanTriggerSource");
    printNode(nodeMap, "TriggerMode");
    printNode(nodeMap, "Width");
    printNode(nodeMap, "Height");
    printNode(nodeMap, "PayloadSize");
    printNode(nodeMap, "AcquisitionStatus");

    // [4] Get stream
    cout << "\n[4] Getting stream..." << endl;
    auto compositeStream = genDevice->Stream<Cvb::CompositeStream>(0);
    if (!compositeStream) { cerr << "No stream" << endl; return 1; }
    cout << "  CompositeStream(0): OK" << endl;

    // [5] FlowSet info
    cout << "\n[5] FlowSet info:" << endl;
    cout << "  MinRequiredFlowSetCount = " << compositeStream->MinRequiredFlowSetCount() << endl;
    auto flowInfo = compositeStream->FlowSetInfo();
    cout << "  Flows: " << flowInfo.size() << endl;
    for (size_t i = 0; i < flowInfo.size(); i++)
        cout << "    flow[" << i << "] size=" << flowInfo[i].Size
             << " alignment=" << flowInfo[i].Alignment << endl;

    // [6] Pool + Start
    cout << "\n[6] Starting..." << endl;
    compositeStream->RegisterManagedFlowSetPool(8);
    compositeStream->Start();
    cout << "  Start() OK" << endl;
    cout << "  AcquisitionState = " << static_cast<int>(compositeStream->AcquisitionState()) << endl;

    // [7] WaitFor loop
    cout << "\n[7] Waiting for frames (5s max)..." << endl;
    auto startTime = chrono::steady_clock::now();
    int frameCount = 0, timeoutCount = 0;
    bool gotData = false;

    while (true) {
        auto elapsed = chrono::duration_cast<chrono::seconds>(
            chrono::steady_clock::now() - startTime).count();
        if (elapsed >= 5) break;

        try {
            Cvb::CompositePtr composite;
            Cvb::NodeMapEnumerator enumerator;
            Cvb::WaitStatus waitStatus;
            std::tie(composite, waitStatus, enumerator) =
                compositeStream->WaitFor(chrono::milliseconds(500));

            if (waitStatus == Cvb::WaitStatus::Ok && composite) {
                cout << "  FRAME #" << ++frameCount
                     << " items=" << composite->ItemCount() << endl;
                gotData = true;
            } else if (waitStatus == Cvb::WaitStatus::Timeout) {
                if (++timeoutCount <= 3)
                    cout << "  Timeout #" << timeoutCount << endl;
            } else if (waitStatus == Cvb::WaitStatus::Abort) {
                cout << "  Abort" << endl;
                break;
            }
            if (frameCount >= 3) break;
        } catch (const std::exception& e) {
            cerr << "  WaitFor error: " << e.what() << endl;
            break;
        }
    }

    // [8] Stop
    cout << "\n[8] Stopping..." << endl;
    compositeStream->Stop();
    cout << "  Stopped" << endl;

    cout << "\n=== Summary ===" << endl;
    cout << "  Frames: " << frameCount << endl;
    cout << "  Timeouts: " << timeoutCount << endl;
    cout << "  Got data: " << (gotData ? "yes" : "no") << endl;
    cout << "===============" << endl;
    return 0;
}