#pragma once

#include <sl/Camera.hpp>
#include <cstdint>
#include <string>
#include <vector>

namespace zed {

enum class PcMode { FULL, HALF };

struct Config {
    int resolution = 1080;
    int fps = 15;
    sl::DEPTH_MODE depth_mode = sl::DEPTH_MODE::NEURAL;
    int depth_min_mm = 200;
    int depth_max_mm = 600;
    bool depth_fill = false;
    bool point_cloud = false;
    PcMode pc_mode = PcMode::FULL;
    int confidence_threshold = 60;
    int texture_confidence_threshold = 100;
    std::string flip = "ON";
    int warmup_frames = 30;

    static Config from_env();
};

struct Calibration {
    float fx = 0, fy = 0, cx = 0, cy = 0;
    std::vector<double> distortion;
};

class Camera {
public:
    explicit Camera(const Config& config);
    ~Camera();

    // One attempt, returning whether it succeeded. The caller decides when to try
    // again, so a camera that is down never blocks the dora event loop.
    bool open();
    void close();
    // Close the handle and reset the device over USB, where the model allows it.
    void reset();
    void warmup();
    bool grab();
    bool is_open() const;
    // True while the SDK is reconnecting the camera after a link hiccup.
    bool recovering() const;
    // True when the last grabbed frame carries no picture at all. A camera whose
    // link has dropped does not necessarily fail its grabs: it can keep reporting
    // success and hand back a uniform frame.
    bool image_is_blank();
    Calibration calibration() const;
    int64_t device_timestamp_ns();
    sl::Mat& image();
    sl::Mat& depth();
    sl::Mat& point_cloud();

private:
    Config config_;
    sl::Camera zed_;
    sl::InitParameters init_params_;
    sl::RuntimeParameters runtime_params_;
    sl::Mat image_mat_;
    sl::Mat depth_mat_;
    sl::Mat point_cloud_mat_;
    // Read off the device once it is open and kept afterwards: resetting a wedged
    // camera needs the serial and the model, and by then the handle is gone.
    unsigned int serial_number_ = 0;
    sl::MODEL model_ = sl::MODEL::LAST;
    bool recovering_ = false;
};

} // namespace zed