#ifndef DEPTHGUIDE_ORB_CAMERA_H
#define DEPTHGUIDE_ORB_CAMERA_H

#include "core/cuda_helper.hpp"
#include "core/object_manager.h"

#include <boost/asio/io_context.hpp>

#include <memory>
#include <thread>
#include <vector>

class orb_camera {
public:

    ~orb_camera();

    struct device_info {
        std::string sn_str;
    };

    using device_info_list_type = std::vector<device_info>;

    static device_info_list_type query_device_info();

    struct create_config {
        const char *sn_str = nullptr; // serial number

        // image_ptr, CV_32FC2
        // an image that maps each pixel to its undistorted position in the normalized plane
        obj_name_type remap_name = invalid_obj_name;

//        obj_name_type camera_intrinsic_name = invalid_obj_name; // camera_intrinsic_v2

        smart_cuda_stream *stream = nullptr;
        boost::asio::io_context *ctx = nullptr;
    };

    using this_type = orb_camera;
    using pointer = std::unique_ptr<this_type>;

    static pointer create(create_config conf);

    struct video_info {
        uint32_t index = 0;
        const char *fmt_name = nullptr;
        uint32_t fps = 0, width = 0, height = 0;

        explicit operator std::string();
    };

    enum video_type {
        V_COLOR, V_DEPTH
    };

    using vi_list_ptr = std::shared_ptr<std::vector<video_info>>;

    vi_list_ptr query_video_info(video_type type);

    vi_list_ptr query_d2c_info(uint32_t c_conf_index); // color config index

    struct start_config {
        struct color_config_type {
            bool enable = true;
            uint32_t config_index = 0;
            obj_name_type name = -1;
        } color;
        struct depth_config_type {
            bool enable = true;
            uint32_t config_index = 0;
            obj_name_type name = -1;
        } depth;
    };

    bool start(start_config conf);

    void stop();

    bool is_capturing() const;

private:
    struct impl;
    std::unique_ptr<impl> pimpl;
};


#endif //DEPTHGUIDE_ORB_CAMERA_H