#pragma once

#include <unistd.h>
#include "cereal/visionipc/visionipc_server.h"
#include "selfdrive/common/queue.h"
#include "selfdrive/ui/replay/framereader.h"
#include "selfdrive/ui/replay/logreader.h"

class CameraServer {
public:
  CameraServer();
  ~CameraServer();
  inline void pushFrame(CameraType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx) {
    queue_.push({type, fr, eidx});
  }
  inline void waitFinish() {
    while (!queue_.empty()) usleep(0);
  }

protected:
  void startVipcServer();
  void thread();

  struct Camera {
    VisionStreamType rgb_type;
    VisionStreamType yuv_type;
    int width;
    int height;
  };

  Camera cameras_[MAX_CAMERAS] = {
      {.rgb_type = VISION_STREAM_RGB_BACK, .yuv_type = VISION_STREAM_YUV_BACK},
      {.rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_YUV_FRONT},
      {.rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_YUV_WIDE},
  };
  cl_device_id device_id_;
  cl_context context_;
  std::thread camera_thread_;
  std::unique_ptr<VisionIpcServer> vipc_server_;
  SafeQueue<std::tuple<CameraType, FrameReader*, const cereal::EncodeIndex::Reader>> queue_;
};