#ifndef  __SENDER_RUNNER_HDR__
#define __SENDER_RUNNER_HDR__

#include <sl/Camera.hpp>
#include <sl/Fusion.hpp>

#include <thread>
#include <condition_variable>

// Hard-coded camera stream configuration from inside_network.json
struct CameraStreamConfig {
    int serial_number;
    std::string ip_address;
    int port;
};

// Predefined camera stream configurations
const std::vector<CameraStreamConfig> CAMERA_STREAM_CONFIGS = {
    {44289123, "192.168.128.2", 30000},
    {44435674, "192.168.128.2", 30002},
    {41831756, "192.168.128.2", 30004},
    {46195029, "192.168.128.2", 30006}
};

struct Trigger{

    void notifyZED(){

        cv.notify_all();

        if(running){
            bool wait_for_zed = true;
            const int nb_zed = states.size();
            while(wait_for_zed){
                int count_r = 0;
                for(auto &it:states)
                    count_r += it.second;
                wait_for_zed = count_r != nb_zed;
                sl::sleep_ms(1);
            }
            for(auto &it:states)
                it.second = false;
        }
    }

    std::condition_variable cv;
    bool running = true;
    std::map<int, bool> states;
};

class ClientPublisher{

public:
    ClientPublisher();
    ~ClientPublisher();

    // Open camera from stream (IP:port) instead of local input
    bool open(const std::string& ip, int port, Trigger* ref, int sdk_gpu_id);
    void start();
    void stop();
    void setStartSVOPosition(unsigned pos);

    int getSerialNumber() const { return serial; }

private:
    sl::Camera zed;
    void work();
    std::thread runner;
    int serial;
    std::mutex mtx;
    Trigger *p_trigger;
};

#endif // ! __SENDER_RUNNER_HDR__