import json
import os
import pyzed.sl as sl

DEFAULT_CONFIG_PATH = "/workspaces/zed-playground/zed_settings/inside_network.json"


def parse_network_config(config_file=DEFAULT_CONFIG_PATH):
    """
    Parses the network configuration JSON file and returns a dictionary of camera configurations.

    Args:
        config_file (str): Path to the JSON configuration file.

    Returns:
        dict: A dictionary where keys are serial numbers (str) and values are configuration dicts,
              or None if the file doesn't exist or is invalid.
    """
    if not os.path.exists(config_file):
        print(f"Configuration file not found: {config_file}")
        return None

    try:
        with open(config_file, "r") as f:
            network_config = json.load(f)
            return network_config
    except json.JSONDecodeError as e:
        print(f"Error parsing JSON: {e}")
        return None


def get_camera_config_by_serial(serial_number, config_file=DEFAULT_CONFIG_PATH):
    """
    Retrieves configuration for a specific camera serial number.
    """
    config = parse_network_config(config_file)
    if config:
        return config.get(str(serial_number))
    return None


def extract_ip_port(config_entry):
    """
    Extracts IP and Port from a camera configuration entry.

    Args:
        config_entry (dict): A single camera configuration dictionary.

    Returns:
        tuple: (ip_address (str), port (int)) or (None, None) if parsing fails.
    """
    try:
        comm_params = config_entry["FusionConfiguration"]["communication_parameters"][
            "CommunicationParameters"
        ]
        ip = comm_params["ip_add"]
        port = comm_params["ip_port"]
        return ip, port
    except (KeyError, TypeError) as e:
        print(f"Error extracting IP/Port from config: {e}")
        return None, None


def open_remote_camera(zed, ip, port):
    """
    Opens a remote ZED camera using set_from_stream.

    Args:
        zed (sl.Camera): The ZED Camera object.
        ip (str): IP address.
        port (int): Port number.

    Returns:
        bool: True if opened successfully, False otherwise.
    """
    init_params = sl.InitParameters()
    init_params.depth_mode = sl.DEPTH_MODE.NONE
    init_params.camera_resolution = sl.RESOLUTION.AUTO

    print(f"Connecting to {ip}:{port}...")
    init_params.set_from_stream(ip, port)

    status = zed.open(init_params)
    if status != sl.ERROR_CODE.SUCCESS:
        print(f"Failed to open camera at {ip}:{port}. Error: {status}")
        return False

    return True