use std::{array::from_ref, net::SocketAddr, result, sync::Arc, thread::{self}, time::{Duration, SystemTime, UNIX_EPOCH}};

use battery::Manager;
use image::{codecs::jpeg::JpegEncoder, ImageBuffer, Rgb};
use nokhwa::{pixel_format::RgbFormat, utils::{ApiBackend, RequestedFormat, RequestedFormatType, Resolution}, Camera};
use anyhow::{Context, Ok, Result};
use serde::{Deserialize, Serialize};
use tokio::{io::{AsyncBufReadExt, AsyncWriteExt, BufReader}, net::{TcpListener, TcpStream}, runtime::Runtime, sync::{Notify, RwLock}, task::{JoinHandle, LocalSet}, time::sleep};

fn main() -> Result<()>{
    let await_frame = Arc::new(Notify::new());
    let latest_frame = Arc::new(RwLock::new(Vec::new()));

    {
        let runtime = Runtime::new()?;
        let await_frame = await_frame.clone();
        let latest_frame = latest_frame.clone();
        thread::spawn(move || {
            let local = LocalSet::new();
            local.block_on(&runtime, camera_manager(await_frame, latest_frame)).unwrap();
        });
    }

    {
        let runtime = Runtime::new()?;
        let await_frame = await_frame.clone();
        let latest_frame = latest_frame.clone();
        thread::spawn(move || {
            let local = LocalSet::new();
            local.block_on(&runtime, server(await_frame, latest_frame)).unwrap();
        });
    }

    let runtime = Runtime::new()?;

    runtime.block_on(telemetry_server()).unwrap();

    Ok(())
}

#[derive(Serialize)]
struct Telemetry {
    battery_level: f32,
    timestamp: u64,
}

#[derive(Deserialize, Debug)]
struct Control {
    #[serde(rename = "Data")] 
    data: f32,
}

async fn telemetry_server() -> Result<()>{
    let port = 2994;
    let listener = TcpListener::bind(format!("0.0.0.0:{port}")).await?;

    while let result::Result::Ok((connection, addr)) = listener.accept().await {
        println!("telemetry connection from {:?}", addr);
        let (receiver, mut sender) = connection.into_split();

        tokio::spawn(async move {
            let mut reader = BufReader::new(receiver).lines();
            while let Some(line) = reader.next_line().await? {
                //println!("recv: {line}");
                if let result::Result::Ok(control) = serde_json::from_str::<Control>(&line) {
                    //println!("deserialized: data is {}", control.data);
                }
            }

            Ok(())
        });

        let _: JoinHandle<Result<()>> = tokio::spawn(async move {
            let battery = Manager::new()?.batteries()?.nth(0).context("no battery")??;
            let full = battery.energy_full();

            loop {
                let time = SystemTime::now().duration_since(UNIX_EPOCH)?.as_millis();
                let mock = Telemetry { battery_level: (battery.energy()/full).value * 100., timestamp: time as u64 } ;

                let mut send = serde_json::to_vec(&mock)?;
                send.push(b'\r');
                send.push(b'\n');

                sender.write_all(&send).await?;

                sleep(Duration::from_millis(20)).await;
            }
        });
    }

    Ok(())
}

async fn camera_manager(await_frame: Arc<Notify>, latest_frame: Arc<RwLock<Vec<u8>>>) -> Result<()>{
    let cameras = nokhwa::query(ApiBackend::Auto)?;

    let camera = cameras.get(2).context("no cameras")?;
    println!("using: {}",camera.human_name());

    let requested = RequestedFormat::new::<RgbFormat>(RequestedFormatType::HighestResolution(Resolution::new(320, 240)));

    let mut camera = Camera::new(camera.index().clone(), requested)?;
    camera.open_stream()?;

    loop {
        let frame = camera.frame()?;
        let frame: ImageBuffer<Rgb<u8>, Vec<u8>> = frame.decode_image::<RgbFormat>()?;

        let mut output = Vec::new();

        let mut encoder = JpegEncoder::new_with_quality(&mut output, 30);

        encoder.encode_image(&frame)?;

        *latest_frame.write().await = output;
        await_frame.notify_waiters();
    }
}

async fn stream_video(await_frame: Arc<Notify>, latest_frame: Arc<RwLock<Vec<u8>>>, mut client: TcpStream) -> Result<()>{
    loop {
        await_frame.notified().await;
        let data = latest_frame.read().await;
        println!("len: {}", data.len());

        let len = data.len();

        // holding data across await, likely nonissue
        client.write_u32(len as u32).await?;
        client.write(&data).await?;
    }
}

async fn server(await_frame: Arc<Notify>, latest_frame: Arc<RwLock<Vec<u8>>>) -> Result<()> {
    let port = 2993;
    let listener = TcpListener::bind(format!("0.0.0.0:{port}")).await?;
    println!("listening on {port}");

    while let result::Result::Ok((client, addr)) = listener.accept().await {
        println!("connected to {:?}", addr);

        tokio::task::spawn_local(stream_video(await_frame.clone(), latest_frame.clone(), client)); 
    }

    Ok(())
}