#ifndef RTSPCAMERA_H
#define RTSPCAMERA_H

#include <atomic>
#include <iostream>
#include <chrono>
#include <vector>
#include <thread>
#include <mutex>
#include <opencv2/opencv.hpp>

extern "C" {
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
#include <libavutil/dict.h>
#include <libavutil/imgutils.h>
#include <libavutil/samplefmt.h>
#include <libavutil/timestamp.h>
#include <libswscale/swscale.h>
}

class RtspCamera {
public:
    RtspCamera(const std::string& rtspUrl);
    ~RtspCamera();
    bool initFFmpeg();
    bool startCapture();
    void stopCapture();
    cv::Mat getLatestFrame();

private:
    void captureLoop();
    int ConverFrameToRgb(AVFrame *input_frame, AVFrame *output_frame, AVPixelFormat inputFormate);

private:
    std::string m_rtspUrl;
    AVFormatContext* m_pFormatCtx;
    AVCodecContext* m_pCodecCtx;
    AVFrame* m_pFrame;
    AVFrame* m_pFrameRGB;
    uint8_t* m_buffer;
    int m_videoIndex;
    AVDictionary* m_options;
    std::thread m_captureThread;
    std::mutex m_frameMutex;
    cv::Mat m_latestFrame;
    std::atomic<bool> m_isCapturing;
    std::atomic<bool> m_isRequest;

    int m_cameraIndex;
    static int cameraSeq;
    static std::mutex seqMux;

};

#endif // RTSPCAMERA_H