/*
本程序用于视频分流
1.推流摄像头画面至RTSP服务器,交由YOLO模型进行处理
2.接收YOLO传来的坐标,深度,警报等级等等数据
3.根据获取到的数据绘制边框和相应数据
4.将绘制完毕的视频流继续推流至RTSP服务器用于输出
*/

#include <iostream>
#include <opencv4/opencv2/opencv.hpp>
#include <mqtt/async_client.h>

using namespace std;
using namespace cv;
using namespace chrono_literals;

int main()
{
    VideoCapture cap(0);
    // 直接传 MJPEG（本身就是全 I 帧）
    FILE *pipe = popen(
        "ffmpeg "
        "-f rawvideo -pixel_format bgr24 -video_size 640x480 -framerate 30 "
        "-i - "
        "-c:v h264_rkmpp "
        "-rc_mode 2 "         // CQP 模式
        "-qp_init 30 "
        "-profile baseline "
        "-g 1 "               // 全 I 帧
        "-bf 0 "
        "-coder cavlc "
        "-8x8dct false "
        "-fflags nobuffer "
        "-flags low_delay "
        "-max_delay 0 "
        "-f rtsp -muxdelay 0.001 -rtsp_transport udp "
        "rtsp://192.168.12.1:8554/rtsp/test", "w");
    
    if (pipe) {
        setvbuf(pipe, NULL, _IONBF, 0);  // 添加无缓冲模式
    }
    if (!pipe)
    {
        cerr << "popen faild\n";
        return -1;
    }

    if (cap.isOpened() == false)
    {
        cerr << "摄像头打开失败,请重试" << endl;
        return -1;
    }

    //  降低分辨率,固定MJPG编码
    cap.set(CAP_PROP_FOURCC, VideoWriter::fourcc('M', 'J', 'P', 'G'));
    cap.set(CAP_PROP_FRAME_WIDTH, 640);
    cap.set(CAP_PROP_FRAME_HEIGHT, 480);
    cap.set(CAP_PROP_FPS, 30);

    cap.set(CAP_PROP_BUFFERSIZE, 1);

    int64 count = 0;
    auto t0 = chrono::steady_clock::now();

    Mat frame;
    while (true)
    {
        cap.read(frame);
        if (frame.empty())
        {
            cerr << "读取帧失败" << endl;
            break;
        }

        putText(frame, "press 'q' to quit", Point(0, 20), FONT_HERSHEY_SIMPLEX, 1.0, Scalar(0, 255, 0), 2, LINE_8);

        ++count;
        auto now = chrono::steady_clock::now();
        string fps;
        if (chrono::duration_cast<chrono::milliseconds>(now - t0).count() / 1000.0 > 1.0)
        {
            fps = "FPS:" + to_string(count);
            setWindowTitle("测试画面", fps);
            count = 0;
            t0 = now;
        }

        fwrite(frame.data, 1, frame.total() * frame.elemSize(), pipe);
        fflush(pipe);  // 立即刷新
        // imshow("测试画面", frame);

        // 按下 'q' 键退出
        if (cv::waitKey(1) == 'q')
        {
            break;
        }
    }

    // 释放资源
    pclose(pipe);
    cap.release();
    destroyAllWindows();
    return 0;
}