#include <algorithm>
#include <atomic>
#include <chrono>
#include <cstring>
#include <filesystem>
#include <functional>
#include <iostream>
#include <memory>
#include <string>
#include <thread>
#include <vector>

#include <condition_variable>
#include <mutex>
#include <sstream>
#include <unordered_set>
#include "node.h"

#if defined(RK3588_ENABLE_FFMPEG)
extern "C" {
#include <libavformat/avformat.h>
#include <libavutil/avutil.h>
}
#endif

#if defined(RK3588_ENABLE_MPP)
extern "C" {
#include <rockchip/mpp_buffer.h>
#include <rockchip/mpp_packet.h>
#include <rockchip/rk_mpi.h>
}
#endif

#if defined(RK3588_ENABLE_ZLMEDIAKIT)
extern "C" {
#include "mk_mediakit.h"
}
#endif

namespace rk3588 {

namespace {
inline int Align16(int v) { return (v + 15) & ~15; }
}

struct OutputConfig {
    // proto:
    // - rtsp: push to an external RTSP server (client mode)
    // - rtsp_server: embedded RTSP server via ZLMediaKit (listen)
    // - hls: write local HLS
    std::string proto = "rtsp";
    std::string host = "127.0.0.1"; // rtsp: destination host
    int port = 8554;
    std::string path = "/live/stream";  // rtsp: url path; hls: dir or m3u8 path
    int segment_sec = 2;
};

struct EncodedPacket {
    std::vector<uint8_t> data;
    bool key = false;
    int64_t pts_ms = 0;
};

#if defined(RK3588_ENABLE_FFMPEG)
class AvMuxer {
public:
    AvMuxer() = default;
    ~AvMuxer() { Close(); }

    bool Init(const OutputConfig& cfg, AVCodecID codec_id, int width, int height, int fps,
              const std::vector<uint8_t>& extradata) {
        cfg_ = cfg;
        codec_id_ = codec_id;
        width_ = width;
        height_ = height;
        fps_ = fps > 0 ? fps : 25;
        extradata_ = extradata; // Copy extradata

        proto_ = cfg.proto.empty() ? "rtsp" : cfg.proto;
        url_ = BuildUrl(cfg);

        // Global init (safe to call multiple times)
        avformat_network_init();

        running_ = true;
        monitor_thread_ = std::thread(&AvMuxer::MonitorLoop, this);

        std::cout << "[publish] Muxer initialized async for " << url_ << "\n";
        return true;
    }

    bool WriteFrame(const EncodedPacket& pkt) {
        std::lock_guard<std::mutex> lock(mutex_);
        if (!ready_ || !fmt_ || !stream_) return false;
        if (pkt.data.empty()) return false;

        AVPacket* out = av_packet_alloc();
        if (!out) return false;

        if (av_new_packet(out, static_cast<int>(pkt.data.size())) < 0) {
            av_packet_free(&out);
            return false;
        }
        std::memcpy(out->data, pkt.data.data(), pkt.data.size());
        out->stream_index = stream_->index;
        out->flags = pkt.key ? AV_PKT_FLAG_KEY : 0;
        
        // Simple PTS mapping
        int64_t pts = av_rescale_q(pkt.pts_ms, AVRational{1, 1000}, stream_->time_base);
        if (pts <= last_pts_) pts = last_pts_ + 1;
        last_pts_ = pts;
        
        out->pts = pts;
        out->dts = pts;
        out->duration = av_rescale_q(1000 / std::max(1, fps_), AVRational{1, 1000}, stream_->time_base);

        int ret = av_interleaved_write_frame(fmt_, out);
        av_packet_free(&out);

        if (ret < 0) {
            if (!warned_) {
                char errbuf[128];
                av_strerror(ret, errbuf, sizeof(errbuf));
                std::cerr << "[publish] write failed for " << url_ << ": " << errbuf << ", resetting...\n";
                warned_ = true;
            }
            // Signal monitor thread to reset
            ready_ = false;
            cv_.notify_all();
        }
        return ret >= 0;
    }

    void Close() {
        running_ = false;
        // Break the av_io_open wait if possible (via CheckInterrupt)
        cv_.notify_all();
        if (monitor_thread_.joinable()) monitor_thread_.join();
    }

private:
    void MonitorLoop() {
        while (running_) {
            if (TryOpen()) {
                {
                    std::lock_guard<std::mutex> lock(mutex_);
                    ready_ = true;
                    warned_ = false;
                    std::cout << "[publish] Server ready: " << url_ << "\n";
                }

                // Wait until error occurs or stop requested
                std::unique_lock<std::mutex> lock(mutex_);
                cv_.wait(lock, [this] { return !running_ || !ready_; });
            }

            // Cleanup context
            {
                std::lock_guard<std::mutex> lock(mutex_);
                if (fmt_) {
                    // Try to write trailer if logical end (not socket error)
                    // But usually we are here because of error, so av_write_trailer might hang/fail.
                    // We skip trailer on error reset to avoid blocking.
                    if (fmt_->pb) {
                        avio_closep(&fmt_->pb);
                    }
                    avformat_free_context(fmt_);
                    fmt_ = nullptr;
                    stream_ = nullptr;
                }
                ready_ = false;
            }

            if (running_) {
                // Delay before retry
                std::this_thread::sleep_for(std::chrono::seconds(1));
            }
        }
    }

    bool TryOpen() {
        AVFormatContext* fmt = nullptr;
        const char* fmt_name = proto_ == "hls" ? "hls" : "rtsp";
        if (avformat_alloc_output_context2(&fmt, nullptr, fmt_name, url_.c_str()) < 0 || !fmt) {
            std::cerr << "[publish] alloc context failed " << url_ << "\n";
            return false;
        }

        // Set interrupt callback to allow breaking blocking calls
        fmt->interrupt_callback.callback = CheckInterrupt;
        fmt->interrupt_callback.opaque = this;

        AVStream* stream = avformat_new_stream(fmt, nullptr);
        if (!stream) {
            avformat_free_context(fmt);
            return false;
        }

        stream->time_base = AVRational{1, 1000};
        stream->avg_frame_rate = AVRational{fps_, 1};
        stream->codecpar->codec_type = AVMEDIA_TYPE_VIDEO;
        stream->codecpar->codec_id = codec_id_;
        stream->codecpar->width = width_;
        stream->codecpar->height = height_;
        stream->codecpar->format = AV_PIX_FMT_YUV420P;
        
        if (!extradata_.empty()) {
            stream->codecpar->extradata_size = static_cast<int>(extradata_.size());
            stream->codecpar->extradata = static_cast<uint8_t*>(av_mallocz(extradata_.size() + AV_INPUT_BUFFER_PADDING_SIZE));
            std::memcpy(stream->codecpar->extradata, extradata_.data(), extradata_.size());
        }

        AVDictionary* opts = nullptr;
        if (proto_ == "rtsp") {
            av_dict_set(&opts, "rtsp_transport", "tcp", 0);
        } else if (proto_ == "hls") {
            std::string seg = std::to_string(std::max(1, cfg_.segment_sec));
            av_dict_set(&opts, "hls_time", seg.c_str(), 0);
            av_dict_set(&opts, "hls_list_size", "0", 0);
            av_dict_set(&opts, "hls_flags", "delete_segments+append_list", 0);
            std::filesystem::create_directories(std::filesystem::path(url_).parent_path());
        }

        if (!(fmt->oformat->flags & AVFMT_NOFILE)) {
            if (av_io_open_helper(fmt, url_, opts) < 0) {
                av_dict_free(&opts);
                avformat_free_context(fmt);
                return false;
            }
        }

        if (avformat_write_header(fmt, &opts) < 0) {
            av_dict_free(&opts);
            if (fmt->pb) avio_closep(&fmt->pb);
            avformat_free_context(fmt);
            return false;
        }
        av_dict_free(&opts);

        {
             std::lock_guard<std::mutex> lock(mutex_);
             fmt_ = fmt;
             stream_ = stream;
        }
        return true;
    }

    int av_io_open_helper(AVFormatContext* fmt, const std::string& url, AVDictionary* opts) {
        if (proto_ == "hls") {
            // HLS open is slightly different handled in logic but avio_open2 can take callbacks
             return avio_open2(&fmt->pb, url.c_str(), AVIO_FLAG_WRITE, &fmt->interrupt_callback, &opts);
        }
        return avio_open2(&fmt->pb, url.c_str(), AVIO_FLAG_WRITE, &fmt->interrupt_callback, &opts);
    }

    static int CheckInterrupt(void* opaque) {
        auto* self = static_cast<AvMuxer*>(opaque);
        return self->running_ ? 0 : 1;
    }

    std::string BuildUrl(const OutputConfig& cfg) const {
        if (proto_ == "hls") return cfg.path;
        std::string host = cfg.host.empty() ? "127.0.0.1" : cfg.host;
        std::string path = cfg.path;
        if (path.empty() || path[0] != '/') path = "/" + path;
        return "rtsp://" + host + ":" + std::to_string(cfg.port) + path;
    }

    OutputConfig cfg_;
    AVCodecID codec_id_;
    int width_ = 0;
    int height_ = 0;
    int fps_ = 25;
    std::vector<uint8_t> extradata_;
    std::string proto_;
    std::string url_;
    
    std::atomic<bool> running_{false};
    std::thread monitor_thread_;
    std::mutex mutex_;
    std::condition_variable cv_;
    
    bool ready_ = false;
    bool warned_ = false;
    AVFormatContext* fmt_ = nullptr;
    AVStream* stream_ = nullptr;
    int64_t last_pts_ = -1;
};

class AvMuxerManager {
public:
    bool Init(const std::vector<OutputConfig>& outputs, AVCodecID codec_id, int width, int height,
              int fps, const std::vector<uint8_t>& extradata) {
        bool ok = false;
        for (const auto& o : outputs) {
            auto mux = std::make_unique<AvMuxer>();
            if (mux->Init(o, codec_id, width, height, fps, extradata)) {
                muxers_.push_back(std::move(mux));
                ok = true;
            }
        }
        return ok;
    }

    void Write(const EncodedPacket& pkt) {
        for (auto& m : muxers_) {
            m->WriteFrame(pkt);
        }
    }

    void Close() {
        for (auto& m : muxers_) m->Close();
        muxers_.clear();
    }

private:
    std::vector<std::unique_ptr<AvMuxer>> muxers_;
};
#endif

#if defined(RK3588_ENABLE_MPP)
class MppVencEncoder {
public:
    ~MppVencEncoder() { Shutdown(); }

    bool InitFromFrame(const Frame& src, const std::string& codec, int fps, int gop,
                       int bitrate_kbps) {
        width_ = src.width;
        height_ = src.height;
        hor_stride_ = src.planes[0].stride > 0 ? src.planes[0].stride
                      : (src.stride > 0 ? src.stride : Align16(src.width));
        ver_stride_ = Align16(src.height);
        fps_ = fps > 0 ? fps : 25;
        gop_ = gop > 0 ? gop : fps_ * 2;
        bitrate_bps_ = (bitrate_kbps > 0 ? bitrate_kbps : 4000) * 1000;

        if (src.format == PixelFormat::NV12) {
            mpp_fmt_ = MPP_FMT_YUV420SP;
        } else if (src.format == PixelFormat::YUV420) {
            mpp_fmt_ = MPP_FMT_YUV420P;
        } else {
            std::cerr << "[publish] unsupported pixel format for mpp encoder\n";
            return false;
        }

        if (codec == "h265" || codec == "hevc") {
            coding_ = MPP_VIDEO_CodingHEVC;
        } else {
            coding_ = MPP_VIDEO_CodingAVC;
        }

        if (mpp_create(&ctx_, &mpi_) != MPP_OK) {
            std::cerr << "[publish] mpp_create failed\n";
            return false;
        }
        if (mpp_init(ctx_, MPP_CTX_ENC, coding_) != MPP_OK) {
            std::cerr << "[publish] mpp_init enc failed\n";
            return false;
        }

        if (mpp_enc_cfg_init(&cfg_) != MPP_OK) {
            std::cerr << "[publish] mpp_enc_cfg_init failed\n";
            return false;
        }
        if (mpi_->control(ctx_, MPP_ENC_GET_CFG, cfg_) != MPP_OK) {
            std::cerr << "[publish] MPP_ENC_GET_CFG failed\n";
            return false;
        }

        mpp_enc_cfg_set_s32(cfg_, "prep:width", width_);
        mpp_enc_cfg_set_s32(cfg_, "prep:height", height_);
        mpp_enc_cfg_set_s32(cfg_, "prep:hor_stride", hor_stride_);
        mpp_enc_cfg_set_s32(cfg_, "prep:ver_stride", ver_stride_);
        mpp_enc_cfg_set_s32(cfg_, "prep:format", mpp_fmt_);

        mpp_enc_cfg_set_s32(cfg_, "rc:mode", MPP_ENC_RC_MODE_CBR);
        mpp_enc_cfg_set_s32(cfg_, "rc:gop", gop_);
        mpp_enc_cfg_set_s32(cfg_, "rc:fps_in_num", fps_);
        mpp_enc_cfg_set_s32(cfg_, "rc:fps_in_denorm", 1);
        mpp_enc_cfg_set_s32(cfg_, "rc:fps_out_num", fps_);
        mpp_enc_cfg_set_s32(cfg_, "rc:fps_out_denorm", 1);
        mpp_enc_cfg_set_s32(cfg_, "rc:bps_target", bitrate_bps_);
        mpp_enc_cfg_set_s32(cfg_, "rc:bps_max", bitrate_bps_ * 3 / 2);
        mpp_enc_cfg_set_s32(cfg_, "rc:bps_min", bitrate_bps_ / 2);
        mpp_enc_cfg_set_s32(cfg_, "codec:type", coding_);

        if (mpi_->control(ctx_, MPP_ENC_SET_CFG, cfg_) != MPP_OK) {
            std::cerr << "[publish] MPP_ENC_SET_CFG failed\n";
            return false;
        }

        // Ensure SPS/PPS (and VPS for H265) are emitted with IDR frames so RTSP clients can get SDP.
        if (coding_ == MPP_VIDEO_CodingAVC || coding_ == MPP_VIDEO_CodingHEVC) {
            MppEncHeaderMode header_mode = MPP_ENC_HEADER_MODE_EACH_IDR;
            if (mpi_->control(ctx_, MPP_ENC_SET_HEADER_MODE, &header_mode) != MPP_OK) {
                std::cerr << "[publish] MPP_ENC_SET_HEADER_MODE failed\n";
            }
        }

        RK_S32 timeout = 2000;
        mpi_->control(ctx_, MPP_SET_OUTPUT_TIMEOUT, &timeout);

        MppPacket hdr = nullptr;
        if (mpi_->control(ctx_, MPP_ENC_GET_HDR_SYNC, &hdr) == MPP_OK && hdr) {
            auto* data = static_cast<uint8_t*>(mpp_packet_get_pos(hdr));
            size_t len = mpp_packet_get_length(hdr);
            header_.assign(data, data + len);
            mpp_packet_deinit(&hdr);
        }

        if (mpp_buffer_group_get_internal(&frm_grp_, MPP_BUFFER_TYPE_DRM, NULL) != MPP_OK) {
            if (mpp_buffer_group_get_internal(&frm_grp_, MPP_BUFFER_TYPE_NORMAL, NULL) != MPP_OK) {
                std::cerr << "[publish] mpp_buffer_group_get_internal failed\n";
                return false;
            }
        }
        initialized_ = true;
        return true;
    }

    void Shutdown() {
        if (frm_grp_) {
            mpp_buffer_group_put(frm_grp_);
            frm_grp_ = nullptr;
        }
        if (cfg_) {
            mpp_enc_cfg_deinit(cfg_);
            cfg_ = nullptr;
        }
        if (ctx_) {
            if (mpi_) mpi_->reset(ctx_);
            mpp_destroy(ctx_);
            ctx_ = nullptr;
            mpi_ = nullptr;
        }
        initialized_ = false;
    }

    bool Encode(const FramePtr& frame, const std::function<void(const EncodedPacket&)>& on_packet) {
        if (!initialized_) return false;
        if (!frame) return false;

        MppBuffer buf = nullptr;
        bool imported = false;
        size_t frame_size = CalcFrameSize();

        if (frame->dma_fd >= 0 && frame->data_size > 0) {
            MppBufferInfo info{};
            info.type = MPP_BUFFER_TYPE_EXT_DMA;
            info.size = frame->data_size;
            info.fd = frame->dma_fd;
            if (mpp_buffer_import(&buf, &info) == MPP_OK) {
                imported = true;
            }
        }

        if (!buf) {
            if (!frame->data) return false;
            if (mpp_buffer_get(frm_grp_, &buf, frame_size) != MPP_OK) {
                return false;
            }
            if (!CopyToBuffer(frame, buf)) {
                mpp_buffer_put(buf);
                return false;
            }
        }

        MppFrame mpp_frame = nullptr;
        mpp_frame_init(&mpp_frame);
        mpp_frame_set_width(mpp_frame, width_);
        mpp_frame_set_height(mpp_frame, height_);
        mpp_frame_set_hor_stride(mpp_frame, hor_stride_);
        mpp_frame_set_ver_stride(mpp_frame, ver_stride_);
        mpp_frame_set_fmt(mpp_frame, mpp_fmt_);
        mpp_frame_set_pts(mpp_frame, static_cast<int64_t>(frame->pts));
        mpp_frame_set_buffer(mpp_frame, buf);

        if (mpi_->encode_put_frame(ctx_, mpp_frame) != MPP_OK) {
            mpp_frame_deinit(&mpp_frame);
            mpp_buffer_put(buf);
            return false;
        }
        mpp_frame_deinit(&mpp_frame);

        while (true) {
            MppPacket packet = nullptr;
            MPP_RET ret = mpi_->encode_get_packet(ctx_, &packet);
            if (ret == MPP_ERR_TIMEOUT) {
                std::this_thread::sleep_for(std::chrono::milliseconds(2));
                continue;
            }
            if (ret != MPP_OK || !packet) break;

            EncodedPacket out;
            auto* pos = static_cast<uint8_t*>(mpp_packet_get_pos(packet));
            size_t len = mpp_packet_get_length(packet);
            out.data.assign(pos, pos + len);
            // MPP_PACKET_FLAG_INTRA = 0x08, also check NAL type for H264 IDR (type 5)
            RK_U32 flag = mpp_packet_get_flag(packet);
            out.key = (flag & 0x08) != 0;  // MPP_PACKET_FLAG_INTRA
            // Fallback: check H264 NAL unit type if MPP flag not set
            if (!out.key && len >= 5) {
                // Find NAL start code and check type
                for (size_t i = 0; i + 4 < len; ++i) {
                    if (pos[i] == 0 && pos[i+1] == 0 && pos[i+2] == 0 && pos[i+3] == 1) {
                        uint8_t nal_type = pos[i+4] & 0x1F;
                        if (nal_type == 5 || nal_type == 7) {  // IDR or SPS
                            out.key = true;
                            break;
                        }
                    } else if (pos[i] == 0 && pos[i+1] == 0 && pos[i+2] == 1) {
                        uint8_t nal_type = pos[i+3] & 0x1F;
                        if (nal_type == 5 || nal_type == 7) {
                            out.key = true;
                            break;
                        }
                    }
                }
            }
            int64_t mpp_pts = mpp_packet_get_pts(packet);
            // Use encoder's pts if valid, otherwise compute from frame count
            out.pts_ms = mpp_pts > 0 ? mpp_pts : static_cast<int64_t>(frame_count_ * 1000 / fps_);
            ++frame_count_;
            if (on_packet) on_packet(out);
            mpp_packet_deinit(&packet);
            break;
        }

        mpp_buffer_put(buf);
        (void)imported;
        return true;
    }

    const std::vector<uint8_t>& Header() const { return header_; }

private:
    size_t CalcFrameSize() const {
        if (mpp_fmt_ == MPP_FMT_YUV420SP || mpp_fmt_ == MPP_FMT_YUV420P) {
            return static_cast<size_t>(hor_stride_) * ver_stride_ * 3 / 2;
        }
        return 0;
    }

    bool CopyToBuffer(const FramePtr& frame, MppBuffer buf) const {
        auto* dst = static_cast<uint8_t*>(mpp_buffer_get_ptr(buf));
        size_t dst_size = mpp_buffer_get_size(buf);
        size_t need = CalcFrameSize();
        if (!dst || dst_size < need) return false;
        std::memset(dst, 0, dst_size);

        if (frame->plane_count < 2) return false;
        const FramePlane& y = frame->planes[0];
        const FramePlane& uv = frame->planes[1];
        if (!y.data || !uv.data) return false;

        for (int row = 0; row < height_; ++row) {
            std::memcpy(dst + row * hor_stride_, y.data + row * y.stride,
                        std::min(hor_stride_, y.stride));
        }

        uint8_t* dst_uv = dst + hor_stride_ * ver_stride_;
        int uv_rows = ver_stride_ / 2;
        if (mpp_fmt_ == MPP_FMT_YUV420SP) {
            for (int row = 0; row < uv_rows; ++row) {
                std::memcpy(dst_uv + row * hor_stride_, uv.data + row * uv.stride,
                            std::min(hor_stride_, uv.stride));
            }
        } else if (frame->plane_count >= 3) {
            const FramePlane& v = frame->planes[2];
            uint8_t* dst_u = dst_uv;
            uint8_t* dst_v = dst_uv + (hor_stride_ / 2) * uv_rows;
            for (int row = 0; row < uv_rows; ++row) {
                std::memcpy(dst_u + row * (hor_stride_ / 2), uv.data + row * uv.stride,
                            std::min(hor_stride_ / 2, uv.stride));
                std::memcpy(dst_v + row * (hor_stride_ / 2), v.data + row * v.stride,
                            std::min(hor_stride_ / 2, v.stride));
            }
        }
        return true;
    }

    MppCtx ctx_ = nullptr;
    MppApi* mpi_ = nullptr;
    MppEncCfg cfg_ = nullptr;
    MppBufferGroup frm_grp_ = nullptr;
    MppCodingType coding_ = MPP_VIDEO_CodingAVC;
    MppFrameFormat mpp_fmt_ = MPP_FMT_YUV420SP;
    int width_ = 0;
    int height_ = 0;
    int hor_stride_ = 0;
    int ver_stride_ = 0;
    int fps_ = 25;
    int gop_ = 50;
    int bitrate_bps_ = 4000000;
    std::vector<uint8_t> header_;
    bool initialized_ = false;
    uint64_t frame_count_ = 0;
};
#endif

class PublishNode : public INode {
public:
    std::string Id() const override { return id_; }
    std::string Type() const override { return "publish"; }

    bool Init(const SimpleJson& config, const NodeContext& ctx) override {
        id_ = config.ValueOr<std::string>("id", "publish");
        input_queue_ = ctx.input_queue;
        codec_ = config.ValueOr<std::string>("codec", "h264");
        fps_ = config.ValueOr<int>("fps", 25);
        gop_ = config.ValueOr<int>("gop", 50);
        bitrate_kbps_ = config.ValueOr<int>("bitrate_kbps", 4000);
        use_mpp_ = config.ValueOr<bool>("use_mpp", true);
        use_ffmpeg_mux_ = config.ValueOr<bool>("use_ffmpeg_mux", true);

        const SimpleJson* outputs = config.Find("outputs");
        if (outputs && outputs->IsArray()) {
            for (const auto& o : outputs->AsArray()) {
                if (!o.IsObject()) continue;
                OutputConfig cfg;
                cfg.proto = o.ValueOr<std::string>("proto", cfg.proto);
                cfg.host = o.ValueOr<std::string>("host", cfg.host);
                cfg.port = o.ValueOr<int>("port", cfg.port);
                cfg.path = o.ValueOr<std::string>("path", cfg.path);
                cfg.segment_sec = o.ValueOr<int>("segment_sec", cfg.segment_sec);
                outputs_.push_back(std::move(cfg));
            }
        }
        if (outputs_.empty()) {
            outputs_.push_back(OutputConfig{});
        }

#if !defined(RK3588_ENABLE_MPP)
        use_mpp_ = false;
#endif
#if !defined(RK3588_ENABLE_FFMPEG)
        use_ffmpeg_mux_ = false;
#endif

        if (!input_queue_) {
            std::cerr << "[publish] no input queue for node " << id_ << "\n";
            return false;
        }

        for (const auto& o : outputs_) {
            if (o.proto == "rtsp_server") {
                zlm_outputs_.push_back(o);
            } else {
                ff_outputs_.push_back(o);
            }
        }

        return true;
    }

    bool Start() override {
        std::cout << "[publish] start codec=" << codec_ << " fps=" << fps_ << " gop=" << gop_
                  << " bitrate=" << bitrate_kbps_ << "kbps"
                  << (use_mpp_ ? " (mpp venc)" : " (stub)") << "\n";
        return true;
    }

    void Stop() override {
        if (input_queue_) input_queue_->Stop();
        
#if defined(RK3588_ENABLE_FFMPEG)
        if (mux_mgr_) mux_mgr_->Close();
#endif
#if defined(RK3588_ENABLE_ZLMEDIAKIT)
        for (auto& p : zlm_pubs_) p->Close();
        zlm_pubs_.clear();
#endif
#if defined(RK3588_ENABLE_MPP)
        if (mpp_encoder_) mpp_encoder_->Shutdown();
#endif
    }

    NodeStatus Process(FramePtr frame) override {
        if (!frame) return NodeStatus::DROP;

#if defined(RK3588_ENABLE_MPP)
        if (use_mpp_) {
            ProcessMpp(frame);
        } else {
            ProcessStub(frame);
        }
#else
        ProcessStub(frame);
#endif
        return NodeStatus::OK;
    }

private:
#if defined(RK3588_ENABLE_ZLMEDIAKIT)
    struct ZlmAppStream {
        std::string app;
        std::string stream;
    };

    static ZlmAppStream ParseRtspPath(const std::string& path, const std::string& fallback_stream) {
        std::string p = path;
        while (!p.empty() && p.front() == '/') p.erase(p.begin());

        ZlmAppStream out;
        out.app = "live";
        out.stream = fallback_stream.empty() ? "stream" : fallback_stream;

        if (p.empty()) return out;

        std::istringstream iss(p);
        std::string token;
        std::vector<std::string> parts;
        while (std::getline(iss, token, '/')) {
            if (!token.empty()) parts.push_back(token);
        }
        if (parts.size() == 1) {
            out.stream = parts[0];
        } else if (parts.size() >= 2) {
            out.app = parts[0];
            out.stream = parts[1];
        }
        return out;
    }

    class ZlmRtspPublisher {
    public:
        ~ZlmRtspPublisher() { Close(); }

        bool Init(int port, const std::string& path, const std::string& fallback_stream,
                  const std::string& codec, int width, int height, int fps, int bitrate_kbps) {
            EnsureZlmEnv();

            if (!StartRtspServerOnce(port)) {
                std::cerr << "[publish] zlm rtsp server start failed on port " << port << "\n";
                return false;
            }

            auto as = ParseRtspPath(path, fallback_stream);
            app_ = as.app;
            stream_ = as.stream;
            port_ = port;

            int codec_id = (codec == "h265" || codec == "hevc") ? 1 : 0; // 0:H264, 1:H265

            media_ = mk_media_create("__defaultVhost__", app_.c_str(), stream_.c_str(), 0, 0, 0);
            if (!media_) {
                std::cerr << "[publish] zlm mk_media_create failed app=" << app_ << " stream=" << stream_ << "\n";
                return false;
            }

            int ok = mk_media_init_video(media_, codec_id, width, height, static_cast<float>(fps), bitrate_kbps * 1000);
            if (!ok) {
                std::cerr << "[publish] zlm mk_media_init_video failed" << "\n";
                mk_media_release(media_);
                media_ = nullptr;
                return false;
            }
            mk_media_init_complete(media_);

            is_h265_ = (codec_id == 1);
            splitter_ = mk_h264_splitter_create(&OnSplitFrame, this);
            if (!splitter_) {
                std::cerr << "[publish] zlm mk_h264_splitter_create failed" << "\n";
                mk_media_release(media_);
                media_ = nullptr;
                return false;
            }

            std::cout << "[publish] zlm rtsp server ready: rtsp://0.0.0.0:" << port_ << "/" << app_ << "/" << stream_ << "\n";
            return true;
        }

        void Close() {
            if (splitter_) {
                mk_h264_splitter_release(splitter_);
                splitter_ = nullptr;
            }
            if (media_) {
                mk_media_release(media_);
                media_ = nullptr;
            }
        }

        void Write(const EncodedPacket& pkt, const std::vector<uint8_t>& header, bool is_h265) {
            if (!media_ || pkt.data.empty()) return;

            // Feed encoder header first to provide SPS/PPS(/VPS).
            if (!sent_header_ && !header.empty()) {
                if (FeedHeader(pkt.pts_ms, header, is_h265)) {
                    sent_header_ = true;
                }
            }

            FeedPacket(pkt.pts_ms, pkt.data, is_h265);

            // NOTE: We intentionally do not send data directly via mk_media_input_h264/h265.
            // Using mk_h264_splitter + mk_media_input_frame is more robust for SPS/PPS handling.
        }

    private:
        static uint16_t ReadBe16(const uint8_t* p) {
            return static_cast<uint16_t>(p[0] << 8) | static_cast<uint16_t>(p[1]);
        }

        static bool HasAnnexBStartCode(const uint8_t* d, size_t n) {
            if (!d || n < 3) return false;
            for (size_t i = 0; i + 3 < n; ++i) {
                if (d[i] == 0 && d[i + 1] == 0 && d[i + 2] == 1) return true;
                if (i + 4 < n && d[i] == 0 && d[i + 1] == 0 && d[i + 2] == 0 && d[i + 3] == 1) return true;
            }
            return false;
        }

        static size_t FindStartCode(const uint8_t* d, size_t n, size_t from, size_t* sc_len) {
            for (size_t i = from; i + 3 < n; ++i) {
                if (d[i] == 0 && d[i + 1] == 0 && d[i + 2] == 1) {
                    if (sc_len) *sc_len = 3;
                    return i;
                }
                if (i + 4 < n && d[i] == 0 && d[i + 1] == 0 && d[i + 2] == 0 && d[i + 3] == 1) {
                    if (sc_len) *sc_len = 4;
                    return i;
                }
            }
            return n;
        }

        static bool IsConfigNal(const uint8_t* nal, size_t nal_len, bool is_h265) {
            if (!nal || nal_len < 1) return false;
            if (!is_h265) {
                uint8_t t = nal[0] & 0x1F;
                return t == 7 || t == 8; // SPS/PPS
            }
            if (nal_len < 2) return false;
            uint8_t t = (nal[0] >> 1) & 0x3F;
            return t == 32 || t == 33 || t == 34; // VPS/SPS/PPS
        }

        static std::vector<std::vector<uint8_t>> ExtractConfigFromAnnexB(const uint8_t* d, size_t n, bool is_h265) {
            std::vector<std::vector<uint8_t>> out;
            if (!d || n < 4) return out;
            size_t pos = 0;
            while (true) {
                size_t sc_len = 0;
                size_t sc = FindStartCode(d, n, pos, &sc_len);
                if (sc >= n) break;
                size_t nal_start = sc + sc_len;
                size_t next_sc = FindStartCode(d, n, nal_start, nullptr);
                size_t nal_end = (next_sc >= n) ? n : next_sc;

                if (nal_start < nal_end) {
                    const uint8_t* nal = d + nal_start;
                    size_t nal_len = nal_end - nal_start;
                    if (IsConfigNal(nal, nal_len, is_h265)) {
                        std::vector<uint8_t> one{0, 0, 0, 1};
                        one.insert(one.end(), nal, nal + nal_len);
                        out.push_back(std::move(one));
                    }
                }
                pos = nal_end;
            }
            return out;
        }

        static std::vector<uint8_t> ConvertLengthPrefixedToAnnexB(const uint8_t* d, size_t n) {
            // Best-effort conversion for AVCC-style length-prefixed NAL units (assume 4-byte length).
            std::vector<uint8_t> out;
            if (!d || n < 8) return out;
            size_t pos = 0;
            while (pos + 4 <= n) {
                uint32_t len = (static_cast<uint32_t>(d[pos]) << 24) |
                               (static_cast<uint32_t>(d[pos + 1]) << 16) |
                               (static_cast<uint32_t>(d[pos + 2]) << 8) |
                               (static_cast<uint32_t>(d[pos + 3]));
                pos += 4;
                if (len == 0 || pos + len > n) break;
                out.insert(out.end(), {0, 0, 0, 1});
                out.insert(out.end(), d + pos, d + pos + len);
                pos += len;
            }
            return out;
        }

        static std::vector<std::vector<uint8_t>> ExtractConfigFromAvcc(const std::vector<uint8_t>& avcc) {
            std::vector<std::vector<uint8_t>> out;
            if (avcc.size() < 7 || avcc[0] != 1) return out;
            size_t pos = 5;
            uint8_t num_sps = avcc[pos++] & 0x1F;
            for (uint8_t i = 0; i < num_sps; ++i) {
                if (pos + 2 > avcc.size()) return {};
                uint16_t len = ReadBe16(&avcc[pos]);
                pos += 2;
                if (pos + len > avcc.size()) return {};
                std::vector<uint8_t> one{0, 0, 0, 1};
                one.insert(one.end(), avcc.begin() + static_cast<long>(pos), avcc.begin() + static_cast<long>(pos + len));
                out.push_back(std::move(one));
                pos += len;
            }
            if (pos + 1 > avcc.size()) return {};
            uint8_t num_pps = avcc[pos++];
            for (uint8_t i = 0; i < num_pps; ++i) {
                if (pos + 2 > avcc.size()) return {};
                uint16_t len = ReadBe16(&avcc[pos]);
                pos += 2;
                if (pos + len > avcc.size()) return {};
                std::vector<uint8_t> one{0, 0, 0, 1};
                one.insert(one.end(), avcc.begin() + static_cast<long>(pos), avcc.begin() + static_cast<long>(pos + len));
                out.push_back(std::move(one));
                pos += len;
            }
            return out;
        }

        static std::vector<std::vector<uint8_t>> ExtractConfigFromHvcc(const std::vector<uint8_t>& hvcc) {
            std::vector<std::vector<uint8_t>> out;
            if (hvcc.size() < 23 || hvcc[0] != 1) return out;
            size_t pos = 22;
            if (pos >= hvcc.size()) return out;
            uint8_t num_arrays = hvcc[pos++];
            for (uint8_t i = 0; i < num_arrays; ++i) {
                if (pos + 3 > hvcc.size()) return {};
                uint8_t nal_type = hvcc[pos++] & 0x3F;
                uint16_t num_nalus = ReadBe16(&hvcc[pos]);
                pos += 2;
                for (uint16_t j = 0; j < num_nalus; ++j) {
                    if (pos + 2 > hvcc.size()) return {};
                    uint16_t len = ReadBe16(&hvcc[pos]);
                    pos += 2;
                    if (pos + len > hvcc.size()) return {};
                    if (nal_type == 32 || nal_type == 33 || nal_type == 34) {
                        std::vector<uint8_t> one{0, 0, 0, 1};
                        one.insert(one.end(), hvcc.begin() + static_cast<long>(pos), hvcc.begin() + static_cast<long>(pos + len));
                        out.push_back(std::move(one));
                    }
                    pos += len;
                }
            }
            return out;
        }

        bool FeedHeader(int64_t ts_ms, const std::vector<uint8_t>& header, bool is_h265) {
            if (!splitter_ || header.empty()) return false;
            cur_ts_ms_ = ts_ms;

            std::vector<std::vector<uint8_t>> cfg;
            if (HasAnnexBStartCode(header.data(), header.size())) {
                cfg = ExtractConfigFromAnnexB(header.data(), header.size(), is_h265);
            } else {
                // AVCC/HVCC extradata: extract config NALs (AnnexB)
                cfg = is_h265 ? ExtractConfigFromHvcc(header) : ExtractConfigFromAvcc(header);
            }

            if (cfg.empty()) return false;

            for (const auto& nal : cfg) {
                if (nal.empty()) continue;
                if (is_h265) {
                    mk_media_input_h265(media_, nal.data(), static_cast<int>(nal.size()), cur_ts_ms_, cur_ts_ms_);
                } else {
                    mk_media_input_h264(media_, nal.data(), static_cast<int>(nal.size()), cur_ts_ms_, cur_ts_ms_);
                }
            }
            return true;
        }

        void FeedPacket(int64_t ts_ms, const std::vector<uint8_t>& data, bool /*is_h265*/) {
            if (!splitter_ || data.empty()) return;
            cur_ts_ms_ = ts_ms;
            if (HasAnnexBStartCode(data.data(), data.size())) {
                mk_h264_splitter_input_data(splitter_, reinterpret_cast<const char*>(data.data()), static_cast<int>(data.size()));
                return;
            }
            auto annexb = ConvertLengthPrefixedToAnnexB(data.data(), data.size());
            if (!annexb.empty()) {
                mk_h264_splitter_input_data(splitter_, reinterpret_cast<const char*>(annexb.data()), static_cast<int>(annexb.size()));
            }
        }

        static void API_CALL OnSplitFrame(void* user_data, mk_h264_splitter /*splitter*/, const char* frame, int size) {
            auto* self = static_cast<ZlmRtspPublisher*>(user_data);
            if (!self || !self->media_ || !frame || size <= 0) return;

            const auto* d = reinterpret_cast<const uint8_t*>(frame);
            bool has_start_code = false;
            if (size >= 3 && d[0] == 0 && d[1] == 0 && d[2] == 1) {
                has_start_code = true;
            } else if (size >= 4 && d[0] == 0 && d[1] == 0 && d[2] == 0 && d[3] == 1) {
                has_start_code = true;
            }

            // Best-effort: detect and log config NAL once (helps diagnosing unready track).
            if (!self->seen_config_nal_ && has_start_code) {
                size_t off = (size >= 4 && d[0] == 0 && d[1] == 0 && d[2] == 0 && d[3] == 1) ? 4 : 3;
                if (static_cast<size_t>(size) > off) {
                    const uint8_t* nal = d + off;
                    size_t nal_len = static_cast<size_t>(size) - off;
                    bool is_cfg = false;
                    if (!self->is_h265_) {
                        uint8_t t = nal[0] & 0x1F;
                        is_cfg = (t == 7 || t == 8);
                    } else if (nal_len >= 2) {
                        uint8_t t = (nal[0] >> 1) & 0x3F;
                        is_cfg = (t == 32 || t == 33 || t == 34);
                    }
                    if (is_cfg) {
                        self->seen_config_nal_ = true;
                        std::cout << "[publish] zlm saw config nal" << "\n";
                    }
                }
            }

            if (!has_start_code) {
                thread_local std::vector<uint8_t> prefixed;
                prefixed.resize(static_cast<size_t>(size) + 4);
                prefixed[0] = 0;
                prefixed[1] = 0;
                prefixed[2] = 0;
                prefixed[3] = 1;
                std::memcpy(prefixed.data() + 4, frame, static_cast<size_t>(size));

                if (self->is_h265_) {
                    mk_media_input_h265(self->media_, prefixed.data(), static_cast<int>(prefixed.size()), self->cur_ts_ms_, self->cur_ts_ms_);
                } else {
                    mk_media_input_h264(self->media_, prefixed.data(), static_cast<int>(prefixed.size()), self->cur_ts_ms_, self->cur_ts_ms_);
                }
                return;
            }

            if (self->is_h265_) {
                mk_media_input_h265(self->media_, frame, size, self->cur_ts_ms_, self->cur_ts_ms_);
            } else {
                mk_media_input_h264(self->media_, frame, size, self->cur_ts_ms_, self->cur_ts_ms_);
            }
        }

        static void EnsureZlmEnv() {
            static std::once_flag once;
            std::call_once(once, [] {
                mk_config cfg;
                std::memset(&cfg, 0, sizeof(cfg));
                cfg.thread_num = 0;  // auto
                cfg.log_level = 2;
                cfg.log_mask = LOG_CONSOLE;
                mk_env_init(&cfg);
            });
        }

        static bool StartRtspServerOnce(int port) {
            static std::mutex mu;
            static std::unordered_set<int> started;
            std::lock_guard<std::mutex> lock(mu);
            if (started.count(port)) return true;
            auto actual = mk_rtsp_server_start(static_cast<uint16_t>(port), 0);
            if (actual == 0) return false;
            started.insert(port);
            return true;
        }

        mk_media media_ = nullptr;
        mk_h264_splitter splitter_ = nullptr;
        bool is_h265_ = false;
        uint64_t cur_ts_ms_ = 0;
        bool seen_config_nal_ = false;
        std::string app_;
        std::string stream_;
        int port_ = 0;
        bool sent_header_ = false;
    };
#endif

    void ProcessStub(FramePtr frame) {
        ++encoded_frames_;
        if (encoded_frames_ % 100 == 0) {
            std::cout << "[publish] stub frame " << frame->frame_id
                      << " queue=" << input_queue_->Size()
                      << " drops=" << input_queue_->DroppedCount() << "\n";
        }
    }

#if defined(RK3588_ENABLE_MPP)
    void ProcessMpp(FramePtr frame) {
        if (!mpp_encoder_) {
             mpp_encoder_ = std::make_unique<MppVencEncoder>();
        }

        if (!encoder_ready_) {
            if (!mpp_encoder_->InitFromFrame(*frame, codec_, fps_, gop_, bitrate_kbps_)) {
                std::cerr << "[publish] encoder init failed, fallback to stub\n";
                use_mpp_ = false;
                ProcessStub(frame);
                return;
            }

#if defined(RK3588_ENABLE_FFMPEG)
            if (use_ffmpeg_mux_) {
                AVCodecID cid = (codec_ == "h265" || codec_ == "hevc") ? AV_CODEC_ID_HEVC
                                                                         : AV_CODEC_ID_H264;
                if (!mux_mgr_) mux_mgr_ = std::make_unique<AvMuxerManager>();
                mux_mgr_->Init(ff_outputs_, cid, frame->width, frame->height, fps_, mpp_encoder_->Header());
            }
#endif

#if defined(RK3588_ENABLE_ZLMEDIAKIT)
            for (const auto& o : zlm_outputs_) {
                auto pub = std::make_unique<ZlmRtspPublisher>();
                if (pub->Init(o.port, o.path, id_, codec_, frame->width, frame->height, fps_, bitrate_kbps_)) {
                    zlm_pubs_.push_back(std::move(pub));
                }
            }
#endif
            encoder_ready_ = true;
        }

        const bool is_h265 = (codec_ == "h265" || codec_ == "hevc");
        mpp_encoder_->Encode(frame, [&](const EncodedPacket& pkt) {
            ++encoded_frames_;
            if (encoded_frames_ % 100 == 0) {
                std::cout << "[publish] encoded frame " << encoded_frames_
                          << " queue=" << input_queue_->Size()
                          << " drops=" << input_queue_->DroppedCount() << "\n";
            }
#if defined(RK3588_ENABLE_FFMPEG)
            if (use_ffmpeg_mux_ && mux_mgr_) mux_mgr_->Write(pkt);
#else
            (void)pkt;
#endif

#if defined(RK3588_ENABLE_ZLMEDIAKIT)
            for (auto& p : zlm_pubs_) {
                p->Write(pkt, mpp_encoder_->Header(), is_h265);
            }
#endif
        });
    }
#endif

    std::string id_;
    std::string codec_ = "h264";
    int fps_ = 25;
    int gop_ = 50;
    int bitrate_kbps_ = 4000;
    bool use_mpp_ = false;
    bool use_ffmpeg_mux_ = false;
    std::vector<OutputConfig> outputs_;
    std::vector<OutputConfig> ff_outputs_;
    std::vector<OutputConfig> zlm_outputs_;

    std::shared_ptr<SpscQueue<FramePtr>> input_queue_;
    uint64_t encoded_frames_ = 0;

#if defined(RK3588_ENABLE_MPP)
    std::unique_ptr<MppVencEncoder> mpp_encoder_;
    bool encoder_ready_ = false;
#endif

#if defined(RK3588_ENABLE_FFMPEG)
    std::unique_ptr<AvMuxerManager> mux_mgr_;
#endif

#if defined(RK3588_ENABLE_ZLMEDIAKIT)
    std::vector<std::unique_ptr<ZlmRtspPublisher>> zlm_pubs_;
#endif
};

REGISTER_NODE(PublishNode, "publish");

}  // namespace rk3588