#include <atomic>
#include <algorithm>
#include <chrono>
#include <functional>
#include <cstdio>
#include <cstring>
#include <cctype>
#include <mutex>
#include <string>
#include <thread>
#include <vector>

#include "node.h"
#include "utils/thread_affinity.h"
#include "utils/logger.h"

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

#ifdef RK3588_ENABLE_FFMPEG
extern "C" {
#include <libavcodec/bsf.h>
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
#include <libavutil/imgutils.h>
#include <libavutil/log.h>
#include <libavutil/opt.h>
}
#endif

namespace rk3588 {

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

    bool Init(const SimpleJson& config, const NodeContext& ctx) override {
        id_ = config.ValueOr<std::string>("id", "input_rtsp");
        url_ = config.ValueOr<std::string>("url", "");
        fps_ = config.ValueOr<int>("fps", 25);
        width_ = config.ValueOr<int>("width", 1920);
        height_ = config.ValueOr<int>("height", 1080);
        use_ffmpeg_ = config.ValueOr<bool>("use_ffmpeg", false);
        use_mpp_ = config.ValueOr<bool>("use_mpp", true);
        ffmpeg_force_tcp_ = config.ValueOr<bool>("force_tcp", true);
        reconnect_sec_ = config.ValueOr<int>("reconnect_sec", 5);
        reconnect_backoff_max_sec_ = config.ValueOr<int>("reconnect_backoff_max_sec", 30);
        fallback_to_stub_on_fail_ = config.ValueOr<bool>("fallback_to_stub_on_fail", false);

        if (const SimpleJson* dbg = config.Find("debug"); dbg && dbg->IsObject()) {
            stats_log_ = dbg->ValueOr<bool>("stats", stats_log_);
            stats_interval_ = std::max<uint64_t>(
                1, static_cast<uint64_t>(dbg->ValueOr<int>("stats_interval", static_cast<int>(stats_interval_))));
        }
        cpu_affinity_ = ParseCpuAffinity(config);
        if (ctx.output_queues.empty()) {
            LogError("[input_rtsp] no downstream queue configured for node " + id_);
            return false;
        }
        out_queues_ = ctx.output_queues;
        return true;
    }

    bool Start() override {
        if (out_queues_.empty()) return false;
        running_.store(true);
#if defined(RK3588_ENABLE_FFMPEG) && defined(RK3588_ENABLE_MPP)
        if (use_mpp_) {
            worker_ = std::thread(&InputRtspNode::LoopFfmpegMpp, this);
        } else if (use_ffmpeg_) {
            worker_ = std::thread(&InputRtspNode::LoopFfmpegCpu, this);
        } else {
            worker_ = std::thread(&InputRtspNode::LoopStub, this);
        }
#elif defined(RK3588_ENABLE_FFMPEG)
        if (use_ffmpeg_) {
            worker_ = std::thread(&InputRtspNode::LoopFfmpegCpu, this);
        } else {
            worker_ = std::thread(&InputRtspNode::LoopStub, this);
        }
#else
        if (use_ffmpeg_ || use_mpp_) {
            LogError("[input_rtsp] requested ffmpeg/mpp but not enabled at build time");
        }
        worker_ = std::thread(&InputRtspNode::LoopStub, this);
#endif

        std::string mode;
#if defined(RK3588_ENABLE_MPP)
        if (use_mpp_) mode = " (ffmpeg demux + mpp decode)";
        else if (use_ffmpeg_) mode = std::string(" (ffmpeg cpu decode") + (ffmpeg_force_tcp_ ? ", tcp)" : ", udp)");
        else mode = " (stub)";
#else
        if (use_ffmpeg_) mode = std::string(" (ffmpeg cpu decode") + (ffmpeg_force_tcp_ ? ", tcp)" : ", udp)");
        else mode = " (stub)";
#endif
        LogInfo("[input_rtsp] start id=" + id_ + " url=" + url_ + " fps=" + std::to_string(fps_) + mode);
        return true;
    }

    void Stop() override {
        running_.store(false);
        for (auto& q : out_queues_) q->Stop();
        if (worker_.joinable()) worker_.join();
    }

    void Drain() override {
        running_.store(false);
    }

private:
#if defined(RK3588_ENABLE_FFMPEG)
    static bool IContainsNoCase(const char* haystack, const char* needle) {
        if (!haystack || !needle) return false;
        const size_t nlen = std::strlen(needle);
        if (nlen == 0) return true;
        for (const char* p = haystack; *p; ++p) {
            size_t i = 0;
            while (i < nlen && p[i] &&
                   std::tolower(static_cast<unsigned char>(p[i])) ==
                       std::tolower(static_cast<unsigned char>(needle[i]))) {
                ++i;
            }
            if (i == nlen) return true;
        }
        return false;
    }

    static void InstallFfmpegLogFilterOnce() {
        static std::once_flag once;
        std::call_once(once, []() {
            // Filter known benign RTSP probe noise while keeping real errors.
            av_log_set_callback([](void* avcl, int level, const char* fmt, va_list vl) {
                (void)level;
                va_list vl_format;
                va_copy(vl_format, vl);

                char buf[1024];
                vsnprintf(buf, sizeof(buf), fmt, vl_format);
                va_end(vl_format);
                buf[sizeof(buf) - 1] = '\0';

                const char* item = avcl ? av_default_item_name(avcl) : "";
                // Note: item name can be "rtsp" or "RTSP" depending on build.
                if (InputRtspNode::IContainsNoCase(item, "rtsp")) {
                    // Seen during startup/probing on some cameras; not fatal if we later decode fine.
                    if (InputRtspNode::IContainsNoCase(buf, "decoding for stream") && InputRtspNode::IContainsNoCase(buf, "failed")) return;
                    if (InputRtspNode::IContainsNoCase(buf, "not enough frames to estimate rate")) return;
                }

                va_list vl_default;
                va_copy(vl_default, vl);
                av_log_default_callback(avcl, level, fmt, vl_default);
                va_end(vl_default);
            });

            // Do not change global log level here; keep defaults and only filter specific noise.
        });
    }
#endif

    void ApplyAffinity() {
        if (cpu_affinity_.empty()) return;
        std::string aerr;
        if (!SetCurrentThreadAffinity(cpu_affinity_, aerr)) {
            LogWarn("[input_rtsp] SetCurrentThreadAffinity failed: " + aerr);
        }
    }

    void PushToDownstream(FramePtr frame) {
        for (auto& q : out_queues_) {
            q->Push(frame);
        }
    }

    void LoopStub() {
        ApplyAffinity();
        using namespace std::chrono;
        auto frame_interval = fps_ > 0 ? milliseconds(1000 / fps_) : milliseconds(40);
        while (running_.load()) {
            auto frame = std::make_shared<Frame>();
            frame->width = width_;
            frame->height = height_;
            frame->format = PixelFormat::NV12;
            frame->plane_count = 2;
            frame->planes[0] = {nullptr, width_, width_ * height_, 0};
            frame->planes[1] = {nullptr, width_, width_ * height_ / 2, width_ * height_};
            frame->frame_id = ++frame_id_;
            frame->pts = duration_cast<microseconds>(steady_clock::now().time_since_epoch()).count();
            PushToDownstream(frame);

            if (stats_log_ && stats_interval_ > 0 && (frame_id_ % stats_interval_) == 0) {
                LogInfo("[input_rtsp] generated frame=" + std::to_string(frame_id_) +
                        " queue=" + std::to_string(out_queues_.empty() ? 0 : out_queues_[0]->Size()) +
                        " drops=" + std::to_string(out_queues_.empty() ? 0 : out_queues_[0]->DroppedCount()));
            }
            std::this_thread::sleep_for(frame_interval);
        }
    }
#if defined(RK3588_ENABLE_FFMPEG)
    void LoopFfmpegCpu() {
#if defined(RK3588_ENABLE_FFMPEG)
        InstallFfmpegLogFilterOnce();
#endif
        ApplyAffinity();
        using namespace std::chrono;

        int backoff = std::max(1, reconnect_sec_);
        const int backoff_max = std::max(backoff, reconnect_backoff_max_sec_);

        while (running_.load()) {
            AVFormatContext* fmt_ctx = nullptr;
            AVCodecContext* codec_ctx = nullptr;
            AVPacket* pkt = av_packet_alloc();
            AVFrame* frm = av_frame_alloc();
            int video_stream = -1;
            AVRational time_base{1, 1000};

            AVDictionary* opts = nullptr;
            if (ffmpeg_force_tcp_) av_dict_set(&opts, "rtsp_transport", "tcp", 0);
            av_dict_set(&opts, "analyzeduration", "0", 0);
            av_dict_set(&opts, "probesize", "32768", 0);
            av_dict_set(&opts, "fflags", "nobuffer", 0);
            av_dict_set(&opts, "flags", "low_delay", 0);
            if (avformat_open_input(&fmt_ctx, url_.c_str(), nullptr, &opts) < 0) {
                LogError("[input_rtsp] avformat_open_input failed: " + url_);
                av_dict_free(&opts);
                Cleanup(fmt_ctx, codec_ctx, pkt, frm);
                if (fallback_to_stub_on_fail_) {
                    LoopStub();
                    return;
                }
                std::this_thread::sleep_for(seconds(backoff));
                backoff = std::min(backoff_max, backoff * 2);
                continue;
            }
            av_dict_free(&opts);
            if (avformat_find_stream_info(fmt_ctx, nullptr) < 0) {
                // For RTSP, codec parameters are often available from SDP already; keep going.
                LogWarn("[input_rtsp] avformat_find_stream_info failed (continuing)");
            }
            for (unsigned i = 0; i < fmt_ctx->nb_streams; ++i) {
                if (fmt_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) {
                    video_stream = static_cast<int>(i);
                    time_base = fmt_ctx->streams[i]->time_base;
                    break;
                }
            }
            if (video_stream < 0) {
                LogError("[input_rtsp] no video stream");
                Cleanup(fmt_ctx, codec_ctx, pkt, frm);
                std::this_thread::sleep_for(seconds(backoff));
                backoff = std::min(backoff_max, backoff * 2);
                continue;
            }

            const AVCodec* codec = avcodec_find_decoder(fmt_ctx->streams[video_stream]->codecpar->codec_id);
            if (!codec) {
                LogError("[input_rtsp] decoder not found");
                Cleanup(fmt_ctx, codec_ctx, pkt, frm);
                std::this_thread::sleep_for(seconds(backoff));
                backoff = std::min(backoff_max, backoff * 2);
                continue;
            }
            codec_ctx = avcodec_alloc_context3(codec);
            avcodec_parameters_to_context(codec_ctx, fmt_ctx->streams[video_stream]->codecpar);
            if (avcodec_open2(codec_ctx, codec, nullptr) < 0) {
                LogError("[input_rtsp] avcodec_open2 failed");
                Cleanup(fmt_ctx, codec_ctx, pkt, frm);
                std::this_thread::sleep_for(seconds(backoff));
                backoff = std::min(backoff_max, backoff * 2);
                continue;
            }

            backoff = std::max(1, reconnect_sec_); // reset after successful open
            int read_fail = 0;
            while (running_.load()) {
                if (av_read_frame(fmt_ctx, pkt) < 0) {
                    if (++read_fail >= 50) {
                        break;
                    }
                    std::this_thread::sleep_for(milliseconds(10));
                    continue;
                }
                read_fail = 0;
                if (pkt->stream_index != video_stream) {
                    av_packet_unref(pkt);
                    continue;
                }
                if (avcodec_send_packet(codec_ctx, pkt) == 0) {
                    while (avcodec_receive_frame(codec_ctx, frm) == 0) {
                        PushFrameFromAVFrame(*frm, time_base);
                        av_frame_unref(frm);
                    }
                }
                av_packet_unref(pkt);
            }

            Cleanup(fmt_ctx, codec_ctx, pkt, frm);
            if (!running_.load()) break;
            std::this_thread::sleep_for(seconds(std::max(1, reconnect_sec_)));
        }
    }

    void PushFrameFromAVFrame(const AVFrame& f, AVRational time_base) {
        PixelFormat fmt = PixelFormat::UNKNOWN;
        int plane_count = 0;
        int width = f.width;
        int height = f.height;

        if (f.format == AV_PIX_FMT_NV12) {
            fmt = PixelFormat::NV12;
            plane_count = 2;
        } else if (f.format == AV_PIX_FMT_YUV420P || f.format == AV_PIX_FMT_YUVJ420P) {
            fmt = PixelFormat::YUV420;
            plane_count = 3;
        }

        int buf_size = av_image_get_buffer_size(static_cast<AVPixelFormat>(f.format), width, height, 1);
        if (buf_size <= 0) return;
        auto buffer = std::make_shared<std::vector<uint8_t>>(buf_size);
        if (av_image_copy_to_buffer(buffer->data(), buffer->size(), f.data, f.linesize,
                                    static_cast<AVPixelFormat>(f.format), width, height, 1) < 0) {
            return;
        }

        auto frame = std::make_shared<Frame>();
        frame->width = width;
        frame->height = height;
        frame->format = fmt;
        frame->data = buffer->data();
        frame->data_size = buffer->size();
        frame->plane_count = plane_count;
        frame->frame_id = ++frame_id_;
        auto best_pts = f.pts; // av_frame_get_best_effort_timestamp is deprecated
        frame->pts = best_pts == AV_NOPTS_VALUE ? 0
                     : static_cast<uint64_t>(av_rescale_q(best_pts, time_base, {1, 1000000}));
        frame->data_owner = buffer;

        if (fmt == PixelFormat::NV12 && plane_count == 2) {
            int y_size = width * height;
            frame->planes[0] = {buffer->data(), width, y_size, 0};
            frame->planes[1] = {buffer->data() + y_size, width, y_size / 2, y_size};
        } else if (fmt == PixelFormat::YUV420 && plane_count == 3) {
            int y_size = width * height;
            int uv_stride = width / 2;
            int uv_h = height / 2;
            int u_size = uv_stride * uv_h;
            frame->planes[0] = {buffer->data(), width, y_size, 0};
            frame->planes[1] = {buffer->data() + y_size, uv_stride, u_size, y_size};
            frame->planes[2] = {buffer->data() + y_size + u_size, uv_stride, u_size, y_size + u_size};
        }

        PushToDownstream(frame);
        if (stats_log_ && stats_interval_ > 0 && (frame_id_ % stats_interval_) == 0) {
            LogInfo("[input_rtsp] recv frame=" + std::to_string(frame->frame_id) +
                    " queue=" + std::to_string(out_queues_.empty() ? 0 : out_queues_[0]->Size()) +
                    " drops=" + std::to_string(out_queues_.empty() ? 0 : out_queues_[0]->DroppedCount()));
        }
    }

    void Cleanup(AVFormatContext* fmt, AVCodecContext* dec, AVPacket* pkt, AVFrame* frm) {
        if (dec) avcodec_free_context(&dec);
        if (fmt) avformat_close_input(&fmt);
        if (pkt) av_packet_free(&pkt);
        if (frm) av_frame_free(&frm);
    }
#endif

#if defined(RK3588_ENABLE_FFMPEG) && defined(RK3588_ENABLE_MPP)
    static bool IsAnnexB(const uint8_t* data, size_t size) {
        if (!data || size < 4) return false;
        // 00 00 01 or 00 00 00 01
        if (data[0] == 0 && data[1] == 0 && data[2] == 1) return true;
        if (data[0] == 0 && data[1] == 0 && data[2] == 0 && data[3] == 1) return true;
        return false;
    }

    static int GetAnnexBStartCodeSize(const uint8_t* data, size_t size) {
        if (!data || size < 4) return 0;
        if (data[0] == 0 && data[1] == 0 && data[2] == 1) return 3;
        if (data[0] == 0 && data[1] == 0 && data[2] == 0 && data[3] == 1) return 4;
        return 0;
    }

    struct NalSummary {
        bool has_idr = false;
        bool has_param = false;  // SPS/PPS (or VPS for H265)
    };

    static NalSummary SummarizeAnnexB(AVCodecID codec_id, const uint8_t* data, size_t size) {
        NalSummary s{};
        if (!data || size < 5) return s;

        size_t i = 0;
        while (i + 4 <= size) {
            int sc = GetAnnexBStartCodeSize(data + i, size - i);
            if (sc == 0) {
                ++i;
                continue;
            }
            size_t nal = i + static_cast<size_t>(sc);
            if (nal >= size) break;
            uint8_t b0 = data[nal];

            if (codec_id == AV_CODEC_ID_H264) {
                int t = b0 & 0x1F;
                if (t == 5) s.has_idr = true;
                if (t == 7 || t == 8) s.has_param = true;
            } else if (codec_id == AV_CODEC_ID_HEVC) {
                int t = (b0 >> 1) & 0x3F;
                if (t == 19 || t == 20) s.has_idr = true;
                if (t == 32 || t == 33 || t == 34) s.has_param = true;
            }

            // Jump to next start code by searching forward.
            size_t j = nal + 1;
            while (j + 3 < size) {
                if ((data[j] == 0 && data[j + 1] == 0 && data[j + 2] == 1) ||
                    (j + 4 < size && data[j] == 0 && data[j + 1] == 0 && data[j + 2] == 0 && data[j + 3] == 1)) {
                    break;
                }
                ++j;
            }
            i = j;
        }
        return s;
    }

    struct MppDecoderWrapper {
        ~MppDecoderWrapper() { Shutdown(); }

        bool Init(MppCodingType type) {
            MPP_RET ret = mpp_create(&ctx, &mpi);
            if (ret != MPP_OK) return false;
            ret = mpp_init(ctx, MPP_CTX_DEC, type);
            if (ret != MPP_OK) return false;

            MppDecCfg cfg = nullptr;
            mpp_dec_cfg_init(&cfg);
            ret = mpi->control(ctx, MPP_DEC_GET_CFG, cfg);
            if (ret != MPP_OK) return false;
            ret = mpp_dec_cfg_set_u32(cfg, "base:split_parse", 1);
            if (ret != MPP_OK) return false;
            ret = mpi->control(ctx, MPP_DEC_SET_CFG, cfg);
            mpp_dec_cfg_deinit(cfg);
            return ret == MPP_OK;
        }

        void Shutdown() {
            if (frame_group) {
                mpp_buffer_group_put(frame_group);
                frame_group = nullptr;
            }
            if (ctx) {
                mpp_destroy(ctx);
                ctx = nullptr;
                mpi = nullptr;
            }
        }

        bool Decode(const uint8_t* data, size_t size, bool eos, int64_t pts_us,
                    const std::function<void(MppFrame)>& on_frame) {
            if (!ctx || !mpi || !data || size == 0) return false;

            // Use mpp_packet_copy_init so packet memory lifetime is independent of AVPacket.
            MppPacket src = nullptr;
            MPP_RET ret = mpp_packet_init(&src, const_cast<uint8_t*>(data), size);
            if (ret != MPP_OK || !src) {
                if (++fail_copy_init_ <= 3 || fail_copy_init_ % 200 == 0) {
                    LogWarn("[input_rtsp] mpp_packet_init failed ret=" + std::to_string(ret) +
                            " size=" + std::to_string(size));
                }
                return false;
            }

            MppPacket packet = nullptr;
            ret = mpp_packet_copy_init(&packet, src);
            mpp_packet_deinit(&src);
            if (ret != MPP_OK || !packet) {
                if (++fail_copy_init_ <= 3 || fail_copy_init_ % 200 == 0) {
                    LogWarn("[input_rtsp] mpp_packet_copy_init failed ret=" + std::to_string(ret) +
                            " size=" + std::to_string(size));
                }
                return false;
            }

            mpp_packet_set_pos(packet, mpp_packet_get_data(packet));
            mpp_packet_set_length(packet, size);
            mpp_packet_set_pts(packet, pts_us);
            mpp_packet_clr_eos(packet);
            if (eos) mpp_packet_set_eos(packet);

            auto drain_frames = [&]() {
                for (int n = 0; n < 8; ++n) {
                    MPP_RET gr = mpi->decode_get_frame(ctx, &frame);
                    if (gr == MPP_ERR_TIMEOUT) return;
                    if (gr != MPP_OK) {
                        if (++fail_get_frame_ <= 3 || fail_get_frame_ % 200 == 0) {
                            LogWarn("[input_rtsp] decode_get_frame ret=" + std::to_string(gr));
                        }
                        return;
                    }
                    if (!frame) return;
                    if (mpp_frame_get_info_change(frame)) {
                        HandleInfoChange();
                    } else {
                        if (on_frame) on_frame(frame);
                    }
                    mpp_frame_deinit(&frame);
                    frame = nullptr;
                }
            };

            bool pkt_done = false;
            MPP_RET last_put = MPP_NOK;
            int put_tries = 0;
            while (!pkt_done && put_tries++ < 200) {
                MPP_RET put_ret = mpi->decode_put_packet(ctx, packet);
                if (put_ret == MPP_OK) {
                    pkt_done = true;
                    break;
                }

                last_put = put_ret;
                // Buffer full is normal backpressure; try draining and retry.
                drain_frames();
                usleep(2000);
            }

            // Always try to drain after put attempt(s).
            drain_frames();
            mpp_packet_deinit(&packet);

            if (!pkt_done) {
                // Treat as packet drop to keep pipeline progressing; caller can decide to wait for next IDR.
                if (last_put != MPP_ERR_BUFFER_FULL) {
                    if (++fail_put_packet_ <= 3 || fail_put_packet_ % 200 == 0) {
                        LogWarn("[input_rtsp] decode_put_packet failed ret=" + std::to_string(last_put));
                    }
                }
            }
            return pkt_done;
        }

        bool SendExtraData(const uint8_t* data, size_t size) {
            if (!ctx || !mpi || !data || size == 0) return false;
            if (!IsAnnexB(data, size)) {
                LogWarn("[input_rtsp] extra_data is not AnnexB; mpp may ignore it");
            }

            MppPacket src = nullptr;
            MPP_RET ret = mpp_packet_init(&src, const_cast<uint8_t*>(data), size);
            if (ret != MPP_OK || !src) return false;

            MppPacket pkt = nullptr;
            ret = mpp_packet_copy_init(&pkt, src);
            mpp_packet_deinit(&src);
            if (ret != MPP_OK || !pkt) return false;

            mpp_packet_set_pos(pkt, mpp_packet_get_data(pkt));
            mpp_packet_set_length(pkt, size);
            mpp_packet_set_pts(pkt, 0);
            mpp_packet_set_extra_data(pkt);

            int tries = 0;
            while (tries++ < 200) {
                MPP_RET put_ret = mpi->decode_put_packet(ctx, pkt);
                if (put_ret == MPP_OK) {
                    mpp_packet_deinit(&pkt);
                    return true;
                }
                // Drain output to relieve buffer full.
                MppFrame tmp = nullptr;
                if (mpi->decode_get_frame(ctx, &tmp) == MPP_OK && tmp) {
                    if (mpp_frame_get_info_change(tmp)) {
                        frame = tmp;
                        HandleInfoChange();
                        frame = nullptr;
                    }
                    mpp_frame_deinit(&tmp);
                }
                usleep(2000);
            }

            LogWarn("[input_rtsp] extra_data decode_put_packet timeout");
            mpp_packet_deinit(&pkt);
            return false;
        }

        void HandleInfoChange() {
            if (!ctx || !mpi || !frame) return;
            MppBufferGroup group = frame_group;
            size_t buf_size = mpp_frame_get_buf_size(frame);
            if (!group) {
                auto try_group = [&](MppBufferType t) -> bool {
                    return mpp_buffer_group_get(&group, t, MPP_BUFFER_INTERNAL, MODULE_TAG, __FUNCTION__) == MPP_OK;
                };
                // Prefer DMA32 buffers to keep physical addresses <4GB; some RGA drivers can't map >4GB.
                if (!try_group(static_cast<MppBufferType>(MPP_BUFFER_TYPE_DMA_HEAP | MPP_BUFFER_FLAGS_CACHABLE | MPP_BUFFER_FLAGS_DMA32)) &&
                    !try_group(static_cast<MppBufferType>(MPP_BUFFER_TYPE_DMA_HEAP | MPP_BUFFER_FLAGS_DMA32)) &&
                    !try_group(static_cast<MppBufferType>(MPP_BUFFER_TYPE_DMA_HEAP | MPP_BUFFER_FLAGS_CACHABLE)) &&
                    !try_group(static_cast<MppBufferType>(MPP_BUFFER_TYPE_DMA_HEAP)) &&
                    !try_group(static_cast<MppBufferType>(MPP_BUFFER_TYPE_DRM | MPP_BUFFER_FLAGS_CACHABLE)) &&
                    !try_group(static_cast<MppBufferType>(MPP_BUFFER_TYPE_DRM)) &&
                    !try_group(static_cast<MppBufferType>(MPP_BUFFER_TYPE_ION | MPP_BUFFER_FLAGS_CACHABLE)) &&
                    !try_group(static_cast<MppBufferType>(MPP_BUFFER_TYPE_ION))) {
                    LogError("[input_rtsp] mpp info_change: failed to alloc frame buffer group");
                    return;
                }
                frame_group = group;
            } else {
                mpp_buffer_group_clear(group);
            }
            mpp_buffer_group_limit_config(group, buf_size, 24);
            mpi->control(ctx, MPP_DEC_SET_EXT_BUF_GROUP, group);
            mpi->control(ctx, MPP_DEC_SET_INFO_CHANGE_READY, nullptr);
        }

        MppCtx ctx = nullptr;
        MppApi* mpi = nullptr;
        MppBufferGroup frame_group = nullptr;
        MppFrame frame = nullptr;
        uint64_t fail_copy_init_ = 0;
        uint64_t fail_put_packet_ = 0;
        uint64_t fail_get_frame_ = 0;
    };

    void LoopFfmpegMpp() {
#if defined(RK3588_ENABLE_FFMPEG)
        InstallFfmpegLogFilterOnce();
#endif
        ApplyAffinity();
        using namespace std::chrono;

        int backoff = std::max(1, reconnect_sec_);
        const int backoff_max = std::max(backoff, reconnect_backoff_max_sec_);

        while (running_.load()) {
            AVFormatContext* fmt_ctx = nullptr;
            AVPacket* pkt = av_packet_alloc();
            AVPacket* filt_pkt = av_packet_alloc();
            int video_stream = -1;
            AVRational time_base{1, 1000};
            AVBSFContext* bsf_ctx = nullptr;

            AVDictionary* opts = nullptr;
            if (ffmpeg_force_tcp_) av_dict_set(&opts, "rtsp_transport", "tcp", 0);
            av_dict_set(&opts, "analyzeduration", "0", 0);
            av_dict_set(&opts, "probesize", "32768", 0);
            av_dict_set(&opts, "fflags", "nobuffer", 0);
            av_dict_set(&opts, "flags", "low_delay", 0);
            if (avformat_open_input(&fmt_ctx, url_.c_str(), nullptr, &opts) < 0) {
                LogError("[input_rtsp] avformat_open_input failed: " + url_);
                av_dict_free(&opts);
                if (bsf_ctx) av_bsf_free(&bsf_ctx);
                if (filt_pkt) av_packet_free(&filt_pkt);
                Cleanup(fmt_ctx, nullptr, pkt, nullptr);
                if (fallback_to_stub_on_fail_) {
                    LoopStub();
                    return;
                }
                std::this_thread::sleep_for(seconds(backoff));
                backoff = std::min(backoff_max, backoff * 2);
                continue;
            }
            av_dict_free(&opts);
            if (avformat_find_stream_info(fmt_ctx, nullptr) < 0) {
                // For RTSP, codec parameters are often available from SDP already; keep going.
                LogWarn("[input_rtsp] avformat_find_stream_info failed (continuing)");
            }
            for (unsigned i = 0; i < fmt_ctx->nb_streams; ++i) {
                if (fmt_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) {
                    video_stream = static_cast<int>(i);
                    time_base = fmt_ctx->streams[i]->time_base;
                    break;
                }
            }
            if (video_stream < 0) {
                LogError("[input_rtsp] no video stream");
                if (bsf_ctx) av_bsf_free(&bsf_ctx);
                if (filt_pkt) av_packet_free(&filt_pkt);
                Cleanup(fmt_ctx, nullptr, pkt, nullptr);
                std::this_thread::sleep_for(seconds(backoff));
                backoff = std::min(backoff_max, backoff * 2);
                continue;
            }

            MppCodingType coding = MPP_VIDEO_CodingAVC;
            auto codec_id = fmt_ctx->streams[video_stream]->codecpar->codec_id;
            if (codec_id == AV_CODEC_ID_H264) coding = MPP_VIDEO_CodingAVC;
            else if (codec_id == AV_CODEC_ID_HEVC) coding = MPP_VIDEO_CodingHEVC;
            else {
                LogError("[input_rtsp] unsupported codec for mpp");
                if (bsf_ctx) av_bsf_free(&bsf_ctx);
                if (filt_pkt) av_packet_free(&filt_pkt);
                Cleanup(fmt_ctx, nullptr, pkt, nullptr);
                std::this_thread::sleep_for(seconds(backoff));
                backoff = std::min(backoff_max, backoff * 2);
                continue;
            }

            MppDecoderWrapper dec;
            if (!dec.Init(coding)) {
                LogError("[input_rtsp] mpp init failed");
                if (bsf_ctx) av_bsf_free(&bsf_ctx);
                if (filt_pkt) av_packet_free(&filt_pkt);
                Cleanup(fmt_ctx, nullptr, pkt, nullptr);
                std::this_thread::sleep_for(seconds(backoff));
                backoff = std::min(backoff_max, backoff * 2);
                continue;
            }

            auto ensure_bsf = [&]() -> bool {
                if (bsf_ctx) return true;
                const char* bsf_name = nullptr;
                if (codec_id == AV_CODEC_ID_H264) bsf_name = "h264_mp4toannexb";
                else if (codec_id == AV_CODEC_ID_HEVC) bsf_name = "hevc_mp4toannexb";
                if (!bsf_name) return false;
                const AVBitStreamFilter* bsf = av_bsf_get_by_name(bsf_name);
                if (!bsf) return false;
                if (av_bsf_alloc(bsf, &bsf_ctx) < 0) {
                    bsf_ctx = nullptr;
                    return false;
                }
                if (avcodec_parameters_copy(bsf_ctx->par_in, fmt_ctx->streams[video_stream]->codecpar) < 0) {
                    av_bsf_free(&bsf_ctx);
                    return false;
                }
                bsf_ctx->time_base_in = fmt_ctx->streams[video_stream]->time_base;
                if (av_bsf_init(bsf_ctx) < 0) {
                    av_bsf_free(&bsf_ctx);
                    return false;
                }
                return true;
            };

            // Send codec extra data (SPS/PPS or VPS/SPS/PPS). Many RTSP streams rely on SDP extradata.
            // Prefer bsf-converted extradata when available.
            bool bsf_ok = ensure_bsf();
            const AVCodecParameters* par = fmt_ctx->streams[video_stream]->codecpar;
            if (par && par->extradata && par->extradata_size > 0) {
                const uint8_t* extra = par->extradata;
                size_t extra_size = static_cast<size_t>(par->extradata_size);

                if (bsf_ok && bsf_ctx && bsf_ctx->par_out && bsf_ctx->par_out->extradata && bsf_ctx->par_out->extradata_size > 0) {
                    extra = bsf_ctx->par_out->extradata;
                    extra_size = static_cast<size_t>(bsf_ctx->par_out->extradata_size);
                }

                if (extra && extra_size > 0) {
                    if (stats_log_) {
                        LogInfo("[input_rtsp] send extra_data size=" + std::to_string(extra_size) +
                                " annexb=" + std::to_string(IsAnnexB(extra, extra_size) ? 1 : 0));
                    }
                    if (!dec.SendExtraData(extra, extra_size)) {
                        LogWarn("[input_rtsp] send extra_data failed");
                    }
                }
            }

            backoff = std::max(1, reconnect_sec_);
            int read_fail = 0;
            uint64_t pkt_count = 0;
            uint64_t decode_fail = 0;
            bool need_idr = true;
            uint64_t dropped_until_idr = 0;
            bool announced_wait_idr = false;
            const int64_t step_us = (fps_ > 0) ? (1000000LL / fps_) : 40000LL;
            int64_t last_pts_us = 0;
            bool have_last_pts = false;

            auto handle_annexb = [&](const uint8_t* data, size_t size, bool key_flag, int64_t pts_us) {
                if (!data || size == 0) return;
                NalSummary ns = SummarizeAnnexB(codec_id, data, size);
                const bool is_idr = key_flag || ns.has_idr;
                if (need_idr && !is_idr) {
                    ++dropped_until_idr;
                    if (stats_log_ && (!announced_wait_idr || dropped_until_idr % 300 == 0)) {
                        LogInfo("[input_rtsp] waiting for IDR/keyframe; dropped=" + std::to_string(dropped_until_idr));
                        announced_wait_idr = true;
                    }
                    return;
                }

                const bool ok = dec.Decode(data, size, false, pts_us,
                                           [&](MppFrame frm) { PushFrameFromMpp(frm); });
                if (is_idr && ok) {
                    need_idr = false;
                    decode_fail = 0;
                } else if (!ok) {
                    // If we are in steady state and decoding starts failing, re-sync on next IDR.
                    if (!need_idr && ++decode_fail >= 3) {
                        need_idr = true;
                        announced_wait_idr = false;
                        LogWarn("[input_rtsp] decoder desync/backpressure; re-sync on next IDR");
                    }
                }
            };
            while (running_.load()) {
                if (av_read_frame(fmt_ctx, pkt) < 0) {
                    if (++read_fail >= 50) break;
                    std::this_thread::sleep_for(milliseconds(10));
                    continue;
                }
                read_fail = 0;
                if (pkt->stream_index != video_stream) {
                    av_packet_unref(pkt);
                    continue;
                }

                ++pkt_count;
                int64_t raw_pts = pkt->pts;
                int64_t raw_dts = pkt->dts;
                if (raw_pts != AV_NOPTS_VALUE && raw_pts < 0) raw_pts = AV_NOPTS_VALUE;
                if (raw_dts != AV_NOPTS_VALUE && raw_dts < 0) raw_dts = AV_NOPTS_VALUE;
                int64_t raw_ts = (raw_pts != AV_NOPTS_VALUE) ? raw_pts : raw_dts;
                int64_t pts_us = 0;
                if (raw_ts == AV_NOPTS_VALUE) {
                    pts_us = have_last_pts ? (last_pts_us + step_us) : 0;
                } else {
                    pts_us = av_rescale_q(raw_ts, time_base, {1, 1000000});
                    if (pts_us < 0) pts_us = 0;
                    if (have_last_pts && pts_us <= last_pts_us) pts_us = last_pts_us + step_us;
                }
                last_pts_us = pts_us;
                have_last_pts = true;

                if (stats_log_ && (pkt_count <= 3 || pkt_count % 300 == 0)) {
                    LogInfo("[input_rtsp] recv pkt#" + std::to_string(pkt_count) +
                            " size=" + std::to_string(pkt->size) +
                            " pts=" + (raw_pts == AV_NOPTS_VALUE ? std::string("NOPTS") : std::to_string(raw_pts)) +
                            " dts=" + (raw_dts == AV_NOPTS_VALUE ? std::string("NOPTS") : std::to_string(raw_dts)) +
                            " pts_us=" + std::to_string(pts_us) +
                            " key=" + std::to_string((pkt->flags & AV_PKT_FLAG_KEY) ? 1 : 0));
                }

                if (IsAnnexB(pkt->data, static_cast<size_t>(pkt->size))) {
                    if (stats_log_ && pkt_count <= 10) {
                        int sc = GetAnnexBStartCodeSize(pkt->data, static_cast<size_t>(pkt->size));
                        if (sc > 0 && static_cast<size_t>(sc) < static_cast<size_t>(pkt->size)) {
                            uint8_t b0 = pkt->data[sc];
                            int h264_type = b0 & 0x1F;
                            int h265_type = (b0 >> 1) & 0x3F;
                            LogInfo("[input_rtsp] pkt#" + std::to_string(pkt_count) +
                                    " nal(h264)=" + std::to_string(h264_type) +
                                    " nal(h265)=" + std::to_string(h265_type) +
                                    " first_byte=" + std::to_string(static_cast<int>(b0)));
                        }
                    }
                    handle_annexb(pkt->data, static_cast<size_t>(pkt->size),
                                  (pkt->flags & AV_PKT_FLAG_KEY) != 0, pts_us);
                } else if (ensure_bsf()) {
                    if (av_bsf_send_packet(bsf_ctx, pkt) == 0) {
                        while (av_bsf_receive_packet(bsf_ctx, filt_pkt) == 0) {
                            handle_annexb(filt_pkt->data, static_cast<size_t>(filt_pkt->size),
                                          (filt_pkt->flags & AV_PKT_FLAG_KEY) != 0, pts_us);
                            av_packet_unref(filt_pkt);
                        }
                    }
                } else {
                    LogWarn("[input_rtsp] non-AnnexB bitstream but bsf init failed; mpp decode may produce no frames");
                }

                av_packet_unref(pkt);
            }

            if (bsf_ctx) av_bsf_free(&bsf_ctx);
            if (filt_pkt) av_packet_free(&filt_pkt);
            Cleanup(fmt_ctx, nullptr, pkt, nullptr);
            if (!running_.load()) break;
            std::this_thread::sleep_for(seconds(std::max(1, reconnect_sec_)));
        }
    }

    void PushFrameFromMpp(MppFrame frm) {
        MppBuffer buf = mpp_frame_get_buffer(frm);
        if (!buf) return;
        mpp_buffer_inc_ref(buf);
        auto owner = std::shared_ptr<void>(buf, [](void* p) { mpp_buffer_put(reinterpret_cast<MppBuffer>(p)); });

        int width = mpp_frame_get_width(frm);
        int height = mpp_frame_get_height(frm);
        int hor_stride = mpp_frame_get_hor_stride(frm);
        int ver_stride = mpp_frame_get_ver_stride(frm);
        MppFrameFormat mpp_fmt = mpp_frame_get_fmt(frm);

        PixelFormat fmt = PixelFormat::UNKNOWN;
        int plane_count = 0;
        if (mpp_fmt == MPP_FMT_YUV420SP
#ifdef MPP_FMT_YUV420SP_10BIT
            || mpp_fmt == MPP_FMT_YUV420SP_10BIT
#endif
        ) {
            fmt = PixelFormat::NV12;
            plane_count = 2;
        } else if (mpp_fmt == MPP_FMT_YUV420P
#ifdef MPP_FMT_YUV420P10
                   || mpp_fmt == MPP_FMT_YUV420P10
#endif
        ) {
            fmt = PixelFormat::YUV420;
            plane_count = 3;
        }

        if (plane_count == 0) {
            return;
        }

        auto frame = std::make_shared<Frame>();
        frame->width = width;
        frame->height = height;
        frame->format = fmt;
        frame->stride = hor_stride;
        frame->plane_count = plane_count;
        frame->dma_fd = mpp_buffer_get_fd(buf);
        frame->data = static_cast<uint8_t*>(mpp_buffer_get_ptr(buf));
        frame->data_size = mpp_buffer_get_size(buf);
        frame->data_owner = owner;
        frame->frame_id = ++frame_id_;
        frame->pts = mpp_frame_get_pts(frm);

        if (fmt == PixelFormat::NV12 && plane_count == 2) {
            int y_size = hor_stride * ver_stride;
            frame->planes[0] = {frame->data, hor_stride, y_size, 0};
            frame->planes[1] = {frame->data + y_size, hor_stride, y_size / 2, y_size};
        } else if (fmt == PixelFormat::YUV420 && plane_count == 3) {
            int y_size = hor_stride * ver_stride;
            int uv_stride = hor_stride / 2;
            int uv_h = ver_stride / 2;
            int u_size = uv_stride * uv_h;
            frame->planes[0] = {frame->data, hor_stride, y_size, 0};
            frame->planes[1] = {frame->data + y_size, uv_stride, u_size, y_size};
            frame->planes[2] = {frame->data + y_size + u_size, uv_stride, u_size, y_size + u_size};
        }

        PushToDownstream(frame);

        if (stats_log_ && (frame_id_ <= 3 || (stats_interval_ > 0 && (frame_id_ % stats_interval_) == 0))) {
            LogInfo("[input_rtsp] mpp frame=" + std::to_string(frame->frame_id) +
                    " queue=" + std::to_string(out_queues_.empty() ? 0 : out_queues_[0]->Size()) +
                    " drops=" + std::to_string(out_queues_.empty() ? 0 : out_queues_[0]->DroppedCount()));
        }
    }
#endif

    std::string id_;
    std::string url_;
    int fps_ = 25;
    int width_ = 1920;
    int height_ = 1080;
    std::atomic<bool> running_{false};
    std::vector<std::shared_ptr<SpscQueue<FramePtr>>> out_queues_;
    std::thread worker_;
    uint64_t frame_id_ = 0;
    bool use_ffmpeg_ = false;
    bool use_mpp_ = true;
    bool ffmpeg_force_tcp_ = true;

    int reconnect_sec_ = 5;
    int reconnect_backoff_max_sec_ = 30;
    bool fallback_to_stub_on_fail_ = false;
    std::vector<int> cpu_affinity_;

    bool stats_log_ = false;
    uint64_t stats_interval_ = 100;
};

REGISTER_NODE(InputRtspNode, "input_rtsp");

}  // namespace rk3588