import ctypes
import glob
import os
import platform
import sys
import time
from dataclasses import dataclass

import cv2
import numpy as np
from eve_messages import ModelConfig
from eve_python import eve_sdk as sdk
from eve_python.structs.CFaceIdStructs import (
    EveFaceIdCommand,
    EveFaceIdIdentificationStatus,
)
from log_utils import setup_logger

logger = setup_logger("EveWrapper")


def _pack_cstring(dst, value: str) -> None:
    """Write ``value`` as a null-terminated UTF-8 string into a ``c_byte`` array.

    ``c_byte`` is signed (-128..127), so bytes above 127 are folded into their
    signed two's-complement form — the underlying memory is identical to an
    unsigned ``char[]`` on the C side. The array is fully written so any stale
    bytes from a recycled options struct are cleared.

    Args:
        dst: A ctypes ``c_byte`` array (the destination buffer).
        value: The string to store; must fit with room for the null terminator.

    Raises:
        ValueError: If ``value`` does not leave room for a null terminator.
    """
    raw = value.encode("utf-8")
    capacity = len(dst)
    if len(raw) >= capacity:
        raise ValueError(f"{value!r} ({len(raw)} bytes) exceeds buffer of {capacity}")
    for i in range(capacity):
        b = raw[i] if i < len(raw) else 0
        dst[i] = b - 256 if b > 127 else b


def _pack_class_names(dst, names: tuple[str, ...]) -> None:
    """Write ``names`` into a 2-D ``c_byte`` class-name table, one row each.

    Args:
        dst: A ctypes 2-D ``c_byte`` array (rows of fixed-width names).
        names: Class labels to store, in output-index order.

    Raises:
        ValueError: If there are more names than table rows.
    """
    if len(names) > len(dst):
        raise ValueError(f"{len(names)} class names exceed table of {len(dst)} rows")
    for i, name in enumerate(names):
        _pack_cstring(dst[i], name)


_is_windows = platform.system() == "Windows"

DO_FAKE_MIRROR = True

# Gate timing instrumentation behind the profiler env var
_TIMING_ENABLED = os.environ.get("ENABLE_PROFILER", "").strip() not in ("", "0", "false")


@dataclass
class CalibrationResult:
    """Result of a face ID calibration attempt."""

    success: bool
    user_id: int
    message: str


class EveWrapper:
    def __init__(self, eve_bin_path="", eve_lib_path=""):
        self._ensure_config_dir()
        eve_bin_path, eve_lib_path = self._resolve_eve_paths(eve_bin_path, eve_lib_path)

        self._mirror = False
        self._inference_frame_count = 0
        self._last_sent_frame: np.ndarray | None = None
        # Per-call timing: {name: [call_count, total_seconds]}
        self._timings: dict[str, list[float]] = {}
        self._timing_enabled = _TIMING_ENABLED

        image_provider = sdk.structs.EveImageProvider.EVE_CLIENT_PROVIDED
        self.eve_sdk = self._load_and_create_eve(eve_bin_path, eve_lib_path, image_provider)

        if image_provider == sdk.structs.EveImageProvider.EVE_CAMERA:
            self._set_camera()

        image_request = sdk.structs.EveImageFormatRequest(
            location=sdk.structs.EveImageLocation.EVE_CPU,
            format=sdk.structs.EveVideoFormat.EVE_BGRA,
        )
        self.eve_sdk.EveConfigureProcessedImage(image_request)

        err = self.eve_sdk.StartEveWithParameters(
            sdk.structs.EveProcessingParameters(type=sdk.structs.EveProcessingPipelineType.EVE_HMI)
        )
        if err != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.info(f"StartEveWithParameters error code: {err}")
            sys.exit(err)

        logger.info("EVE initialized")

    def _record_timing(self, name: str, elapsed: float) -> None:
        entry = self._timings.get(name)
        if entry is None:
            self._timings[name] = [1, elapsed]
        else:
            entry[0] += 1
            entry[1] += elapsed

    def get_timing_stats(self, reset: bool = False) -> dict[str, tuple[int, float]]:
        """Return accumulated per-call timings as {name: (count, total_seconds)}.

        Args:
            reset: If True, clear the accumulators after reading.
        """
        result = {k: (int(v[0]), v[1]) for k, v in self._timings.items()}
        if reset:
            self._timings.clear()
        return result

    def inference(self, image: np.ndarray) -> np.ndarray:
        t = self._timing_enabled

        if self._mirror and DO_FAKE_MIRROR:
            if t:
                _t0 = time.perf_counter()
            image = cv2.flip(image, 1)
            if t:
                self._record_timing("flip", time.perf_counter() - _t0)

        if t:
            _t0 = time.perf_counter()
        if not self._send_frame(image):
            return image
        if t:
            self._record_timing("EveSendImageForProcessing", time.perf_counter() - _t0)

        if t:
            _t0 = time.perf_counter()
        processed_image = self.eve_sdk.EveGetProcessedImage()
        if t:
            self._record_timing("EveGetProcessedImage", time.perf_counter() - _t0)
        if processed_image.error != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.info(f"EveGetProcessedImage() error code: {processed_image.error}")
            sys.exit(processed_image.error)

        if t:
            _t0 = time.perf_counter()
        img = np.ctypeslib.as_array(
            processed_image.data,
            shape=(processed_image.height, processed_image.width, processed_image.channels),
        ).copy()
        del processed_image
        if t:
            self._record_timing("as_array+copy", time.perf_counter() - _t0)

        if img.shape[2] == 2:
            if t:
                _t0 = time.perf_counter()
            img = cv2.cvtColor(img, cv2.COLOR_YUV2BGR_YUYV)
            if t:
                self._record_timing("cvtColor", time.perf_counter() - _t0)
        elif img.shape[2] == 4:
            if t:
                _t0 = time.perf_counter()
            img = cv2.cvtColor(img, cv2.COLOR_RGBA2BGR)
            if t:
                self._record_timing("cvtColor", time.perf_counter() - _t0)
        elif img.shape[2] == 3:
            if t:
                _t0 = time.perf_counter()
            img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
            if t:
                self._record_timing("cvtColor", time.perf_counter() - _t0)

        # SDK requires all outputs to be consumed before the next frame
        if t:
            _t0 = time.perf_counter()
        person_detection_data = self.eve_sdk.EveGetPersonDetectionData()
        if t:
            self._record_timing("EveGetPersonDetectionData", time.perf_counter() - _t0)
        if person_detection_data.error != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.info(f"EveGetPersonDetectionData() error code: {person_detection_data.error}")
            sys.exit(person_detection_data.error)
        del person_detection_data

        if t:
            _t0 = time.perf_counter()
        all_faces = self.eve_sdk.EveGetAllFaceData()
        if t:
            self._record_timing("EveGetAllFaceData", time.perf_counter() - _t0)
        if all_faces.errorCode == sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            face_count = all_faces.faceData.contents.detectedFacesCount
            if face_count > 0:
                self._inference_frame_count += 1
                # Log face ID data periodically to avoid flooding
                if self._inference_frame_count % self._INFERENCE_LOG_INTERVAL == 1:
                    self._log_all_faces("inference", self._inference_frame_count, all_faces)
        del all_faces

        if img.shape[2] in (1, 3):
            return img

        print(
            f"WRONG FORMAT: {img.shape} "
            "(Consider converting it above here, or making EveImageFormatRequest work)"
        )
        return None

    def reset_pipeline(self) -> None:
        """Reset the EVE processing pipeline to a clean state.

        Pipeline state (face tracking, ideal-user selection) persists on the
        long-lived SDK handle across inference calls. Workers are reused across
        offline video jobs, so without a reset the second video inherits the
        first run's pipeline state — most visibly, no ideal user is selected.
        Call this before processing each new video.
        """
        err = self.eve_sdk.EveResetPipeline()
        if err != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.warning(f"EveResetPipeline error code: {err}")

    def shutdown(self) -> None:
        """Cleanly shut down the Eve SDK instance."""
        try:
            self.eve_sdk.ShutdownEve()
            logger.info("EVE shut down")
        except Exception as exc:
            logger.warning(f"EVE shutdown error: {exc}")

    def enable_mirror(self, enabled: bool = True) -> None:
        """Enable or disable image mirroring."""
        if DO_FAKE_MIRROR:
            self._mirror = enabled
            return
        options = sdk.structs.EveImageManipulationOptions()
        options.settings.mirrorImage = 1 if enabled else 0
        result = self.eve_sdk.EveConfigureImageManipulation(options)
        if result.errorCode != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.info(f"EveConfigureImageManipulation() error code: {result.errorCode}")
            sys.exit(result.errorCode)

    def enable_object_detection(self, config: "ModelConfig | None" = None) -> None:
        """Enable and configure EVE's object detection (MOD) feature.

        Pass ``None`` to leave MOD off (the worker simply does not configure
        it, matching the SDK's disabled-by-default state). Otherwise:

        - ``config.model_path`` empty / ``None`` selects the SDK's bundled
          default model (GMOD Base Model) with its default class names.
        - a populated ``config.model_path`` loads that ``.tflite`` and, if
          given, replaces the class table with ``config.class_names``.

        ``modelPath`` and ``classCount`` are rewritten on every call rather
        than left to the values returned by
        ``EveGetDefaultObjectDetectionOptions``: that getter echoes the
        *previously configured* options, not pristine defaults. Without the
        unconditional reset, switching from a custom model (e.g. AMOD-8) back
        to the bundled default would leave the prior model's class names in
        EVE's table. An empty ``modelPath`` with ``classCount == 0`` is the
        SDK's documented "use the default model and its default class names".

        Args:
            config: The resolved MOD model to load, or ``None`` to skip MOD
                configuration entirely.

        Raises:
            SystemExit: If ``EveConfigureObjectDetection`` returns an error.
        """
        if config is None:
            return

        options = self.eve_sdk.EveGetDefaultObjectDetectionOptions()
        options.enabled = sdk.structs.EveOptionEnabled.EVE_OPTION_ENABLED

        _pack_cstring(options.modelPath, config.model_path or "")
        if config.model_path and config.class_names:
            _pack_class_names(options.classNames, config.class_names)
            options.classCount = len(config.class_names)
        else:
            options.classCount = 0
        if config.nms_threshold is not None:
            options.nmsThreshold = config.nms_threshold
        if config.iou_threshold is not None:
            options.iouThreshold = config.iou_threshold

        result = self.eve_sdk.EveConfigureObjectDetection(options)
        if result.error != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.info(f"EveConfigureObjectDetection() error code: {result.error}")
            sys.exit(result.error)

    def enable_face_and_person_detection(
        self, faceEnabled: bool = True, personEnabled: bool = True
    ):
        mode = sdk.structs.EveFaceTrackerMinimumMode.EVE_FACETRACKER_MINIMUM_MODE_OFF

        params = sdk.structs.EveFaceTrackerOptions(
            faceTrackerMode=mode,
            enable3DFaceTracking=(
                sdk.structs.EveOptionEnabled.EVE_OPTION_ENABLED
                if faceEnabled
                else sdk.structs.EveOptionEnabled.EVE_OPTION_DISABLED
            ),
            fitSecondaryUsers=(
                sdk.structs.EveOptionEnabled.EVE_OPTION_ENABLED
                if faceEnabled
                else sdk.structs.EveOptionEnabled.EVE_OPTION_DISABLED
            ),
            enablePersonDetection=(
                sdk.structs.EveOptionEnabled.EVE_OPTION_ENABLED
                if personEnabled
                else sdk.structs.EveOptionEnabled.EVE_OPTION_DISABLED
            ),
            enableEyeLandmarks=sdk.structs.EveOptionEnabled.EVE_OPTION_DISABLED,
        )
        result = self.eve_sdk.EveConfigureFaceTracker(params)
        if result.error != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.info(f"EveConfigureFaceTracker() error code: {result.error}")
            sys.exit(result.error)

    def enable_face_id(self, enabled: bool = True, threshold: float = 0.7) -> None:
        eve_enabled = (
            sdk.structs.EveOptionEnabled.EVE_OPTION_ENABLED
            if enabled
            else sdk.structs.EveOptionEnabled.EVE_OPTION_DISABLED
        )
        options = sdk.structs.EveFaceIdOptions(enabled=eve_enabled, threshold=threshold)
        if enabled:
            options.calibrationPoses = (
                sdk.structs.EveFaceIdCalibrationPoseMode.EVE_FACEID_CALIBRATION_FRONTAL_ONLY
            )
        result = self.eve_sdk.EveConfigureFaceId(options)
        if result.error != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.info(f"EveConfigureFaceId() error code: {result.error}")
            sys.exit(result.error)

    def enable_hand_gesture(self, enabled=True, redetection_delay_ms=0):
        eve_enabled = (
            sdk.structs.EveOptionEnabled.EVE_OPTION_ENABLED
            if enabled
            else sdk.structs.EveOptionEnabled.EVE_OPTION_DISABLED
        )
        result = self.eve_sdk.EveConfigureHandGesture(
            sdk.structs.EveHandGestureOptions(
                enabled=eve_enabled, redetectionDelay=redetection_delay_ms
            )
        )
        if result.errorCode != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.info(f"EveConfigureHandGesture() error code: {result.errorCode}")
            sys.exit(result.errorCode)

    def _send_face_id_command(
        self, command: EveFaceIdCommand
    ) -> sdk.structs.EveFaceIdCommandStruct:
        cmd = sdk.structs.EveFaceIdCommandStruct(command=command)
        return self.eve_sdk.EveSendFaceIdCommand(cmd)

    def _log_all_faces(self, context: str, frame_idx: int, all_faces) -> None:
        """Log face ID details for every detected face in one frame."""
        face_count = all_faces.faceData.contents.detectedFacesCount
        if face_count == 0:
            logger.debug(f"[{context}] frame {frame_idx}: no faces detected")
            return
        for j in range(face_count):
            f = all_faces.faceData.contents.faces[j]
            fid = f.faceId.faceIdentity
            logger.debug(
                f"[{context}] frame {frame_idx}: face {j}: "
                f"id={fid.id}, confidence={fid.confidence:.4f}, "
                f"similarity={fid.similarity:.4f}, "
                f"identificationStatus={f.faceId.identificationStatus}, "
                f"calibrationStatus={f.faceId.calibrationStatus}"
            )

    def _send_frame(self, frame: np.ndarray) -> None:
        """Send a single frame through the SDK pipeline (send + consume output)."""
        rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
        # The SDK keeps the input pointer live past EveSendImageForProcessing and
        # dereferences it during the matching EveGet*() calls. Retain the ndarray
        # on the instance so it outlives every follow-up SDK call until the next
        # frame is sent. Dropping the local ref here caused 1080p video runs to
        # segfault inside libc memmove (use-after-free on the RGB buffer).
        self._last_sent_frame = rgb
        eve_image = self._create_eve_input_image(rgb, rgb.shape[1], rgb.shape[0], "RGB")
        send_err = self.eve_sdk.EveSendImageForProcessing(eve_image)
        if send_err != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.warning(f"EveSendImageForProcessing failed: {send_err}")
            return False
        return True

    _FLUSH_FRAME_COUNT = 6
    _CALIBRATION_MAX_ATTEMPTS = 5
    _INFERENCE_LOG_INTERVAL = 30  # log face ID data every N frames during inference

    def calibrate_new_user(self, frames: list[np.ndarray]) -> CalibrationResult:
        """Register a new face by sending frames through the SDK calibration pipeline.

        Retries up to ``_CALIBRATION_MAX_ATTEMPTS`` times because the SDK can
        intermittently reject borderline-frontal faces.

        Args:
            frames: BGR images to use for calibration. Each frame is sent exactly once
                per attempt; returns at the first successful attempt.

        Returns:
            CalibrationResult with success flag, SDK-assigned user ID, and message.
        """
        last_result: CalibrationResult | None = None
        for attempt in range(self._CALIBRATION_MAX_ATTEMPTS):
            last_result = self._calibrate_new_user_once(frames)
            if last_result.success:
                return last_result
            logger.info(
                "calibrate_new_user: attempt %d/%d failed: %s",
                attempt + 1,
                self._CALIBRATION_MAX_ATTEMPTS,
                last_result.message,
            )
        return last_result  # type: ignore[return-value]

    def _calibrate_new_user_once(self, frames: list[np.ndarray]) -> CalibrationResult:
        """Single calibration attempt — flush, send ADD_NEW_USER + frames, check result."""
        self.enable_face_and_person_detection(faceEnabled=True)
        self.enable_face_id(enabled=True)

        h, w = frames[0].shape[:2]
        blank = np.zeros((h, w, 3), dtype=np.uint8)
        for _ in range(self._FLUSH_FRAME_COUNT):
            self._send_frame(blank)

        success_frame = -1
        for i, frame in enumerate(frames):
            result = self._send_face_id_command(EveFaceIdCommand.EVE_FACE_ID_COMMAND_ADD_NEW_USER)
            if result.errorCode != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
                return CalibrationResult(
                    False, 0, f"ADD_NEW_USER command failed: {result.errorCode}"
                )

            self._send_frame(frame)

            all_faces = self.eve_sdk.EveGetAllFaceData()
            if all_faces.errorCode != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
                return CalibrationResult(
                    False, 0, f"EveGetAllFaceData failed: {all_faces.errorCode}"
                )

            face_count = all_faces.faceData.contents.detectedFacesCount
            self._log_all_faces("calibrate frame", i, all_faces)

            matched_face = None
            for fi in range(face_count):
                face = all_faces.faceData.contents.faces[fi]
                if (
                    face.faceId.faceIdentity.id >= 0
                    and face.faceId.identificationStatus
                    == EveFaceIdIdentificationStatus.EVE_FACE_ID_SUCCESS
                ):
                    matched_face = face
                    break
            if matched_face is not None:
                success_frame = i
                break

        if success_frame > -1:
            user_id = matched_face.faceId.faceIdentity.id
            confidence = matched_face.faceId.faceIdentity.confidence
            similarity = matched_face.faceId.faceIdentity.similarity

            logger.debug(
                f"calibrate_new_user: SUCCESS on frame {success_frame}, "
                f"id={user_id}, confidence={confidence:.4f}, similarity={similarity:.4f}"
            )
            if len(frames) == 1:
                return CalibrationResult(True, user_id, f"Registered as user {user_id}")
            else:
                return CalibrationResult(
                    True,
                    user_id,
                    f"Calibration succeeded on frame {success_frame}. "
                    f"Registered as user {user_id}.",
                )
        else:
            return CalibrationResult(
                False,
                0,
                "Calibration did not succeed. "
                "Ensure a clear, frontal face is visible in the upload.",
            )

    def remove_all_users(self) -> bool:
        """Remove all users from the SDK face ID gallery.

        Returns:
            True if removal succeeded.
        """
        result = self._send_face_id_command(EveFaceIdCommand.EVE_FACE_ID_COMMAND_REMOVE_ALL_USERS)
        if result.errorCode != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.warning(f"REMOVE_ALL_USERS command error: {result.errorCode}")
            return False
        return True

    def restore_gallery(self, frames_per_user: list[list[np.ndarray]]) -> list[CalibrationResult]:
        """Wipe the SDK gallery and re-register users from stored frames.

        Used before video processing to sync the SDK gallery with a session's
        registered users. Sends a frame after removing to flush the command
        through the SDK pipeline before re-registering.

        Args:
            frames_per_user: List of frame lists, one per user to re-register.

        Returns:
            List of CalibrationResult, one per user.
        """
        if not frames_per_user:
            return []

        self.enable_face_and_person_detection(faceEnabled=True)
        self.enable_face_id(enabled=True)

        self.remove_all_users()
        # SDK commands are async — flush the remove by sending a frame
        self._send_frame(frames_per_user[0][0])

        results = []
        for idx, frames in enumerate(frames_per_user):
            r = self.calibrate_new_user(frames)
            logger.info(
                f"restore_gallery: user {idx}: success={r.success}, "
                f"sdk_id={r.user_id}, message='{r.message}'"
            )
            results.append(r)
        return results

    @staticmethod
    def _ensure_config_dir():
        from pathlib import Path

        try:
            new_dir_path = Path.home() / ".config"
            new_dir_path.mkdir(exist_ok=True)
        except Exception as e:
            print(f"Error creating directory: {e}")

    @staticmethod
    def _resolve_eve_paths(eve_bin_path="", eve_lib_path=""):
        if eve_bin_path and eve_lib_path:
            return eve_bin_path, eve_lib_path

        if _is_windows:
            eve_bin_path = r"C:\TLT_SRC_DIR\EdgeVisionEngine\x64\Release\\"
            eve_lib_path = eve_bin_path
        else:
            eve_dir_default_paths = glob.glob("/opt/EVE-*-Source", recursive=False)
            eve_bin_path = eve_bin_path or (
                os.path.join(eve_dir_default_paths[0], "bin") if eve_dir_default_paths else ""
            )
            eve_lib_path = eve_lib_path or (
                os.path.join(eve_dir_default_paths[0], "lib") if eve_dir_default_paths else ""
            )
        return eve_bin_path, eve_lib_path

    def _load_and_create_eve(self, eve_bin_path, eve_lib_path, image_provider):
        from pathlib import Path

        os.chdir(eve_bin_path)

        if _is_windows:
            eve_sdk_path = os.path.join(eve_bin_path, "EveSDK.dll")
            root = Path(os.path.abspath(__file__)).parent
            if not os.path.isfile(eve_sdk_path):
                eve_sdk_path = os.path.join(root.parent.parent, eve_bin_path, "EveSDK.dll")
        else:
            eve_sdk_path = os.path.join(eve_bin_path, "libEveSDK.so")
            if not os.path.isfile(eve_sdk_path):
                eve_sdk_path = os.path.join(eve_lib_path, "libEveSDK.so")

        eve_sdk_instance = sdk.EveSDK(eve_sdk_path)

        ByteArray512 = ctypes.c_byte * 512
        encoded = os.path.dirname(eve_bin_path + os.sep).encode("utf-8")  # EVE needs os.sep
        pathOverride = ByteArray512(*encoded, *([0] * (512 - len(encoded))))  # zero-pad to 512

        startup_options = sdk.structs.EveStartupParameters(
            pathOverride=pathOverride,
            gpuPreference=sdk.structs.EveGpuPreference.EVE_NO_GPU,
            imageProvider=image_provider,
            startupType=sdk.structs.EveStartupType.EVE_SYNC,
        )
        err = eve_sdk_instance.CreateEve(startup_options)
        if err != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            logger.info(f"CreateEve error code: {err}")
            sys.exit(err)

        return eve_sdk_instance

    def _set_camera(self):
        i = 0
        self._metaDataFpgaCameraId = -1
        self._fpgaCameraId = -1
        while True:
            cameraInfo = self.eve_sdk.EveGetCamera(i)
            if (
                cameraInfo.error == sdk.structs.EveError.EVE_INVALID_CAMERA_ID
                or cameraInfo.error == sdk.structs.EveError.EVE_NO_MORE_DATA
            ):
                break

            pid = ctypes.cast(cameraInfo.data.pid, ctypes.c_char_p).value
            vid = ctypes.cast(cameraInfo.data.vid, ctypes.c_char_p).value
            if cameraInfo.data.isFpgaCamera == 1:
                if self._metaDataFpgaCameraId == -1 and vid == b"META" and pid == b"DATA":
                    self._metaDataFpgaCameraId = i
                elif self._fpgaCameraId == -1:
                    self._fpgaCameraId = i
            print(i, self._fpgaCameraId, self._metaDataFpgaCameraId, cameraInfo.error, pid, vid)
            if self._fpgaCameraId >= 0 and self._metaDataFpgaCameraId >= 0:
                break
            i += 1

        if self._fpgaCameraId == -1 and self._metaDataFpgaCameraId == -1:
            raise RuntimeError("No FPGA camera found")
        print(
            f" \n\t\t *** FPGA camera found: {self._fpgaCameraId}, metadata {self._metaDataFpgaCameraId}\n"
        )

        useMetadataCamera = False
        if useMetadataCamera:
            self._usedCameraId = self._metaDataFpgaCameraId
        else:
            self._usedCameraId = self._fpgaCameraId

        cameraFormat = sdk.structs.CCameraFormat()
        cameraFormat.resolution.width = 640
        cameraFormat.resolution.height = 480
        cameraFormat.compareResolution = sdk.structs.EveCompare.EVE_AT_MOST
        cameraFormat.compareFps = sdk.structs.EveCompare.EVE_AT_LEAST
        formats = self.eve_sdk.EveGetFormats(self._usedCameraId, cameraFormat)
        f = formats.formats[0]

        print(
            f"camera selected: ID#{self._usedCameraId}: {f.resolution.width}x{f.resolution.height}, "
            f"Format: {f.format} @ {f.fps}FPS"
        )

        errorCode = self.eve_sdk.EveSetCamera(self._usedCameraId, f)
        if errorCode != sdk.structs.EveError.EVE_ERROR_NO_ERROR:
            raise RuntimeError(f"Could't set camera {errorCode}")

    @staticmethod
    def _create_eve_input_image(image_bin, width, height, encoding):
        image = sdk.structs.EveInputImage()
        image.data = image_bin.ctypes.data_as(ctypes.POINTER(ctypes.c_ubyte))
        image.width = width
        image.height = height
        if encoding == "YUY2":
            image.encoding = sdk.structs.EveVideoFormat.EVE_YUY2
        elif encoding == "NV12":
            image.encoding = sdk.structs.EveVideoFormat.EVE_NV12
        elif encoding == "BGR":
            image.encoding = sdk.structs.EveVideoFormat.EVE_BGR
        elif encoding == "RGB":
            image.encoding = sdk.structs.EveVideoFormat.EVE_RGB
        return image