#ifndef TELEOP_TRANSPORT_H
#define TELEOP_TRANSPORT_H

#include <netinet/in.h>
#include <pthread.h>

#include "protocol.h"
#include "peer_kcp_client.h"

#ifdef __cplusplus
extern "C" {
#endif

#define DEFAULT_KCP_SERVER_ADDR "127.0.0.1:9002"
#define DEFAULT_KCP_KEYBOARD_PEER_ID "ros-keyboard-ctrl"
#define DEFAULT_KCP_GAMEPAD_PEER_ID "ros-gamepad-ctrl"
#define DEFAULT_KCP_TARGET_PEER_ID "ros-bridge-ctrl"

typedef enum teleop_transport_mode {
    TELEOP_TRANSPORT_MODE_UDP = 0,
    TELEOP_TRANSPORT_MODE_KCP = 1
} teleop_transport_mode_t;

typedef struct teleop_transport_config {
    teleop_transport_mode_t mode;
    const char *udp_ip;
    int udp_port;
    const char *server_addr;
    const char *relay_via;
    const char *peer_id;
    const char *target_peer;
} teleop_transport_config_t;

typedef struct teleop_transport {
    teleop_transport_mode_t mode;
    int udp_fd;
    struct sockaddr_in udp_dest;
    kcp_client_t *kcp_client;
    pthread_t recv_thread;
    int recv_thread_started;
    volatile int stop_requested;
    char server_addr[OMNI_MAX_ADDR_TEXT];
    char relay_via[OMNI_MAX_ADDR_TEXT];
    char peer_id[OMNI_MAX_PEER_ID];
    char target_peer[OMNI_MAX_PEER_ID];
} teleop_transport_t;

int teleop_transport_parse_mode(const char *raw, teleop_transport_mode_t *out_mode);
const char *teleop_transport_mode_name(teleop_transport_mode_t mode);

int teleop_transport_open(teleop_transport_t *transport, const teleop_transport_config_t *config);
int teleop_transport_send_twist(teleop_transport_t *transport, const twist_cmd_t *cmd);
void teleop_transport_close(teleop_transport_t *transport);

#ifdef __cplusplus
}
#endif

#endif /* TELEOP_TRANSPORT_H */