#include <errno.h>
#include <pthread.h>
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdatomic.h>
#include <stdint.h>
#include <string.h>
#include <sys/stat.h>
#include <sys/socket.h>
#include <sys/un.h>
#include <time.h>
#include <unistd.h>

#include "cJSON.h"
#include "control_protocol.h"
#include "latencylog.h"
#include "protocol.h"
#include "video_pipeline.h"

#define CONTROL_DEFAULT_PEER_ID "peer-b-ctrl"
#define CONTROL_DEFAULT_EXPECTED_SENDER "peer-a-ctrl"
#define CONTROL_ACK_DEFAULT_PEER_ID "peer-b-ctrl-ack"
#define CONTROL_ACK_DEFAULT_TARGET_PEER "peer-a-ctrl-ack"
#define CONTROL_DEFAULT_UNIX_SOCKET "/tmp/omnisocket-b-side-cmd.sock"
#define CONTROL_DEFAULT_SERVER_IDLE_RECONNECT_MS 3000
#define DEFAULT_RUNTIME_DIR "/run/blitz-robot"
#define DEFAULT_STATUS_FILE_NAME "b-side-omnid.status.json"
#define DEFAULT_VIDEO_THREAD_FAULT_FILE "fault-injection-bside-video-thread-stall"
#define DEFAULT_CONTROL_THREAD_FAULT_FILE "fault-injection-bside-control-thread-stall"
#define DEFAULT_THREAD_HEARTBEAT_TIMEOUT_SEC 15
#define DEFAULT_KCP_STATS_INTERVAL_MS 1000
#define DEFAULT_CONTROL_LATENCY_SAMPLE_MOD 100
#define DEFAULT_CONTROL_ACK_SAMPLE_MOD 10
#define EXIT_CODE_VIDEO_THREAD_STALLED 101
#define EXIT_CODE_CONTROL_THREAD_STALLED 102

typedef struct unix_dgram_client {
    int fd;
    char bind_path[108];
    char dest_path[108];
    struct sockaddr_un dest_addr;
    socklen_t dest_len;
} unix_dgram_client_t;

typedef struct control_bridge_stats {
    pthread_mutex_t mutex;
    uint64_t packets_forwarded;
    uint64_t invalid_packets;
    uint64_t unix_send_errors;
    uint64_t reconnect_count;
    uint32_t server_idle_ms;
    int ever_connected;
    int registered;
    char last_error[256];
    char last_reconnect_reason[256];
    kcp_runtime_stats_t transport;
} control_bridge_stats_t;

typedef struct daemon_state {
    volatile sig_atomic_t *stop_requested;
    video_pipeline_config_t video_config;
    video_pipeline_stats_t video_stats;
    const char *control_server_addr;
    const char *control_relay_via;
    const char *control_bind_ip;
    const char *control_bind_device;
    const char *control_peer_id;
    const char *control_expected_sender;
    const char *control_ack_peer_id;
    const char *control_ack_target_peer;
    const char *control_unix_socket;
    int control_server_idle_reconnect_ms;
    const char *runtime_dir;
    int heartbeat_timeout_sec;
    int stats_interval_ms;
    uint64_t control_latency_sample_mod;
    uint64_t control_ack_sample_mod;
    char status_file_path[512];
    char video_thread_fault_file[512];
    char control_thread_fault_file[512];
    atomic_long video_thread_heartbeat_epoch_sec;
    atomic_long control_thread_heartbeat_epoch_sec;
    atomic_int control_ack_shutdown_requested;
    kcp_session_stats_logger_t *stats_logger;
    latency_logger_t *control_latency_logger;
    video_stage_logger_t *video_stage_logger;
    unix_dgram_client_t unix_client;
    control_bridge_stats_t control_stats;
    pthread_mutex_t control_ack_mutex;
    pthread_t control_ack_thread;
    kcp_client_t *control_ack_client;
    int control_ack_thread_started;
    int control_ack_connect_requested;
    int control_ack_connect_inflight;
} daemon_state_t;

static volatile sig_atomic_t g_stop_requested = 0;

static void handle_signal(int signum) {
    (void) signum;
    g_stop_requested = 1;
}

static int install_signal_handler(int signum) {
    struct sigaction action;

    memset(&action, 0, sizeof(action));
    action.sa_handler = handle_signal;
    action.sa_flags = SA_RESTART;
    if (sigemptyset(&action.sa_mask) != 0) {
        return -1;
    }
    return sigaction(signum, &action, NULL);
}

static const char *env_or_default(const char *name, const char *fallback) {
    const char *value = getenv(name);
    if (value != NULL && value[0] != '\0') {
        return value;
    }
    return fallback;
}

static const char *env_first_nonempty(const char *first, const char *second, const char *fallback) {
    const char *value = getenv(first);
    if (value != NULL && value[0] != '\0') {
        return value;
    }
    value = getenv(second);
    if (value != NULL && value[0] != '\0') {
        return value;
    }
    return fallback;
}

static int env_int_or_default(const char *name, int fallback) {
    const char *value = getenv(name);
    int parsed;

    if (value == NULL || value[0] == '\0') {
        return fallback;
    }
    parsed = atoi(value);
    if (parsed <= 0) {
        return fallback;
    }
    return parsed;
}

static uint64_t env_u64_or_default(const char *name, uint64_t fallback) {
    const char *value = getenv(name);
    unsigned long long parsed = 0ULL;
    char *endptr = NULL;

    if (value == NULL || value[0] == '\0') {
        return fallback;
    }
    parsed = strtoull(value, &endptr, 10);
    if (endptr == value || *endptr != '\0' || parsed == 0ULL) {
        return fallback;
    }
    return (uint64_t) parsed;
}

static int64_t realtime_epoch_ms(void) {
    struct timespec ts;

    clock_gettime(CLOCK_REALTIME, &ts);
    return (int64_t) ts.tv_sec * 1000 + ts.tv_nsec / 1000000;
}

static long realtime_epoch_sec(void) {
    return (long) time(NULL);
}

static void update_thread_heartbeat(atomic_long *heartbeat) {
    if (heartbeat == NULL) {
        return;
    }
    atomic_store(heartbeat, realtime_epoch_sec());
}

static int should_log_control_latency(const daemon_state_t *state, const message_t *msg) {
    uint64_t sample_mod;

    if (state == NULL || state->control_latency_logger == NULL || msg == NULL) {
        return 0;
    }
    sample_mod = state->control_latency_sample_mod;
    if (sample_mod <= 1U) {
        return 1;
    }
    return msg->id % sample_mod == 0U;
}

static int should_send_control_ack(const daemon_state_t *state, const message_t *msg) {
    uint64_t sample_mod;

    if (state == NULL || msg == NULL) {
        return 0;
    }
    sample_mod = state->control_ack_sample_mod;
    if (sample_mod <= 1U) {
        return 1;
    }
    return msg->id % sample_mod == 0U;
}

static void video_pipeline_heartbeat_progress(void *context) {
    update_thread_heartbeat((atomic_long *) context);
}

static int ensure_runtime_dir(const char *runtime_dir) {
    struct stat st;

    if (runtime_dir == NULL || runtime_dir[0] == '\0') {
        errno = EINVAL;
        return -1;
    }
    if (stat(runtime_dir, &st) == 0) {
        if (S_ISDIR(st.st_mode)) {
            return 0;
        }
        errno = ENOTDIR;
        return -1;
    }
    if (errno != ENOENT) {
        return -1;
    }
    if (mkdir(runtime_dir, 0775) != 0 && errno != EEXIST) {
        return -1;
    }
    return 0;
}

static int path_exists(const char *path) {
    return path != NULL && path[0] != '\0' && access(path, F_OK) == 0;
}

static int consume_fault_flag(const char *path) {
    if (!path_exists(path)) {
        return 0;
    }
    unlink(path);
    return 1;
}

static void maybe_inject_thread_stall(daemon_state_t *state, const char *fault_path, const char *thread_name) {
    if (state == NULL || fault_path == NULL || thread_name == NULL) {
        return;
    }
    if (!consume_fault_flag(fault_path)) {
        return;
    }
    fprintf(
        stderr,
        "[b_side_omnid] fault injection requested for %s thread, sleeping past %d second heartbeat timeout\n",
        thread_name,
        state->heartbeat_timeout_sec
    );
    sleep((unsigned int) state->heartbeat_timeout_sec + 2U);
}

static int control_bridge_stats_init(control_bridge_stats_t *stats) {
    int rc;
    if (stats == NULL) {
        errno = EINVAL;
        return -1;
    }
    memset(stats, 0, sizeof(*stats));
    rc = pthread_mutex_init(&stats->mutex, NULL);
    if (rc != 0) {
        errno = rc;
        return -1;
    }
    return 0;
}

static void control_bridge_stats_destroy(control_bridge_stats_t *stats) {
    if (stats == NULL) {
        return;
    }
    pthread_mutex_destroy(&stats->mutex);
}

static void unix_dgram_client_close(unix_dgram_client_t *client);
static void control_bridge_stats_snapshot(control_bridge_stats_t *stats, control_bridge_stats_t *out_stats);
static void close_control_ack_client(kcp_client_t **client_ptr);

static int control_ack_enabled(const daemon_state_t *state) {
    return state != NULL
        && state->control_ack_peer_id != NULL
        && state->control_ack_peer_id[0] != '\0'
        && state->control_ack_target_peer != NULL
        && state->control_ack_target_peer[0] != '\0';
}

static int control_ack_manager_init(daemon_state_t *state) {
    int rc;

    if (state == NULL) {
        errno = EINVAL;
        return -1;
    }
    rc = pthread_mutex_init(&state->control_ack_mutex, NULL);
    if (rc != 0) {
        errno = rc;
        return -1;
    }
    atomic_init(&state->control_ack_shutdown_requested, 0);
    state->control_ack_client = NULL;
    state->control_ack_thread_started = 0;
    state->control_ack_connect_requested = 0;
    state->control_ack_connect_inflight = 0;
    return 0;
}

static void control_ack_manager_reset(daemon_state_t *state, int request_connect) {
    kcp_client_t *client = NULL;

    if (state == NULL) {
        return;
    }
    pthread_mutex_lock(&state->control_ack_mutex);
    client = state->control_ack_client;
    state->control_ack_client = NULL;
    state->control_ack_connect_requested = request_connect && control_ack_enabled(state) && state->control_ack_thread_started;
    pthread_mutex_unlock(&state->control_ack_mutex);
    close_control_ack_client(&client);
}

static void control_ack_manager_destroy(daemon_state_t *state) {
    if (state == NULL) {
        return;
    }
    atomic_store(&state->control_ack_shutdown_requested, 1);
    if (state->control_ack_thread_started) {
        pthread_join(state->control_ack_thread, NULL);
        state->control_ack_thread_started = 0;
    }
    control_ack_manager_reset(state, 0);
    pthread_mutex_destroy(&state->control_ack_mutex);
}

static int write_status_json_atomic(const char *path, cJSON *root) {
    char *json;
    char temp_path[640];
    FILE *file;
    size_t json_len;

    if (path == NULL || root == NULL) {
        errno = EINVAL;
        return -1;
    }

    json = cJSON_PrintUnformatted(root);
    if (json == NULL) {
        errno = ENOMEM;
        return -1;
    }

    snprintf(temp_path, sizeof(temp_path), "%s.tmp.%ld", path, (long) getpid());
    file = fopen(temp_path, "wb");
    if (file == NULL) {
        cJSON_free(json);
        return -1;
    }

    json_len = strlen(json);
    if (fwrite(json, 1, json_len, file) != json_len || fflush(file) != 0) {
        int saved_errno = errno;

        fclose(file);
        unlink(temp_path);
        cJSON_free(json);
        errno = saved_errno;
        return -1;
    }
    if (fclose(file) != 0) {
        int saved_errno = errno;

        unlink(temp_path);
        cJSON_free(json);
        errno = saved_errno;
        return -1;
    }
    if (rename(temp_path, path) != 0) {
        int saved_errno = errno;

        unlink(temp_path);
        cJSON_free(json);
        errno = saved_errno;
        return -1;
    }

    cJSON_free(json);
    return 0;
}

static int write_daemon_status_file(daemon_state_t *state) {
    cJSON *root;
    video_pipeline_stats_t video_stats;
    control_bridge_stats_t control_stats;
    int rc;

    if (state == NULL) {
        errno = EINVAL;
        return -1;
    }
    if (ensure_runtime_dir(state->runtime_dir) != 0) {
        return -1;
    }

    memset(&video_stats, 0, sizeof(video_stats));
    memset(&control_stats, 0, sizeof(control_stats));
    video_pipeline_stats_snapshot(&state->video_stats, &video_stats);
    control_bridge_stats_snapshot(&state->control_stats, &control_stats);

    root = cJSON_CreateObject();
    if (root == NULL) {
        errno = ENOMEM;
        return -1;
    }

    cJSON_AddNumberToObject(root, "updated_at_epoch_ms", (double) realtime_epoch_ms());
    cJSON_AddNumberToObject(root, "pid", (double) getpid());
    cJSON_AddNumberToObject(root, "video_thread_heartbeat_epoch_ms", (double) atomic_load(&state->video_thread_heartbeat_epoch_sec) * 1000.0);
    cJSON_AddNumberToObject(root, "control_thread_heartbeat_epoch_ms", (double) atomic_load(&state->control_thread_heartbeat_epoch_sec) * 1000.0);
    cJSON_AddBoolToObject(root, "video_connected", video_stats.connected != 0);
    cJSON_AddNumberToObject(root, "video_frames_sent", (double) video_stats.frames_sent);
    cJSON_AddNumberToObject(root, "video_send_errors", (double) video_stats.send_errors);
    cJSON_AddNumberToObject(root, "video_backlog_resets", (double) video_stats.backlog_resets);
    cJSON_AddNumberToObject(root, "video_last_capture_to_send_ms", (double) video_stats.last_capture_to_send_ms);
    cJSON_AddNumberToObject(root, "video_avg_capture_to_send_ms", video_stats.avg_capture_to_send_ms);
    cJSON_AddStringToObject(root, "video_last_error", video_stats.last_error);
    cJSON_AddBoolToObject(root, "control_registered", control_stats.registered != 0);
    cJSON_AddNumberToObject(root, "control_reconnect_count", (double) control_stats.reconnect_count);
    cJSON_AddNumberToObject(root, "control_unix_send_errors", (double) control_stats.unix_send_errors);
    cJSON_AddStringToObject(root, "control_last_error", control_stats.last_error);

    rc = write_status_json_atomic(state->status_file_path, root);
    cJSON_Delete(root);
    return rc;
}

static int thread_heartbeat_expired(atomic_long *heartbeat, int timeout_sec, long now_sec) {
    long heartbeat_sec;

    if (heartbeat == NULL || timeout_sec <= 0) {
        return 0;
    }
    heartbeat_sec = atomic_load(heartbeat);
    if (heartbeat_sec <= 0) {
        return 0;
    }
    return now_sec - heartbeat_sec > timeout_sec;
}

static void exit_if_thread_stalled(daemon_state_t *state) {
    long now_sec;

    if (state == NULL || state->heartbeat_timeout_sec <= 0) {
        return;
    }
    now_sec = realtime_epoch_sec();
    if (thread_heartbeat_expired(&state->video_thread_heartbeat_epoch_sec, state->heartbeat_timeout_sec, now_sec)) {
        fprintf(stderr, "[b_side_omnid] video thread heartbeat stalled for more than %d seconds\n", state->heartbeat_timeout_sec);
        fflush(stderr);
        exit(EXIT_CODE_VIDEO_THREAD_STALLED);
    }
    if (thread_heartbeat_expired(&state->control_thread_heartbeat_epoch_sec, state->heartbeat_timeout_sec, now_sec)) {
        fprintf(stderr, "[b_side_omnid] control thread heartbeat stalled for more than %d seconds\n", state->heartbeat_timeout_sec);
        fflush(stderr);
        exit(EXIT_CODE_CONTROL_THREAD_STALLED);
    }
}

static void control_bridge_set_error(control_bridge_stats_t *stats, const char *message) {
    if (stats == NULL) {
        return;
    }
    pthread_mutex_lock(&stats->mutex);
    snprintf(stats->last_error, sizeof(stats->last_error), "%s", message == NULL ? "" : message);
    pthread_mutex_unlock(&stats->mutex);
}

static void control_bridge_set_reconnect_reason(control_bridge_stats_t *stats, const char *message) {
    if (stats == NULL) {
        return;
    }
    pthread_mutex_lock(&stats->mutex);
    snprintf(stats->last_reconnect_reason, sizeof(stats->last_reconnect_reason), "%s", message == NULL ? "" : message);
    pthread_mutex_unlock(&stats->mutex);
}

static void control_bridge_set_errno_error(control_bridge_stats_t *stats, const char *prefix) {
    char buffer[256];
    int saved_errno = errno;

    snprintf(
        buffer,
        sizeof(buffer),
        "%s: %s (errno=%d)",
        prefix == NULL ? "control bridge error" : prefix,
        saved_errno != 0 ? strerror(saved_errno) : "unknown error",
        saved_errno
    );
    control_bridge_set_error(stats, buffer);
}

static void control_bridge_stats_snapshot(control_bridge_stats_t *stats, control_bridge_stats_t *out_stats) {
    if (stats == NULL || out_stats == NULL) {
        return;
    }
    memset(out_stats, 0, sizeof(*out_stats));
    pthread_mutex_lock(&stats->mutex);
    out_stats->packets_forwarded = stats->packets_forwarded;
    out_stats->invalid_packets = stats->invalid_packets;
    out_stats->unix_send_errors = stats->unix_send_errors;
    out_stats->reconnect_count = stats->reconnect_count;
    out_stats->server_idle_ms = stats->server_idle_ms;
    out_stats->registered = stats->registered;
    snprintf(out_stats->last_error, sizeof(out_stats->last_error), "%s", stats->last_error);
    snprintf(out_stats->last_reconnect_reason, sizeof(out_stats->last_reconnect_reason), "%s", stats->last_reconnect_reason);
    out_stats->transport = stats->transport;
    pthread_mutex_unlock(&stats->mutex);
}

static int control_server_error_requires_reconnect(const char *message) {
    if (message == NULL || message[0] == '\0') {
        return 0;
    }
    return strstr(message, "not registered") != NULL
        || strstr(message, "first message must be register") != NULL
        || strstr(message, "peer replaced") != NULL
        || strstr(message, "timed out waiting for server_register_ok") != NULL;
}

static void control_message_body_to_cstr(const message_t *msg, char *buffer, size_t buffer_len) {
    size_t copy_len;

    if (buffer == NULL || buffer_len == 0) {
        return;
    }
    buffer[0] = '\0';
    if (msg == NULL || msg->body == NULL || msg->body_len == 0) {
        return;
    }
    copy_len = msg->body_len < (buffer_len - 1U) ? msg->body_len : (buffer_len - 1U);
    memcpy(buffer, msg->body, copy_len);
    buffer[copy_len] = '\0';
}

static kcp_client_t *connect_control_ack_client(const daemon_state_t *state) {
    kcp_conn_options_t options;

    if (state == NULL || state->control_ack_peer_id == NULL || state->control_ack_peer_id[0] == '\0') {
        errno = EINVAL;
        return NULL;
    }
    kcp_conn_options_set_control_defaults(&options);
    return kcp_client_dial_with_options(
        state->control_server_addr,
        state->control_relay_via,
        state->control_ack_peer_id,
        state->control_bind_ip,
        state->control_bind_device,
        &options,
        NULL,
        NULL,
        state->stats_logger,
        state->stats_interval_ms
    );
}

static void close_control_ack_client(kcp_client_t **client_ptr) {
    if (client_ptr == NULL || *client_ptr == NULL) {
        return;
    }
    kcp_client_close(*client_ptr);
    kcp_client_free(*client_ptr);
    *client_ptr = NULL;
}

static void control_ack_manager_request_connect(daemon_state_t *state) {
    if (state == NULL || !control_ack_enabled(state) || !state->control_ack_thread_started) {
        return;
    }
    pthread_mutex_lock(&state->control_ack_mutex);
    if (state->control_ack_client == NULL) {
        state->control_ack_connect_requested = 1;
    }
    pthread_mutex_unlock(&state->control_ack_mutex);
}

static void *control_ack_thread_main(void *arg) {
    daemon_state_t *state = (daemon_state_t *) arg;

    while (!atomic_load(&state->control_ack_shutdown_requested) && !*state->stop_requested) {
        kcp_client_t *client = NULL;
        int connect_failed = 0;
        int should_connect = 0;

        pthread_mutex_lock(&state->control_ack_mutex);
        if (state->control_ack_connect_requested && state->control_ack_client == NULL && !state->control_ack_connect_inflight) {
            state->control_ack_connect_inflight = 1;
            should_connect = 1;
        }
        pthread_mutex_unlock(&state->control_ack_mutex);

        if (!should_connect) {
            usleep(200000);
            continue;
        }

        client = connect_control_ack_client(state);
        connect_failed = client == NULL;

        pthread_mutex_lock(&state->control_ack_mutex);
        state->control_ack_connect_inflight = 0;
        if (
            client != NULL
            && state->control_ack_connect_requested
            && state->control_ack_client == NULL
            && !atomic_load(&state->control_ack_shutdown_requested)
            && !*state->stop_requested
        ) {
            state->control_ack_client = client;
            state->control_ack_connect_requested = 0;
            client = NULL;
        }
        pthread_mutex_unlock(&state->control_ack_mutex);

        if (client != NULL) {
            close_control_ack_client(&client);
        }
        if (connect_failed && !atomic_load(&state->control_ack_shutdown_requested) && !*state->stop_requested) {
            sleep(1);
        }
    }
    return NULL;
}

static void maybe_send_control_ack(
    daemon_state_t *state,
    const message_t *msg,
    int64_t recv_unix_nano,
    int64_t persist_end_unix_nano,
    const char *sample_reason
) {
    kcp_client_t *ack_client = NULL;
    kcp_client_t *client_to_close = NULL;
    char *payload = NULL;
    int send_rc = -1;

    if (
        state == NULL || msg == NULL || recv_unix_nano <= 0 || persist_end_unix_nano <= recv_unix_nano
        || !control_ack_enabled(state) || !state->control_ack_thread_started
    ) {
        return;
    }

    payload = omni_strdup_printf(
        "{\"message_id\":%" PRIu64 ",\"ack_phase\":\"persist_end\",\"b_recv_to_persist_us\":%" PRId64 ",\"unix_send_ok\":true,\"sample_reason\":\"%s\"}",
        msg->id,
        (persist_end_unix_nano - recv_unix_nano) / 1000,
        sample_reason == NULL ? "sample_mod" : sample_reason
    );
    if (payload == NULL) {
        return;
    }

    pthread_mutex_lock(&state->control_ack_mutex);
    ack_client = state->control_ack_client;
    if (ack_client == NULL) {
        state->control_ack_connect_requested = 1;
        pthread_mutex_unlock(&state->control_ack_mutex);
        free(payload);
        return;
    }
    send_rc = kcp_client_send_text(ack_client, state->control_ack_target_peer, payload);
    if (send_rc != 0) {
        client_to_close = state->control_ack_client;
        state->control_ack_client = NULL;
        state->control_ack_connect_requested = 1;
    }
    pthread_mutex_unlock(&state->control_ack_mutex);

    free(payload);
    if (client_to_close != NULL) {
        close_control_ack_client(&client_to_close);
    }
}

static int unix_dgram_client_init(unix_dgram_client_t *client, const char *dest_path) {
    struct sockaddr_un bind_addr;
    pid_t pid;

    if (client == NULL || dest_path == NULL || dest_path[0] == '\0') {
        errno = EINVAL;
        return -1;
    }

    memset(client, 0, sizeof(*client));
    client->fd = socket(AF_UNIX, SOCK_DGRAM, 0);
    if (client->fd < 0) {
        return -1;
    }

    memset(&bind_addr, 0, sizeof(bind_addr));
    bind_addr.sun_family = AF_UNIX;
    pid = getpid();
    snprintf(client->bind_path, sizeof(client->bind_path), "/tmp/omnisocket-b-side-cmd-client-%ld.sock", (long) pid);
    unlink(client->bind_path);
    snprintf(bind_addr.sun_path, sizeof(bind_addr.sun_path), "%s", client->bind_path);
    if (bind(client->fd, (const struct sockaddr *) &bind_addr, sizeof(bind_addr)) != 0) {
        close(client->fd);
        unlink(client->bind_path);
        client->fd = -1;
        return -1;
    }

    memset(&client->dest_addr, 0, sizeof(client->dest_addr));
    client->dest_addr.sun_family = AF_UNIX;
    snprintf(client->dest_path, sizeof(client->dest_path), "%s", dest_path);
    snprintf(client->dest_addr.sun_path, sizeof(client->dest_addr.sun_path), "%s", dest_path);
    client->dest_len = (socklen_t) sizeof(client->dest_addr);
    return 0;
}

static int unix_dgram_client_send(unix_dgram_client_t *client, const void *data, size_t len) {
    ssize_t written;
    if (client == NULL || client->fd < 0 || (data == NULL && len > 0)) {
        errno = EINVAL;
        return -1;
    }
    written = sendto(client->fd, data, len, 0, (const struct sockaddr *) &client->dest_addr, client->dest_len);
    if (written < 0 || (size_t) written != len) {
        if (written >= 0) {
            errno = EIO;
        }
        return -1;
    }
    return 0;
}

static int unix_dgram_client_reopen(unix_dgram_client_t *client) {
    char dest_path[sizeof(client->dest_path)];

    if (client == NULL || client->dest_path[0] == '\0') {
        errno = EINVAL;
        return -1;
    }
    snprintf(dest_path, sizeof(dest_path), "%s", client->dest_path);
    unix_dgram_client_close(client);
    return unix_dgram_client_init(client, dest_path);
}

static int unix_dgram_client_should_reopen(int error_code) {
    return error_code == ENOENT || error_code == ECONNREFUSED || error_code == EBADF || error_code == ENOTCONN;
}

static void unix_dgram_client_close(unix_dgram_client_t *client) {
    if (client == NULL) {
        return;
    }
    if (client->fd >= 0) {
        close(client->fd);
        client->fd = -1;
    }
    if (client->bind_path[0] != '\0') {
        unlink(client->bind_path);
        client->bind_path[0] = '\0';
    }
}

static void *video_thread_main(void *arg) {
    daemon_state_t *state = (daemon_state_t *) arg;

    while (!*state->stop_requested) {
        update_thread_heartbeat(&state->video_thread_heartbeat_epoch_sec);
        maybe_inject_thread_stall(state, state->video_thread_fault_file, "video");
        int video_rc = video_pipeline_run(&state->video_config, &state->video_stats, state->stop_requested);
        update_thread_heartbeat(&state->video_thread_heartbeat_epoch_sec);

        if (video_rc == 0) {
            break;
        }
        if (video_rc == VIDEO_PIPELINE_RUN_RETRY_IMMEDIATE) {
            continue;
        }
        if (!*state->stop_requested) {
            sleep(1);
        }
    }
    return NULL;
}

static void *control_thread_main(void *arg) {
    daemon_state_t *state = (daemon_state_t *) arg;

    while (!*state->stop_requested) {
        kcp_conn_options_t options;
        kcp_client_t *client = NULL;
        int reconnect_immediately = 0;

        update_thread_heartbeat(&state->control_thread_heartbeat_epoch_sec);
        maybe_inject_thread_stall(state, state->control_thread_fault_file, "control");
        kcp_conn_options_set_control_defaults(&options);
        client = kcp_client_dial_with_options(
            state->control_server_addr,
            state->control_relay_via,
            state->control_peer_id,
            state->control_bind_ip,
            state->control_bind_device,
            &options,
            NULL,
            NULL,
            state->stats_logger,
            state->stats_interval_ms
        );
        if (client == NULL) {
            control_bridge_set_errno_error(&state->control_stats, "failed to connect control session");
            sleep(1);
            continue;
        }

        {
            kcp_client_state_t client_state;

            memset(&client_state, 0, sizeof(client_state));
            kcp_client_state_snapshot(client, &client_state);
            pthread_mutex_lock(&state->control_stats.mutex);
            if (state->control_stats.ever_connected) {
                state->control_stats.reconnect_count += 1;
            } else {
                state->control_stats.ever_connected = 1;
            }
            state->control_stats.registered = client_state.registered;
            state->control_stats.server_idle_ms = client_state.server_idle_ms;
            state->control_stats.last_reconnect_reason[0] = '\0';
            snprintf(state->control_stats.last_error, sizeof(state->control_stats.last_error), "%s", client_state.last_server_error);
            kcp_client_runtime_stats_snapshot(client, &state->control_stats.transport);
            pthread_mutex_unlock(&state->control_stats.mutex);
        }
        control_ack_manager_request_connect(state);

        while (!*state->stop_requested) {
            message_t msg;
            int rc;
            kcp_client_state_t client_state;
            int ack_sampled = 0;
            int log_control_latency = 0;
            int64_t recv_unix_nano = 0;
            int64_t persist_begin_unix_nano = 0;
            int64_t persist_end_unix_nano = 0;

            update_thread_heartbeat(&state->control_thread_heartbeat_epoch_sec);
            protocol_message_init(&msg);
            rc = kcp_client_receive_timed(client, &msg, 100);
            update_thread_heartbeat(&state->control_thread_heartbeat_epoch_sec);
            if (rc == 1) {
                char reconnect_reason[256];

                protocol_message_clear(&msg);
                memset(&client_state, 0, sizeof(client_state));
                kcp_client_state_snapshot(client, &client_state);
                pthread_mutex_lock(&state->control_stats.mutex);
                state->control_stats.registered = client_state.registered;
                state->control_stats.server_idle_ms = client_state.server_idle_ms;
                snprintf(state->control_stats.last_error, sizeof(state->control_stats.last_error), "%s", client_state.last_server_error);
                kcp_client_runtime_stats_snapshot(client, &state->control_stats.transport);
                pthread_mutex_unlock(&state->control_stats.mutex);
                if (!client_state.registered) {
                    snprintf(reconnect_reason, sizeof(reconnect_reason), "control session stale: server reported unregistered");
                } else if (
                    state->control_server_idle_reconnect_ms > 0
                    && client_state.server_idle_ms >= (uint32_t) state->control_server_idle_reconnect_ms
                ) {
                    snprintf(
                        reconnect_reason,
                        sizeof(reconnect_reason),
                        "control session stale: server idle timeout (%u ms >= %d ms)",
                        client_state.server_idle_ms,
                        state->control_server_idle_reconnect_ms
                    );
                } else if (control_server_error_requires_reconnect(client_state.last_server_error)) {
                    snprintf(
                        reconnect_reason,
                        sizeof(reconnect_reason),
                        "control session stale: server error %.180s",
                        client_state.last_server_error
                    );
                } else {
                    reconnect_reason[0] = '\0';
                }
                if (reconnect_reason[0] != '\0') {
                    control_bridge_set_error(&state->control_stats, reconnect_reason);
                    control_bridge_set_reconnect_reason(&state->control_stats, reconnect_reason);
                    fprintf(stderr, "[b_side_omnid] %s\n", reconnect_reason);
                    reconnect_immediately = 1;
                    break;
                }
                continue;
            }
            if (rc != 0) {
                memset(&client_state, 0, sizeof(client_state));
                kcp_client_state_snapshot(client, &client_state);
                pthread_mutex_lock(&state->control_stats.mutex);
                state->control_stats.registered = client_state.registered;
                state->control_stats.server_idle_ms = client_state.server_idle_ms;
                kcp_client_runtime_stats_snapshot(client, &state->control_stats.transport);
                pthread_mutex_unlock(&state->control_stats.mutex);
                if (client_state.last_server_error[0] != '\0') {
                    control_bridge_set_error(&state->control_stats, client_state.last_server_error);
                    if (control_server_error_requires_reconnect(client_state.last_server_error)) {
                        control_bridge_set_reconnect_reason(&state->control_stats, client_state.last_server_error);
                        reconnect_immediately = 1;
                    }
                } else {
                    control_bridge_set_errno_error(&state->control_stats, "control receive loop stopped");
                }
                protocol_message_clear(&msg);
                break;
            }

            if (msg.type == MSG_TYPE_ERROR && strcmp(msg.from, SERVER_PEER_ID) == 0) {
                char server_error[256];

                control_message_body_to_cstr(&msg, server_error, sizeof(server_error));
                control_bridge_set_error(&state->control_stats, server_error);
                if (control_server_error_requires_reconnect(server_error)) {
                    char reconnect_reason[256];

                    snprintf(reconnect_reason, sizeof(reconnect_reason), "control session stale: server error %.180s", server_error);
                    control_bridge_set_reconnect_reason(&state->control_stats, reconnect_reason);
                    fprintf(stderr, "[b_side_omnid] %s\n", reconnect_reason);
                    reconnect_immediately = 1;
                    protocol_message_clear(&msg);
                    break;
                }
                protocol_message_clear(&msg);
                continue;
            }
            if (state->control_expected_sender[0] != '\0' && strcmp(msg.from, state->control_expected_sender) != 0) {
                pthread_mutex_lock(&state->control_stats.mutex);
                state->control_stats.invalid_packets += 1;
                pthread_mutex_unlock(&state->control_stats.mutex);
                protocol_message_clear(&msg);
                continue;
            }

            if (msg.type != MSG_TYPE_BINARY || msg.body_len != OMNI_CONTROL_PACKET_SIZE) {
                pthread_mutex_lock(&state->control_stats.mutex);
                state->control_stats.invalid_packets += 1;
                pthread_mutex_unlock(&state->control_stats.mutex);
                protocol_message_clear(&msg);
                continue;
            }

            ack_sampled = should_send_control_ack(state, &msg);
            log_control_latency = ack_sampled || should_log_control_latency(state, &msg);
            if (log_control_latency) {
                recv_unix_nano = omni_now_unix_nano();
                persist_begin_unix_nano = recv_unix_nano;
                latencylog_log_message_event_at(
                    state->control_latency_logger,
                    OMNI_NODE_ROLE_PEER,
                    state->control_peer_id,
                    EVENT_B_APP_RECV,
                    recv_unix_nano,
                    &msg
                );
                latencylog_log_message_event_at(
                    state->control_latency_logger,
                    OMNI_NODE_ROLE_PEER,
                    state->control_peer_id,
                    EVENT_B_PERSIST_BEGIN,
                    persist_begin_unix_nano,
                    &msg
                );
            }

            if (unix_dgram_client_send(&state->unix_client, msg.body, msg.body_len) != 0) {
                int send_errno = errno;
                int recovered = 0;

                if (unix_dgram_client_should_reopen(send_errno) && unix_dgram_client_reopen(&state->unix_client) == 0) {
                    recovered = unix_dgram_client_send(&state->unix_client, msg.body, msg.body_len) == 0;
                }
                if (recovered) {
                    memset(&client_state, 0, sizeof(client_state));
                    kcp_client_state_snapshot(client, &client_state);
                    pthread_mutex_lock(&state->control_stats.mutex);
                    state->control_stats.packets_forwarded += 1;
                    state->control_stats.registered = client_state.registered;
                    state->control_stats.server_idle_ms = client_state.server_idle_ms;
                    kcp_client_runtime_stats_snapshot(client, &state->control_stats.transport);
                    pthread_mutex_unlock(&state->control_stats.mutex);
                    if (log_control_latency) {
                        persist_end_unix_nano = omni_now_unix_nano();
                        latencylog_log_message_event_at(
                            state->control_latency_logger,
                            OMNI_NODE_ROLE_PEER,
                            state->control_peer_id,
                            EVENT_B_PERSIST_END,
                            persist_end_unix_nano,
                            &msg
                        );
                    }
                    if (ack_sampled) {
                        maybe_send_control_ack(state, &msg, recv_unix_nano, persist_end_unix_nano, "sample_mod");
                    }
                    protocol_message_clear(&msg);
                    continue;
                }
                errno = send_errno;
                pthread_mutex_lock(&state->control_stats.mutex);
                state->control_stats.unix_send_errors += 1;
                pthread_mutex_unlock(&state->control_stats.mutex);
                control_bridge_set_errno_error(&state->control_stats, "failed to forward command to unix socket");
                protocol_message_clear(&msg);
                continue;
            }

            memset(&client_state, 0, sizeof(client_state));
            kcp_client_state_snapshot(client, &client_state);
            pthread_mutex_lock(&state->control_stats.mutex);
            state->control_stats.packets_forwarded += 1;
            state->control_stats.registered = client_state.registered;
            state->control_stats.server_idle_ms = client_state.server_idle_ms;
            kcp_client_runtime_stats_snapshot(client, &state->control_stats.transport);
            pthread_mutex_unlock(&state->control_stats.mutex);
            if (log_control_latency) {
                persist_end_unix_nano = omni_now_unix_nano();
                latencylog_log_message_event_at(
                    state->control_latency_logger,
                    OMNI_NODE_ROLE_PEER,
                    state->control_peer_id,
                    EVENT_B_PERSIST_END,
                    persist_end_unix_nano,
                    &msg
                );
            }
            if (ack_sampled) {
                maybe_send_control_ack(state, &msg, recv_unix_nano, persist_end_unix_nano, "sample_mod");
            }
            protocol_message_clear(&msg);
        }

        pthread_mutex_lock(&state->control_stats.mutex);
        state->control_stats.registered = 0;
        state->control_stats.server_idle_ms = 0;
        pthread_mutex_unlock(&state->control_stats.mutex);
        control_ack_manager_reset(state, 0);
        kcp_client_close(client);
        kcp_client_free(client);
        if (!*state->stop_requested && !reconnect_immediately) {
            sleep(1);
        }
    }

    return NULL;
}

static void print_stats(daemon_state_t *state) {
    video_pipeline_stats_t video_stats;
    control_bridge_stats_t control_stats;

    memset(&video_stats, 0, sizeof(video_stats));
    memset(&control_stats, 0, sizeof(control_stats));
    video_pipeline_stats_snapshot(&state->video_stats, &video_stats);
    control_bridge_stats_snapshot(&state->control_stats, &control_stats);

    fprintf(
        stderr,
        "[b_side_omnid] video registered=%d frames=%llu bytes=%llu drops=%llu resets=%llu backlog=%u cap2send=%ums avg=%.1fms reason=%s srtt=%dms | control registered=%d idle=%ums reconnects=%llu forwarded=%llu invalid=%llu unix_err=%llu srtt=%dms last_reconnect=%s\n",
        video_stats.connected,
        (unsigned long long) video_stats.frames_sent,
        (unsigned long long) video_stats.bytes_sent,
        (unsigned long long) video_stats.backpressure_drops,
        (unsigned long long) video_stats.backlog_resets,
        video_stats.last_backlog_segments,
        video_stats.last_capture_to_send_ms,
        video_stats.avg_capture_to_send_ms,
        video_stats.last_backlog_reason[0] == '\0' ? "-" : video_stats.last_backlog_reason,
        video_stats.transport.srtt_ms,
        control_stats.registered,
        control_stats.server_idle_ms,
        (unsigned long long) control_stats.reconnect_count,
        (unsigned long long) control_stats.packets_forwarded,
        (unsigned long long) control_stats.invalid_packets,
        (unsigned long long) control_stats.unix_send_errors,
        control_stats.transport.srtt_ms,
        control_stats.last_reconnect_reason[0] == '\0' ? "-" : control_stats.last_reconnect_reason
    );
}

int main(void) {
    daemon_state_t state;
    pthread_t video_thread;
    pthread_t control_thread;
    long initial_heartbeat;

    memset(&state, 0, sizeof(state));
    state.stop_requested = &g_stop_requested;

    video_pipeline_config_init(&state.video_config);
    video_pipeline_config_load_env(&state.video_config);
    state.control_server_addr = env_first_nonempty("OMNI_CONTROL_SERVER_ADDR", "OMNISOCKET_SERVER_ADDR", "");
    state.control_relay_via = env_first_nonempty("OMNI_CONTROL_RELAY_VIA", "OMNISOCKET_RELAY_VIA", "");
    state.control_bind_ip = env_first_nonempty("OMNI_CONTROL_BIND_IP", "OMNISOCKET_BIND_IP", "");
    state.control_bind_device = env_first_nonempty("OMNI_CONTROL_BIND_DEVICE", "OMNISOCKET_BIND_DEVICE", "");
    state.control_peer_id = env_or_default("OMNI_CONTROL_PEER_ID", CONTROL_DEFAULT_PEER_ID);
    state.control_expected_sender = env_or_default("OMNI_CONTROL_EXPECTED_SENDER", CONTROL_DEFAULT_EXPECTED_SENDER);
    state.control_ack_peer_id = env_or_default("OMNI_CONTROL_ACK_PEER_ID", CONTROL_ACK_DEFAULT_PEER_ID);
    state.control_ack_target_peer = env_or_default("OMNI_CONTROL_ACK_TARGET_PEER", CONTROL_ACK_DEFAULT_TARGET_PEER);
    state.control_unix_socket = env_or_default("OMNI_CONTROL_UNIX_SOCKET_PATH", CONTROL_DEFAULT_UNIX_SOCKET);
    state.runtime_dir = env_or_default("BLITZ_RUNTIME_DIR", DEFAULT_RUNTIME_DIR);
    state.heartbeat_timeout_sec = env_int_or_default(
        "BLITZ_OMNID_THREAD_HEARTBEAT_TIMEOUT_SEC",
        DEFAULT_THREAD_HEARTBEAT_TIMEOUT_SEC
    );
    state.stats_interval_ms = env_int_or_default("BLITZ_KCP_STATS_INTERVAL_MS", DEFAULT_KCP_STATS_INTERVAL_MS);
    state.control_latency_sample_mod = env_u64_or_default("BLITZ_CONTROL_LATENCY_LOG_SAMPLE_MOD", DEFAULT_CONTROL_LATENCY_SAMPLE_MOD);
    state.control_ack_sample_mod = env_u64_or_default("BLITZ_CONTROL_ACK_SAMPLE_MOD", DEFAULT_CONTROL_ACK_SAMPLE_MOD);
    state.video_config.progress_callback = video_pipeline_heartbeat_progress;
    state.video_config.progress_context = &state.video_thread_heartbeat_epoch_sec;
    state.video_config.stats_logger = NULL;
    state.video_config.stage_logger = NULL;
    state.video_config.stats_interval_ms = state.stats_interval_ms;
    state.control_server_idle_reconnect_ms = env_int_or_default(
        "OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS",
        CONTROL_DEFAULT_SERVER_IDLE_RECONNECT_MS
    );
    snprintf(state.status_file_path, sizeof(state.status_file_path), "%s/%s", state.runtime_dir, DEFAULT_STATUS_FILE_NAME);
    snprintf(
        state.video_thread_fault_file,
        sizeof(state.video_thread_fault_file),
        "%s/%s",
        state.runtime_dir,
        DEFAULT_VIDEO_THREAD_FAULT_FILE
    );
    snprintf(
        state.control_thread_fault_file,
        sizeof(state.control_thread_fault_file),
        "%s/%s",
        state.runtime_dir,
        DEFAULT_CONTROL_THREAD_FAULT_FILE
    );
    initial_heartbeat = realtime_epoch_sec();
    atomic_init(&state.video_thread_heartbeat_epoch_sec, initial_heartbeat);
    atomic_init(&state.control_thread_heartbeat_epoch_sec, initial_heartbeat);

    if (state.video_config.server_addr == NULL || state.video_config.server_addr[0] == '\0' ||
        state.control_server_addr == NULL || state.control_server_addr[0] == '\0') {
        fprintf(stderr, "OMNISOCKET_SERVER_ADDR (or session-specific overrides) is required\n");
        return 1;
    }

    if (video_pipeline_stats_init(&state.video_stats) != 0) {
        perror("video_pipeline_stats_init");
        return 1;
    }
    if (control_bridge_stats_init(&state.control_stats) != 0) {
        perror("control_bridge_stats_init");
        video_pipeline_stats_destroy(&state.video_stats);
        return 1;
    }
    if (control_ack_manager_init(&state) != 0) {
        perror("control_ack_manager_init");
        control_bridge_stats_destroy(&state.control_stats);
        video_pipeline_stats_destroy(&state.video_stats);
        return 1;
    }
    if (unix_dgram_client_init(&state.unix_client, state.control_unix_socket) != 0) {
        perror("unix_dgram_client_init");
        control_ack_manager_destroy(&state);
        control_bridge_stats_destroy(&state.control_stats);
        video_pipeline_stats_destroy(&state.video_stats);
        return 1;
    }

    fprintf(
        stderr,
        "[b_side_omnid] control forwarding target is unix_dgram://%s\n",
        state.control_unix_socket
    );

    if (install_signal_handler(SIGINT) != 0 || install_signal_handler(SIGTERM) != 0) {
        perror("install_signal_handler");
        unix_dgram_client_close(&state.unix_client);
        control_ack_manager_destroy(&state);
        control_bridge_stats_destroy(&state.control_stats);
        video_pipeline_stats_destroy(&state.video_stats);
        return 1;
    }

    {
        const char *stats_log_path = getenv("BLITZ_KCP_STATS_LOG_PATH");
        const char *latency_log_path = getenv("BLITZ_CONTROL_LATENCY_LOG_PATH");
        const char *video_stage_log_path = getenv("BLITZ_VIDEO_STAGE_LOG_PATH");
        int latency_enabled = env_int_or_default("BLITZ_CONTROL_LATENCY_LOG_ENABLED", 1);
        int video_stage_log_enabled = env_int_or_default("BLITZ_VIDEO_STAGE_LOG_ENABLED", 1);
        uint64_t video_stage_log_sample_mod = env_u64_or_default("BLITZ_VIDEO_STAGE_LOG_SAMPLE_MOD", 10);

        if (stats_log_path != NULL && stats_log_path[0] != '\0') {
            state.stats_logger = kcp_session_stats_open_jsonl(stats_log_path);
            if (state.stats_logger == NULL) {
                fprintf(stderr, "[b_side_omnid] warning: failed to open KCP stats log %s\n", stats_log_path);
            }
        }
        if (latency_enabled && latency_log_path != NULL && latency_log_path[0] != '\0') {
            state.control_latency_logger = latencylog_open_jsonl(latency_log_path);
            if (state.control_latency_logger == NULL) {
                fprintf(stderr, "[b_side_omnid] warning: failed to open control latency log %s\n", latency_log_path);
            }
        }
        if (video_stage_log_enabled && video_stage_log_path != NULL && video_stage_log_path[0] != '\0') {
            state.video_stage_logger = video_stage_logger_open_jsonl(video_stage_log_path, video_stage_log_sample_mod);
            if (state.video_stage_logger == NULL) {
                fprintf(stderr, "[b_side_omnid] warning: failed to open video stage log %s\n", video_stage_log_path);
            }
        }
        state.video_config.stats_logger = state.stats_logger;
        state.video_config.stage_logger = state.video_stage_logger;
        state.video_config.stats_interval_ms = state.stats_interval_ms;
    }

    if (control_ack_enabled(&state)) {
        if (pthread_create(&state.control_ack_thread, NULL, control_ack_thread_main, &state) != 0) {
            fprintf(stderr, "[b_side_omnid] warning: failed to start async control ACK manager, ACK sampling disabled\n");
        } else {
            state.control_ack_thread_started = 1;
        }
    }

    if (pthread_create(&video_thread, NULL, video_thread_main, &state) != 0) {
        perror("pthread_create(video_thread)");
        unix_dgram_client_close(&state.unix_client);
        control_ack_manager_destroy(&state);
        control_bridge_stats_destroy(&state.control_stats);
        video_pipeline_stats_destroy(&state.video_stats);
        latencylog_close(state.control_latency_logger);
        video_stage_logger_close(state.video_stage_logger);
        kcp_session_stats_close(state.stats_logger);
        return 1;
    }
    if (pthread_create(&control_thread, NULL, control_thread_main, &state) != 0) {
        perror("pthread_create(control_thread)");
        g_stop_requested = 1;
        pthread_join(video_thread, NULL);
        unix_dgram_client_close(&state.unix_client);
        control_ack_manager_destroy(&state);
        control_bridge_stats_destroy(&state.control_stats);
        video_pipeline_stats_destroy(&state.video_stats);
        latencylog_close(state.control_latency_logger);
        video_stage_logger_close(state.video_stage_logger);
        kcp_session_stats_close(state.stats_logger);
        return 1;
    }

    while (!g_stop_requested) {
        sleep(1);
        print_stats(&state);
        if (write_daemon_status_file(&state) != 0) {
            fprintf(stderr, "[b_side_omnid] failed to write status file %s: %s\n", state.status_file_path, strerror(errno));
        }
        exit_if_thread_stalled(&state);
    }

    pthread_join(video_thread, NULL);
    pthread_join(control_thread, NULL);
    unix_dgram_client_close(&state.unix_client);
    control_ack_manager_destroy(&state);
    control_bridge_stats_destroy(&state.control_stats);
    video_pipeline_stats_destroy(&state.video_stats);
    latencylog_close(state.control_latency_logger);
    video_stage_logger_close(state.video_stage_logger);
    kcp_session_stats_close(state.stats_logger);
    return 0;
}