#ifndef __INFERTOOLS_HPP_
#define __INFERTOOLS_HPP_

#include <iostream>
#include <chrono>
#include <cmath>
#include "Util/logger.h"
#include "Util/SqlPool.h"
#include "cuda_utils.h"
#include "yololayer.h"
#include "logging.h"
#include <cuda_runtime.h>
#include "calibrator.h"
#include "preprocess.h"

#include "common.hpp"
#include <opencv2/opencv.hpp>
#include "CNStreamInferData.h"
#include <mutex>
#include "InfineFilter.hpp"
#include "config.hpp"

using namespace toolkit;
using namespace std;

namespace gsd
{
    class InferTools
    {
    private:
        InferTools(){}

    public:
    
        using Ptr = std::shared_ptr<InferTools>;

        /**
         * @description: getPtr
         * @return {*}
         */        
        static std::shared_ptr<InferTools> getPtr();

        /**
         * @description: 
         * @param {string} engin
         * @return {*}
         */               
        bool Init(std::string enginefile);

        /**
         * @description: 释放
         * @return {*}
         */        
        void Destroy();

        /**
         * @description: 推理
         * @return {*}
         */        
        bool Inference(std::shared_ptr<cv::Mat> img, CNStreamInferData::Ptr result);

        /**
         * @description: doInference
         * @param {IExecutionContext&} context
         * @param {cudaStream_t&} stream
         * @param {void} *
         * @param {float*} output
         * @param {int} batchSize
         * @return {*}
         */        
        void doInference(IExecutionContext& context, cudaStream_t& stream, void **buffers, float* output, int batchSize);

        /**
         * @description: InferTools
         * @return {*}
         */        
        ~InferTools(){
        }

    protected:
        int nms_Thresh = 0.4;
        int conf_Thresh = 0.5;
        int device = 0;

        std::string engine_name = "../data/modules/best6_fp16.engine";

        char *trtModelStream = nullptr;
    
        IRuntime* runtime = nullptr;
        ICudaEngine* engine = nullptr;
        IExecutionContext* context = nullptr;

        const char* INPUT_BLOB_NAME = "data";
        const char* OUTPUT_BLOB_NAME = "prob";

        cudaStream_t stream;

        uint8_t* img_host = nullptr;
        uint8_t* img_device = nullptr;

        float* buffers[2];

        int inputIndex;
        int outputIndex;

        mutex m_mutex;
    };
} // namespace gsd




#endif