#include "system/camerad/cameras/camera_common.h"

#include <cassert>

#include "common/params.h"
#include "common/util.h"
#include "system/hardware/hw.h"

int main(int argc, char *argv[]) {
  fprintf(stderr, "camerad: starting\n");

  if (Hardware::PC()) {
    fprintf(stderr, "camerad: exiting, not meant to run on PC\n");
    return 0;
  }

  int ret;
  fprintf(stderr, "camerad: setting realtime priority 53\n");
  ret = util::set_realtime_priority(53);
  fprintf(stderr, "camerad: set_realtime_priority ret=%d\n", ret);
  assert(ret == 0);

  fprintf(stderr, "camerad: setting core affinity to cpu6\n");
  ret = util::set_core_affinity({6});
  bool isOffroad = Params().getBool("IsOffroad");
  fprintf(stderr, "camerad: set_core_affinity ret=%d, IsOffroad=%d\n", ret, isOffroad);
  assert(ret == 0 || isOffroad); // failure ok while offroad due to offlining cores

  fprintf(stderr, "camerad: starting camerad_thread\n");
  camerad_thread();
  fprintf(stderr, "camerad: camerad_thread returned\n");
  return 0;
}