import cv2
import depthai as dai
import time

FPS = 30
SIZE = (640, 400)

device = dai.Device()

print("[INFO] DepthAI:", dai.__version__)
print("[INFO] Cameras conectadas:")
print(device.getConnectedCameraFeatures())
print("[INFO] Sockets:", device.getConnectedCameras())

with dai.Pipeline(device) as pipeline:
    queues = {}

    sockets = device.getConnectedCameras()

    for socket in sockets:
        print(f"[INFO] Criando câmera no socket: {socket}")

        cam = pipeline.create(dai.node.Camera).build(socket)

        out = cam.requestOutput(
            SIZE,
            type=dai.ImgFrame.Type.BGR888p,
            fps=FPS
        )

        queues[str(socket)] = out.createOutputQueue()

    pipeline.start()

    last = time.time()
    frames = 0

    while pipeline.isRunning():
        for name, q in queues.items():
            msg = q.tryGet()

            if msg is not None:
                frame = msg.getCvFrame()
                cv2.imshow(f"OAK {name}", frame)

        frames += 1
        now = time.time()

        if now - last >= 1.0:
            print(f"[FPS LOOP] {frames / (now - last):.1f}")
            frames = 0
            last = now

        key = cv2.waitKey(1)
        if key == 27 or key == ord("q"):
            break

cv2.destroyAllWindows()