// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2014/07/17
//  filename:   V4LCamera.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    base class for V4l camera
//
//
/*********************************************************************/

#include "V4LCamera.h"
#include <GroupBox.h>
#include <DoubleSpinBox.h>
#include <CheckBox.h>
#include <Label.h>
#include <cvimage.h>
#include <FrameworkManager.h>
#include <fcntl.h>
#include <linux/videodev2.h>

#include <sys/ioctl.h>
#include <unistd.h>
#include <cstring>
#include <sys/mman.h>


#define DEFAULT_V4L_BUFFERS 4

using std::string;
using namespace flair::core;
using namespace flair::gui;

namespace flair {
namespace sensor {

V4LCamera::V4LCamera(string name,
                     uint8_t camera_index, uint16_t width, uint16_t height,
                     cvimage::Type::Format format, uint8_t priority)
    : Thread(getFrameworkManager(), name, priority),
      Camera(name, width, height, format) {
  
  string deviceName="/dev/video"+std::to_string(camera_index);
  device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
  if (device == -1) {
     Thread::Err("Cannot open %s\n");
  }
    
  //get v4l2_format
  struct v4l2_format form;
  form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  xioctl (device, VIDIOC_G_FMT,&form);
  
  //set width, height and format
  if (format == cvimage::Type::Format::UYVY) {
    form.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY; 
  } else if (format == cvimage::Type::Format::YUYV) {
    form.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV; 
  } else {
    Thread::Err("format not supported\n");
  }
  
  form.fmt.pix.width = width; 
  form.fmt.pix.height = height;
  form.fmt.win.chromakey = 0;
  form.fmt.win.field = V4L2_FIELD_ANY;
  form.fmt.win.clips = 0;
  form.fmt.win.clipcount = 0;
  form.fmt.pix.field = V4L2_FIELD_ANY;
  xioctl (device, VIDIOC_S_FMT, &form);
  
  /* This is just a technicality, but all buffers must be filled up before any
   staggered SYNC is applied.  SO, filler up. (see V4L HowTo) */

  AllocBuffers();

  for (int bufferIndex = 0; bufferIndex < ((int)requestbuffers.count);++bufferIndex) {
    struct v4l2_buffer buf;

    memset(&buf, 0, sizeof (v4l2_buffer));

    buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory      = V4L2_MEMORY_MMAP;
    buf.index       = (unsigned long)bufferIndex;

    if (-1 == xioctl (device, VIDIOC_QBUF, &buf)) {
        Thread::Err("VIDIOC_QBUF xioctl\n");
        break;
    }
  }

  // enable the streaming
  v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  if (-1 == xioctl (device, VIDIOC_STREAMON,&type)) {
      Thread::Err("VIDIOC_STREAMON xioctl\n");
  }


  // skip first frame. it is often bad -- this is unnotied in traditional apps,
  //  but could be fatal if bad jpeg is enabled
  GrabFrame();
    
    
    
  // station sol
  gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
  exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,
                               1, 0.1);
  bright =
      new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
  contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,
                               1, 0.1);
  hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
  sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:",
                                0, 1, 0.1);
  sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,
                          0.1);
  autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
  autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
  awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
  fps = new Label(GetGroupBox()->NewRow(), "fps");
  
  hasProblems=false;
}

V4LCamera::~V4LCamera() {
  SafeStop();
  Join();
}

void V4LCamera::Run(void) {
  Time cam_time, new_time, fpsNow, fpsPrev;
  char* buffer; // raw image
  int fpsCounter = 0;

  // init image old
  GrabFrame();
  cam_time = GetTime();
  fpsPrev = cam_time;

  while (!ToBeStopped()) {
    //check for ps3eye deconnection in hds uav
    if(hasProblems==false) {
      struct v4l2_format form;
      form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
      xioctl(device, VIDIOC_G_FMT,&form);
      if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
        Thread::Warn("camera disconnected\n");
        hasProblems=true;
      }
    }
    
    // fps counter
    fpsCounter++;
    if (GetTime() > (fpsPrev + 5 * (Time)1000000000)) {
      // toute les 5 secondes
      fpsNow = GetTime();
      fps->SetText("fps: %.1f",
      fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
      fpsCounter = 0;
      fpsPrev = fpsNow;
    } 
    
    // cam properties
    if (gain->ValueChanged() == true && autogain->Value() == false)
      SetGain(gain->Value());
    if (exposure->ValueChanged() == true && autoexposure->Value() == false)
      SetExposure(exposure->Value());
    if (bright->ValueChanged() == true)
      SetBrightness(bright->Value());
    if (sat->ValueChanged() == true)
      SetSaturation(sat->Value());
    if (contrast->ValueChanged() == true)
      SetContrast(contrast->Value());
    if (hue->ValueChanged() == true)
      SetHue(hue->Value());
    if (sharpness->ValueChanged() == true)
      SetProperty(V4L2_CID_SHARPNESS, sharpness->Value());
    if (autogain->ValueChanged() == true) {
      if (autogain->Value() == true) {
        gain->setEnabled(false);
      } else {
        gain->setEnabled(true);
        SetGain(gain->Value());
      }
      SetAutoGain(autogain->Value());
    }
    if (autoexposure->ValueChanged() == true) {
      if (autoexposure->Value() == true) {
        exposure->setEnabled(false);
      } else {
        exposure->setEnabled(true);
        SetExposure(exposure->Value());
      }
      SetAutoExposure(autoexposure->Value());
    }
    if (awb->ValueChanged() == true)
      SetProperty(V4L2_CID_AUTO_WHITE_BALANCE, awb->Value());

    // cam pictures
    buffer = RetrieveRawFrame();
    GrabFrame();
    new_time = GetTime();
    
    //check for ps3eye deconnection in hds uav
    if(new_time-cam_time>100*1000*1000) {
      Thread::Warn("delta trop grand\n");
      hasProblems=true;
    }

    output->GetMutex();
    output->buffer = buffer;
    output->ReleaseMutex();

    output->SetDataTime(cam_time);
    ProcessUpdate(output);

    cam_time = new_time;
  }

  close(device);
}

void V4LCamera::GrabFrame(void) {
    unsigned int count;

    count = 1;

    while (count-- > 0) {
        for (;;) {
            fd_set fds;
            struct timeval tv;
            int r;

            FD_ZERO (&fds);
            FD_SET (device, &fds);

            /* Timeout. */
            tv.tv_sec = 2;
            tv.tv_usec = 0;

            r = select (device+1, &fds, NULL, NULL, &tv);

            if (-1 == r) {
                if (EINTR == errno) continue;
                Thread::Err("select\n");
            }

            if (0 == r) {
                Thread::Err("select timeout\n");
                /* end the infinite loop */
                break;
            }

            if (read_frame_v4l2 ()) break;
        }
    }
}

int V4LCamera::read_frame_v4l2(void) {
  struct v4l2_buffer buf;
  memset(&buf, 0, sizeof (v4l2_buffer));
  

    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;

    if (-1 == xioctl (device, VIDIOC_DQBUF, &buf)) {
        switch (errno) {
        case EAGAIN:
            return 0;

        case EIO:
            /* Could ignore EIO, see spec. */

            /* fall through */

        default:
            /* display the error and stop processing */
            Thread::Err("VIDIOC_DQBUF xioctl\n");
            return 1;
        }
   }

   if(buf.index >= requestbuffers.count) {
     Thread::Err("buf.index >= requestbuffers.count\n");
   }
   
#ifdef USE_TEMP_BUFFER
   memcpy(capture->buffers[MAX_V4L_BUFFERS].start, 
	  capture->buffers[buf.index].start, 
	  capture->buffers[MAX_V4L_BUFFERS].length );
   capture->bufferIndex = MAX_V4L_BUFFERS;
   //printf("got data in buff %d, len=%d, flags=0x%X, seq=%d, used=%d)\n", 
   //	  buf.index, buf.length, buf.flags, buf.sequence, buf.bytesused);
#else
   bufferIndex = buf.index;
#endif

   if (-1 == xioctl (device, VIDIOC_QBUF, &buf)) {
       Thread::Err ("VIDIOC_QBUF xioctl\n");
   }

   return 1;
}

int V4LCamera::AllocBuffers(void) {
   memset(&requestbuffers, 0, sizeof (v4l2_requestbuffers));
   
   unsigned int buffer_number = DEFAULT_V4L_BUFFERS;

   try_again:
   
   requestbuffers.count = buffer_number;
   requestbuffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
   requestbuffers.memory = V4L2_MEMORY_MMAP;

   if (-1 == xioctl (device, VIDIOC_REQBUFS, &requestbuffers)) {
       if (EINVAL == errno) {
         Thread::Err("not support memory mapping not supportted\n");
       } else {
         Thread::Err ("VIDIOC_REQBUFS xioctl\n");
       }
       return -1;
   }

   if (requestbuffers.count < buffer_number) {
       if (buffer_number == 1) {
        Thread::Err("Insufficient buffer memory\n");
        return -1;
       } else {
        buffer_number--;
        Thread::Warn ("Insufficient buffer memory, decreasing buffers\n");
        goto try_again;
       }
   }

   for (int n_buffers = 0; n_buffers < requestbuffers.count; ++n_buffers) {
       struct v4l2_buffer buf;

       memset(&buf, 0, sizeof (v4l2_buffer));

       buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
       buf.memory = V4L2_MEMORY_MMAP;
       buf.index = n_buffers;

       if (-1 == xioctl (device, VIDIOC_QUERYBUF, &buf)) {
           Thread::Err("VIDIOC_QUERYBUF xioctl\n");
           return -1;
       }

       buffers[n_buffers].length = buf.length;
       buffers[n_buffers].start =
         mmap (NULL /* start anywhere */,
               buf.length,
               PROT_READ | PROT_WRITE /* required */,
               MAP_SHARED /* recommended */,
               device, buf.m.offset);

       if (MAP_FAILED == buffers[n_buffers].start) {
           Thread::Err("mmap\n");
           return -1;
       }
   }

  //todo: verifier cette alloc, pas de double buffeinrg?
  //peut on initialiser l'image dans le constrcteur de la camera?
   
   output->buffer=output->allocFunction(output->dataType.GetSize());
   return 1;
};

char *V4LCamera::RetrieveRawFrame(void) {
  
  /* [FD] this really belongs here */
  if (ioctl(device, VIDIOCSYNC, &mmaps[bufferIndex].frame) == -1) {
    Thread::Err("Could not SYNC to video stream. %s\n", strerror(errno));
  }

  /* Now get what has already been captured as a IplImage return */
  if (output->dataType.GetFormat() == cvimage::Type::Format::YUYV || output->dataType.GetFormat() == cvimage::Type::Format::UYVY) {
    #ifdef USE_TEMP_BUFFER
    capture->frame.imageData=(char*)capture->buffers[capture->bufferIndex].start;
    #else
Printf("frame is not allocated\n");
    memcpy((char *)frame,(char *)buffers[bufferIndex].start,output->GetDataType().GetSize());
    #endif
  } else {
    Thread::Err("palette %d not supported for raw output\n",output->dataType.GetFormat());
  }

  return(frame);
}

bool V4LCamera::HasProblems(void) {
  return hasProblems;
}

void V4LCamera::SetAutoGain(bool value) {
  SetProperty(V4L2_CID_AUTOGAIN, value);
}

void V4LCamera::SetAutoExposure(bool value) {
  Thread::Warn("not implemented in opencv\n");
}

void V4LCamera::SetGain(float value) {
  SetProperty(V4L2_CID_GAIN, value);
}

void V4LCamera::SetExposure(float value) {
  SetProperty(V4L2_CID_EXPOSURE, value);
}

void V4LCamera::SetBrightness(float value) {
  SetProperty(V4L2_CID_BRIGHTNESS, value);
}

void V4LCamera::SetSaturation(float value) {
  SetProperty(V4L2_CID_SATURATION, value);
}

void V4LCamera::SetHue(float value) {
  SetProperty(V4L2_CID_HUE, value);
}

void V4LCamera::SetContrast(float value) {
  SetProperty(V4L2_CID_CONTRAST, value);
}

float V4LCamera::GetProperty(int property) {
  //get min and max value
  struct v4l2_queryctrl queryctrl;
  queryctrl.id = property;
  if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
  int min = queryctrl.minimum;
  int max = queryctrl.maximum;
 
  //set value
  struct v4l2_control control;
  memset (&control, 0, sizeof (v4l2_control));
  control.id = property;
  if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
  
  return ((float)control.value - min + 1) / (max - min);
}

void V4LCamera::SetProperty(int property,float value) {
  //get min and max value
  struct v4l2_queryctrl queryctrl;
  queryctrl.id = property;
  xioctl (device, VIDIOC_QUERYCTRL,&queryctrl);
  int min = queryctrl.minimum;
  int max = queryctrl.maximum;
 
  //set value
  struct v4l2_control control;
  memset (&control, 0, sizeof (v4l2_control));
  control.id = property;
  control.value = (int)(value * (max - min) + min);
  xioctl (device,VIDIOC_S_CTRL, &control);
}

int V4LCamera::xioctl( int fd, int request, void *arg) {
  int r;

  do r = ioctl (fd, request, arg);
  while (-1 == r && EINTR == errno);

  return r;
}

} // end namespace sensor
} // end namespace flair