// %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 <Image.h>
#include <FrameworkManager.h>
#include <fcntl.h>
#include <linux/videodev2.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <cstring>
#include <sys/mman.h>
#include <VisionFilter.h>

#define DEFAULT_V4L_BUFFERS 4

#define CHANNEL_NUMBER 1
#define CLEAR(x) memset (&(x), 0, sizeof (x))
#define DEFAULT_V4L_WIDTH  640
#define DEFAULT_V4L_HEIGHT 480
#define CV_CAP_PROP_POS_MSEC       0
#define CV_CAP_PROP_POS_FRAMES     1
#define CV_CAP_PROP_POS_AVI_RATIO  2
#define CV_CAP_PROP_FRAME_WIDTH    3
#define CV_CAP_PROP_FRAME_HEIGHT   4
#define CV_CAP_PROP_FPS            5
#define CV_CAP_PROP_FOURCC         6
#define CV_CAP_PROP_FRAME_COUNT    7
#define CV_CAP_PROP_FORMAT         8
#define CV_CAP_PROP_MODE           9
#define CV_CAP_PROP_BRIGHTNESS    10
#define CV_CAP_PROP_CONTRAST      11
#define CV_CAP_PROP_SATURATION    12
#define CV_CAP_PROP_HUE           13
#define CV_CAP_PROP_GAIN          14
#define CV_CAP_PROP_CONVERT_RGB   15
#define CV_CAP_PROP_SHARPNESS     16
#define CV_CAP_PROP_EXPOSURE      17
#define CV_CAP_PROP_AUTOGAIN      18
#define CV_CAP_PROP_AWB           19

#define HAVE_CAMV4L2

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,
                     Image::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",deviceName.c_str());
    } else {
        Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
    }

    /* w/o memset some parts  arent initialized - AKA: Fill it with zeros so it is clean */
   memset(&capture,0,sizeof(CvCaptureCAM_V4L));
   /* Present the routines needed for V4L funtionality.  They are inserted as part of
      the standard set of cv calls promoting transparency.  "Vector Table" insertion. */
   capture.FirstCapture = 1;
   capture.deviceHandle = device;
  
     PALETTE_YUYV = 0;
     PALETTE_UYVY= 0;
    
   n_buffers = 0;
   if (_capture_V4L2 (&capture) == -1) {
     Thread::Err("_capture_V4L2 failed\n");
   }
  
if (icvSetPropertyCAM_V4L(&capture, CV_CAP_PROP_FRAME_WIDTH, width)<0)
    Thread::Err("cvSetCaptureProperty error\n");
  if (icvSetPropertyCAM_V4L(&capture, CV_CAP_PROP_FRAME_HEIGHT, height)<0)
    Thread::Err("cvSetCaptureProperty error\n");

  if (format == Image::Type::Format::UYVY) {
    if (icvSetPropertyCAM_V4L(&capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_UYVY)<0)
      Thread::Err("cvSetCaptureProperty error\n");
  } else if (format == Image::Type::Format::YUYV) {
    if (icvSetPropertyCAM_V4L(&capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_YUYV) <
        0)
      Thread::Err("cvSetCaptureProperty error\n");
  } else {
    Thread::Err("format not supported\n");
  }
    // ground station
    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() {
    for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
       //FreeFunction((char*)buffers[n_buffers].start);
   }
    SafeStop();
    Join();
}
int V4LCamera::icvSetPropertyCAM_V4L( CvCaptureCAM_V4L* capture,
                                  int property_id, double value ){
    static int width = 0, height = 0;
    int retval;

    /* initialization */
    retval = 0;

    /* two subsequent calls setting WIDTH and HEIGHT will change
       the video size */
    /* the first one will return an error, though. */

    switch (property_id) {
    case CV_CAP_PROP_FRAME_WIDTH:
        width = value;
        if(width !=0 && height != 0) {
            retval = icvSetVideoSize( capture, width, height);
            width = height = 0;
        }
        break;
    case CV_CAP_PROP_FRAME_HEIGHT:
        height = value;
        if(width !=0 && height != 0) {
            retval = icvSetVideoSize( capture, width, height);
            width = height = 0;
        }
        break;
    case CV_CAP_PROP_FORMAT:

	capture->form.fmt.pix.pixelformat = (unsigned long)value; 
 	retval == xioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form);
	if ((unsigned long)value != capture->form.fmt.pix.pixelformat)
   		retval=-1;

	
	PALETTE_YUYV = 0;
	PALETTE_UYVY= 0;
	

	if ((unsigned long)value== V4L2_PIX_FMT_YUYV)
	{
		PALETTE_YUYV = 1;
	}
	if ((unsigned long)value== V4L2_PIX_FMT_UYVY)
	{
		PALETTE_UYVY = 1;
	}
	

	break;
    case CV_CAP_PROP_BRIGHTNESS:
    case CV_CAP_PROP_CONTRAST:
    case CV_CAP_PROP_SATURATION:
    case CV_CAP_PROP_HUE:
    case CV_CAP_PROP_GAIN:
    case CV_CAP_PROP_SHARPNESS:
    case CV_CAP_PROP_EXPOSURE:
    case CV_CAP_PROP_AUTOGAIN:
    case CV_CAP_PROP_AWB:
        retval = icvSetControl(capture, property_id, value);
        break;
    default:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L: setting property #%d is not supported\n",
                property_id);
    }

    /* return the the status */
    return retval;
}
int V4LCamera::icvSetControl (CvCaptureCAM_V4L* capture,
                          int property_id, double value) {
  
  /* limitation of the input value */
  if (value < 0.0) {
    value = 0.0;
  } else if (value > 1.0) {
    value = 1.0;
  }


    /* default value for min and max */
    int v4l2_min = 0;
    int v4l2_max = 255;

    /* initialisations */
    CLEAR (capture->control);

    /* set which control we want to set */
    switch (property_id) {

    case CV_CAP_PROP_BRIGHTNESS:
        capture->control.id = V4L2_CID_BRIGHTNESS;
        break;
    case CV_CAP_PROP_CONTRAST:
        capture->control.id = V4L2_CID_CONTRAST;
        break;
    case CV_CAP_PROP_SATURATION:
        capture->control.id = V4L2_CID_SATURATION;
        break;
    case CV_CAP_PROP_HUE:
        capture->control.id = V4L2_CID_HUE;
        break;
    case CV_CAP_PROP_GAIN:
        capture->control.id = V4L2_CID_GAIN;
        break;
    case CV_CAP_PROP_SHARPNESS:
        capture->control.id = V4L2_CID_SHARPNESS;
        break;
    case CV_CAP_PROP_EXPOSURE:
        capture->control.id = V4L2_CID_EXPOSURE;
        break;
    case CV_CAP_PROP_AUTOGAIN:
        capture->control.id = V4L2_CID_AUTOGAIN;
        break;
    case CV_CAP_PROP_AWB:
        capture->control.id = V4L2_CID_AUTO_WHITE_BALANCE;
	break;
    default:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L2: setting property #%d is not supported\n",
                property_id);
        return -1;
    }

    /* get the min and max values */
    if (-1 == xioctl (capture->deviceHandle,
                      VIDIOC_G_CTRL, &capture->control)) {
//          perror ("VIDIOC_G_CTRL for getting min/max values");
          return -1;
    }

    /* get the min/max values */
    switch (property_id) {

    case CV_CAP_PROP_BRIGHTNESS:
        v4l2_min = capture->v4l2_brightness_min;
        v4l2_max = capture->v4l2_brightness_max;
        break;
    case CV_CAP_PROP_CONTRAST:
        v4l2_min = capture->v4l2_contrast_min;
        v4l2_max = capture->v4l2_contrast_max;
        break;
    case CV_CAP_PROP_SATURATION:
        v4l2_min = capture->v4l2_saturation_min;
        v4l2_max = capture->v4l2_saturation_max;
        break;
    case CV_CAP_PROP_HUE:
        v4l2_min = capture->v4l2_hue_min;
        v4l2_max = capture->v4l2_hue_max;
        break;
    case CV_CAP_PROP_GAIN:
        v4l2_min = capture->v4l2_gain_min;
        v4l2_max = capture->v4l2_gain_max;
	break;
    case CV_CAP_PROP_SHARPNESS:
        v4l2_min = capture->v4l2_sharpness_min;
        v4l2_max = capture->v4l2_sharpness_max;
	break;
    case CV_CAP_PROP_EXPOSURE:
        v4l2_min = capture->v4l2_exposure_min;
        v4l2_max = capture->v4l2_exposure_max;
        break;
    case CV_CAP_PROP_AUTOGAIN:
        v4l2_min = capture->v4l2_autogain_min;
        v4l2_max = capture->v4l2_autogain_max;
        break;
    case CV_CAP_PROP_AWB:
        v4l2_min = capture->v4l2_awb_min;
        v4l2_max = capture->v4l2_awb_max;
        break;
    }

    /* initialisations */
    CLEAR (capture->control);

    /* set which control we want to set */
    switch (property_id) {

    case CV_CAP_PROP_BRIGHTNESS:
        capture->control.id = V4L2_CID_BRIGHTNESS;
        break;
    case CV_CAP_PROP_CONTRAST:
        capture->control.id = V4L2_CID_CONTRAST;
        break;
    case CV_CAP_PROP_SATURATION:
        capture->control.id = V4L2_CID_SATURATION;
        break;
    case CV_CAP_PROP_HUE:
        capture->control.id = V4L2_CID_HUE;
        break;
    case CV_CAP_PROP_GAIN:
        capture->control.id = V4L2_CID_GAIN;
        break;
   case CV_CAP_PROP_SHARPNESS:
        capture->control.id = V4L2_CID_SHARPNESS;
        break;
    case CV_CAP_PROP_EXPOSURE:
        capture->control.id = V4L2_CID_EXPOSURE;
        break;
    case CV_CAP_PROP_AUTOGAIN:
        capture->control.id = V4L2_CID_AUTOGAIN;
        break;
    case CV_CAP_PROP_AWB:
        capture->control.id = V4L2_CID_AUTO_WHITE_BALANCE;
        break;
    default:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L2: setting property #%d is not supported\n",
                property_id);
        return -1;
    }

    /* set the value we want to set to the scaled the value */
    capture->control.value = (int)(value * (v4l2_max - v4l2_min) + v4l2_min);

    /* The driver may clamp the value or return ERANGE, ignored here */
    if (-1 == xioctl (capture->deviceHandle,
                      VIDIOC_S_CTRL, &capture->control) && errno != ERANGE) {
        perror ("VIDIOC_S_CTRL");
        return -1;
    }

  /* all was OK */
  return 0;

}
int V4LCamera::_capture_V4L2 (CvCaptureCAM_V4L *capture)
{
   int detect_v4l2 = 0;

   detect_v4l2 = try_init_v4l2(capture);

   if (detect_v4l2 != 1) {
       /* init of the v4l2 device is not OK */
       return -1;
   }

   /* Init V4L2 control variables */
   capture->v4l2_brightness = 0;
   capture->v4l2_contrast = 0;
   capture->v4l2_saturation = 0;
   capture->v4l2_hue = 0;
   capture->v4l2_gain = 0;
   capture->v4l2_sharpness = 0;
   capture->v4l2_exposure = 0;
   capture->v4l2_autogain = 0;
   capture->v4l2_awb = 0;

   capture->v4l2_brightness_min = 0;
   capture->v4l2_contrast_min = 0;
   capture->v4l2_saturation_min = 0;
   capture->v4l2_hue_min = 0;
   capture->v4l2_gain_min = 0;
   capture->v4l2_sharpness_min = 0;
   capture->v4l2_exposure_min = 0;
   capture->v4l2_autogain_min = 0;
   capture->v4l2_awb_min = 0;

   capture->v4l2_brightness_max = 0;
   capture->v4l2_contrast_max = 0;
   capture->v4l2_saturation_max = 0;
   capture->v4l2_hue_max = 0;
   capture->v4l2_gain_max = 0;
   capture->v4l2_sharpness_max = 0;
   capture->v4l2_exposure_max = 0;
   capture->v4l2_autogain_max = 0;
   capture->v4l2_awb_max = 0;
     
  
   if ((capture->cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
      /* Nope. */
      fprintf( stderr, "HIGHGUI ERROR: V4L2: device is unable to capture video memory.\n");
      
      return -1;
   }

  

   /* Find Window info */
   CLEAR (capture->form);
   capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        
   if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
       fprintf( stderr, "HIGHGUI ERROR: V4L2: Could not obtain specifics of capture window.\n\n");
       
       return -1;
   }

  

   if (autosetup_capture_mode_v4l2(capture) == -1)
       return -1;

   icvSetVideoSize(capture, DEFAULT_V4L_WIDTH, DEFAULT_V4L_HEIGHT);

   unsigned int min;

   /* Buggy driver paranoia. */
   min = capture->form.fmt.pix.width * 2;

   if (capture->form.fmt.pix.bytesperline < min)
       capture->form.fmt.pix.bytesperline = min;

   min = capture->form.fmt.pix.bytesperline * capture->form.fmt.pix.height;
 
   if (capture->form.fmt.pix.sizeimage < min)
       capture->form.fmt.pix.sizeimage = min;

   return 1;
}
int V4LCamera::icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {



    CLEAR (capture->crop);
    capture->crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    capture->crop.c.left       = 0; 
    capture->crop.c.top        = 0; 
    capture->crop.c.height     = h*24;
    capture->crop.c.width      = w*24;

    /* set the crop area, but don't exit if the device don't support croping */
    xioctl (capture->deviceHandle, VIDIOC_S_CROP, &capture->crop);

    CLEAR (capture->form);
    capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

    /* read the current setting, mainly to retreive the pixelformat information */
    xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form);

    /* set the values we want to change */
    capture->form.fmt.pix.width = w; 
    capture->form.fmt.pix.height = h;
    capture->form.fmt.win.chromakey = 0;
    capture->form.fmt.win.field = V4L2_FIELD_ANY;
    capture->form.fmt.win.clips = 0;
    capture->form.fmt.win.clipcount = 0;
    capture->form.fmt.pix.field = V4L2_FIELD_ANY;

    /* ask the device to change the size
     * don't test if the set of the size is ok, because some device
     * don't allow changing the size, and we will get the real size
     * later */
    xioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form);

    /* try to set framerate to 30 fps */
    struct v4l2_streamparm setfps;  
    memset (&setfps, 0, sizeof(struct v4l2_streamparm));
    setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    setfps.parm.capture.timeperframe.numerator = 1;
    setfps.parm.capture.timeperframe.denominator = 30;
    xioctl (capture->deviceHandle, VIDIOC_S_PARM, &setfps);

    /* we need to re-initialize some things, like buffers, because the size has
     * changed */
    capture->FirstCapture = 1;

    /* Get window info again, to get the real value */
    if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form))
    {
      fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: Could not obtain specifics of capture window.\n\n");

      

      return 0;
    }

    return 0;

  

   
  return 0;

}
int V4LCamera::try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
{
  CLEAR (capture->form);

  capture->form.type                = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  capture->form.fmt.pix.pixelformat = colorspace;
  capture->form.fmt.pix.field       = V4L2_FIELD_ANY;
  capture->form.fmt.pix.width = DEFAULT_V4L_WIDTH;
  capture->form.fmt.pix.height = DEFAULT_V4L_HEIGHT;
  
  if (-1 == xioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form))
      return -1;

  
  if (colorspace != capture->form.fmt.pix.pixelformat)
    return -1;
  else
    return 0;
}
int V4LCamera::autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
{
  if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUYV) == 0) {
    PALETTE_YUYV = 1;
  } else if (try_palette_v4l2(capture, V4L2_PIX_FMT_UYVY) == 0) {
    PALETTE_UYVY = 1;
  } else {
	fprintf(stderr, "HIGHGUI ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV\n");
   
    return -1;
  }
  
  return 0;

}



int V4LCamera::try_init_v4l2(CvCaptureCAM_V4L* capture)
{

  // if detect = -1 then unable to open device
  // if detect = 0 then detected nothing
  // if detect = 1 then V4L2 device 
  int detect = 0;


  if (detect == 0)
  {
    CLEAR (capture->cap);
    if (-1 == xioctl (capture->deviceHandle, VIDIOC_QUERYCAP, &capture->cap))
    {
      detect = 0;

      
    }
      else
    {
      CLEAR (capture->capability);
      capture->capability.type = capture->cap.capabilities;
     
      /* Query channels number */
      if (-1 != xioctl (capture->deviceHandle, VIDIOC_G_INPUT, &capture->capability.channels))
      {
        detect = 1;
      }
    }
  }

  return detect;

}
/*
V4LCamera::V4LCamera(string name,
                     uint8_t camera_index, uint16_t width, uint16_t height,
                     Image::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",deviceName.c_str());
    } else {
        Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
    }

    struct v4l2_capability cap;
    memset(&cap, 0, sizeof (v4l2_capability));
    if (xioctl (device, VIDIOC_QUERYCAP, &cap)==-1) {
        Thread::Err("VIDIOC_QUERYCAP xioctl\n");
    }
    if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
        Thread::Err("device is unable to capture video memory.\n");
    }

    //get v4l2_format
    struct v4l2_format form;
    form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if(xioctl (device, VIDIOC_G_FMT,&form)==-1) {
        Thread::Err("VIDIOC_G_FMT xioctl\n");
    }
  
    //set width, height and format
    if (format == Image::Type::Format::UYVY) {
        form.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY; 
    } else if (format == Image::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;
    if(xioctl (device, VIDIOC_S_FMT,&form)==-1) {
        Thread::Err("VIDIOC_S_FMT xioctl\n");
    }
  
    //alloc and queue bufs
    AllocBuffers();
    for (int bufferIndex = 0; bufferIndex < nbBuffers;++bufferIndex) {
        QueueBuffer(bufferIndex);
    }
    
    // enable the streaming
    v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (xioctl (device, VIDIOC_STREAMON,&type)==-1) {
        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
    bufferIndex=-1;
    GrabFrame();

    // ground station
    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() {
    for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
       FreeFunction((char*)buffers[n_buffers].start);
   }
    SafeStop();
    Join();
}

void V4LCamera::Run(void) {
  Time cam_time, new_time, fpsNow, fpsPrev;
  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)) {
      // every 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());

    // get picture
    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=(char*)buffers[bufferIndex].start;
    output->ReleaseMutex();

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

    cam_time = new_time;
  }

  close(device);
}
*/
int V4LCamera::v4l2_alloc_buffers (CvCaptureCAM_V4L *capture, char *deviceName)
{
   CLEAR (capture->req);
   
   unsigned int buffer_number = DEFAULT_V4L_BUFFERS;

   try_again:
   
   capture->req.count = buffer_number;
   capture->req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
   capture->req.memory = V4L2_MEMORY_MMAP;

   if (-1 == xioctl (capture->deviceHandle, VIDIOC_REQBUFS, &capture->req))
   {
       if (EINVAL == errno)
       {
         fprintf (stderr, "%s does not support memory mapping\n", deviceName);
       } else {
         perror ("VIDIOC_REQBUFS");
       }
       /* free capture, and returns an error code */
       
       return -1;
   }

   if (capture->req.count < buffer_number)
   {
       if (buffer_number == 1)
       {
           fprintf (stderr, "Insufficient buffer memory on %s\n", deviceName);

           /* free capture, and returns an error code */
           
           return -1;
       } else {
         buffer_number--;
	 fprintf (stderr, "Insufficient buffer memory on %s -- decreaseing buffers\n", deviceName);
	 
	 goto try_again;
       }
   }

   for (n_buffers = 0; n_buffers < capture->req.count; ++n_buffers)
   {
       struct v4l2_buffer buf;

       CLEAR (buf);

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

       if (-1 == xioctl (capture->deviceHandle, VIDIOC_QUERYBUF, &buf)) {
           perror ("VIDIOC_QUERYBUF");
       
           /* free capture, and returns an error code */
           
           return -1;
       }

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

       if (MAP_FAILED == capture->buffers[n_buffers].start) {
           perror ("mmap");
       
           /* free capture, and returns an error code */
           
           return -1;
       }


   }

   /* Set up Image data */
   /*
   cvInitImageHeader( &capture->frame,
                      cvSize( capture->captureWindow.width,
                              capture->captureWindow.height ),
                      IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );*/
   /* Allocate space for RGBA data */
   capture->imageSize=capture->form.fmt.pix.width*capture->form.fmt.pix.height*2;
   capture->imageData = AllocFunction(capture->imageSize);
   Printf("cmem allocated %i at %x\n",capture->imageSize,capture->imageData);
   
   return 1;
};
int V4LCamera::cvGrabFrame(CvCaptureCAM_V4L* capture) {

   if (capture->FirstCapture) { 
      /* Some general initialization must take place the first time through */

      /* This is just a technicality, but all buffers must be filled up before any
         staggered SYNC is applied.  SO, filler up. (see V4L HowTo) */


	v4l2_alloc_buffers (capture, NULL);

        for (capture->bufferIndex = 0;
             capture->bufferIndex < ((int)capture->req.count);
             ++capture->bufferIndex)
        {

          struct v4l2_buffer buf;

          CLEAR (buf);

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

          if (-1 == xioctl (capture->deviceHandle, VIDIOC_QBUF, &buf)) {
              perror ("VIDIOC_QBUF");
              return 0;
          }
        }

        /* enable the streaming */
        capture->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        if (-1 == xioctl (capture->deviceHandle, VIDIOC_STREAMON,
                          &capture->type)) {
            /* error enabling the stream */
            perror ("VIDIOC_STREAMON");
            return 0;
        }

      


      /* preparation is ok */
      capture->FirstCapture = 0;
   }



     mainloop_v4l2(capture);



   return(1);
}
void V4LCamera::mainloop_v4l2(CvCaptureCAM_V4L* capture) {
    unsigned int count;

    count = 1;

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

            FD_ZERO (&fds);
            FD_SET (capture->deviceHandle, &fds);

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

            r = select (capture->deviceHandle+1, &fds, NULL, NULL, &tv);

            if (-1 == r) {
                if (EINTR == errno)
                    continue;

                perror ("select");
            }

            if (0 == r) {
                fprintf (stderr, "select timeout\n");

                /* end the infinite loop */
                break;
            }

            if (read_frame_v4l2 (capture))
                break;
        }
    }
}
int V4LCamera::read_frame_v4l2(CvCaptureCAM_V4L* capture) {
    struct v4l2_buffer buf;

    CLEAR (buf);

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

    if (-1 == xioctl (capture->deviceHandle, 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 */
            perror ("VIDIOC_DQBUF");
            return 1;
        }
   }

   if(buf.index >= capture->req.count) {
     Thread::Err("buf.index >= capture->req.count\n");
   }
   

   capture->bufferIndex = buf.index;


   if (-1 == xioctl (capture->deviceHandle, VIDIOC_QBUF, &buf))
       perror ("VIDIOC_QBUF");

   return 1;
}
void V4LCamera::Run(void) {
  Time cam_time, new_time, fpsNow, fpsPrev;
  //IplImage *img; // raw image
  int fpsCounter = 0;

  // init image old
  if (!cvGrabFrame(&capture)) {
    Printf("Could not grab a frame\n");
  }
  cam_time = GetTime();
  fpsPrev = cam_time;

  while (!ToBeStopped()) {
    
   
    // fps counter
    fpsCounter++;
    if (fpsCounter == 100) {
      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)
    //  cvSetCaptureProperty(capture, CV_CAP_PROP_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)
    //  cvSetCaptureProperty(capture, CV_CAP_PROP_AWB, awb->Value());
   
    // cam pictures
    cvRetrieveRawFrame(&capture);
    if (!cvGrabFrame(&capture)) {
      Printf("Could not grab a frame\n");
    }
    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=capture.imageData;
    output->ReleaseMutex();
   
    output->SetDataTime(cam_time);
    ProcessUpdate(output);
    cam_time = new_time;
  }

  //cvReleaseCapture(&capture);
}

void V4LCamera::cvRetrieveRawFrame( CvCaptureCAM_V4L* capture) {




   /* Now get what has already been captured as a IplImage return */

   /* First, reallocate imageData if the frame size changed */


/*
    if(((unsigned long)capture->frame.width != capture->form.fmt.pix.width)
       || ((unsigned long)capture->frame.height != capture->form.fmt.pix.height)) {
           if (PALETTE_YUYV == 1 || PALETTE_UYVY == 1)
           {
                cvFree(&capture->frame.imageData);
                cvInitImageHeader( &capture->frame,
                cvSize( capture->form.fmt.pix.width,
                capture->form.fmt.pix.height ),
                IPL_DEPTH_8U,2, IPL_ORIGIN_TL, 4 );
                capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);
           }else
           {
              fprintf( stderr,
                 "HIGHGUI ERROR: V4L: raw output not supported for this palette\n");
           }

    }

 */


    if (PALETTE_YUYV == 1){
         memcpy((char *)capture->imageData,
             (char *)capture->buffers[capture->bufferIndex].start,
             capture->imageSize);
    }
    if (PALETTE_UYVY == 1){
        memcpy((char *)capture->imageData,
             (char *)capture->buffers[capture->bufferIndex].start,
             capture->imageSize);
    }
  
 

   
}
int V4LCamera::QueueBuffer(int index) {
    struct v4l2_buffer buf;
    if(index>=0 && index<nbBuffers) {
        memset(&buf, 0, sizeof (v4l2_buffer));
        buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory      = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
        buf.index       = (unsigned long)index;
        buf.m.userptr=(unsigned long)(buffers[index].start);
        buf.length=buffers[index].length;
        
        int ret=xioctl (device, VIDIOC_QBUF, &buf);
        if (ret==-1) {
            Thread::Err("VIDIOC_QBUF xioctl %s\n",strerror(-ret));
            return -1;
        }
    }
    return 0;
}

int V4LCamera::GrabFrame(void) {
    //queue previous buffer
    if(QueueBuffer(bufferIndex)<0) return -1;
   
    fd_set fds;
    struct timeval tv;
    FD_ZERO (&fds);
    FD_SET (device, &fds);

    tv.tv_sec = 0;
    tv.tv_usec = 100000;

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

    if (-1 == r) {
        char errorMsg[256];
        Thread::Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
        return -1;
    }

    if (0 == r) {
        Thread::Err("select timeout\n");
        return -1;
    }

    struct v4l2_buffer buf;
    memset(&buf, 0, sizeof (v4l2_buffer));
    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;

    //get last captured image
    int prevDQbuf=-1;
    for(int i=0;i<4;i++) {
        if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
            if (errno==EAGAIN) {
                break;
            } else {
                Thread::Err("VIDIOC_DQBUF xioctl\n");
                return -1;
            }
       } else {
           if(prevDQbuf!=-1) {
               QueueBuffer(prevDQbuf);
           }
           for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
               if((void*)(buf.m.userptr)==buffers[n_buffers].start) {
                   prevDQbuf=n_buffers;
                   bufferIndex=n_buffers;
                   break;
               }
           }
       }
    }
   
   return 1;
}

int V4LCamera::AllocBuffers(void) {
    struct v4l2_requestbuffers requestbuffers;
   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_USERPTR;//V4L2_MEMORY_MMAP;

   if (xioctl (device, VIDIOC_REQBUFS, &requestbuffers)==-1) {
       if (errno==EINVAL) {
         Thread::Err("VIDIOC_REQBUFS user memory not supported\n");
       } else {
         Thread::Err ("VIDIOC_REQBUFS xioctl\n");
       }
       return -1;
   }
   
   nbBuffers=DEFAULT_V4L_BUFFERS;
   for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
       buffers[n_buffers].length = output->GetDataType().GetSize();
       buffers[n_buffers].start =AllocFunction(output->GetDataType().GetSize());
   }

   return 1;
};

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\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