// %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>

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());
  }

  if(format == Image::Type::Format::UYVY) {
    if(Init(width,height,V4L2_PIX_FMT_UYVY) == -1) {
     Thread::Err("initialisation failed\n");
    }
  } else if (format == Image::Type::Format::YUYV) {
    if(Init(width,height,V4L2_PIX_FMT_YUYV) == -1) {
     Thread::Err("initialisation failed\n");
    }
  } else {
    Thread::Err("format not supported\n");
  }
  
  //todo: better handling of detection, only neeeded for omap/dm
  //also in run, copy from v4l to cmem is not necessary if not using cmem...
#ifdef ARMV7A
  useMemoryUsrPtr=true;
#else
  useMemoryUsrPtr=false;
#endif
  if(useMemoryUsrPtr) {
    AllocUserBuffers();
  } else {
    AllocV4LBuffers();
  }
  
  for (int i=0;i < nbBuffers;i++) {
    QueueBuffer(i);
  }

  /* enable the streaming */
  v4l2_buf_type type;
  type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  if (-1 == xioctl (device, VIDIOC_STREAMON,&type)) {
    Thread::Err("VIDIOC_STREAMON error\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() {
  if(useMemoryUsrPtr) {
    for (int i = 0; i < nbBuffers; i++) {
      FreeFunction((char*)buffers[i]);
    }
  } else {
      FreeFunction(imageData);
  }
  SafeStop();
  Join();
  close(device);
}

int V4LCamera::Init(int width, int height,unsigned long colorspace) {
  struct v4l2_capability cap;
  memset(&cap, 0, sizeof (v4l2_capability));
  
  if(-1 == xioctl(device, VIDIOC_QUERYCAP, &cap)) {
    return -1;
  }
     
  if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
    Thread::Err("device is unable to capture video memory.\n");
    return -1;
  }

  struct v4l2_format form;
  memset(&form, 0, sizeof (v4l2_format));
  form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

  /* read the current setting */
  if(-1 == xioctl(device, VIDIOC_G_FMT, &form)) {
   Thread::Err("Could not obtain specifics of capture window.\n");
   return -1;
  }

  /* set the values we want to change */
  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;
  form.fmt.pix.pixelformat = colorspace;

  /* ask the device to change the size*/
  if(-1 == xioctl (device, VIDIOC_S_FMT, &form)) {
    Thread::Err("Could not set specifics of capture window.\n");
    return -1;
  }
  
  return 0;
}

int V4LCamera::AllocV4LBuffers() {
  struct v4l2_requestbuffers req;
  memset(&req, 0, sizeof (v4l2_requestbuffers));
  nbBuffers=DEFAULT_V4L_BUFFERS;

  try_again:

  req.count = nbBuffers;
  req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  req.memory = V4L2_MEMORY_MMAP;

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

  if(req.count < nbBuffers) {
    if (nbBuffers == 1) {
      Thread::Err("Insufficient buffer memory\n");
      return -1;
    } else {
      nbBuffers--;
      Thread::Warn("Insufficient buffer memory -- decreaseing buffers to %i\n",nbBuffers);
      goto try_again;
    }
  }

  for(int i=0; i<req.count; i++) {
    struct v4l2_buffer buf;
    memset(&buf, 0, sizeof (v4l2_buffer));

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

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

    if(output->GetDataType().GetSize()!=buf.length) {
      Thread::Err("buf size is not as exepcted %i/%i\n",buf.length,output->GetDataType().GetSize());
      return -1;
    }

    buffers[i]=mmap(NULL,buf.length,PROT_READ | PROT_WRITE,MAP_SHARED,device, buf.m.offset);

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

  //allocate output data
  imageData = AllocFunction(output->GetDataType().GetSize());
  //Printf("cmem allocated %i at %x\n",output->GetDataType().GetSize(),imageData);

  return 1;
};

int V4LCamera::AllocUserBuffers(void) {
  struct v4l2_requestbuffers req;
  memset(&req, 0, sizeof (v4l2_requestbuffers));
  nbBuffers=DEFAULT_V4L_BUFFERS;

  req.count = nbBuffers;
  req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  req.memory = V4L2_MEMORY_USERPTR;

  if (xioctl (device, VIDIOC_REQBUFS, &req)==-1) {
    if (errno==EINVAL) {
      Thread::Err("VIDIOC_REQBUFS user memory not supported\n");
    } else {
      Thread::Err ("VIDIOC_REQBUFS xioctl\n");
    }
    return -1;
  }

  for (int i=0; i<nbBuffers; i++) {
    buffers[i] =AllocFunction(output->GetDataType().GetSize());
  }

  return 1;
};

int V4LCamera::GrabFrame(void) {
  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 (r==-1) {
    char errorMsg[256];
    Thread::Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
    return -1;
  }

  if (r==0) {
    Thread::Err("select timeout\n");
    return -1;
  }
  
  struct v4l2_buffer buf;
  memset(&buf, 0, sizeof (v4l2_buffer));
  buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
  if(useMemoryUsrPtr) {
    buf.memory=V4L2_MEMORY_USERPTR;
  } else {
    buf.memory=V4L2_MEMORY_MMAP;
  }

   //get last captured buffer
  dQueuedBuffer.index=-1;
  for(int i=0;i<nbBuffers;i++) {
    if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
      if (errno==EAGAIN) {//when no new buffer is available for reading (non blocking)
        //Printf("%s eagain\n",Thread::ObjectName().c_str());
        break;
      } else {
        Thread::Err("VIDIOC_DQBUF xioctl\n");
        return -1;
      }
    } else {
      //Printf("%s %i dqueued\n",Thread::ObjectName().c_str(),buf.index);
      //Printf("%i %x %i %i\n",buf.bytesused,buf.flags,buf.field,buf.sequence);
      if(dQueuedBuffer.index!=-1) {
        //Printf("%s %i queued\n",Thread::ObjectName().c_str(),dQueuedBuffer.index);
        QueueBuffer(&dQueuedBuffer);
      }
      dQueuedBuffer=buf;
    }
  }
  //Printf("%s %i\n",Thread::ObjectName().c_str(),dQueuedBuffer.index);

  return 1;
}

void V4LCamera::Run(void) {
  Time cam_time, new_time, fpsNow, fpsPrev;
  int fpsCounter = 0;

  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
    if (!GrabFrame()) {
      Printf("Could not grab a frame\n");
    }
        
    //check for ps3eye deconnection in hds uav
    new_time = GetTime();
    if(new_time-cam_time>100*1000*1000) {
      Thread::Warn("delta t trop grand\n");
      hasProblems=true;
    }/*
    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;
      }
    }*/

    //select buffer
    if(useMemoryUsrPtr) {//buffers are already in CMEM
      imageData=(char*)buffers[dQueuedBuffer.index];
      //dequeue it latter (buffer used by ProcessUpdate)
    } else {//copy to CMEM allocated buffer 
      memcpy(imageData,(char *)buffers[dQueuedBuffer.index],output->GetDataType().GetSize());
      QueueBuffer(&dQueuedBuffer);//we can do it right now
    }
    
    output->GetMutex();
    output->buffer=imageData;
    output->ReleaseMutex();
   
    output->SetDataTime(cam_time);
    ProcessUpdate(output);
    cam_time = new_time;
    
    if(useMemoryUsrPtr) {
      QueueBuffer(&dQueuedBuffer);//now it is possible to dequeue
    }
  }
}

int V4LCamera::QueueBuffer(struct v4l2_buffer *buf) {
  if(buf->index>=0 && buf->index<nbBuffers) {
    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::QueueBuffer(int index) {
  struct v4l2_buffer buf;
  memset(&buf, 0, sizeof (v4l2_buffer));
  
  buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
  buf.index=(unsigned long)index;
  if(useMemoryUsrPtr) {
    buf.memory=V4L2_MEMORY_USERPTR;
    buf.m.userptr=(unsigned long)(buffers[index]);
    buf.length=output->GetDataType().GetSize();
  } else {
    buf.memory=V4L2_MEMORY_MMAP;
  }
  return QueueBuffer(&buf);
}

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;
  if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) {
    Thread::Warn("prop %x, VIDIOC_QUERYCTRL failed\n",property);
  }
  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);
  if(xioctl (device,VIDIOC_S_CTRL, &control)==-1) {
    Thread::Warn("prop %x, VIDIOC_S_CTRL failed\n",property);
  }
}

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