// %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 "V4LCamera_impl.h"
#include <Image.h>
#include <FrameworkManager.h>

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

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) {
  
  pimpl_=new V4LCamera_impl(this,name,camera_index,width,height,format);
}

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

void V4LCamera::Run(void) {
  pimpl_->Run();
  /*
  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;
    }

    //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
    }
  }
   */
}

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

void V4LCamera::SetAutoGain(bool value) {
  pimpl_->SetAutoGain(value);
}

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

void V4LCamera::SetGain(float value) {
  pimpl_->SetGain(value);
}

void V4LCamera::SetExposure(float value) {
  pimpl_->SetExposure(value);
}

void V4LCamera::SetBrightness(float value) {
  pimpl_->SetBrightness(value);
}

void V4LCamera::SetSaturation(float value) {
  pimpl_->SetSaturation(value);
}

void V4LCamera::SetHue(float value) {
  pimpl_->SetHue(value);
}

void V4LCamera::SetContrast(float value) {
  pimpl_->SetContrast(value);
}

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