// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file V4LCamera.h
 * \brief Base class for V4l camera
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/07/17
 * \version 4.0
 */

#ifndef V4LCamera_H
#define V4LCamera_H

#include <Thread.h>
#include "Camera.h"
//todo use pimpl and remove this
#include <linux/videodev2.h>
#include <libv4l1-videodev.h>
#define MAX_V4L_BUFFERS 10

namespace flair {
namespace core {
class Image;
}
namespace gui {
class DoubleSpinBox;
class CheckBox;
class Label;
}
}

namespace flair {
namespace sensor {
/*! \class V4LCamera
*
* \brief Base class for V4l camera
*/
class V4LCamera : public core::Thread, public Camera {
public:
  /*!
  * \brief Constructor
  *
  * Construct a Camera.
	* It will be child of the FrameworkManager.
  *
  * \param name name
  * \param camera_index camera index
  * \param width width
  * \param height height
  * \param format image format
  * \param priority priority of the Thread
  */
  V4LCamera(std::string name,
            uint8_t camera_index, uint16_t width, uint16_t height,
            core::Image::Type::Format format, uint8_t priority);

  /*!
  * \brief Destructor
  *
  */
  ~V4LCamera();
  
    //hack for ps3eye in hds uav
  //TODO: put this in ps3eye class
  bool HasProblems(void);

protected:
  /*!
  * \brief Set Gain
  *
  * \param value value between 0 and 1
  */
  virtual void SetGain(float value);

  /*!
  * \brief Set Auto Gain
  *
  * \param value value
  */
  virtual void SetAutoGain(bool value);

  /*!
  * \brief Set Exposure
  *
  * \param value value between 0 and 1
  */
  virtual void SetExposure(float value);

  /*!
  * \brief Set Auto Exposure
  *
  * \param value value
  */
  virtual void SetAutoExposure(bool value);

  /*!
  * \brief Set Brightness
  *
  * \param value value between 0 and 1
  */
  virtual void SetBrightness(float value);

  /*!
  * \brief Set Saturation
  *
  * \param value value between 0 and 1
  */
  virtual void SetSaturation(float value);

  /*!
  * \brief Set Hue
  *
  * \param value value between 0 and 1
  */
  virtual void SetHue(float value);

  /*!
  * \brief Set Contrast
  *
  * \param value value between 0 and 1
  */
  virtual void SetContrast(float value);
  
private:
  /*!
  * \brief Update using provided datas
  *
  * Reimplemented from IODevice.
  *
  * \param data data from the parent to process
  */
  void UpdateFrom(const core::io_data *data){};

  /*!
  * \brief Run function
  *
  * Reimplemented from Thread.
  *
  */
  void Run(void);
  
  int device;
  gui::Tab *sensor_tab;
  gui::DoubleSpinBox *bright, *exposure, *gain, *contrast, *hue, *sharpness,*sat;
  gui::CheckBox *autogain, *awb, *autoexposure;
  gui::Label *fps;
  bool hasProblems;
  static int xioctl( int fd, int request, void *arg);
  void SetProperty(int property,float value);
  float GetProperty(int property);
  int GrabFrame(void);
  int AllocBuffers(void);
  int QueueBuffer(int index);
  struct video_mmap *mmaps;
  int bufferIndex;
  struct buffer {
    void *  start;
    size_t  length;
  };
  buffer buffers[MAX_V4L_BUFFERS];
  char* frame;
  int nbBuffers;
  
    typedef struct CvCaptureCAM_V4L
{
    int deviceHandle;
    int bufferIndex;
    int FirstCapture;
    struct video_capability capability;
    struct video_window     captureWindow;
    struct video_picture    imageProperties; 
    struct video_mbuf       memoryBuffer;
    struct video_mmap       *mmaps;
    char *memoryMap;
    //IplImage frame;
char *imageData;
int imageSize;

   /* V4L2 variables */
   buffer buffers[MAX_V4L_BUFFERS + 1];
   struct v4l2_capability cap;
   struct v4l2_input inp;
   struct v4l2_format form;
   struct v4l2_crop crop;
   struct v4l2_cropcap cropcap;
   struct v4l2_requestbuffers req;
   struct v4l2_jpegcompression compr;
   struct v4l2_control control;
   enum v4l2_buf_type type;
   struct v4l2_queryctrl queryctrl;
   struct v4l2_querymenu querymenu;

   /* V4L2 control variables */
   int v4l2_brightness, v4l2_brightness_min, v4l2_brightness_max;
   int v4l2_contrast, v4l2_contrast_min, v4l2_contrast_max;
   int v4l2_saturation, v4l2_saturation_min, v4l2_saturation_max;
   int v4l2_sharpness, v4l2_sharpness_min, v4l2_sharpness_max;
   int v4l2_exposure, v4l2_exposure_min, v4l2_exposure_max;
   int v4l2_hue, v4l2_hue_min, v4l2_hue_max;
   int v4l2_gain, v4l2_gain_min, v4l2_gain_max;
   int v4l2_autogain, v4l2_autogain_min, v4l2_autogain_max;
   int v4l2_awb, v4l2_awb_min, v4l2_awb_max;



} CvCaptureCAM_V4L;

CvCaptureCAM_V4L capture;
int _capture_V4L2 (CvCaptureCAM_V4L *capture);
int try_init_v4l2(CvCaptureCAM_V4L* capture);
int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture);
int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h);
int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace);
int  PALETTE_YUYV,PALETTE_UYVY;
int icvSetPropertyCAM_V4L( CvCaptureCAM_V4L* capture,int property_id, double value );
int icvSetControl (CvCaptureCAM_V4L* capture,int property_id, double value) ;
int cvGrabFrame(CvCaptureCAM_V4L* capture);
int v4l2_alloc_buffers (CvCaptureCAM_V4L *capture, char *deviceName);
void mainloop_v4l2(CvCaptureCAM_V4L* capture);
int read_frame_v4l2(CvCaptureCAM_V4L* capture);
void cvRetrieveRawFrame( CvCaptureCAM_V4L* capture);
unsigned int n_buffers ;
};
} // end namespace sensor
} // end namespace flair
#endif // V4LCamera_H