/*********************************************************************
// created:    2006/06/08 - 21:45
// filename:   Camera1394.h
//
// author:     Gerald Dherbomez
// 
// version:    $Id: Camera1394.h 1199 2012-08-01 08:51:24Z kurdejma $
//
// purpose:    Interface with the CMU driver
//
// 
// Below are the format, mode and framerate supported by the driver: 
//
// -----------------------------------------
// Format  Mode  Image Size    Color Format
// -----------------------------------------
// 0       0     160x120       YUV(4:4:4)  
//         1     320x240       YUV(4:2:2)  
//         2     640x480       YUV(4:1:1)  
//         3     640x480       YUV(4:2:2)  
//         4     640x480       RGB  
//         5     640x480       Mono (8-bit)  
//         6     640x480       Mono (16-bit)  
// -----------------------------------------
// 1       0     800x600       YUV(4:2:2)  
//         1     800x600       RGB  
//         2     800x600       Mono (8-bit)  
//         3     1024x768      YUV(4:2:2)  
//         4     1024x768      RGB  
//         5     1024x768      Mono (8-bit)  
//         6     800x600       Mono (16-bit)  
//         7     1024x768      Mono (16-bit)  
// -----------------------------------------
// 2       0     1280x960      YUV(4:2:2)  
//         1     1280x960      RGB  
//         2     1280x960      Mono (8-bit)  
//         3     1600x1200     YUV(4:2:2)  
//         4     1600x1200     RGB  
//         5     1600x1200     Mono (8-bit)  
//         6     1280x960      Mono (16-bit)  
//         7     1600x1200     Mono (16-bit)  
// -----------------------------------------
// 7       0-7   Partial Scan  Selectable  
// -----------------------------------------
//
//
// ------------------
// Code    Rate (fps) 
// ------------------
// 0        1.875  
// 1       3.75  
// 2       7.5  
// 3       15  
// 4       30  
// 5       60  
// ------------------
//
//
*********************************************************************/

#ifndef _CAMERA1394_H_
#define _CAMERA1394_H_

//# include "../../include/VisualMemoryManager/struct.h"

#include <qthread.h>
#include <qimage.h>
#include <qmutex.h>

#include "kernel/ComponentBase.h"
#include "kernel/DbiteFile.h"
//#include "../DbtPlyPluginVision/ImageViewer.h"

#ifdef WIN32
#	define NOMINMAX 
#   include <windows.h>
#   include "C1394Camera/1394Camera.h"
#endif 

namespace pacpus {

#define MAX_CHAR_PICTURE_NAME		  64
#define MAX_CHAR_DIRECTORY_NAME		64

class Camera1394
    : public QThread
    , public ComponentBase
{
  Q_OBJECT

public:
	Camera1394(QString name);
	~Camera1394();
  void run(); 

  bool fillRGB32Image(unsigned char * buffer);
  void YUV444toRGB32(unsigned char* buffer);
  void YUV422toRGB32(unsigned char *buffer); 
  void YUV411toRGB32(unsigned char* buffer);
  void YtoRGB32(unsigned char * buffer);
  void Y16toRGB32(unsigned char * buffer);    // not tested, no camera with this mode available
  void RGB16toRGB32(unsigned char * buffer);  // not tested, no camera with this mode available
  void RGB24toRGB32(unsigned char * buffer);

  inline void startAcquiring()  { acquiring_ = TRUE;  }; 
  inline void stopAcquiring()   { acquiring_ = FALSE; };  
  inline void startRecording()  { recording_ = TRUE;  }; 
  inline void stopRecording()    { recording_ = FALSE; }; 

  virtual void stopActivity();  /*!< to stop the processing thread */
  virtual void startActivity(); /*!< to start the processing thread */
  virtual ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config); 
  
  // return the period in µs corresponding to the framerate parameter 
  double getPeriod(); 
  bool recordImage(QString format);

Q_SIGNALS:
  void newImage(QImage*);
  void corruptedImage();

protected:
  C1394Camera * theCamera;
  unsigned char * image_; 
  QImage * qimage_; 

private:
  // Initialize the camera
  bool initCamera(); 

  // return true if the period T (µs) corresponds to the framerate (at +/-20%)
  bool isPeriodGood(int T); 

  // properties
  int cameraNode_; 
  int videoFormat_; 
  int videoMode_; 
  int frameRate_;
  bool reverseImage_;
  bool acquiring_;
  bool displaying_;
  bool recording_;
  int zoom_;

  int imageCounter_;
  QString recordFormat_;

  char imageName_[MAX_CHAR_PICTURE_NAME+MAX_CHAR_DIRECTORY_NAME];
  QMutex*	imageMutex_;

  road_time_t time_; 
  road_time_t prevTime_; 
  road_timerange_t tr_;
  
    pacpus::DbiteFile file_;

//  ImageViewer * viewer_;
  
};

} // namespace pacpus

#endif // _CAMERA1394_H_