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#include <QTime>
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#include <QTime>
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#include <QSettings>
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#include <QSettings>
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void SMCaptureWorker::setup(){
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void SMCaptureWorker::setup(){
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    // Create cameras
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    // Create projector
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    QSettings settings;
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    QSettings settings;
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    int screenNum = settings.value("projector/screenNumber", -1).toInt();
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    if(screenNum != -1)
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        projector = new ProjectorOpenGL(screenNum);
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    // Create cameras
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    int iNum0 = settings.value("camera0/interfaceNumber", -1).toInt();
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    int iNum0 = settings.value("camera0/interfaceNumber", -1).toInt();
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    int cNum0 = settings.value("camera0/cameraNumber", -1).toInt();
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    int cNum0 = settings.value("camera0/cameraNumber", -1).toInt();
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    if(iNum0 != -1)
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    if(iNum0 != -1)
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        camera0 = Camera::NewCamera(iNum0,cNum0);
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        camera0 = Camera::NewCamera(iNum0,cNum0,triggerModeSoftware);
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    int iNum1 = settings.value("camera1/interfaceNumber", -1).toInt();
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    int iNum1 = settings.value("camera1/interfaceNumber", -1).toInt();
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    int cNum1 = settings.value("camera1/cameraNumber", -1).toInt();
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    int cNum1 = settings.value("camera1/cameraNumber", -1).toInt();
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    if(iNum1 != -1)
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    if(iNum1 != -1)
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        camera1 = Camera::NewCamera(iNum1,cNum1);
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        camera1 = Camera::NewCamera(iNum1,cNum1,triggerModeSoftware);
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    // Set camera settings
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    // Set camera settings
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    CameraSettings cameraSettings;
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    CameraSettings cameraSettings;
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    cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();
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    cameraSettings.shutter = settings.value("camera/shutter", 16.666).toFloat();
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    cameraSettings.gain = 0.0;
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    cameraSettings.gain = 0.0;
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    camera0->setCameraSettings(cameraSettings);
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    camera0->setCameraSettings(cameraSettings);
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    camera1->setCameraSettings(cameraSettings);
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    camera1->setCameraSettings(cameraSettings);
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    // Read trigger configuration
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    // Start capturing
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    QString sTriggerMode = settings.value("trigger/mode", "Hardware").toString();
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    if(sTriggerMode == "hardware")
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    camera0->startCapture();
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        triggerMode = triggerModeHardware;
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    camera1->startCapture();
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    else if(sTriggerMode == "software")
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    // Create rotation stage
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        triggerMode = triggerModeSoftware;
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    rotationStage = new RotationStage();
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    else
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        std::cerr << "SLScanWorker: invalid trigger mode " << sTriggerMode.toStdString() << std::endl;
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}
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}
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void SMCaptureWorker::doWork(){
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void SMCaptureWorker::doWork(){
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    unsigned int k=0;
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    projector->displayWhite();
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    QTime time; time.start();
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    isWorking = true;
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    working = true;
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    if(triggerMode == triggerModeHardware){
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        camera0->startCapture();
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        camera1->startCapture();
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    }
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    std::vector<Camera*> cameras;
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    cameras.push_back(camera0);
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    cameras.push_back(camera1);
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    // Processing loop
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    // Processing loop
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    QTime time;
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    time.start();
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    while(isWorking){
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    while(working){
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        std::vector<cv::Mat> frameSet;
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        std::vector<cv::Mat> frameSet;
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        CameraFrame frame;
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        CameraFrame frame;
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        for(int c=0; c<2; c++){
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            if(triggerMode == triggerModeHardware)
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                frame = cameras[c]->lockFrame();
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            else
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        // trigger cameras
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                frame = cameras[c]->getSingleFrame();
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            cv::Mat frameCV(frame.height, frame.width, CV_16UC3, frame.memory);
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            frameCV = frameCV.clone();
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            frameSet.push_back(frameCV);
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        }
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        //QTest::qSleep(50);
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        camera0->trigger();
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        // Pass frame sequence to decoder
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        emit newFrameSet(frameSet);
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        camera1->trigger();
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        // Increase iteration counter
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        k += 1;
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        // retrieve frames
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        frame = camera0->getFrame();
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        cv::Mat frameCV;
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        std::cout << "Capture worker " << time.restart() << "ms" << std::endl;
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        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
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        frameCV = frameCV.clone();
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        frameSet.push_back(frameCV);
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//        cv::imwrite("frameSet0.png",frameSet[0]);
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        emit newFrame(0, frameCV);
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//        cv::imwrite("frameSet1.png",frameSet[1]);
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        frame = camera1->getFrame();
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        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
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        // Process events e.g. check for exit flag
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        frameCV = frameCV.clone();
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        QCoreApplication::processEvents();
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        frameSet.push_back(frameCV);
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    }
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        emit newFrame(1, frameCV);
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    if(triggerMode == triggerModeHardware){
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        //std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;
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        for(unsigned int i=0; i<cameras.size(); i++){
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        // Process events e.g. perform a task
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            cameras[i]->stopCapture();
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        QCoreApplication::processEvents();
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        }
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    }
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    }
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    // Emit message to e.g. initiate thread break down
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    emit finished();
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    emit finished();
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}
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void SMCaptureWorker::rotateTo(float angle){
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    std::cout << "Moving to: " << angle << std::endl;
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    rotationStage->moveAbsolute(angle);
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    rotationStage->wait();
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}
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}
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void SMCaptureWorker::stopWorking(){
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void SMCaptureWorker::acquireCalibrationSet(float angle){
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    rotateTo(angle);
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    isWorking = false;
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    CameraFrame frame;
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    CalibrationSet calibrationSet;
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    // trigger cameras
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    camera0->trigger();
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    camera1->trigger();
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    // retrieve frames
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    frame = camera0->getFrame();
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    cv::Mat frameCV;
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    frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
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    frameCV = frameCV.clone();
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    calibrationSet.frame0 = frameCV;
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    frame = camera1->getFrame();
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    frameCV  = cv::Mat(frame.height, frame.width, CV_8UC3, frame.memory);
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    frameCV = frameCV.clone();
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    calibrationSet.frame1 = frameCV;
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    calibrationSet.rotationAngle = angle;
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    emit newCalibrationSet(calibrationSet);
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}
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}
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void SMCaptureWorker::acquireCalibrationSets(std::vector<float> angles){}
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void SMCaptureWorker::acquireFrameSequence(float angle){}
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void SMCaptureWorker::acquireFrameSequences(std::vector<float> angles){}
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void SMCaptureWorker::abort(){}
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void SMCaptureWorker::stopWork(){
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    working = false;
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}
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SMCaptureWorker::~SMCaptureWorker(){
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SMCaptureWorker::~SMCaptureWorker(){
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    delete projector;
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    delete camera0;
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    delete camera0;
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    delete camera1;
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    delete camera1;
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    delete rotationStage;
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}
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}