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#include "CameraIIDC.h"

#include <cstring>

vector<CameraInfo> CameraIIDC::getCameraList(){

    dc1394_t *context = dc1394_new();

    dc1394camera_list_t *camera_list;

    dc1394error_t err;

    err = dc1394_camera_enumerate(context, &camera_list);

    DC1394_WRN(err,"libdc1394: Failed to enumerate cameras!");

    vector<CameraInfo> ret;

    for (unsigned int i=0; i<camera_list->num; i++) {

        CameraInfo info;

        dc1394camera_t *cam;

        cam = dc1394_camera_new(context, camera_list->ids[i].guid);

        //info.vendor = std::string(cam->vendor ? cam->vendor : "");

        info.vendor = "IIDC";

        info.model = string(cam->model ? cam->model : "");

        info.busID = (unsigned int)cam->guid;

        dc1394_camera_free(cam);

        ret.push_back(info);

    }

    dc1394_camera_free_list(camera_list);

    dc1394_free(context);

    return ret;

}

CameraIIDC::CameraIIDC(unsigned int camID){

    context = dc1394_new();

    dc1394camera_list_t *camera_list;

    dc1394error_t err;

    err = dc1394_camera_enumerate(context, &camera_list);

    if(camID+1 > camera_list->num){

        cerr << "libdc1394: Selected camera is not available!";

        return;

    }

    cam = NULL;

    cam = dc1394_camera_new(context, camera_list->ids[camID].guid);

    if(!cam){

        cerr << "libdc1394: Could not open camera!";

        return;

    }

    dc1394_camera_free_list(camera_list);

    // Print camera information

    dc1394_camera_print_info(cam, stdout);

    fflush(stdout);

//    // Get video modes

//    dc1394video_modes_t video_modes;

//    err=dc1394_video_get_supported_modes(cam, &video_modes);

//    DC1394_WRN(err,"Can't get video modes");

//    // Select highest res mode

//    int i;

//    dc1394color_coding_t coding;

//    for (i=video_modes.num-1;i>=0;i--) {

//        if (!dc1394_is_video_mode_scalable(video_modes.modes[i])) {

//            dc1394_get_color_coding_from_video_mode(cam, video_modes.modes[i], &coding);

//            DC1394_WRN(err,"libdc1394: Could not get color coding");

//            if (coding==DC1394_COLOR_CODING_MONO8) {

//                video_mode=video_modes.modes[i];

//                break;

//            }

//        }

//    }

//    if (i < 0) {

//        cerr << "libdc1394: Could not get a valid gray scale mode!";

//        return;

//    }

    // Select format 7 mode 0

    video_mode = DC1394_VIDEO_MODE_FORMAT7_0;

    // Set video mode

    err=dc1394_video_set_mode(cam, video_mode);

    if (err!=DC1394_SUCCESS)

        cerr << "libdc1394: Could not set video mode!";

    // Setup capture

    err=dc1394_video_set_operation_mode(cam, DC1394_OPERATION_MODE_1394B);

    if (err!=DC1394_SUCCESS)

        cerr << "libdc1394: Could not set operation mode!";

    err=dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_800);

    if (err!=DC1394_SUCCESS)

        cerr << "libdc1394: Could not set iso speed!";

    // Size of ringbuffer (Note: on OS X 10.9, size must be greater than 1)

#ifdef __APPLE__

    unsigned int bufferSize = 2;

#else

    unsigned int bufferSize = 1;

#endif

    err=dc1394_capture_setup(cam, bufferSize, DC1394_CAPTURE_FLAGS_DEFAULT);

    if (err!=DC1394_SUCCESS)

        cerr << "libdc1394: Could not set up camera!";

    // Disable auto exposure mode

    dc1394_feature_set_power(cam, DC1394_FEATURE_EXPOSURE, DC1394_OFF);

    // Disable gamma mode

    dc1394_feature_set_power(cam, DC1394_FEATURE_GAMMA, DC1394_OFF);

    // Disable sharpness mode

    dc1394_feature_set_power(cam, DC1394_FEATURE_SHARPNESS, DC1394_OFF);

    // Disable frame-rate mode

    dc1394_feature_set_power(cam, DC1394_FEATURE_FRAME_RATE, DC1394_OFF);

    // Set manual settings

    dc1394_feature_set_mode(cam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);

    dc1394_feature_set_mode(cam, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);

    // Disable trigger

    err=dc1394_external_trigger_set_power(cam, DC1394_OFF);

    if (err!=DC1394_SUCCESS)

        cerr << "libdc1394: Could not set external trigger on!";

    // Set reasonable default settings

    CameraSettings settings;

    //settings.shutter = 8.333;

    settings.shutter = 16.66;

    settings.gain = 0.0;

    this->setCameraSettings(settings);

    // Print camera features and settings

    dc1394featureset_t features;

    err=dc1394_feature_get_all(cam, &features);

    DC1394_WRN(err, "libdc1394: Could not get feature set.");

    dc1394_feature_print_all(&features, stdout);

    fflush(stdout);

    return;

}

void CameraIIDC::startCapture(){

    dc1394error_t err;

    // Set hardware trigger

    err=dc1394_external_trigger_set_power(cam, DC1394_ON);

    if (err!=DC1394_SUCCESS)

        cerr << "libdc1394: Could not set external trigger on!";

    err=dc1394_external_trigger_set_source(cam, DC1394_TRIGGER_SOURCE_0);

    if (err!=DC1394_SUCCESS)

        cerr << "libdc1394: Could not set external trigger source!";

    err=dc1394_external_trigger_set_mode(cam, DC1394_TRIGGER_MODE_14);

    if (err!=DC1394_SUCCESS)

        cerr << "libdc1394: Could not set external trigger mode!";

    err=dc1394_external_trigger_set_polarity(cam, DC1394_TRIGGER_ACTIVE_HIGH);

    if (err!=DC1394_SUCCESS)

        cerr << "libdc1394: Could not set external trigger polarity!";

    // Begin transmission

	err = dc1394_video_set_transmission(cam, DC1394_ON);

	if (err!=DC1394_SUCCESS)

	{

		cerr << "ERROR: Could not begin transmission!" << endl;

	}    

    capturing = true;

}

void CameraIIDC::stopCapture(){

    dc1394error_t err;

    err = dc1394_video_set_transmission(cam, DC1394_OFF);

    err = dc1394_capture_stop(cam);

    // Disable trigger

    err=dc1394_external_trigger_set_power(cam, DC1394_OFF);

    if (err!=DC1394_SUCCESS)

        cerr << "libdc1394: Could not set external trigger on!";

    capturing = false;

}

CameraFrame CameraIIDC::lockFrame(){

    CameraFrame frame;

    if (!capturing) {

        cerr << "ERROR: Not capturing on camera. Call startCapture() before lockFrame()." << endl;

        return frame;

    }

    dc1394error_t err;

	// Get frame from ring buffer:

    err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &currentFrame);

    if (err!=DC1394_SUCCESS){

        cerr << "ERROR: Could not capture a frame." << endl;

        return frame;

	}

    // Copy frame address and properties

    frame.memory = currentFrame->image;

    frame.width = currentFrame->size[0];

    frame.height = currentFrame->size[1];

    frame.sizeBytes = currentFrame->image_bytes;

    return frame;

}

void CameraIIDC::unlockFrame(){

    if (currentFrame == NULL){

        cerr << "ERROR: No frame locked. Call lockFrame() before unlockFrame()." << endl;

        return;

    }

    // Return the frame to the ring buffer:

    dc1394_capture_enqueue(cam, currentFrame);

    currentFrame = NULL;

}

void CameraIIDC::flushBuffer(){

    // This function is courtesy of ofxVideoGrabber/Libdc1394Grabber

    bool bufferEmpty = false;

    while (!bufferEmpty){

        if(dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_POLL, &currentFrame) == DC1394_SUCCESS){

            if(currentFrame != NULL){

                dc1394_capture_enqueue(cam, currentFrame);

            } else {

                bufferEmpty = true;

            }

        } else {

            bufferEmpty = true;

        }

    }

}

CameraFrame CameraIIDC::getSingleFrame(){

    CameraFrame frame;

    if (capturing) {

        cerr << "ERROR: Capturing on camera. Call stopCapture() before getSingleFrame()." << endl;

        return frame;

    }

    if (cam->one_shot_capable != DC1394_TRUE){

        cerr << "ERROR: Camera is not one_shot_capable." << endl;

        return frame;

    }

    dc1394error_t err;

    // Flush the ring buffer

    flushBuffer();

    // One-shot trigger

    dc1394_video_set_one_shot(cam, DC1394_ON);

    // Dequeue frame

    err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &currentFrame);

    if (err!=DC1394_SUCCESS){

        cerr << "ERROR: Could not capture a frame." << endl;

        return frame;

    }

    // Copy frame address and properties

    frame.memory = currentFrame->image;

    frame.width = currentFrame->size[0];

    frame.height = currentFrame->size[1];

    frame.sizeBytes = currentFrame->image_bytes;

    return frame;

}

size_t CameraIIDC::getFrameSizeBytes(){

    if (!capturing) {

        cerr << "ERROR: Cannot get frame size before capturing. Call startCapture() before getFrameSizeBytes()." << endl;

        return 0;

    }

//    dc1394video_frame_t *frame = NULL;

//    dc1394error_t err;

//	// Get frame from ring buffer:

//    err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &frame);

//    err = dc1394_capture_enqueue(cam, frame);

//    return frame->image_bytes;

    uint64_t total_bytes;

    dc1394_format7_get_total_bytes(cam, video_mode, &total_bytes);

    return total_bytes;

}

void CameraIIDC::getFrameWidthHeight(unsigned int *width, unsigned int *height){

    uint32_t _width, _height;

    dc1394_get_image_size_from_video_mode(cam, video_mode, &_width, &_height);

    *width = _width;

    *height = _height;

}

void setSetting(dc1394camera_t *cam, dc1394feature_t setting, float value){

    dc1394error_t err;

    float min, max;

    dc1394_feature_get_absolute_boundaries(cam, setting, &min, &max);

    if(value < min || value > max){

        std::cerr << "CameraIIDC: cannot set value. Out of permissable range." << std::endl;

    } else {

        err = dc1394_feature_set_absolute_control(cam, setting, DC1394_ON);

        if(err != DC1394_SUCCESS)

            cerr << "Could not enable absolute control!" << endl;

        err = dc1394_feature_set_absolute_value(cam, setting, value);

        if(err != DC1394_SUCCESS)

            cerr << "Could not set absolute value!" << endl;

    }

}

void CameraIIDC::setCameraSettings(CameraSettings settings){

	// Set settings:

    setSetting(cam, DC1394_FEATURE_GAIN, settings.gain);

    setSetting(cam, DC1394_FEATURE_SHUTTER, settings.shutter/1000.0); // [ms]

}

unsigned int getSetting(dc1394camera_t *cam, dc1394feature_t setting){

    dc1394error_t err;

    unsigned int value;

    err = dc1394_feature_get_value(cam, setting, &value);

    if(err != DC1394_SUCCESS)

        cerr << "Could not get setting!" << endl;

    return value;

}

CameraSettings CameraIIDC::getCameraSettings(){

	// Get settings:

    CameraSettings settings;

    settings.gain = getSetting(cam, DC1394_FEATURE_GAIN);

	settings.shutter = getSetting(cam, DC1394_FEATURE_SHUTTER);

    return settings;

}

CameraIIDC::~CameraIIDC(){

    // Stop camera transmission

    if(capturing)

        stopCapture();

    else

        dc1394_capture_stop(cam);

    // Gracefulle destruct the camera

    dc1394_camera_free(cam);

    dc1394_free(context);

}