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#include "CameraPointGrey.h"

#include <cstring>

#include <assert.h>

//#include <sys/ioctl.h>

//#include <linux/usbdevice_fs.h>

void PrintError(FlyCapture2::Error error){

    //TODOassert(false);

    error.PrintErrorTrace();

}

vector<CameraInfo> CameraPointGrey::getCameraList(){

    FlyCapture2::Error error;

    FlyCapture2::BusManager busManager;

    unsigned int numCameras;

    error = busManager.GetNumOfCameras(&numCameras);

    vector<CameraInfo> ret;

    if (error != FlyCapture2::PGRERROR_OK){

        PrintError(error);

        return ret;

    }

    for (unsigned int i=0; i < numCameras; i++){

        FlyCapture2::PGRGuid guid;

        error = busManager.GetCameraFromIndex(i, &guid);

        if (error != FlyCapture2::PGRERROR_OK)

            PrintError(error);

        // Connect to camera

        FlyCapture2::Camera cam;

        error = cam.Connect(&guid);

        if (error != FlyCapture2::PGRERROR_OK)

            PrintError( error );

        // Get camera information

        FlyCapture2::CameraInfo camInfo;

        error = cam.GetCameraInfo(&camInfo);

        if (error != FlyCapture2::PGRERROR_OK)

            PrintError( error );

        CameraInfo camera;

        camera.vendor = "Point Grey";

        camera.model = camInfo.modelName;

        camera.busID = camInfo.nodeNumber;

        camera.serialNumber = camInfo.serialNumber;

        ret.push_back(camera);

    }

    return ret;

}

CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){

//    // Reset USB bus

//    std::cout << "Resetting USB device %s\n";

//    int rc = ioctl(fd, USBDEVFS_RESET, 0);

//    if (rc < 0)

//        perror("Error in ioctl");

//    else

//        printf("Reset successful\n");

    FlyCapture2::Error error;

    // Connect to camera

    FlyCapture2::BusManager busManager;

    FlyCapture2::PGRGuid camGuid;

    busManager.GetCameraFromIndex(camNum, &camGuid);

    error = cam.Connect(&camGuid);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

//    // Configure DCAM video mode and frame rate

//    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;

//    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;

//    error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);

//    if (error != FlyCapture2::PGRERROR_OK)

//        PrintError(error);

    // Configure Format7 mode

    FlyCapture2::Format7ImageSettings format7Settings;

    format7Settings.mode = FlyCapture2::MODE_0;

    format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;

    format7Settings.width = 3376;

    format7Settings.height = 2704;

    format7Settings.offsetX = 0;

    format7Settings.offsetY = 0;

//    format7Settings.width = 2496;

//    format7Settings.height = 1888;

//    format7Settings.offsetX = (3376-2496)/2;

//    format7Settings.offsetY = (2704-1888)/2;

    // Validate and set mode

    FlyCapture2::Format7PacketInfo packetInfo;

    bool valid;

    error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    // packetsize configures maximum frame rate

    error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    // Configure general

    FlyCapture2::FC2Config config;

    config.numBuffers = 5;

    config.grabTimeout = 1000; // retrieveBuffer() timeout in ms

    config.grabMode = FlyCapture2::DROP_FRAMES;

    config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;

    config.highPerformanceRetrieveBuffer = true;

    //config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;

    error = cam.SetConfiguration(&config);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    // Get the camera information

    FlyCapture2::CameraInfo camInfo;

    error = cam.GetCameraInfo(&camInfo);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    std::cout << camInfo.vendorName << "  " << camInfo.modelName << "  " << camInfo.serialNumber << std::endl;

    // Turn off auto settings

    FlyCapture2::Property property;

    property.type = FlyCapture2::AUTO_EXPOSURE;

    property.onOff = false;

    error = cam.SetProperty(&property);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    property.type = FlyCapture2::GAMMA;

    property.onOff = true;

    property.absControl = true;

    property.absValue = 1.0;

    error = cam.SetProperty(&property);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    // Set frame rate to 6

    property.type = FlyCapture2::FRAME_RATE;

    property.onOff = true;

    property.absControl = true;

    property.autoManualMode = false;

    property.absValue = 6.0;

    error = cam.SetProperty(&property);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    // Set white balance to match LED projector light

    property.type = FlyCapture2::WHITE_BALANCE;

    property.onOff = true;

    property.absControl = false;

    property.autoManualMode = false;

    property.valueA = 666; //red

    property.valueB = 777; //blue

    error = cam.SetProperty(&property);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    // Set reasonable default settings

    CameraSettings settings;

    //settings.shutter = 8.33;

    settings.shutter = 66.66;

    settings.gain = 0.0;

    this->setCameraSettings(settings);

    return;

}

CameraSettings CameraPointGrey::getCameraSettings(){

    FlyCapture2::Property property;

    // Get settings:

    CameraSettings settings;

    property.type = FlyCapture2::SHUTTER;

    cam.GetProperty(&property);

    settings.shutter = property.absValue;

    property.type = FlyCapture2::GAIN;

    cam.GetProperty(&property);

    settings.gain = property.absValue;

    return settings;

}

void CameraPointGrey::setCameraSettings(CameraSettings settings){

    FlyCapture2::Property property;

    property.onOff = true;

    property.absControl = true;

    property.type = FlyCapture2::SHUTTER;

    property.absValue = settings.shutter;

    cam.SetProperty(&property);

    property.type = FlyCapture2::GAIN;

    property.absValue = settings.gain;

    cam.SetProperty(&property);

}

void CameraPointGrey::startCapture(){

    FlyCapture2::Error error;

    if(triggerMode == triggerModeHardware){

        // Configure for hardware trigger

        FlyCapture2::TriggerMode triggerMode;

        triggerMode.onOff = true;

        triggerMode.polarity = 0;

        triggerMode.source = 0;

        triggerMode.mode = 14;

        error = cam.SetTriggerMode(&triggerMode);

        if (error != FlyCapture2::PGRERROR_OK)

            PrintError(error);

    } else if(triggerMode == triggerModeSoftware){

        // Configure software trigger

        FlyCapture2::TriggerMode triggerMode;

        triggerMode.onOff = true;

        triggerMode.polarity = 0;

        triggerMode.source = 7; // software

        triggerMode.mode = 0;

        error = cam.SetTriggerMode(&triggerMode);

        if (error != FlyCapture2::PGRERROR_OK)

            PrintError(error);

    }

    // Set the trigger timeout to 1000 ms

    FlyCapture2::FC2Config config;

    config.grabTimeout = 1000;

    error = cam.SetConfiguration(&config);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    // TODO this segfaults if another instance is running

    if(!capturing)

        error = cam.StartCapture();

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    capturing = true;

}

void CameraPointGrey::stopCapture(){

    FlyCapture2::Error error = cam.StopCapture();

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    capturing = false;

}

void CameraPointGrey::trigger(){

    FlyCapture2::Error error;

    // Fire software trigger

    // broadcasting not supported on some platforms

    error = cam.FireSoftwareTrigger(false);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

}

CameraFrame CameraPointGrey::getFrame(){

    FlyCapture2::Error error;

    // Retrieve the image

    FlyCapture2::Image rawImage;

    error = cam.RetrieveBuffer(&rawImage);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

//    rawImage.SetColorProcessing(FlyCapture2::IPP);

//    // de-Bayer

//    rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB8, &currentImage);

//    CameraFrame frame;

//    frame.timeStamp = currentImage.GetTimeStamp().cycleCount;

//    frame.height = currentImage.GetRows();

//    frame.width = currentImage.GetCols();

//    frame.bitDepth = 8;

//    frame.channels = 3;

//    frame.memory = (unsigned short*)currentImage.GetData();

    CameraFrame frame;

    frame.timeStamp = rawImage.GetTimeStamp().cycleCount;

    frame.height = rawImage.GetRows();

    frame.width = rawImage.GetCols();

    frame.bitDepth = 8;

    frame.channels = 1;

    frame.memory = rawImage.GetData();

    return frame;

}

size_t CameraPointGrey::getFrameSizeBytes(){

    FlyCapture2::Format7ImageSettings format7Settings;

    cam.GetFormat7Configuration(&format7Settings, NULL, NULL);

    return format7Settings.height*format7Settings.width*3*2;

}

size_t CameraPointGrey::getFrameWidth(){

    FlyCapture2::Format7ImageSettings format7Settings;

    unsigned int dummy1;

    float dummy2;

    FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    return format7Settings.width;

}

size_t CameraPointGrey::getFrameHeight(){

    FlyCapture2::Format7ImageSettings format7Settings;

    unsigned int dummy1;

    float dummy2;

    FlyCapture2::Error error = cam.GetFormat7Configuration(&format7Settings, &dummy1, &dummy2);

    if (error != FlyCapture2::PGRERROR_OK)

        PrintError(error);

    return format7Settings.height;

}

CameraPointGrey::~CameraPointGrey(){

    if(capturing){

        // Stop camera transmission

        stopCapture();

    }

    // Gracefulle destruct the camera

    cam.Disconnect();

    std::cout << "Closed camera!" << std::endl << std::flush;

}