////////////////////////////////////////////////////////
//
// GEM - Graphics Environment for Multimedia
//
// zmoelnig@iem.kug.ac.at
//
// Implementation file
//
//    Copyright (c) 1997-1998 Mark Danks.
//    Copyright (c) Günther Geiger.
//    Copyright (c) 2001-2002 IOhannes m zmoelnig. forum::für::umläute. IEM
//    For information on usage and redistribution, and for a DISCLAIMER OF ALL
//    WARRANTIES, see the file, "GEM.LICENSE.TERMS" in this distribution.
//
/////////////////////////////////////////////////////////

#include "videoV4L2.h"

#if 0
# define debugPost post
# define debugThread post
#else
# define debugPost
# define debugThread
#endif

/////////////////////////////////////////////////////////
//
// videoV4L2
//
/////////////////////////////////////////////////////////
// Constructor
//
/////////////////////////////////////////////////////////
videoV4L2 :: videoV4L2(int format) : video(format)
#ifdef HAVE_VIDEO4LINUX2
                                   , m_gotFormat(0), m_colorConvert(0),
                                     m_tvfd(0),
                                     m_buffers(NULL), m_nbuffers(0), 
                                     m_currentBuffer(NULL),
                                     m_frame(0), m_last_frame(0),
                                     m_maxwidth(844), m_minwidth(32),
                                     m_maxheight(650), m_minheight(32),
                                     m_thread_id(0), m_continue_thread(false), m_frame_ready(false),
                                     m_rendering(false)
{
  if (!m_width)m_width=320;
  if (!m_height)m_height=240;
  m_capturing=false;
  m_devicenum=V4L2_DEVICENO;
  post("video4linux2");
#else
{
#endif /* HAVE_VIDEO4LINUX2 */
}
  
////////////////////////////////////////////////////////
// Destructor
//
////////////////////////////////////////////////////////
videoV4L2 :: ~videoV4L2()
{
#ifdef HAVE_VIDEO4LINUX2
  if (m_haveVideo)stopTransfer();
#endif /* HAVE_VIDEO4LINUX2 */
}

#ifdef HAVE_VIDEO4LINUX2
static int xioctl(int                    fd,
                  int                    request,
                  void *                 arg)
{
  int r;
     
  do {
    r = ioctl (fd, request, arg);
    debugThread("V4L2: xioctl %d->%d\n", r, errno);
  }
  while (-1 == r && EINTR == errno);

  debugThread("V4L2: xioctl done %d\n", r);
   
  return r;
}
 
int videoV4L2::init_mmap (void)
{
  struct v4l2_requestbuffers req;
  char*devname=(char*)((m_devicename)?m_devicename:"device");

  memset (&(req), 0, sizeof (req));

  req.count               = V4L2_NBUF;
  req.type                = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  req.memory              = V4L2_MEMORY_MMAP;

  if (-1 == xioctl (m_tvfd, VIDIOC_REQBUFS, &req)) {
    if (EINVAL == errno) {
      error("%s does not support memory mapping", devname);
      return 0;
    } else {
      error ("VIDIOC_REQBUFS");
      return 0;
    }
  }

  if (req.count < V4L2_NBUF) {
    //error("Insufficient buffer memory on %s: %d", devname, req.count);
    //return(0);
  }

  m_buffers = (t_v4l2_buffer*)calloc (req.count, sizeof (*m_buffers));

  if (!m_buffers) {
    error("out of memory");
    return(0);
  }

  for (m_nbuffers = 0; m_nbuffers < req.count; ++m_nbuffers) {
    struct v4l2_buffer buf;

    memset (&(buf), 0, sizeof (buf));

    buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory      = V4L2_MEMORY_MMAP;
    buf.index       = m_nbuffers;
    debugPost("v4l2: buf.index==%d", buf.index);

    if (-1 == xioctl (m_tvfd, VIDIOC_QUERYBUF, &buf)){
      error ("VIDIOC_QUERYBUF");
      return(0);
    }

    m_buffers[m_nbuffers].length = buf.length;
    m_buffers[m_nbuffers].start =
      mmap (NULL /* start anywhere */,
            buf.length,
            PROT_READ | PROT_WRITE /* required */,
            MAP_SHARED /* recommended */,
            m_tvfd, buf.m.offset);

    if (MAP_FAILED == m_buffers[m_nbuffers].start){
      error ("mmap");
      return 0;
    }
  }
  return 1;
}

/////////////////////////////////////////////////////////
// this is the work-horse
// a thread that does the capturing
//
/////////////////////////////////////////////////////////
void *videoV4L2 :: capturing(void*you)
{
  videoV4L2 *me=(videoV4L2 *)you;
  t_v4l2_buffer*buffers=me->m_buffers;

  struct v4l2_buffer buf;
  unsigned int i;
    
  fd_set fds;
  struct timeval tv;
  int r;

  int nbuf=me->m_nbuffers;
  int m_tvfd=me->m_tvfd;
  me->m_capturing=true;

  debugThread("V4L2: memset");
  memset(&(buf), 0, sizeof (buf));
  
  buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  buf.memory = V4L2_MEMORY_MMAP;

  while(me->m_continue_thread){
    FD_ZERO (&fds);
    FD_SET (m_tvfd, &fds);

    debugThread("V4L2: grab");

    me->m_frame++;
    me->m_frame%=nbuf;

    
    /* Timeout. */
    tv.tv_sec = 0;
    tv.tv_usec = 100;

#if 0
    r = select (m_tvfd + 1, &fds, NULL, NULL, &tv);
      if (0 == r) {
      error("select timeout");
      me->m_continue_thread=false;
      }
#else
    r = select(0,0,0,0,&tv);
#endif
    debugThread("V4L2: waited...");
    if (-1 == r) {
      if (EINTR == errno)
        continue;
      error ("select");//exit
    }

    memset(&(buf), 0, sizeof (buf));
    debugThread("V4L2: memset...");
  
    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;

    if (-1 == xioctl (m_tvfd, VIDIOC_DQBUF, &buf)) {
/*      switch (errno) {
      case EAGAIN:
        perror("VIDIOC_DQBUF: stopping capture thread!");
        goto stop_capturethread;
      case EIO:
        /* Could ignore EIO, see spec. bb/
        /* fall through bb/
      default:
        perror ("VIDIOC_DQBUF");
      }*/
    }

    debugThread("V4L2: grabbed %d", buf.index);

    me->m_currentBuffer=buffers[buf.index].start;
    //process_image (m_buffers[buf.index].start);

    if (-1 == xioctl (m_tvfd, VIDIOC_QBUF, &buf)){
      //perror ("VIDIOC_QBUF");
    }

    debugThread("V4L2: dequeueueeud");
    
    me->m_frame_ready = 1;
    me->m_last_frame=me->m_frame;
  }
 stop_capturethread:
  // stop capturing
  if(me->m_tvfd){
    enum v4l2_buf_type type;
    type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (-1 == xioctl (me->m_tvfd, VIDIOC_STREAMOFF, &type)){
      perror ("VIDIOC_STREAMOFF");
    }
  }
  me->m_capturing=false;
  debugThread("V4L2: thread finished");
  return NULL;
}

//////////////////
// this reads the data that was captured by capturing() and returns it within a pixBlock
pixBlock *videoV4L2 :: getFrame(){
  if(!m_haveVideo)return NULL;
  //debugPost("v4l2: getting frame %d", m_frame_ready);
  m_image.newfilm=0;
  if (!m_frame_ready) m_image.newimage = 0;
  else {
    int i=0; // FIXME
    unsigned char*data=(unsigned char*)m_currentBuffer;
    if (m_colorConvert){
      m_image.image.notowned = false;
      switch(m_gotFormat){
      case V4L2_PIX_FMT_RGB24: m_image.image.fromRGB   (data); break;
      case V4L2_PIX_FMT_RGB32: m_image.image.fromRGBA  (data); break;
      case V4L2_PIX_FMT_GREY : m_image.image.fromGray  (data); break;
      case V4L2_PIX_FMT_UYVY : m_image.image.fromYUV422(data); break;
      case V4L2_PIX_FMT_YUV420:m_image.image.fromYU12(data); break;


      default: // ? what should we do ?
        m_image.image.data=data;
        m_image.image.notowned = true;
      }
    } else {
      m_image.image.data=data;
      m_image.image.notowned = true;
    }
    m_image.image.upsidedown=true;
    
    m_image.newimage = 1;
    m_frame_ready = false;
  }
  return &m_image;
}
/////////////////////////////////////////////////////////
// restartTransfer
//
/////////////////////////////////////////////////////////
void videoV4L2 :: restartTransfer()
{
  bool rendering=m_rendering;
  debugPost("v4l2: restart transfer");
  if(m_capturing)stopTransfer();
  debugPost("v4l2: restart stopped");
  if (rendering)startTransfer();
  debugPost("v4l2: restart started");
}


/////////////////////////////////////////////////////////
// startTransfer
//
/////////////////////////////////////////////////////////
int videoV4L2 :: startTransfer(int format)
{
  debugPost("v4l2: startTransfer: %d", m_capturing);
  if(m_capturing)stopTransfer(); // just in case we are already running!
  debugPost("v4l2: start transfer");
  m_rendering=true;
  if (format>1)m_reqFormat=format;
  //  verbose(1, "starting transfer");
  char buf[256];
  char*dev_name=m_devicename;
  int i;

  struct stat st; 
  struct v4l2_capability cap;
  struct v4l2_cropcap cropcap;
  struct v4l2_crop crop;
  struct v4l2_format fmt;
  unsigned int min;

  enum v4l2_buf_type type;

  m_frame = 0;
  m_last_frame = 0;


  /* check the device */

  // if we don't have a devicename, create one
  if(!dev_name){
    if (m_devicenum<0){
      sprintf(buf, "/dev/video");
    } else {
      sprintf(buf, "/dev/video%d", m_devicenum);
    }
    dev_name=buf;
  }

  // try to open the device
  debugPost("v4l2: device: %s", dev_name);
  
  m_tvfd = open (dev_name, O_RDWR /* required */ | O_NONBLOCK, 0);

  if (-1 == m_tvfd) {
    error("Cannot open '%s': %d, %s", dev_name, errno, strerror (errno));
    goto closit;
  }

  if (-1 == fstat (m_tvfd, &st)) {
    error("Cannot identify '%s': %d, %s", dev_name, errno, strerror (errno));
    goto closit;
  }

  if (!S_ISCHR (st.st_mode)) {
    error("%s is no device", dev_name);
    goto closit;
  }




  // by now, we have an open file-descriptor
  // check whether this is really a v4l2-device
  if (-1 == xioctl (m_tvfd, VIDIOC_QUERYCAP, &cap)) {
    if (EINVAL == errno) {
      error("%s is no V4L2 device",  dev_name);
      goto closit;
    } else {
      perror ("VIDIOC_QUERYCAP");//exit
      goto closit;
    }
  }

  if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
    error("%s is no video capture device", dev_name);
    goto closit;
  }

  if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
    error("%s does not support streaming i/o", dev_name);
    goto closit;
  }

  /* Select video input, video standard and tune here. */

  cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

  if (-1 == xioctl (m_tvfd, VIDIOC_CROPCAP, &cropcap)) {
    /* Errors ignored. */
  }

  memset(&(cropcap), 0, sizeof (cropcap));
  cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

  if (0 == xioctl (m_tvfd, VIDIOC_CROPCAP, &cropcap)) {
    crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    crop.c = cropcap.defrect; /* reset to default */

    if (-1 == xioctl (m_tvfd, VIDIOC_S_CROP, &crop)) {
      perror("vidioc_s_crop");
      switch (errno) {
      case EINVAL:
        /* Cropping not supported. */
        break;
      default:
        /* Errors ignored. */
        break;
      }
    }
  }


  if (-1 == xioctl (m_tvfd, VIDIOC_S_INPUT, &m_channel)) {
    perror("VIDIOC_S_INPUT"); /* exit */
  }

  memset (&(fmt), 0, sizeof (fmt));

  fmt.type                = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  fmt.fmt.pix.width       = m_width;
  fmt.fmt.pix.height      = m_height;

  switch(m_reqFormat){
  case GL_YCBCR_422_GEM: 
    fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY; 
    break;
  case GL_LUMINANCE: 
    fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_GREY; 
    break;
  case GL_RGB: 
    fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24; 
    break;
  default: 
    fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB32; 
    m_reqFormat=GL_RGBA;
    break;
  }
  fmt.fmt.pix.field       = V4L2_FIELD_INTERLACED;
  
  post("v4l2: wanted %d, got '%c%c%c%c' ", m_reqFormat, 
	    (char)(fmt.fmt.pix.pixelformat),
	    (char)(fmt.fmt.pix.pixelformat>>8),
	    (char)(fmt.fmt.pix.pixelformat>>16),
	    (char)(fmt.fmt.pix.pixelformat>>24));

  if (-1 == xioctl (m_tvfd, VIDIOC_S_FMT, &fmt)){
    perror ("VIDIOC_S_FMT");//exit
    error("should exit!");
  }
  
  // query back what we have set
  if (-1 == xioctl (m_tvfd, VIDIOC_G_FMT, &fmt)){
    perror ("VIDIOC_G_FMT");//exit
    error("should exit!");
  }

  m_gotFormat=fmt.fmt.pix.pixelformat;
  switch(m_gotFormat){
  case V4L2_PIX_FMT_RGB32: debugPost("v4l2: RGBA");break;
  case V4L2_PIX_FMT_UYVY: debugPost("v4l2: YUV ");break;
  case V4L2_PIX_FMT_GREY: debugPost("v4l2: gray");break;
  case V4L2_PIX_FMT_YUV420: debugPost("v4l2: YUV 4:2:0");break;
  default: error("unknown format '%c%c%c%c'",
		(char)(fmt.fmt.pix.pixelformat),
		(char)(fmt.fmt.pix.pixelformat>>8),
		(char)(fmt.fmt.pix.pixelformat>>16),
		(char)(fmt.fmt.pix.pixelformat>>24));

  }

  /* Note VIDIOC_S_FMT may change width and height. */
  if(m_width!=fmt.fmt.pix.width||m_height!=fmt.fmt.pix.height){
    post("v4l2: changed size from %dx%d to %dx%d", 
	 m_width, m_height,
	 fmt.fmt.pix.width,fmt.fmt.pix.height);
  }
  m_width =fmt.fmt.pix.width;
  m_height=fmt.fmt.pix.height;

  /* Buggy driver paranoia. */
  min = fmt.fmt.pix.width * 2;
  if (fmt.fmt.pix.bytesperline < min)
    fmt.fmt.pix.bytesperline = min;
  min = fmt.fmt.pix.bytesperline * fmt.fmt.pix.height;
  if (fmt.fmt.pix.sizeimage < min)
    fmt.fmt.pix.sizeimage = min;

  if(!init_mmap ())goto closit;

  for (i = 0; i < m_nbuffers; ++i) {
    struct v4l2_buffer buf;
    
    memset (&(buf), 0, sizeof (buf));
    
    buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory      = V4L2_MEMORY_MMAP;
    buf.index       = i;
    
    if (-1 == xioctl (m_tvfd, VIDIOC_QBUF, &buf)){
      perror ("VIDIOC_QBUF");//exit
    }
  }

  type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

  if (-1 == xioctl (m_tvfd, VIDIOC_STREAMON, &type)){
    perror ("VIDIOC_STREAMON");//exit
  }
  
  /* fill in image specifics for Gem pixel object.  Could we have
     just used RGB, I wonder? */
  m_image.image.xsize = m_width;
  m_image.image.ysize = m_height;
  m_image.image.setCsizeByFormat(m_reqFormat);
  m_image.image.reallocate();
  
  debugPost("v4l2: format: %c%c%c%c -> %d", 
       (char)(m_gotFormat),
       (char)(m_gotFormat>>8),
       (char)(m_gotFormat>>16),
       (char)(m_gotFormat>>24),
       m_reqFormat);
  switch(m_gotFormat){
  case V4L2_PIX_FMT_GREY  : m_colorConvert=(m_reqFormat!=GL_LUMINANCE); break;
  case V4L2_PIX_FMT_RGB24 : m_colorConvert=(m_reqFormat!=GL_RGB); break;
  case V4L2_PIX_FMT_RGB32 : m_colorConvert=(m_reqFormat!=GL_RGBA); break;//RGB32!=RGBA; is it ARGB or ABGR?
  case V4L2_PIX_FMT_UYVY  : m_colorConvert=(m_reqFormat!=GL_YCBCR_422_GEM); break;
  case V4L2_PIX_FMT_YUV420: m_colorConvert=1; break;
  default: m_colorConvert=true;
  }
  
  debugPost("v4l2: colorconvert=%d", m_colorConvert);
  
  m_haveVideo = 1;
  
  /* create thread */
  m_continue_thread = 1;
  m_frame_ready = 0;
  pthread_create(&m_thread_id, 0, capturing, this);
  while(!m_capturing){
    struct timeval sleep;
    sleep.tv_sec=0;  sleep.tv_usec=10; /* 10us */
    select(0,0,0,0,&sleep);
    debugPost("v4l2: waiting for thread to come up");
  }
  
  post("v4l2: GEM: pix_video: Opened video connection 0x%X", m_tvfd);
  
  return(1);
  
 closit:
  debugPost("v4l2: closing it!");
  stopTransfer();
  debugPost("v4l2: closed it");
  return(0);
}

/////////////////////////////////////////////////////////
// stopTransfer
//
/////////////////////////////////////////////////////////
int videoV4L2 :: stopTransfer()
{
  debugPost("v4l2: stoptransfer");
  int i=0;
  /* close the v4l2 device and dealloc buffer */
  /* terminate thread if there is one */
  if(m_continue_thread){
    void *dummy;
    m_continue_thread = 0;
    pthread_join (m_thread_id, &dummy);
  }
  while(m_capturing){
    struct timeval sleep;
    sleep.tv_sec=0;  sleep.tv_usec=10; /* 10us */
    select(0,0,0,0,&sleep);
    debugPost("v4l2: waiting for thread to finish");
  }

  // unmap the mmap
  debugPost("v4l2: unmapping %d buffers: %x", m_nbuffers, m_buffers);
  if(m_buffers){
    for (i = 0; i < m_nbuffers; ++i)
      if (-1 == munmap (m_buffers[i].start, m_buffers[i].length)){
        // oops: couldn't unmap the memory
      }
    debugPost("v4l2: freeing buffers: %x", m_buffers);
    free (m_buffers);
  }
  m_buffers=NULL;
  debugPost("v4l2: freed");

  // close the file-descriptor
  if (m_tvfd) close(m_tvfd);

  m_tvfd = 0;
  m_haveVideo = 0;
  m_frame_ready = 0;
  m_rendering=false;
  return(1);
}

/////////////////////////////////////////////////////////
// dimenMess
//
/////////////////////////////////////////////////////////
int videoV4L2 :: setDimen(int x, int y, int leftmargin, int rightmargin,
                          int topmargin, int bottommargin)
{
  int xtotal = x + leftmargin + rightmargin;
  int ytotal = y + topmargin + bottommargin;
  if (xtotal > m_maxwidth) /* 844 */
    error("x dimensions too great");
  else if (xtotal < m_minwidth || x < 1 || leftmargin < 0 || rightmargin < 0)
    error("x dimensions too small");
  if (ytotal > m_maxheight)
    error("y dimensions too great");
  else if (ytotal < m_minheight || y < 1 ||
           topmargin < 0 || bottommargin < 0)
    error("y dimensions too small");

  m_width=x;
  m_height=y;
  m_image.image.xsize = x;
  m_image.image.ysize = y;

  m_image.image.reallocate();
  restartTransfer();
  return 0;
}

int videoV4L2 :: setNorm(char*norm)
{
  char c=*norm;
  int i_norm=-1;

  switch (c){
  case 'p': case 'P':
    i_norm = V4L2_STD_PAL;
    break;
  case 'n': case 'N':
    i_norm = V4L2_STD_NTSC;
    break;
  case 's': case 'S':
    i_norm = V4L2_STD_SECAM;
    break;
  default:
    error("pix_video: unknown norm");
    return -1;
    break;
  }
  //  if (i_norm==m_norm)return 0;
  m_norm=i_norm;
  restartTransfer();
  return 0;
}

int videoV4L2 :: setChannel(int c, t_float f){
  error("v4l2: oops, no channel selection! please report this as a bug!!!");
  
  m_channel=c;
  
  restartTransfer();

  return 0;
}

int videoV4L2 :: setDevice(int d)
{
  m_devicename=NULL;
  if (d==m_devicenum)return 0;
  m_devicenum=d;
  restartTransfer();
  //  verbose(1, "new device set %d", m_devicenum);
  return 0;
}
int videoV4L2 :: setDevice(char*name)
{
  m_devicenum=-1;
  m_devicename=name;
  restartTransfer();
  //  verbose(1, "new device set %d", m_devicenum);
  return 0;
}

int videoV4L2 :: setColor(int format)
{
  if (format<=0 || format==m_reqFormat)return -1;
  m_reqFormat=format;
  restartTransfer();
  return 0;
}
#endif /* HAVE_VIDEO4LINUX2 */