//
// Created by houkai on 2021/7/13.
//

//-------------------------------------------------------------
/**
\author    houkai
\file      main.cpp
\brief     实现小球检测，小球商标识别，小球旋转计算，多相机数据融合
\version   1.0.0
\date      2021.07.13
*/
//-------------------------------------------------------------

#include "camera.h"
#include "common.h"
#include <thread>


int main()
{

    //Initialize camera libary
    projectLibInit();

    GX_STATUS emStatus = GX_STATUS_SUCCESS;
    uint32_t ui32DeviceNum = 0;

    //Get device enumerated number
    updateDeviceList(&ui32DeviceNum, 1000);
    //If no device found, app exit
    if (ui32DeviceNum <= 0)
    {
        printf("<No device found>\n");
        GXCloseLib();
        return emStatus;
    }

    // camera initialize instances
    Camera camera1;
    Camera camera2;
    Camera camera3;
    Camera camera4;
    GX_DEV_HANDLE hDevice1;
    GX_DEV_HANDLE hDevice2;
    GX_DEV_HANDLE hDevice3;
    GX_DEV_HANDLE hDevice4;


    // open device by index, 从1开始计数
    camera1.OpenDeviceByIndex(1, hDevice1);  //    camera name is: [MER-160-227U3C-JJ0200020028] left
    camera2.OpenDeviceByIndex(3, hDevice2);  //    camera name is: [MER-160-227U3C-JJ0200020033] right
    camera3.OpenDeviceByIndex(4, hDevice3);  //    camera name is: [MER-160-227U3C-JJ0200020019] left pan
    camera4.OpenDeviceByIndex(2, hDevice4);  //    camera name is: [MER-160-227U3C-JJ0200020019] right pan

    printf("***************Get Device Info*****************\n");
    camera1.ShowDeviceInfo();
    camera2.ShowDeviceInfo();
    camera3.ShowDeviceInfo();
    camera4.ShowDeviceInfo();
    printf("***********************************************\n");


    printf("***************set trigger mode****************\n");
    camera1.setTriggerMode(HARDWARE_MODE);
    camera2.setTriggerMode(HARDWARE_MODE);
    camera3.setTriggerMode(HARDWARE_MODE);
#ifdef USE_FOUR_CAMERA
    camera4.setTriggerMode(HARDWARE_MODE);
#endif
    printf("***********************************************\n");

    printf("***************set data get mode***************\n");
    camera1.setDataAcquisitionMode(TRIGGER_SINGLE_FRAME);
    camera2.setDataAcquisitionMode(TRIGGER_SINGLE_FRAME);
    camera3.setDataAcquisitionMode(TRIGGER_SINGLE_FRAME);
#ifdef USE_FOUR_CAMERA
    camera4.setDataAcquisitionMode(TRIGGER_SINGLE_FRAME);
#endif
    printf("***********************************************\n");


    printf("***************set exposure********************\n");
    camera1.setExposure(1000.0);
    camera2.setExposure(1000.0);
    camera3.setExposure(1000.0);
    camera4.setExposure(1000.0);
//    camera1.setExposure(2000.0);
//    camera2.setExposure(2000.0);
//    camera3.setExposure(2000.0);
//    camera4.setExposure(2000.0);
    printf("***********************************************\n");

    printf("***************set roi********************\n");
    camera1.setROI(1440, 1080, 0, 0);
    camera2.setROI(1440, 1080, 0, 0);
    camera3.setROI(1440, 1080, 0, 0);
    camera4.setROI(1440, 1080, 0, 0);
//
//    camera1.setROI(704, 400, 520, 500);   // 8000->124FPS 10000->100FPS         left
//    camera2.setROI(704, 400, 424, 500);   // 8000->124FPS 10000->100FPS         right-pan
//    camera3.setROI(704, 400, 352, 450);   // 8000->124FPS 10000->100FPS         right
//    camera4.setROI(704, 400, 408, 350);   // 8000->124FPS 10000->100FPS         left-pan
    printf("***********************************************\n");


    printf("***************set frame rate******************\n");
    camera1.setFramerate(200.0);
    camera2.setFramerate(200.0);
    camera3.setFramerate(200.0);
#ifdef USE_FOUR_CAMERA
    camera4.setFramerate(200.0);
#endif
    printf("***********************************************\n");

    printf("***************auto set gain*******************\n");
    camera1.setGain(15.0, 24.0);
    camera2.setGain(15.0, 24.0);
    camera3.setGain(15.0, 24.0);
    camera4.setGain(15.0, 24.0);
    //    camera1.setGain(15.0, 23.0);
    //    camera2.setGain(15.0, 23.0);
    //    camera3.setGain(15.0, 24.0);
    //    camera4.setGain(15.0, 23.0);

    printf("***********************************************\n");

    printf("************auto set balance white*************\n");
    camera1.setBalanceWhite();
    camera2.setBalanceWhite();
    camera3.setBalanceWhite();
#ifdef USE_FOUR_CAMERA
    camera4.setBalanceWhite();
#endif
    printf("***********************************************\n");


    printf("***************get data************************\n");
    camera1.run(1);
    camera2.run(2);
    camera3.run(3);
    camera4.run(4);
    printf("***********************************************\n");

    camera1.getCalibData();

    while (true)
    {
        std::cout << "yes" << std::endl;
        sleep(1000);
    }

    return 0;
}