//
// Created by Trisoil on 2022/11/28.
//

#include "HIKCam.hpp"
#include "MvCameraControl.h"
#include <cstdio>
#include "opencv2/opencv.hpp"


bool HIKCam::printDeviceInfo(MV_CC_DEVICE_INFO* hk_device) {
    if (NULL == hk_device)
    {
        printf("The Pointer of hk_device is NULL!\n");
        return false;
    }
    if (hk_device->nTLayerType == MV_GIGE_DEVICE)
    {
        int nIp1 = ((hk_device->SpecialInfo.stGigEInfo.nCurrentIp & 0xff000000) >> 24);
        int nIp2 = ((hk_device->SpecialInfo.stGigEInfo.nCurrentIp & 0x00ff0000) >> 16);
        int nIp3 = ((hk_device->SpecialInfo.stGigEInfo.nCurrentIp & 0x0000ff00) >> 8);
        int nIp4 = (hk_device->SpecialInfo.stGigEInfo.nCurrentIp & 0x000000ff);

        // print current ip and user defined name
        printf("CurrentIp: %d.%d.%d.%d\n", nIp1, nIp2, nIp3, nIp4);
        printf("UserDefinedName: %s\n\n", hk_device->SpecialInfo.stGigEInfo.chUserDefinedName);
    }
    else if (hk_device->nTLayerType == MV_USB_DEVICE)
    {
        printf("UserDefinedName: %s\n", hk_device->SpecialInfo.stUsb3VInfo.chUserDefinedName);
        printf("Serial Number: %s\n", hk_device->SpecialInfo.stUsb3VInfo.chSerialNumber);
        printf("Device Number: %d\n\n", hk_device->SpecialInfo.stUsb3VInfo.nDeviceNumber);
    }
    else
    {
        printf("Not support.\n");
    }

    return true;
}

bool HIKCam::HIKCam_Init()
{
    unsigned int sdk_V = MV_CC_GetSDKVersion();
    printf("SDK version is [0x%x]\n", sdk_V);


    //2.查找目标设备
    HIKCam::Status = MV_OK;
    HIKCam::handle = NULL;

    MV_CC_DEVICE_INFO_LIST hk_devices;
    memset(&hk_devices, 0, sizeof(MV_CC_DEVICE_INFO_LIST));

    HIKCam::Status = MV_CC_EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE, &hk_devices);
    if (HIKCam::Status != MV_OK) {
        std::cout << "enum devices faild!" << std::endl;
        return 0;
    }
    std::cout << "共检测到相机的个数为：" << hk_devices.nDeviceNum << std::endl;


    //3.判断设备是否可访问
    if (hk_devices.nDeviceNum > 0)
    {
        for (unsigned int i = 0; i < hk_devices.nDeviceNum; i++)
        {
            printf("[device %d]:\n", i);
            MV_CC_DEVICE_INFO* pDeviceInfo = hk_devices.pDeviceInfo[i];

            bool access = MV_CC_IsDeviceAccessible(pDeviceInfo, 1);

            if (!access){
                printf("[device %d]:could not access... nRet:[0x%x]\n", i, HIKCam::Status);
            }
            else {
                printf("[device %d]:is OK... nRet:[0x%x]\n", i, HIKCam::Status);
            }
        }
    }
    else
    {
        printf("Find No Devices!\n");
        return 0;
    }

    if (hk_devices.nDeviceNum > 0) {
        MV_CC_DEVICE_INFO* hk_camera = hk_devices.pDeviceInfo[0];
        if (printDeviceInfo(hk_camera) == false) {
            return 0;
        }
    }
    else {
        std::cout << "no device found" << std::endl;
        return 0;
    }


    //4.创建相机句柄
    HIKCam::Status = MV_CC_CreateHandle(&handle, hk_devices.pDeviceInfo[0]);
    if (HIKCam::Status != MV_OK) {
        return 0;
    }


    //5.打开设备
    HIKCam::Status = MV_CC_OpenDevice(HIKCam::handle);
    if (HIKCam::Status != MV_OK) {
        std::cout << "设备未打开" << std::endl;
        return 0;
    }
    else {
        std::cout << "设备已经打开" << std::endl;
    }


    //6.设置触发模式为off
    HIKCam::Status = MV_CC_SetEnumValue(HIKCam::handle, "TriggerMode", 0);
    if (HIKCam::Status != MV_OK) {
        return 0;
    }


    //7.获取数据包的大小
    MVCC_INTVALUE hk_param;
    memset(&hk_param, 0, sizeof(MVCC_INTVALUE));
    HIKCam::Status = MV_CC_GetIntValue(HIKCam::handle, "PayloadSize", &hk_param);
    if (HIKCam::Status != MV_OK) {
        return 0;
    }
    HIKCam::payload_size = hk_param.nCurValue;

    //8.开始截流
    HIKCam::Status = MV_CC_StartGrabbing(HIKCam::handle);
    if (HIKCam::Status != MV_OK) {
        std::cout << "grab image failed!" << std::endl;
        return 0;
    }
    memset(&hk_imginfo, 0, sizeof(MV_FRAME_OUT_INFO_EX));
    HIKCam::img_data = (unsigned char*)malloc(sizeof(unsigned char) * (HIKCam::payload_size));
    if (HIKCam::img_data == NULL) {
        return 0;
    }
}

bool HIKCam::Destroy_Cam() {
    //9.停止截流
    HIKCam::Status = MV_CC_StopGrabbing(HIKCam::handle);
    if (HIKCam::Status != MV_OK) {
        return 0;
    }


    //10.关闭设备
    HIKCam::Status = MV_CC_CloseDevice(HIKCam::handle);
    if (HIKCam::Status != MV_OK) {
        return 0;
    }


    //11.销毁相机句柄
    HIKCam::Status = MV_CC_DestroyHandle(HIKCam::handle);
    if (HIKCam::Status != MV_OK) {
        return 0;
    }
}

bool HIK_To_OpenCV(MV_FRAME_OUT_INFO_EX *hk_imginfo, unsigned char* data, cv::Mat& src_img, void *handle) {
    cv::Mat cv_img;
    if (hk_imginfo->enPixelType == PixelType_Gvsp_Mono8) {
        cv_img = cv::Mat(hk_imginfo->nHeight, hk_imginfo->nWidth, CV_8UC1, data);
    }
    else if (hk_imginfo->enPixelType == PixelType_Gvsp_RGB8_Packed) {
        for (unsigned int j = 0; j < hk_imginfo->nHeight; j++) {
            for (unsigned int i = 0; i < hk_imginfo->nWidth; i++) {
                unsigned char red = data[j * (hk_imginfo->nWidth * 3) + i * 3];
                data[j * (hk_imginfo->nWidth * 3) + i * 3] = data[j * (hk_imginfo->nWidth * 3) + i * 3 + 2];
                data[j * (hk_imginfo->nWidth * 3) + i * 3 + 2] = red;
            }
        }
        cv_img = cv::Mat(hk_imginfo->nHeight, hk_imginfo->nWidth, CV_8UC3, data);
    }
    else if (hk_imginfo->enPixelType == PixelType_Gvsp_BayerRG8){
        auto *pDataForRGB = (unsigned char*) malloc(hk_imginfo->nWidth * hk_imginfo->nHeight * 4  +2048);
        if (pDataForRGB == NULL){
            printf("pDataRGB is NULL!\n");
            return false;
        }
        MV_CC_PIXEL_CONVERT_PARAM stConvertParam = {0};
        stConvertParam.nWidth = hk_imginfo->nWidth;
        stConvertParam.nHeight = hk_imginfo->nHeight;
        stConvertParam.pSrcData = data;
        stConvertParam.nSrcDataLen = hk_imginfo->nFrameLen;
        stConvertParam.enSrcPixelType = hk_imginfo->enPixelType;
        stConvertParam.enDstPixelType = PixelType_Gvsp_RGB8_Packed;
        stConvertParam.pDstBuffer = pDataForRGB;
        stConvertParam.nDstBufferSize = hk_imginfo->nWidth * hk_imginfo->nHeight*4 + 2048;
        int nRet = MV_CC_ConvertPixelType(handle, &stConvertParam);
        if (nRet != MV_OK)
        {
            printf("Failed! [%x]", nRet);
            return false;
        }
        //printf("Convert pixeltype succeed\n");

        for (unsigned int j = 0; j < hk_imginfo->nHeight; j++) {
            for (unsigned int i = 0; i < hk_imginfo->nWidth; i++) {
                unsigned char red = pDataForRGB[j * (hk_imginfo->nWidth * 3) + i * 3];
                pDataForRGB[j * (hk_imginfo->nWidth * 3) + i * 3] = pDataForRGB[j * (hk_imginfo->nWidth * 3) + i * 3 + 2];
                pDataForRGB[j * (hk_imginfo->nWidth * 3) + i * 3 + 2] = red;
            }
        }
        cv_img = cv::Mat(hk_imginfo->nHeight, hk_imginfo->nWidth, CV_8UC3, pDataForRGB);
        free(pDataForRGB);
        pDataForRGB = NULL;
    }
    else {
        // MV_CC_ConvertPixelType()
        printf("unsupported pixel format\n");
        return false;
    }

    if (cv_img.data == NULL) {
        return false;
    }
    cv_img.copyTo(src_img);
    return true;
}

bool HIKCam::Get_One_Frame(cv::Mat& frame) {
    Status = MV_CC_GetOneFrameTimeout(handle, img_data, payload_size, &hk_imginfo, 1000);
    if (Status != MV_OK) {
        free(img_data);
        img_data = NULL;
        return 0;
    }
    if (!HIK_To_OpenCV(&hk_imginfo, img_data, frame, handle)) {
        return 0;
    }
}