#include "capture.h"

#include <vector>
#include <thread>
#include <opencv2/core.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui.hpp>
#include <zmq.hpp>
#include "logc/log.h"
#include <unistd.h>

capture::capture(int camera_index, int zmq_port, int width_set, int height_set, int fps_set, bool _flip)
{
    index = camera_index;
    port = zmq_port;
    width = width_set;
    height = height_set;
    fps = fps_set;
    flip = _flip;

    log_info("trying open camera %d", index);

    cap = new cv::VideoCapture(index, cv::CAP_V4L2);
    cap->set(cv::CAP_PROP_FRAME_WIDTH, width);
    cap->set(cv::CAP_PROP_FRAME_HEIGHT, height);
    cap->set(cv::CAP_PROP_FPS, fps);

    if (!cap->isOpened())
    {
        log_error("开启摄像头 %d 失败", index);
        status = false;
    }
    else
    {
        log_info("开启摄像头 %d 成功", index);
        status = true;
    }

    context = new zmq::context_t(1);
    socket = new zmq::socket_t(*context, ZMQ_REP);
    // int hwm = 10;
    // socket->setsockopt(ZMQ_SNDHWM, &hwm, sizeof(hwm));
    char zmq_bind_port[10] = {0};
    sprintf(zmq_bind_port, "%d", port);
    strcat(zmq_bind_addr, zmq_bind_port);
    log_info("设置 %d zmq 地址 %s", index, zmq_bind_addr);
    socket->bind(zmq_bind_addr);
}

void capture::start(void)
{
    if (this->is_open())
    {
        log_info("开启摄像头 %d 采集和应答线程", index);
        // FIXME request 启动后若 capture 尚未读取到有效帧，则会断言
        thread_capture = new std::thread(&capture::get, this);
        sleep(1);
        thread_request = new std::thread(&capture::req, this);
    }
    else
    {
        log_error("摄像头 %d 未成功初始化，跳过", index);
    }
}

void capture::get(void)
{
    cv::Mat dst;
    while (1)
    {
        *cap >> dst;
        if (dst.empty())
        {
            log_error("摄像头 %d 读取到空帧，尝试销毁后重启", index);

            cap->release();
            // delete cap;

            cap = new cv::VideoCapture(index, cv::CAP_V4L2);
            cap->set(cv::CAP_PROP_FRAME_WIDTH, width);
            cap->set(cv::CAP_PROP_FRAME_HEIGHT, height);
            cap->set(cv::CAP_PROP_FPS, fps);

            log_warn("摄像头 %d 重新构造完成\r\n", index);
            *cap >> dst;
        }

        // 确保图像是连续的
        if (!dst.isContinuous())
        {
            dst = dst.clone().reshape(1, dst.total());
        }

        // 中心翻转处理
        if (flip)
        {
            cv::flip(dst, dst, -1);
        }

        // 将图像转换为 rgb
        cv::cvtColor(dst, frame, cv::COLOR_BGR2RGB);

        // 在这里添加一些延迟，以控制帧率
        cv::waitKey(1);
    }
}

void capture::req(void)
{
    zmq::message_t msg_temp;
    while (1)
    {
        socket->recv(&msg_temp);
        // 将帧编码后发送
        std::vector<uchar>
            buff;
        cv::imencode(".jpg", frame, buff);
        zmq::message_t message(buff.size());
        memcpy(message.data(), buff.data(), buff.size());
        socket->send(message, zmq::send_flags::none);
    }

    log_error("capture exit");
}

bool capture::is_open(void)
{
    return status;
}