#include "ApiController.h"
#include "FrameObserver.h"
#include <sstream>
#include <iostream>

namespace AVT {
namespace VmbAPI {
namespace Examples {

ApiController::ApiController()
    : m_system(VimbaSystem::GetInstance()),
      m_nWidth(0),
      m_nHeight(0),
      m_nPixelFormat(0)
{
}

ApiController::~ApiController()
{
    if (m_pCamera) {
        StopContinuousImageAcquisition();
    }
}

VmbErrorType ApiController::StartUp()
{
    return m_system.Startup();
}

void ApiController::ShutDown()
{
    m_system.Shutdown();
}

VmbErrorType ApiController::StartContinuousImageAcquisition(const std::string &rStrCameraID)
{
    VmbErrorType res = m_system.OpenCameraByID(rStrCameraID.c_str(), 
                                              VmbAccessModeFull, 
                                              m_pCamera);
    if (VmbErrorSuccess == res) {
        std::cerr << "StartContinuousImageAcquisition failed with error code: " << res << std::endl;
        // 可以添加更多错误信息
        if (res == VmbErrorApiNotStarted) {
            std::cerr << "Vimba API not started" << std::endl;
        } else if (res == VmbErrorInvalidAccess) {
            std::cerr << "Invalid access to camera" << std::endl;
        }
        FeaturePtr pFormatFeature;
        res = m_pCamera->GetFeatureByName("PixelFormat", pFormatFeature);
        if (VmbErrorSuccess == res) {
            VmbInt64_t pixelFormat;
            res = pFormatFeature->GetValue(pixelFormat);
            std::cout << "Camera Pixel Format: " << pixelFormat << std::endl;
        }
    }

    // Optional: Adjust packet size for GigE cameras
    FeaturePtr pCommandFeature;
    if (VmbErrorSuccess == m_pCamera->GetFeatureByName("GVSPAdjustPacketSize", pCommandFeature)) {
        pCommandFeature->RunCommand();
    }

    // Set camera parameters
    res = SetValueIntMod2(m_pCamera, "Width", m_nWidth);
    if (VmbErrorSuccess == res) {
        res = SetValueIntMod2(m_pCamera, "Height", m_nHeight);
    }
    if (VmbErrorSuccess == res) {
        FeaturePtr pFormatFeature;
        res = m_pCamera->GetFeatureByName("PixelFormat", pFormatFeature);
        if (VmbErrorSuccess == res) {
            res = pFormatFeature->GetValue(m_nPixelFormat);
        }
    }

    // Start acquisition with FrameObserver that streams to V4L2
    if (VmbErrorSuccess == res) {
        SP_SET(m_pFrameObserver, new FrameObserver(m_pCamera));
        res = m_pCamera->StartContinuousImageAcquisition(3, m_pFrameObserver);
    }

    if (VmbErrorSuccess != res && m_pCamera) {
        m_pCamera->Close();
    }

    return res;
}

VmbErrorType ApiController::StopContinuousImageAcquisition()
{
    if (m_pCamera) {
        m_pCamera->StopContinuousImageAcquisition();
        return m_pCamera->Close();
    }
    return VmbErrorSuccess;
}

ApiController::CameraPtrVector ApiController::GetCameraList()
{
    CameraPtrVector cameras;
    m_system.GetCameras(cameras);
    return cameras;
}

// Modified to return nullptr since we're streaming directly to V4L2
ApiController::FramePtr ApiController::GetFrame()
{
    return FramePtr(); // Not supported in this mode
}

VmbErrorType ApiController::QueueFrame(FramePtr pFrame)
{
    if (!m_pCamera) {
        return VmbErrorDeviceNotOpen;
    }
    return m_pCamera->QueueFrame(pFrame);
}

// Modified to do nothing since FrameObserver handles streaming
void ApiController::ClearFrameQueue()
{
    // No operation needed as frames are directly streamed to V4L2
}

int ApiController::GetWidth() const {
    return static_cast<int>(m_nWidth);
}

int ApiController::GetHeight() const {
    return static_cast<int>(m_nHeight);
}

VmbPixelFormatType ApiController::GetPixelFormat() const {
    return static_cast<VmbPixelFormatType>(m_nPixelFormat);
}

VmbErrorType ApiController::SetValueIntMod2(const AVT::VmbAPI::CameraPtr &camera, 
                                         const std::string &featureName, 
                                         VmbInt64_t &storage)
{
    AVT::VmbAPI::FeaturePtr pFeature;
    VmbInt64_t min = 0, max = 0, inc = 0;
    
    VmbErrorType res = camera->GetFeatureByName(featureName.c_str(), pFeature);
    if (VmbErrorSuccess == res) res = pFeature->GetRange(min, max);
    if (VmbErrorSuccess == res) res = pFeature->GetIncrement(inc);
    if (VmbErrorSuccess == res) {
        max = max - (max % inc);
        if (max % 2 != 0) max -= inc;
        res = pFeature->SetValue(max);
        storage = max;
    }
    return res;
}

}}} // namespace AVT::VmbAPI::Examples