#include "libuvc/libuvc.h"
#include <stdio.h>
#include <unistd.h>
#include <sys/time.h>
#include <string.h>
#include <stdlib.h>
#include <gpiod.h>
#include <string>
#include <thread>
#include <iostream>
#include <stack>
#include "gpio_explorer.hpp"

#define GPIO_PIN "XX" // 替换为实际的 GPIO 引脚编号

struct timeval pre_frame_time;
char *save_path;
GPIOExplorer *pExplor;

/* This callback function runs once per frame. Use it to perform any
 * quick processing you need, or have it put the frame into your application's
 * input queue. If this function takes too long, you'll start losing frames. */
void cb(uvc_frame_t *frame, void *ptr)
{
  uvc_frame_t *bgr;
  uvc_error_t ret;
  enum uvc_frame_format *frame_format = (enum uvc_frame_format *)ptr;
  FILE *fp;
  static int jpeg_count = 0;
  static int jpeg_group = 0;
  static const char *H264_FILE = "iOSDevLog.h264";
  static const char *MJPEG_FILE = ".jpeg";
  char filename[64];
  char filepath[264];

  /* We'll convert the image from YUV/JPEG to BGR, so allocate space */
  bgr = uvc_allocate_frame(frame->width * frame->height * 3);
  if (!bgr)
  {
    printf("unable to allocate bgr frame!\n");
    return;
  }

  // printf("callback! frame_format = %d, width = %d, height = %d, length = %lu, ptr = %p\n",
  //        frame->frame_format, frame->width, frame->height, frame->data_bytes, ptr);

  switch (frame->frame_format)
  {
  case UVC_FRAME_FORMAT_H264:
    /* use `ffplay H264_FILE` to play */
    fp = fopen(H264_FILE, "a");
    fwrite(frame->data, 1, frame->data_bytes, fp);
    fclose(fp);
    break;
  case UVC_COLOR_FORMAT_MJPEG:
    if (!pExplor->getFailingStatus())
      break;
    pExplor->resetFailingStatus();

    struct timeval current_frame_time;
    gettimeofday(&current_frame_time, NULL);
    if (pre_frame_time.tv_sec != 0 || pre_frame_time.tv_usec != 0)
    {
      long seconds = current_frame_time.tv_sec;       //- pre_frame_time.tv_sec;
      long microseconds = current_frame_time.tv_usec; // - pre_frame_time.tv_usec;
      double elapsed = seconds + microseconds * 1e-6;
      printf("Time between frames: %f seconds \n", elapsed);
    }
    // update the prev timeval
    pre_frame_time = current_frame_time;
    if(jpeg_count/12>=1)
      jpeg_group++;
    jpeg_count = jpeg_count % 12 ;
    std::cout << "Current File Index : " << jpeg_count << std::endl;
    if (save_path == NULL)
      sprintf(filename, "%d-%d%s",jpeg_group, jpeg_count, MJPEG_FILE);
    else
      sprintf(filename, "%d-%d%s",jpeg_group, jpeg_count++, MJPEG_FILE);
    sprintf(filepath, "%s%s", save_path, filename);
    fp = fopen(filepath, "w");
    fwrite(frame->data, 1, frame->data_bytes, fp);
    fclose(fp);

    break;
  case UVC_COLOR_FORMAT_YUYV:
    /* Do the BGR conversion */
    ret = uvc_any2bgr(frame, bgr);
    if (ret)
    {
      uvc_perror(ret, "uvc_any2bgr");
      uvc_free_frame(bgr);
      return;
    }
    break;
  default:
    break;
  }

  if (frame->sequence % 30 == 0)
  {
    printf(" * got image %u\n", frame->sequence);
  }

  /* Call a user function:
   *
   * my_type *my_obj = (*my_type) ptr;
   * my_user_function(ptr, bgr);
   * my_other_function(ptr, bgr->data, bgr->width, bgr->height);
   */

  /* Call a C++ method:
   * my_type *my_obj = (*my_type) ptr;
   * my_obj->my_func(bgr);
   */

  /* Use opencv.highgui to display the image:
   *
   * cvImg = cvCreateImageHeader(
   *     cvSize(bgr->width, bgr->height),
   *     IPL_DEPTH_8U,
   *     3);
   *
   * cvSetData(cvImg, bgr->data, bgr->width * 3);
   *
   * cvNamedWindow("Test", CV_WINDOW_AUTOSIZE);
   * cvShowImage("Test", cvImg);
   * cvWaitKey(10);
   *
   * cvReleaseImageHeader(&cvImg);
   */

  uvc_free_frame(bgr);
}

int main(int argc, char **argv)
{
  // ...existing code...
  if (argv[1] == NULL)
    printf("图像将保存到相对路径，与可执行文件同文件");
  else
  {
    save_path = argv[1];
    printf("图像将保存到: %s\n", save_path);
  }

  uvc_context_t *ctx;
  uvc_device_t *dev;
  uvc_device_handle_t *devh;
  uvc_stream_ctrl_t ctrl;
  uvc_error_t res;

  GPIOExplorer explorer("gpiochip0", 16);
  pExplor = &explorer;

  // struct timeval current_frame_time;
  // gettimeofday(&current_frame_time,NULL);
  // while(true)
  // {
  //   if(!explorer.monitorRisingEdge())
  //   {
  //   struct timeval current_frame_time;
  //   gettimeofday(&current_frame_time,NULL);
  //   if(pre_frame_time.tv_sec != 0 || pre_frame_time.tv_usec != 0){
  //     long seconds = current_frame_time.tv_sec - pre_frame_time.tv_sec;
  //     long microseconds = current_frame_time.tv_usec - pre_frame_time.tv_usec;
  //     double elapsed = seconds + microseconds * 1e-6;
  //     printf("Time between frames: %f seconds \n",elapsed);
  //   }
  //   // update the prev timeval
  //   pre_frame_time = current_frame_time;
  //   }
  // }

  /* Initialize a UVC service context. Libuvc will set up its own libusb
   * context. Replace NULL with a libusb_context pointer to run libuvc
   * from an existing libusb context. */
  res = uvc_init(&ctx, NULL);
  if (res < 0)
  {
    uvc_perror(res, "uvc_init");
    return res;
  }

  puts("UVC initialized");

  /* Locates the first attached UVC device, stores in dev */
  res = uvc_find_device(
      ctx, &dev,
      0, 0, NULL); /* filter devices: vendor_id, product_id, "serial_num" */

  if (res < 0)
  {
    uvc_perror(res, "uvc_find_device"); /* no devices found */
  }
  else
  {
    puts("Device found");

    /* Try to open the device: requires exclusive access */
    res = uvc_open(dev, &devh);

    if (res < 0)
    {
      uvc_perror(res, "uvc_open"); /* unable to open device */
    }
    else
    {
      puts("Device opened");

      /* Print out a message containing all the information that libuvc
       * knows about the device */
      uvc_print_diag(devh, stderr);

      const uvc_format_desc_t *format_desc = uvc_get_format_descs(devh);
      const uvc_frame_desc_t *frame_desc = format_desc->frame_descs;
      enum uvc_frame_format frame_format;
      int width = 640;
      int height = 480;
      int fps = 30;

      switch (format_desc->bDescriptorSubtype)
      {
      case UVC_VS_FORMAT_MJPEG:
        frame_format = UVC_COLOR_FORMAT_MJPEG;
        break;
      case UVC_VS_FORMAT_FRAME_BASED:
        frame_format = UVC_FRAME_FORMAT_H264;
        break;
      default:
        frame_format = UVC_FRAME_FORMAT_YUYV;
        break;
      }

      if (frame_desc)
      {
        width = frame_desc->wWidth;
        height = frame_desc->wHeight;
        fps = 10000000 / frame_desc->dwDefaultFrameInterval;
      }

      printf("\nFirst format: (%4s) %dx%d %dfps\n", format_desc->fourccFormat, width, height, fps);

      /* Try to negotiate first stream profile */
      res = uvc_get_stream_ctrl_format_size(
          devh, &ctrl, /* result stored in ctrl */
          frame_format,
          width, height, fps /* width, height, fps */
      );

      /* Print out the result */
      uvc_print_stream_ctrl(&ctrl, stderr);

      if (res < 0)
      {
        uvc_perror(res, "get_mode"); /* device doesn't provide a matching stream */
      }
      else
      {
        /* Start the video stream. The library will call user function cb:
         *   cb(frame, (void *) 12345)*/

        res = uvc_start_streaming(devh, &ctrl, cb, (void *)12345, 0);

        if (res < 0)
        {
          uvc_perror(res, "start_streaming"); /* unable to start stream */
        }
        else
        {
          puts("Streaming...");
          /* enable auto exposure - see uvc_set_ae_mode documentation */
          puts("Enabling auto exposure ...");
          const uint8_t UVC_AUTO_EXPOSURE_MODE_AUTO = 2;
          res = uvc_set_ae_mode(devh, UVC_AUTO_EXPOSURE_MODE_AUTO);
          if (res == UVC_SUCCESS)
          {
            puts(" ... enabled auto exposure");
          }
          else if (res == UVC_ERROR_PIPE)
          {
            /* this error indicates that the camera does not support the full AE mode;
             * try again, using aperture priority mode (fixed aperture, variable exposure time) */
            puts(" ... full AE not supported, trying aperture priority mode");
            const uint8_t UVC_AUTO_EXPOSURE_MODE_APERTURE_PRIORITY = 8;
            res = uvc_set_ae_mode(devh, UVC_AUTO_EXPOSURE_MODE_APERTURE_PRIORITY);
            if (res < 0)
            {
              uvc_perror(res, " ... uvc_set_ae_mode failed to enable aperture priority mode");
            }
            else
            {
              puts(" ... enabled aperture priority auto exposure mode");
            }
          }
          else
          {
            uvc_perror(res, " ... uvc_set_ae_mode failed to enable auto exposure mode");
          }
          sleep(48); /* stream for 10 seconds */
          /* End the stream. Blocks until last callback is serviced */
          uvc_stop_streaming(devh);
          puts("Done streaming.");
        }
      }

      /* Release our handle on the device */
      uvc_close(devh);
      puts("Device closed");
    }

    /* Release the device descriptor */
    uvc_unref_device(dev);
  }

  /* Close the UVC context. This closes and cleans up any existing device handles,
   * and it closes the libusb context if one was not provided. */
  uvc_exit(ctx);
  puts("UVC exited");

  return 0;
}