meteor_detect/src/camera/opencv.rs

use anyhow::{anyhow, Context, Result};
use log::{debug, error, info, warn};
use std::path::Path;
use std::sync::{Arc, Mutex};

use opencv::{core, prelude::*, videoio};

use crate::camera::{ExposureMode, Resolution};

/// OpenCV camera driver
pub struct OpenCVCamera {
    /// The VideoCapture instance
    capture: Arc<Mutex<videoio::VideoCapture>>,
    /// Camera width
    width: u32,
    /// Camera height 
    height: u32,
    /// Whether the camera is currently streaming
    is_streaming: bool,
    /// Device index or path
    device: String,
}

impl OpenCVCamera {
    /// Open a camera device by path or index
    pub fn open<P: AsRef<Path>>(path: P) -> Result<Self> {
        let path_str = path.as_ref().to_str()
            .ok_or_else(|| anyhow!("Invalid path"))?;
        
        let mut capture = Self::create_capture_from_path(path_str)?;
        
        if !capture.is_opened()? {
            return Err(anyhow!("Failed to open camera: {}", path_str));
        }
        
        // Get initial resolution
        let width = capture.get(videoio::CAP_PROP_FRAME_WIDTH)? as u32;
        let height = capture.get(videoio::CAP_PROP_FRAME_HEIGHT)? as u32;
        
        info!(
            "Opened camera: {} ({}x{})",
            path_str, width, height
        );
        
        Ok(Self {
            capture: Arc::new(Mutex::new(capture)),
            width,
            height,
            is_streaming: false,
            device: path_str.to_string(),
        })
    }
    
    /// Open a video file for input
    pub fn open_file<P: AsRef<Path>>(path: P) -> Result<Self> {
        let path_str = path.as_ref().to_str()
            .ok_or_else(|| anyhow!("Invalid path"))?;
        
        let mut capture = videoio::VideoCapture::from_file(path_str, videoio::CAP_ANY)?;
        
        if !capture.is_opened()? {
            return Err(anyhow!("Failed to open video file: {}", path_str));
        }
        
        // Get video properties
        let width = capture.get(videoio::CAP_PROP_FRAME_WIDTH)? as u32;
        let height = capture.get(videoio::CAP_PROP_FRAME_HEIGHT)? as u32;
        let fps = capture.get(videoio::CAP_PROP_FPS)? as u32;
        let total_frames = capture.get(videoio::CAP_PROP_FRAME_COUNT)? as u32;
        
        info!(
            "Opened video file: {} ({}x{} @ {} fps, {} frames)",
            path_str, width, height, fps, total_frames
        );
        
        Ok(Self {
            capture: Arc::new(Mutex::new(capture)),
            width,
            height,
            is_streaming: false,
            device: path_str.to_string(),
        })
    }
    
    /// Create a VideoCapture instance from a path or device index
    fn create_capture_from_path(path_str: &str) -> Result<videoio::VideoCapture> {
        // Try to parse as integer index first
        if let Ok(device_index) = path_str.parse::<i32>() {
            return Ok(videoio::VideoCapture::new(device_index, videoio::CAP_ANY)?);
        }

        // Handle platform-specific device paths
        #[cfg(target_os = "linux")]
        {
            // For Linux device files like /dev/video0
            if let Some(num_str) = path_str.strip_prefix("/dev/video") {
                if let Ok(device_index) = num_str.parse::<i32>() {
                    // 在Linux下使用V4L2直接访问摄像头
                    info!("Opening camera on Linux using V4L2: {}", path_str);
                    return Ok(videoio::VideoCapture::new(device_index, videoio::CAP_V4L2)?);
                } else {
                    return Err(anyhow!("Invalid device number in path: {}", path_str));
                }
            }
        }

        #[cfg(target_os = "macos")]
        {
            // macOS doesn't use /dev/video* paths, but it might have a special format
            // If we get a path with "camera" or "facetime" or other macOS camera identifiers
            if path_str.contains("camera") || path_str.contains("facetime") || path_str.contains("avfoundation") {
                // For macOS, try to extract any numbers in the path
                let nums: Vec<&str> = path_str.split(|c: char| !c.is_digit(10))
                    .filter(|s| !s.is_empty())
                    .collect();
                
                if let Some(num_str) = nums.first() {
                    if let Ok(device_index) = num_str.parse::<i32>() {
                        return Ok(videoio::VideoCapture::new(device_index, videoio::CAP_AVFOUNDATION)?);
                    }
                }
                
                // If we can't extract a number, try device 0 with AVFoundation
                return Ok(videoio::VideoCapture::new(0, videoio::CAP_AVFOUNDATION)?);
            }
        }
        
        // For URLs, video files, or any other path type
        Ok(videoio::VideoCapture::from_file(path_str, videoio::CAP_ANY)?)
    }
    
    /// Set the camera resolution and pixel format
    pub fn set_format(&mut self, resolution: Resolution) -> Result<()> {
        let (width, height) = resolution.dimensions();
        
        // 获取互斥锁守卫
        let mut capture_guard = self.capture.lock().unwrap();
        
        // Set resolution
        capture_guard.set(videoio::CAP_PROP_FRAME_WIDTH, width as f64)?;
        capture_guard.set(videoio::CAP_PROP_FRAME_HEIGHT, height as f64)?;
        
        // Read back actual resolution (might be different from requested)
        let actual_width = capture_guard.get(videoio::CAP_PROP_FRAME_WIDTH)? as u32;
        let actual_height = capture_guard.get(videoio::CAP_PROP_FRAME_HEIGHT)? as u32;
        
        if actual_width != width || actual_height != height {
            warn!(
                "Requested resolution {}x{} but got {}x{}",
                width, height, actual_width, actual_height
            );
        }
        
        self.width = actual_width;
        self.height = actual_height;
        
        info!("Set camera format: {}×{}", self.width, self.height);
        
        Ok(())
    }
    
    /// Set the camera frame rate
    pub fn set_fps(&mut self, fps: u32) -> Result<()> {
        // 获取互斥锁守卫
        let mut capture_guard = self.capture.lock().unwrap();
        
        capture_guard.set(videoio::CAP_PROP_FPS, fps as f64)?;
        
        // Read back actual FPS
        let actual_fps = capture_guard.get(videoio::CAP_PROP_FPS)?;
        
        if (actual_fps - fps as f64).abs() > 0.1 {
            warn!("Requested {} fps but got {} fps", fps, actual_fps);
        }
        
        info!("Set camera frame rate: {} fps", actual_fps);
        
        Ok(())
    }
    
    /// Set camera exposure mode and value
    pub fn set_exposure(&mut self, mode: ExposureMode) -> Result<()> {
        // 获取互斥锁守卫
        let mut capture_guard = self.capture.lock().unwrap();
        
        match mode {
            ExposureMode::Auto => {
                // Set auto exposure mode
                capture_guard.set(videoio::CAP_PROP_AUTO_EXPOSURE, 0.75)?; // 0.75 is auto mode in OpenCV
                info!("Set camera exposure: Auto");
            },
            ExposureMode::Manual(exposure_time) => {
                // First disable auto exposure
                capture_guard.set(videoio::CAP_PROP_AUTO_EXPOSURE, 0.25)?; // 0.25 is manual mode in OpenCV
                
                // Then set exposure value - might need conversion based on camera
                let exposure_value = exposure_time as f64 / 10000.0; // Convert microseconds to OpenCV units
                capture_guard.set(videoio::CAP_PROP_EXPOSURE, exposure_value)?;
                
                info!("Set camera exposure: Manual ({})", exposure_time);
            }
        }
        
        Ok(())
    }
    
    /// Set camera gain (ISO)
    pub fn set_gain(&mut self, gain: u8) -> Result<()> {
        // 获取互斥锁守卫
        let mut capture_guard = self.capture.lock().unwrap();
        
        capture_guard.set(videoio::CAP_PROP_GAIN, gain as f64)?;
        
        let actual_gain = capture_guard.get(videoio::CAP_PROP_GAIN)?;
        info!("Set camera gain: {} (actual: {})", gain, actual_gain);
        
        Ok(())
    }
    
    /// Lock focus at infinity (if supported)
    pub fn lock_focus_at_infinity(&mut self) -> Result<()> {
        // 获取互斥锁守卫
        let mut capture_guard = self.capture.lock().unwrap();
        
        // First, set focus mode to manual
        if capture_guard.set(videoio::CAP_PROP_AUTOFOCUS, 0.0).is_ok() {
            // Then set focus to infinity (typically maximum value)
            if capture_guard.set(videoio::CAP_PROP_FOCUS, 1.0).is_ok() {
                info!("Locked focus at infinity");
                return Ok(());
            }
        }
        
        warn!("Camera does not support focus control");
        Ok(())
    }
    
    /// Start streaming from the camera
    pub fn start_streaming(&mut self) -> Result<OpenCVCaptureStream> {
        // 获取互斥锁守卫检查相机是否打开
        {
            let capture_guard = self.capture.lock().unwrap();
            if !capture_guard.is_opened()? {
                return Err(anyhow!("Camera is not open"));
            }
        }
        
        self.is_streaming = true;
        info!("Started camera streaming");
        
        // 使用同一个相机实例来避免重复打开设备
        Ok(OpenCVCaptureStream::new(self.capture.clone(), false))
    }
    
    /// Start streaming from the camera with loop option for video files
    pub fn start_streaming_with_loop(&mut self, loop_video: bool) -> Result<OpenCVCaptureStream> {
        // 获取互斥锁守卫检查相机是否打开
        {
            let capture_guard = self.capture.lock().unwrap();
            if !capture_guard.is_opened()? {
                return Err(anyhow!("Camera is not open"));
            }
        }
        
        self.is_streaming = true;
        if loop_video {
            info!("Started streaming with loop enabled");
        } else {
            info!("Started streaming");
        }
        
        // 使用同一个相机实例来避免重复打开设备
        Ok(OpenCVCaptureStream::new(self.capture.clone(), loop_video))
    }
    
    /// Stop streaming from the camera
    pub fn stop_streaming(&mut self) -> Result<()> {
        self.is_streaming = false;
        info!("Stopped camera streaming");
        Ok(())
    }
    
    /// Check if the camera is currently streaming
    pub fn is_streaming(&self) -> bool {
        self.is_streaming
    }
    
    /// Get current format width
    pub fn width(&self) -> u32 {
        self.width
    }
    
    /// Get current format height
    pub fn height(&self) -> u32 {
        self.height
    }
}

/// Wrapper around OpenCV VideoCapture for streaming
pub struct OpenCVCaptureStream {
    capture: Arc<Mutex<videoio::VideoCapture>>,
    loop_video: bool,
}

impl OpenCVCaptureStream {
    /// Create a new capture stream
    pub fn new(capture: Arc<Mutex<videoio::VideoCapture>>, loop_video: bool) -> Self {
        Self {
            capture,
            loop_video,
        }
    }
    
    /// Capture a single frame from the camera or video file
    pub fn capture_frame(&mut self) -> Result<core::Mat> {
        let mut frame = core::Mat::default();
        
        // 获取互斥锁守卫
        let mut capture_guard = self.capture.lock().unwrap();
        
        if capture_guard.read(&mut frame)? {
            if frame.empty() {
                // 如果视频结束并且需要循环播放
                if self.loop_video {
                    debug!("Video file ended, looping back to start");
                    // 重置到视频开始位置
                    capture_guard.set(videoio::CAP_PROP_POS_FRAMES, 0.0)?;
                    // 再次读取帧
                    if capture_guard.read(&mut frame)? {
                        if frame.empty() {
                            return Err(anyhow!("Frame is still empty after looping"));
                        }
                    } else {
                        return Err(anyhow!("Failed to read frame after looping"));
                    }
                } else {
                    return Err(anyhow!("End of video reached"));
                }
            }
            Ok(frame)
        } else {
            Err(anyhow!("Failed to capture frame"))
        }
    }
}

impl Drop for OpenCVCaptureStream {
    fn drop(&mut self) {
        debug!("OpenCV capture stream dropped");
    }
}