meteor_detection_system/meteor-edge-client/src/camera/opencv_camera.rs

//! OpenCV-based camera implementation
//!
//! Uses opencv::videoio::VideoCapture for camera capture.
//! Provides reliable resource management with explicit release() on shutdown.
//!
//! On macOS, camera authorization must happen on the main thread.
//! Use `open_capture_on_main_thread()` before starting tokio runtime,
//! then `set_pre_opened_capture()` to store it for later use.

use anyhow::{Context, Result};
use chrono::Utc;
use std::pin::Pin;
use std::sync::{Arc, Mutex};

use opencv::core::Mat;
use opencv::prelude::*;
use opencv::videoio::{
    VideoCapture, CAP_ANY, CAP_PROP_FRAME_WIDTH, CAP_PROP_FRAME_HEIGHT, CAP_PROP_FPS,
};

// Thread-safe storage for pre-opened capture (macOS main thread requirement)
static PRE_OPENED_CAPTURE: Mutex<Option<VideoCapture>> = Mutex::new(None);

/// Store a pre-opened capture for later use by OpenCVCamera::new()
/// Call this from main thread BEFORE starting tokio runtime
pub fn set_pre_opened_capture(capture: VideoCapture) {
    *PRE_OPENED_CAPTURE.lock().unwrap() = Some(capture);
}

/// Take the pre-opened capture (can only be called once)
fn take_pre_opened_capture() -> Option<VideoCapture> {
    PRE_OPENED_CAPTURE.lock().unwrap().take()
}

use super::interface::{
    CameraConfig, CameraInterface, CameraMetadata, CameraType, CapturedFrame, FrameMetadata,
};
use crate::memory::frame_data::{FrameData, FrameFormat};

/// OpenCV-based camera implementation
pub struct OpenCVCamera {
    capture: Option<VideoCapture>,
    config: CameraConfig,
    frame_count: u64,
    is_running: bool,
    actual_width: u32,
    actual_height: u32,
    actual_fps: f64,
}

// Safety: OpenCVCamera is only accessed from one thread at a time through &mut self
// The VideoCapture raw pointer is not shared across threads
unsafe impl Send for OpenCVCamera {}
unsafe impl Sync for OpenCVCamera {}

impl OpenCVCamera {
    /// Create a new OpenCV camera instance
    /// Will use pre-opened capture from main thread if available (macOS)
    pub fn new(config: CameraConfig) -> Result<Self> {
        // Check for pre-opened capture from main thread (macOS authorization)
        if let Some(capture) = take_pre_opened_capture() {
            println!("🎥 Using pre-opened camera from main thread (macOS)");
            return Self::with_capture(capture, config);
        }

        println!("🎥 Creating OpenCV camera...");
        Ok(Self {
            capture: None,
            config,
            frame_count: 0,
            is_running: false,
            actual_width: 0,
            actual_height: 0,
            actual_fps: 0.0,
        })
    }

    /// Open camera on main thread (required for macOS authorization)
    /// Call this BEFORE starting tokio runtime
    pub fn open_capture_on_main_thread(device_id: i32) -> Result<VideoCapture> {
        println!("🎥 Opening camera on main thread (macOS authorization)...");
        println!("   Device ID: {}", device_id);

        let cam = VideoCapture::new(device_id, CAP_ANY)
            .context("Failed to create VideoCapture")?;

        if !cam.is_opened()? {
            anyhow::bail!("Failed to open camera device {}", device_id);
        }

        println!("✅ Camera opened successfully on main thread");
        Ok(cam)
    }

    /// Create camera with pre-opened capture handle
    pub fn with_capture(capture: VideoCapture, config: CameraConfig) -> Result<Self> {
        // Get actual resolution from the opened capture
        let actual_width = capture.get(CAP_PROP_FRAME_WIDTH)? as u32;
        let actual_height = capture.get(CAP_PROP_FRAME_HEIGHT)? as u32;
        let actual_fps = capture.get(CAP_PROP_FPS)?;

        println!("🎥 Creating OpenCV camera with pre-opened capture...");
        println!("   Resolution: {}x{} @ {:.1} FPS", actual_width, actual_height, actual_fps);

        Ok(Self {
            capture: Some(capture),
            config,
            frame_count: 0,
            is_running: false,
            actual_width,
            actual_height,
            actual_fps,
        })
    }

    /// Get device ID from config
    fn get_device_id(&self) -> i32 {
        match &self.config.camera_type {
            CameraType::Production { device_id, .. } => {
                device_id.parse().unwrap_or(0)
            }
            _ => 0,
        }
    }

    /// Convert OpenCV Mat to FrameData
    fn mat_to_frame_data(&self, mat: &Mat) -> Result<FrameData> {
        let rows = mat.rows();
        let cols = mat.cols();
        let channels = mat.channels();

        if rows <= 0 || cols <= 0 {
            anyhow::bail!("Invalid frame dimensions: {}x{}", cols, rows);
        }

        let width = cols as u32;
        let height = rows as u32;

        // Get raw data from Mat
        let data_ptr = mat.data();
        let data_len = (rows * cols * channels) as usize;

        if data_ptr.is_null() {
            anyhow::bail!("Mat data pointer is null");
        }

        // Copy data from Mat (OpenCV uses BGR format by default)
        let bgr_data = unsafe { std::slice::from_raw_parts(data_ptr, data_len) };

        // Convert BGR to grayscale for meteor detection
        let grayscale_data = if channels == 3 {
            bgr_to_grayscale(bgr_data, width as usize, height as usize)
        } else if channels == 1 {
            bgr_data.to_vec()
        } else {
            // For other formats, just use first channel or convert
            bgr_data.iter().step_by(channels as usize).copied().collect()
        };

        Ok(FrameData::new(
            grayscale_data,
            width,
            height,
            FrameFormat::Grayscale,
        ))
    }
}

/// Convert BGR to grayscale using standard luminance formula
fn bgr_to_grayscale(bgr_data: &[u8], width: usize, height: usize) -> Vec<u8> {
    let mut grayscale = Vec::with_capacity(width * height);

    for pixel in bgr_data.chunks_exact(3) {
        let b = pixel[0] as f32;
        let g = pixel[1] as f32;
        let r = pixel[2] as f32;
        // ITU-R BT.601 luminance formula
        let gray = (0.299 * r + 0.587 * g + 0.114 * b) as u8;
        grayscale.push(gray);
    }

    grayscale
}

impl CameraInterface for OpenCVCamera {
    fn initialize(
        &mut self,
    ) -> Pin<Box<dyn std::future::Future<Output = Result<()>> + Send + '_>> {
        Box::pin(async move {
            // Check if capture was pre-opened on main thread (macOS authorization)
            if self.capture.is_some() {
                println!("🎥 OpenCV camera already opened (main thread initialization)");
                println!("   Resolution: {}x{} @ {:.1} FPS",
                    self.actual_width, self.actual_height, self.actual_fps);

                // Configure resolution and FPS
                if let Some(cam) = self.capture.as_mut() {
                    let _ = cam.set(CAP_PROP_FRAME_WIDTH, self.config.resolution.0 as f64);
                    let _ = cam.set(CAP_PROP_FRAME_HEIGHT, self.config.resolution.1 as f64);
                    let _ = cam.set(CAP_PROP_FPS, self.config.fps);

                    // Read back actual values
                    self.actual_width = cam.get(CAP_PROP_FRAME_WIDTH)? as u32;
                    self.actual_height = cam.get(CAP_PROP_FRAME_HEIGHT)? as u32;
                    self.actual_fps = cam.get(CAP_PROP_FPS)?;
                }

                println!("✅ OpenCV camera ready");
                println!("   Actual resolution: {}x{}", self.actual_width, self.actual_height);
                println!("   Actual FPS: {:.1}", self.actual_fps);

                self.is_running = true;
                return Ok(());
            }

            // Fallback: open camera in async context (works on Linux/Windows)
            let device_id = self.get_device_id();
            println!("🎥 Initializing OpenCV camera...");
            println!("   Device ID: {}", device_id);
            println!("   Target resolution: {}x{}", self.config.resolution.0, self.config.resolution.1);
            println!("   Target FPS: {}", self.config.fps);

            // Create VideoCapture
            // Note: VideoCapture::new is blocking, but we're in an async context
            // On macOS, this may fail if not called from main thread
            let mut cam = VideoCapture::new(device_id, CAP_ANY)
                .context("Failed to create VideoCapture")?;

            if !cam.is_opened()? {
                anyhow::bail!("Failed to open camera device {}", device_id);
            }

            // Set resolution and FPS
            let _ = cam.set(CAP_PROP_FRAME_WIDTH, self.config.resolution.0 as f64);
            let _ = cam.set(CAP_PROP_FRAME_HEIGHT, self.config.resolution.1 as f64);
            let _ = cam.set(CAP_PROP_FPS, self.config.fps);

            // Read back actual values
            self.actual_width = cam.get(CAP_PROP_FRAME_WIDTH)? as u32;
            self.actual_height = cam.get(CAP_PROP_FRAME_HEIGHT)? as u32;
            self.actual_fps = cam.get(CAP_PROP_FPS)?;

            println!("✅ OpenCV camera initialized successfully");
            println!("   Actual resolution: {}x{}", self.actual_width, self.actual_height);
            println!("   Actual FPS: {:.1}", self.actual_fps);

            self.capture = Some(cam);
            self.is_running = true;

            Ok(())
        })
    }

    fn capture_frame(
        &mut self,
    ) -> Pin<Box<dyn std::future::Future<Output = Result<CapturedFrame>> + Send + '_>> {
        Box::pin(async move {
            let cam = self.capture.as_mut()
                .ok_or_else(|| anyhow::anyhow!("Camera not initialized"))?;

            let mut mat = Mat::default();

            // Read frame (blocking call)
            let success = cam.read(&mut mat)?;

            if !success || mat.empty() {
                anyhow::bail!("Failed to capture frame - empty or read failed");
            }

            self.frame_count += 1;

            // Convert Mat to FrameData
            let frame_data = self.mat_to_frame_data(&mat)?;

            // Log progress periodically
            if self.frame_count == 1 || self.frame_count % 30 == 0 {
                println!("📸 Frame {} captured ({}x{})",
                    self.frame_count, frame_data.width, frame_data.height);
            }

            Ok(CapturedFrame::new(
                Arc::new(frame_data),
                self.frame_count,
                Utc::now(),
                FrameMetadata::default(),
            ))
        })
    }

    fn get_metadata(&self) -> CameraMetadata {
        CameraMetadata {
            camera_id: self.get_device_id().to_string(),
            camera_type: "OpenCV".to_string(),
            supported_formats: vec![FrameFormat::Grayscale, FrameFormat::RGB888],
            max_resolution: (1920, 1080),
            current_resolution: (self.actual_width, self.actual_height),
            target_fps: self.actual_fps,
            is_real_time: true,
            total_frames: None,
        }
    }

    fn is_running(&self) -> bool {
        self.is_running
    }

    fn frame_count(&self) -> u64 {
        self.frame_count
    }

    fn shutdown(
        &mut self,
    ) -> Pin<Box<dyn std::future::Future<Output = Result<()>> + Send + '_>> {
        Box::pin(async move {
            println!("🛑 Shutting down OpenCV camera...");

            if let Some(mut cam) = self.capture.take() {
                // Explicitly release the camera resource
                // This is the key advantage over nokhwa - reliable resource cleanup
                cam.release().context("Failed to release VideoCapture")?;
                println!("✅ OpenCV camera released successfully");
            }

            self.is_running = false;
            Ok(())
        })
    }
}

impl Drop for OpenCVCamera {
    fn drop(&mut self) {
        // Ensure camera is released even if shutdown wasn't called
        if let Some(mut cam) = self.capture.take() {
            let _ = cam.release();
            println!("🗑️ OpenCV camera dropped and released");
        }
    }
}

#[cfg(test)]
mod tests {
    use super::*;

    #[test]
    fn test_bgr_to_grayscale() {
        // Test BGR to grayscale conversion
        let bgr = vec![
            0, 0, 255,   // Pure red -> should be ~76
            0, 255, 0,   // Pure green -> should be ~150
            255, 0, 0,   // Pure blue -> should be ~29
            255, 255, 255, // White -> should be 255
        ];

        let gray = bgr_to_grayscale(&bgr, 4, 1);

        assert_eq!(gray.len(), 4);
        // Check approximate values (luminance formula)
        assert!(gray[0] > 70 && gray[0] < 80, "Red should be ~76, got {}", gray[0]);
        assert!(gray[1] > 145 && gray[1] < 155, "Green should be ~150, got {}", gray[1]);
        assert!(gray[2] > 25 && gray[2] < 35, "Blue should be ~29, got {}", gray[2]);
        assert_eq!(gray[3], 255, "White should be 255");
    }
}