/*
| ==============================================================================
| Copyright (C) 2006-2011 Allied Vision Technologies.  All Rights Reserved.
|
| This code may be used in part, or in whole for your application development.
|
|==============================================================================
|
| BatchStream
|
| This example shows how to manage FRAMESCOUNT number of frames, which
| may be larger than the QUEUELIMIT frame limit. 
|
| QUEUELIMIT limit on PvAPI < 1.26 is 100. No QUEUELIMIT for PvAPI >= 1.26.
|
| -Opens the first camera found. 
| -Sets camera to freerun continuous mode. 
| -Queues QUEUELIMIT or FRAMESCOUNT frames, whichever is less. 
| -Frames queued with callbacks. Callbacks function returns Frame.Status.
| -Main thread call PvCaptureWaitForFrameDone on the 2nd last queued frame.
|   When returned, queue the next QUEUELIMIT frames (or portion thereof).
| -Ctrl+C to abort.

|==============================================================================
|
| THIS SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED
| WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF TITLE,
| NON-INFRINGEMENT, MERCHANTABILITY AND FITNESS FOR A PARTICULAR  PURPOSE ARE
| DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
| INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
| LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
| OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED  AND ON ANY THEORY OF
| LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
| NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
| EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|==============================================================================
*/

#ifdef _WINDOWS
#include "StdAfx.h"
#endif

#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#ifdef _WINDOWS
#define WIN32_LEAN_AND_MEAN
#include <Windows.h>
#endif

#if defined(_LINUX) || defined(_QNX) || defined(_OSX)
#include <unistd.h>
#include <time.h>
#include <signal.h>
#endif

#include <PvApi.h>

#ifdef _WINDOWS
#define _STDCALL __stdcall
#else
#define _STDCALL
#define TRUE     0
#endif

#define FRAMESCOUNT 490
#define QUEUELIMIT 99

typedef struct 
{
    unsigned long   UID;
    tPvHandle       Handle;
    tPvFrame        Frames[FRAMESCOUNT];
	bool            Abort;
        
} tCamera;

// global camera data
tCamera GCamera;

#if defined(_LINUX) || defined(_QNX) || defined(_OSX)
void Sleep(unsigned int time)
{
    struct timespec t,r;
    
    t.tv_sec    = time / 1000;
    t.tv_nsec   = (time % 1000) * 1000000;    
    
    while(nanosleep(&t,&r)==-1)
        t = r;
}

//Define function equivalent to Windows SetConsoleCtrlHandler 
void SetConsoleCtrlHandler(void (*func)(int), int junk)
{
    signal(SIGINT, func);
}
#endif

// wait for a camera to be plugged in
void WaitForCamera()
{
    printf("Waiting for a camera");
    while((PvCameraCount() == 0) && !GCamera.Abort)
	{
		printf(".");
		Sleep(250);
	}
    printf("\n");
}

// CTRL+C handler
#ifdef _WINDOWS
BOOL WINAPI CtrlCHandler(DWORD dwCtrlType)
#else
void CtrlCHandler(int Signo)
#endif  
{
    printf("Ctrl+C interrupt received, stopping camera.\n");    
    
	//Set flag to exit WaitForEver
    GCamera.Abort = true;    
        
    #ifndef _WINDOWS
    signal(SIGINT, CtrlCHandler);
    #else
    return true;
    #endif
}

// Frame completed callback executes on seperate driver thread.
// One callback thread per camera. If a frame callback function has not 
// completed, and the next frame returns, the next frame's callback function is queued. 
// This situation is best avoided (camera running faster than host can process frames). 
// Spend as little time in this thread as possible and offload processing
// to other threads or save processing until later.
//
// Note: If a camera is unplugged, this callback will not get called until PvCaptureQueueClear.
// i.e. callback with pFrame->Status = ePvErrUnplugged doesn't happen -- so don't rely
// on this as a test for a missing camera. 
void _STDCALL FrameDoneCB(tPvFrame* pFrame)
{
	//report if any errors in returned frames
	switch (pFrame->Status) {
		case ePvErrSuccess:
			break;
		case ePvErrDataMissing:
			//Possible improper network card settings. See GigE Installation Guide.
			printf("FrameCallback [%u]: Dropped packets.   \n", pFrame->FrameCount);
			break;
		case ePvErrResources:
			printf("FrameCallback [%u]: Out of host memory!\n", pFrame->FrameCount);
			break;
		case ePvErrCancelled:
			printf("FrameCallback [%u]: Frame cancelled.   \n", pFrame->FrameCount);
			break;
		case ePvErrInternalFault:
			printf("FrameCallback [%u]: Internal fault. PvAPI.dll 1.24 w > 100 frames queued?\n", pFrame->FrameCount);
			break;
		default:
			printf("FrameCallback [%u]: Error: %u          \n", pFrame->FrameCount, pFrame->Status);
			break;
	}

	//NOTE: No frame requeuing here. Done in main thread after PvCaptureWaitForFrameDone
}

// get the first camera found
// return value: true == success, false == fail
bool CameraGet()
{
    tPvUint32 count,connected;
    tPvCameraInfoEx list;

    //regardless if connected > 1, we only set UID of first camera in list
	count = PvCameraListEx(&list,1,&connected, sizeof(tPvCameraInfoEx));
    if(count == 1)
    {
        GCamera.UID = list.UniqueId;
        printf("Got camera %s\n",list.SerialNumber);
        return true;
    }
    else
	{
		printf("CameraGet: Failed to find a camera\n");
		return false;
	}
}

// open camera, allocate memory
// return value: true == success, false == fail
bool CameraSetup()
{
    tPvErr errCode;
	bool failed = false;
	unsigned long FrameSize = 0;

	//open camera
	if ((errCode = PvCameraOpen(GCamera.UID,ePvAccessMaster,&(GCamera.Handle))) != ePvErrSuccess)
	{
		if (errCode == ePvErrAccessDenied)
			printf("PvCameraOpen returned ePvErrAccessDenied:\nCamera already open as Master, or camera wasn't properly closed and still waiting to HeartbeatTimeout.");
		else
			printf("PvCameraOpen err: %u\n", errCode);
		return false;
	}

	// Allocating FRAMESCOUNT number of full sized images can be a LOT of memory!
	// I.e. more than your host has. Set camera image size to 100 x 100 (or less)
	if((PvAttrUint32Set(GCamera.Handle,"Width",100) != ePvErrSuccess) ||
		(PvAttrUint32Set(GCamera.Handle,"Height",100) != ePvErrSuccess))
	{		
		printf("Failed to set camera width x height\n");
		return false;
	}	

	// Calculate frame buffer size
    if((errCode = PvAttrUint32Get(GCamera.Handle,"TotalBytesPerFrame",&FrameSize)) != ePvErrSuccess)
	{
		printf("CameraSetup: Get TotalBytesPerFrame err: %u\n", errCode);
		return false;
	}

	// allocate the frame buffers
    printf("Allocating memory...\n");
	for(int i=0;i<FRAMESCOUNT && !failed;i++)
    {
        GCamera.Frames[i].ImageBuffer = new char[FrameSize];
        if(GCamera.Frames[i].ImageBuffer)
        {
			GCamera.Frames[i].ImageBufferSize = FrameSize;
		}
        else
		{
			printf("Failed to allocate buffers.\n");
			failed = true;
		}
    }

	if (!failed)
		printf("memory allocated\n");

	return !failed;
}

// close camera, free memory.
void CameraUnsetup()
{
    tPvErr errCode;
	
    if((errCode = PvCameraClose(GCamera.Handle)) != ePvErrSuccess)
	{
		printf("CameraUnSetup: PvCameraClose err: %u\n", errCode);
	}
	else
	{
		printf("Camera closed.\n");
	}
	// delete image buffers
    for(int i=0;i<FRAMESCOUNT;i++)
        delete [] (char*)GCamera.Frames[i].ImageBuffer;

    GCamera.Handle = NULL;
}

// setup and start streaming
// return value: true == success, false == fail
bool CameraStart()
{
    int i = 0;
    int j = 0;
	tPvErr errCode;
	bool failed = false;

    // NOTE: This call sets camera PacketSize to largest sized test packet, up to 8228, that doesn't fail
	// on network card. Some MS VISTA network card drivers become unresponsive if test packet fails. 
	// Use PvUint32Set(handle, "PacketSize", MaxAllowablePacketSize) instead. See network card properties
	// for max allowable PacketSize/MTU/JumboFrameSize. 
	if((errCode = PvCaptureAdjustPacketSize(GCamera.Handle,8228)) != ePvErrSuccess)
	{
		printf("CameraStart: PvCaptureAdjustPacketSize err: %u\n", errCode);
		return false;
	}

    // start driver capture stream 
	if((errCode = PvCaptureStart(GCamera.Handle)) != ePvErrSuccess)
	{
		printf("CameraStart: PvCaptureStart err: %u\n", errCode);
		return false;
	}

	// set the camera in freerun trigger, continuous mode, and start camera receiving triggers
	if((PvAttrEnumSet(GCamera.Handle,"FrameStartTriggerMode","Freerun") != ePvErrSuccess) ||
		(PvAttrEnumSet(GCamera.Handle,"AcquisitionMode","Continuous") != ePvErrSuccess) ||
		(PvCommandRun(GCamera.Handle,"AcquisitionStart") != ePvErrSuccess))
	{		
		printf("CameraStart: failed to set camera attributes\n");
		return false;
	}	

    // loop until failure or we have acquired all FRAMESCOUNT frames
	while(j<FRAMESCOUNT && !failed  && !GCamera.Abort)
    {
        int last;
			
		if ((j + QUEUELIMIT) < FRAMESCOUNT)
			last = j+QUEUELIMIT - 1;
		else
			last = FRAMESCOUNT - 1;
		
		printf("Queueing frames [%u - %u]\n", j, last);
		
		// enqueue QUEUELIMIT frames at a time.
        for(i=0;i<QUEUELIMIT && j<FRAMESCOUNT && !failed;i++,j++)
		{	
			if((errCode = PvCaptureQueueFrame(GCamera.Handle,&(GCamera.Frames[j]),FrameDoneCB)) != ePvErrSuccess)
			{
				printf("CameraStart: PvCaptureQueueFrame err: %u\n", errCode);
				failed = true;
			}
		}

        //Wait for the 2nd last enqueued frame to return to host before queuing the next batch
		//Always leave at least one frame on queue when requeuing, otherwise camera could return image 
		//with no frame queued, resulting in a dropped image.
		if (!failed)
		{
			printf("Waiting for frame [%u]", j-2);
			while((errCode = PvCaptureWaitForFrameDone(GCamera.Handle,&(GCamera.Frames[j-2]),2000)) == ePvErrTimeout)
				printf(".");
			printf("\n");
		}

		if(errCode == ePvErrSuccess)
        { 
			printf("Frame [%u] returned.\n", j-2);
		}
		else
		{
			//likely camera unplugged
			printf("PvCaptureWaitForFrameDone err: %u\n", errCode);
			failed = true;
		} 			
    }
	return !failed;
}


// stop streaming
void CameraStop()
{
    tPvErr errCode;
	
	//stop camera receiving triggers
	if ((errCode = PvCommandRun(GCamera.Handle,"AcquisitionStop")) != ePvErrSuccess)
		printf("AcquisitionStop command err: %u\n", errCode);
	else
		printf("AcquisitionStop success.\n");
    
	//PvCaptureQueueClear aborts any actively written frame with Frame.Status = ePvErrDataMissing
	//Further queued frames returned with Frame.Status = ePvErrCancelled
	
	//Add delay between AcquisitionStop and PvCaptureQueueClear
	//to give actively written frame time to complete
	Sleep(200);
	
	printf("Calling PvCaptureQueueClear...\n");
	if ((errCode = PvCaptureQueueClear(GCamera.Handle)) != ePvErrSuccess)
		printf("PvCaptureQueueClear err: %u\n", errCode);
	else
		printf("...Queue cleared.\n");  

	//stop driver stream
	if ((errCode = PvCaptureEnd(GCamera.Handle)) != ePvErrSuccess)
		printf("PvCaptureEnd err: %u\n", errCode);
	else
		printf("Driver stream stopped.\n");
}


int main(int argc, char* argv[])
{
    tPvErr errCode;
	
	// initialize the PvAPI
	if((errCode = PvInitialize()) != ePvErrSuccess)
    { 
		printf("PvInitialize err: %u\n", errCode);
	}
	else
	{
        //IMPORTANT: Initialize camera structure. See tPvFrame in PvApi.h for more info.
		memset(&GCamera,0,sizeof(tCamera));

        //Set function to handle ctrl+C
		SetConsoleCtrlHandler(CtrlCHandler, TRUE);
		
		printf("Press CTRL-C to terminate\n");
		
		// wait for a camera to be plugged in
        WaitForCamera();

        // grab a camera from the list
        if(CameraGet() && !GCamera.Abort)
        {
            // open camera
            if(CameraSetup())
            {
                // capture FRAMESCOUNT num frames
                CameraStart();
				// stop streaming
                CameraStop();
                // unsetup the camera
                CameraUnsetup();
            }
        }
        else
            printf("failed to find a camera\n");
       
        // uninitialise the API
        PvUnInitialize();
    }

	return 0;
}