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/**
 *  @example ImageFormatControl.cpp
 *
 *  @brief ImageFormatControl.cpp shows how to apply custom image settings to
 *	the camera. It relies on information provided in the Enumeration,
 *	Acquisition, and NodeMapInfo examples.
 *
 *	This example demonstrates setting minimums to offsets, X and Y, and maximums
 *	to width and height. It also shows the setting of a new pixel format, which
 *	is an enumeration type node.
 *
 *	Following this, we suggest familiarizing yourself with the Exposure example
 *	if you haven't already. Exposure is another example on camera customization
 *	that is shorter and simpler than many of the others. Once comfortable with
 *	Exposure and ImageFormatControl, we suggest checking out any of the longer,
 *	more complicated examples related to camera configuration: ChunkData,
 *	LookupTable, Sequencer, or Trigger.
 */

#include "Spinnaker.h"
#include "SpinGenApi/SpinnakerGenApi.h"
#include <iostream>
#include <sstream>

using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
using namespace std;

// This function configures a number of settings on the camera including offsets
// X and Y, width, height, and pixel format. These settings must be applied before
// BeginAcquisition() is called; otherwise, they will be read only. Also, it is
// important to note that settings are applied immediately. This means if you plan
// to reduce the width and move the x offset accordingly, you need to apply such
// changes in the appropriate order.
int ConfigureCustomImageSettings(INodeMap& nodeMap)
{
    int result = 0;

    cout << endl << endl << "*** CONFIGURING CUSTOM IMAGE SETTINGS ***" << endl << endl;

    try
    {
        //
        // Apply mono 8 pixel format
        //
        // *** NOTES ***
        // Enumeration nodes are slightly more complicated to set than other
        // nodes. This is because setting an enumeration node requires working
        // with two nodes instead of the usual one.
        //
        // As such, there are a number of steps to setting an enumeration node:
        // retrieve the enumeration node from the nodemap, retrieve the desired
        // entry node from the enumeration node, retrieve the integer value from
        // the entry node, and set the new value of the enumeration node with
        // the integer value from the entry node.
        //
        // Retrieve the enumeration node from the nodemap
        CEnumerationPtr ptrPixelFormat = nodeMap.GetNode("PixelFormat");
        if (IsAvailable(ptrPixelFormat) && IsWritable(ptrPixelFormat))
        {
            // Retrieve the desired entry node from the enumeration node
            CEnumEntryPtr ptrPixelFormatMono8 = ptrPixelFormat->GetEntryByName("Mono8");
            if (IsAvailable(ptrPixelFormatMono8) && IsReadable(ptrPixelFormatMono8))
            {
                // Retrieve the integer value from the entry node
                int64_t pixelFormatMono8 = ptrPixelFormatMono8->GetValue();

                // Set integer as new value for enumeration node
                ptrPixelFormat->SetIntValue(pixelFormatMono8);

                cout << "Pixel format set to " << ptrPixelFormat->GetCurrentEntry()->GetSymbolic() << "..." << endl;
            }
            else
            {
                cout << "Pixel format mono 8 not available..." << endl;
            }
        }
        else
        {
            cout << "Pixel format not available..." << endl;
        }

        //
        // Apply minimum to offset X
        //
        // *** NOTES ***
        // Numeric nodes have both a minimum and maximum. A minimum is retrieved
        // with the method GetMin(). Sometimes it can be important to check
        // minimums to ensure that your desired value is within range.
        //
        CIntegerPtr ptrOffsetX = nodeMap.GetNode("OffsetX");
        if (IsAvailable(ptrOffsetX) && IsWritable(ptrOffsetX))
        {
            ptrOffsetX->SetValue(ptrOffsetX->GetMin());
            cout << "Offset X set to " << ptrOffsetX->GetMin() << "..." << endl;
        }
        else
        {
            cout << "Offset X not available..." << endl;
        }

        //
        // Apply minimum to offset Y
        //
        // *** NOTES ***
        // It is often desirable to check the increment as well. The increment
        // is a number of which a desired value must be a multiple of. Certain
        // nodes, such as those corresponding to offsets X and Y, have an
        // increment of 1, which basically means that any value within range
        // is appropriate. The increment is retrieved with the method GetInc().
        //
        CIntegerPtr ptrOffsetY = nodeMap.GetNode("OffsetY");
        if (IsAvailable(ptrOffsetY) && IsWritable(ptrOffsetY))
        {
            ptrOffsetY->SetValue(ptrOffsetY->GetMin());
            cout << "Offset Y set to " << ptrOffsetY->GetValue() << "..." << endl;
        }
        else
        {
            cout << "Offset Y not available..." << endl;
        }

        //
        // Set maximum width
        //
        // *** NOTES ***
        // Other nodes, such as those corresponding to image width and height,
        // might have an increment other than 1. In these cases, it can be
        // important to check that the desired value is a multiple of the
        // increment. However, as these values are being set to the maximum,
        // there is no reason to check against the increment.
        //
        CIntegerPtr ptrWidth = nodeMap.GetNode("Width");
        if (IsAvailable(ptrWidth) && IsWritable(ptrWidth))
        {
            int64_t widthToSet = ptrWidth->GetMax();

            ptrWidth->SetValue(widthToSet);

            cout << "Width set to " << ptrWidth->GetValue() << "..." << endl;
        }
        else
        {
            cout << "Width not available..." << endl;
        }

        //
        // Set maximum height
        //
        // *** NOTES ***
        // A maximum is retrieved with the method GetMax(). A node's minimum and
        // maximum should always be a multiple of its increment.
        //
        CIntegerPtr ptrHeight = nodeMap.GetNode("Height");
        if (IsAvailable(ptrHeight) && IsWritable(ptrHeight))
        {
            int64_t heightToSet = ptrHeight->GetMax();

            ptrHeight->SetValue(heightToSet);

            cout << "Height set to " << ptrHeight->GetValue() << "..." << endl << endl;
        }
        else
        {
            cout << "Height not available..." << endl << endl;
        }
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }

    return result;
}

// This function prints the device information of the camera from the transport
// layer; please see NodeMapInfo example for more in-depth comments on printing
// device information from the nodemap.
int PrintDeviceInfo(INodeMap& nodeMap)
{
    int result = 0;

    cout << endl << "*** DEVICE INFORMATION ***" << endl << endl;

    try
    {
        FeatureList_t features;
        CCategoryPtr category = nodeMap.GetNode("DeviceInformation");
        if (IsAvailable(category) && IsReadable(category))
        {
            category->GetFeatures(features);

            FeatureList_t::const_iterator it;
            for (it = features.begin(); it != features.end(); ++it)
            {
                CNodePtr pfeatureNode = *it;
                cout << pfeatureNode->GetName() << " : ";
                CValuePtr pValue = (CValuePtr)pfeatureNode;
                cout << (IsReadable(pValue) ? pValue->ToString() : "Node not readable");
                cout << endl;
            }
        }
        else
        {
            cout << "Device control information not available." << endl;
        }
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }

    return result;
}

// This function acquires and saves 10 images from a device; please see
// Acquisition example for more in-depth comments on acquiring images.
int AcquireImages(CameraPtr pCam, INodeMap& nodeMap, INodeMap& nodeMapTLDevice)
{
    int result = 0;

    cout << endl << "*** IMAGE ACQUISITION ***" << endl << endl;

    try
    {
        // Set acquisition mode to continuous
        CEnumerationPtr ptrAcquisitionMode = nodeMap.GetNode("AcquisitionMode");
        if (!IsAvailable(ptrAcquisitionMode) || !IsWritable(ptrAcquisitionMode))
        {
            cout << "Unable to set acquisition mode to continuous (node retrieval). Aborting..." << endl << endl;
            return -1;
        }

        CEnumEntryPtr ptrAcquisitionModeContinuous = ptrAcquisitionMode->GetEntryByName("Continuous");
        if (!IsAvailable(ptrAcquisitionModeContinuous) || !IsReadable(ptrAcquisitionModeContinuous))
        {
            cout << "Unable to set acquisition mode to continuous (entry 'continuous' retrieval). Aborting..." << endl
                 << endl;
            return -1;
        }

        int64_t acquisitionModeContinuous = ptrAcquisitionModeContinuous->GetValue();

        ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous);

        cout << "Acquisition mode set to continuous..." << endl;

        // Begin acquiring images
        pCam->BeginAcquisition();

        cout << "Acquiring images..." << endl;

        // Retrieve device serial number for filename
        gcstring deviceSerialNumber("");

        CStringPtr ptrStringSerial = nodeMapTLDevice.GetNode("DeviceSerialNumber");
        if (IsAvailable(ptrStringSerial) && IsReadable(ptrStringSerial))
        {
            deviceSerialNumber = ptrStringSerial->GetValue();

            cout << "Device serial number retrieved as " << deviceSerialNumber << "..." << endl;
        }
        cout << endl;

        // Retrieve, convert, and save images
        const unsigned int k_numImages = 10;

        for (unsigned int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
        {
            try
            {
                // Retrieve next received image and ensure image completion
                ImagePtr pResultImage = pCam->GetNextImage(1000);

                if (pResultImage->IsIncomplete())
                {
                    cout << "Image incomplete with image status " << pResultImage->GetImageStatus() << "..." << endl
                         << endl;
                }
                else
                {
                    // Print image information
                    cout << "Grabbed image " << imageCnt << ", width = " << pResultImage->GetWidth()
                         << ", height = " << pResultImage->GetHeight() << endl;

                    // Convert image to mono 8
                    ImagePtr convertedImage = pResultImage->Convert(PixelFormat_Mono8, HQ_LINEAR);

                    // Create a unique filename
                    ostringstream filename;

                    filename << "ImageFormatControl-";
                    if (deviceSerialNumber != "")
                    {
                        filename << deviceSerialNumber.c_str() << "-";
                    }
                    filename << imageCnt << ".jpg";

                    // Save image
                    convertedImage->Save(filename.str().c_str());

                    cout << "Image saved at " << filename.str() << endl;
                }

                // Release image
                pResultImage->Release();

                cout << endl;
            }
            catch (Spinnaker::Exception& e)
            {
                cout << "Error: " << e.what() << endl;
                result = -1;
            }
        }

        // End acquisition
        pCam->EndAcquisition();
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }

    return result;
}

// This function acts as the body of the example; please see NodeMapInfo example
// for more in-depth comments on setting up cameras.
int RunSingleCamera(CameraPtr pCam)
{
    int result = 0;
    int err = 0;

    try
    {
        // Retrieve TL device nodemap and print device information
        INodeMap& nodeMapTLDevice = pCam->GetTLDeviceNodeMap();

        result = PrintDeviceInfo(nodeMapTLDevice);

        // Initialize camera
        pCam->Init();

        // Retrieve GenICam nodemap
        INodeMap& nodeMap = pCam->GetNodeMap();

        // Configure custom image settings
        err = ConfigureCustomImageSettings(nodeMap);
        if (err < 0)
        {
            return err;
        }

        // Acquire images
        result = result | AcquireImages(pCam, nodeMap, nodeMapTLDevice);

        // Deinitialize camera
        pCam->DeInit();
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }

    return result;
}

// Example entry point; please see Enumeration example for additional
// comments on the steps in this function.
int main(int /*argc*/, char** /*argv*/)
{
    // Since this application saves images in the current folder
    // we must ensure that we have permission to write to this folder.
    // If we do not have permission, fail right away.
    FILE* tempFile = fopen("test.txt", "w+");
    if (tempFile == nullptr)
    {
        cout << "Failed to create file in current folder.  Please check "
                "permissions."
             << endl;
        cout << "Press Enter to exit..." << endl;
        getchar();
        return -1;
    }
    fclose(tempFile);
    remove("test.txt");

    int result = 0;

    // Print Application Build Information
    cout << "Application build date: " << __DATE__ << " " << __TIME__ << endl << endl;

    // Retrieve singleton reference to system object
    SystemPtr system = System::GetInstance();

    // Print out current library version
    const LibraryVersion spinnakerLibraryVersion = system->GetLibraryVersion();
    cout << "Spinnaker library version: " << spinnakerLibraryVersion.major << "." << spinnakerLibraryVersion.minor
         << "." << spinnakerLibraryVersion.type << "." << spinnakerLibraryVersion.build << endl
         << endl;

    // Retrieve list of cameras from the system
    CameraList camList = system->GetCameras();

    unsigned int numCameras = camList.GetSize();

    cout << "Number of cameras detected: " << numCameras << endl << endl;

    // Finish if there are no cameras
    if (numCameras == 0)
    {
        // Release camera list before releasing system
        camList.Clear();

        // Release system
        system->ReleaseInstance();

        cout << "Not enough cameras!" << endl;
        cout << "Done! Press Enter to exit..." << endl;
        getchar();

        return -1;
    }

    // Run example on each camera
    for (unsigned int i = 0; i < numCameras; i++)
    {
        cout << endl << "Running example for camera " << i << "..." << endl;

        result = result | RunSingleCamera(camList.GetByIndex(i));

        cout << "Camera " << i << " example complete..." << endl << endl;
    }

    // Release camera list before releasing system
    camList.Clear();

    // Release system
    system->ReleaseInstance();

    cout << endl << "Done! Press Enter to exit..." << endl;
    getchar();

    return result;
}