/* -*- Mode: C; tab-width: 8; c-basic-offset: 2; indent-tabs-mode: nil; -*- */

/* Based on https://github.com/ktossell/libuvc/blob/master/src/example.c

Software License Agreement (BSD License)

Copyright (C) 2010-2015 Ken Tossell
All rights reserved.

Redistribution and use in source and binary forms, with or without
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are met:

 * Redistributions of source code must retain the above copyright
   notice, this list of conditions and the following disclaimer.
 * Redistributions in binary form must reproduce the above
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 * Neither the name of the author nor other contributors may be
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   without specific prior written permission.

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*/

/* Tests a subset of the USBDEVFS ioctls. Requires libuvc to build:
   https://github.com/ktossell/libuvc
   Therefore this test is not built/run by default. */

#include "rrutil.h"

#include "libuvc/libuvc.h"

static int frame_count = 0;

void cb(uvc_frame_t* frame, __attribute__((unused)) void* ptr) {
  uvc_frame_t* bgr;
  uvc_error_t ret;
  bgr = uvc_allocate_frame(frame->width * frame->height * 3);
  test_assert(bgr != NULL);
  ret = uvc_any2bgr(frame, bgr);
  test_assert(ret == 0);
  ++frame_count;
  uvc_free_frame(bgr);
}

int main(void) {
  uvc_context_t* ctx;
  uvc_device_t* dev;
  uvc_device_handle_t* devh;
  uvc_stream_ctrl_t ctrl;
  uvc_error_t res;
  res = uvc_init(&ctx, NULL);
  test_assert(res >= 0);
  atomic_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) {
    atomic_puts("No device found");
    atomic_puts("EXIT-SUCCESS");
    return 0;
  }
  atomic_puts("Device found");
  /* Try to open the device: requires exclusive access */
  res = uvc_open(dev, &devh);
  if (res < 0) {
    atomic_puts("Can't open device");
    atomic_puts("EXIT-SUCCESS");
    return 0;
  }
  atomic_puts("Device opened");
  /* Print out a message containing all the information that libuvc
   * knows about the device */
  uvc_print_diag(devh, stdout);
  /* Try to negotiate a 640x480 30 fps YUYV stream profile */
  res = uvc_get_stream_ctrl_format_size(
      devh, &ctrl,           /* result stored in ctrl */
      UVC_FRAME_FORMAT_YUYV, /* YUV 422, aka YUV 4:2:2. try _COMPRESSED */
      640, 480, 30           /* width, height, fps */
      );
  /* Print out the result */
  uvc_print_stream_ctrl(&ctrl, stdout);
  if (res < 0) {
    atomic_puts("No matching stream");
    atomic_puts("EXIT-SUCCESS");
    return 0;
  }
  /* 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);
  test_assert(res >= 0);
  atomic_puts("Streaming...");
  uvc_set_ae_mode(devh, 1); /* e.g., turn on auto exposure */
  sleep(2);                 /* stream for 2 seconds */
  atomic_puts("Stopping streaming.");
  /* End the stream. Blocks until last callback is serviced */
  uvc_stop_streaming(devh);
  atomic_puts("Done streaming.");
  /* Release our handle on the device */
  uvc_close(devh);
  atomic_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);
  test_assert(frame_count > 0);
  atomic_puts("EXIT-SUCCESS");
  return 0;
}
