#include "camera.h"

Camera::Camera(QObject *parent)
    : QObject{parent}
{
    state = false;
    PylonInitialize();
    cam = new  CBaslerUniversalInstantCamera  ( CTlFactory::GetInstance().CreateFirstDevice());
    qDebug() << "Using device " << cam->GetDeviceInfo().GetModelName() ;


}

Camera::~Camera()
{
    state = false;
    task->join();
    PylonTerminate();
}

void Camera::open()
{
    state = true;
    try {
        // 确保相机未在采集
        if(cam->IsGrabbing()){
            cam->StopGrabbing();
        }

        // 重新打开相机确保干净状态
        if(cam->IsOpen()) {
            cam->Close();
        }
        cam->Open();

        // 等待相机初始化
        Sleep(50);

        INodeMap& nodemap = cam->GetNodeMap();

        // 使用安全的方式设置参数
        auto setIntegerParameter = [&nodemap](const char* name, int64_t value) {
            try {
                CIntegerParameter param(nodemap, name);
                if (param.IsWritable()) {
                    // 检查值范围
                    int64_t min = param.GetMin();
                    int64_t max = param.GetMax();
                    int64_t inc = param.GetInc();

                    // 调整值到有效范围内
                    int64_t adjustedValue = max(min, min(value, max));
                    // 对齐到步长
                    if (inc > 1) {
                        adjustedValue = (adjustedValue / inc) * inc;
                    }

                    param.SetValue(adjustedValue);
                    qDebug() << name << "set to:" << adjustedValue;
                    return true;
                } else {
                    qDebug() << name << "is not writable";
                    return false;
                }
            } catch (const GenericException& e) {
                qDebug() << "Failed to set" << name << ":" << e.GetDescription();
                return false;
            }
        };

        // 设置参数
        setIntegerParameter("OffsetX", 1736);
        setIntegerParameter("OffsetY", 1264);
        setIntegerParameter("Width", 640);
        setIntegerParameter("Height", 480);

        // 设置自动曝光
        if (cam->ExposureAuto.IsWritable()) {
            cam->ExposureAuto.SetValue(Basler_UniversalCameraParams::ExposureAuto_Continuous);
        }
    } catch (const GenericException &e) {
        qDebug() << "Exception in setCameraParameters:" << e.GetDescription();
    }





    task = new std::thread(&Camera::getSinglePic,this);
}

void Camera::close(){
    state = false;
    task->join();
    PylonTerminate();
}
void Camera::getSinglePic()
{
    float sec = 1/FRAME;
    int timeout = GRABTIMEOUT;
    while(state){
        CGrabResultPtr ptrGrabResult;

        // auto now = std::chrono::system_clock::now();

        try {
            cam->GrabOne(timeout,ptrGrabResult,TimeoutHandling_ThrowException);
        } catch (const GenericException &e) {
            qDebug() << "Exception in setCameraParameters:" << e.GetDescription();
        }

        // auto now_ = std::chrono::system_clock::now();
        // auto duration = now_ - now;
        // auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(duration).count();

        // qDebug()<<ms ;
        // qDebug()<<ptrGrabResult->GetWidth();
        // qDebug()<<ptrGrabResult->GetHeight();
        if(ptrGrabResult->GrabSucceeded()){
             uint8_t *pImageBuffer = (uint8_t *) ptrGrabResult->GetBuffer();
            QImage img(pImageBuffer,ptrGrabResult->GetWidth(),ptrGrabResult->GetHeight(),ptrGrabResult->GetWidth(),QImage::Format_Grayscale8);
            emit sendPicData(img.copy());
        }
        std::this_thread::sleep_for(std::chrono::milliseconds((int)(sec*1000)));
    }

    // qDebug()<<ptrGrabResult->GetW

}