////////////////////////////////////////////////////////
//
// GEM - Graphics Environment for Multimedia
//
// zmoelnig@iem.kug.ac.at
//
// Implementation file
//
//    Copyright (c) 1997-1998 Mark Danks.
//    Copyright (c) Günther Geiger.
//    Copyright (c) 2001-2011 IOhannes m zmölnig. forum::für::umläute. IEM. zmoelnig@iem.at
//    For information on usage and redistribution, and for a DISCLAIMER OF ALL
//    WARRANTIES, see the file, "GEM.LICENSE.TERMS" in this distribution.
//
/////////////////////////////////////////////////////////
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif

#include "videoV4L2.h"
#include "plugins/PluginFactory.h"

using namespace gem::plugins;

#include "Gem/RTE.h"
#include "Gem/Files.h"

#ifndef HAVE_LIBV4L2
# define v4l2_open ::open
# define v4l2_close ::close
# define v4l2_dup ::dup
# define v4l2_ioctl ::ioctl
# define v4l2_read ::read
# define v4l2_mmap ::mmap
# define v4l2_munmap ::munmap
#endif /* libv4l-2 */


/* debugging helpers  */
#undef debugPost
#undef debugThread
#undef debugIOCTL

#if 0
# define debugPost ::startpost("%s:%s[%d]", __FILE__, __FUNCTION__, __LINE__); ::post
#else
# include "Utils/nop.h"
# define debugPost nop_post
#endif

#if 0
# define debugThread ::startpost("%s:%s[%d]", __FILE__, __FUNCTION__, __LINE__); ::post
#else
# include "Utils/nop.h"
# define debugThread nop_post
#endif

#if 0
# define debugIOCTL ::post
#else
# include "Utils/nop.h"
# define debugIOCTL nop_post
#endif


#define WIDTH_FLAG 1
#define HEIGHT_FLAG 2

/////////////////////////////////////////////////////////
//
// videoV4L2
//
/////////////////////////////////////////////////////////
// Constructor
//
/////////////////////////////////////////////////////////
#ifdef HAVE_VIDEO4LINUX2

#include <sys/stat.h>
#include <string.h>

REGISTER_VIDEOFACTORY("v4l2", videoV4L2);

videoV4L2 :: videoV4L2() : videoBase("v4l2", 0)
  , m_gotFormat(0), m_colorConvert(0),
  m_tvfd(0),
  m_buffers(NULL), m_nbuffers(0),
  m_currentBuffer(NULL),
  m_frame(0), m_last_frame(0),
  m_maxwidth(844), m_minwidth(32),
  m_maxheight(650), m_minheight(32),
  m_thread_id(0), m_continue_thread(false), m_frame_ready(false),
  m_rendering(false),
  m_stopTransfer(false),
  m_frameSize(0)
{
  memset(&m_caps, 0, sizeof(m_caps));
  if (!m_width) {
    m_width=320;
  }
  if (!m_height) {
    m_height=240;
  }
  m_capturing=false;
  m_devicenum=V4L2_DEVICENO;

  provide("analog");
}

////////////////////////////////////////////////////////
// Destructor
//
////////////////////////////////////////////////////////
videoV4L2 :: ~videoV4L2()
{
  close();
}

static int xioctl(int                    fd,
                  int                    request,
                  void *                 arg)
{
  int r;
  const unsigned char req=(request&0xFF);

  debugIOCTL("V4L2: xioctl %d\n", req);
  do {
    r = v4l2_ioctl (fd, request, arg);
    debugIOCTL("V4L2: xioctl %d->%d\n", r, errno);
  } while (-1 == r && EINTR == errno);

  debugIOCTL("V4L2: xioctl done %d\n", r);
#if 0
  if(r!=0) {
    char buf[13];
    snprintf(buf, 13, "xioctl[%03d]:", req);
    buf[12]=0;
    perror(buf);
  }
#endif
  return r;
}

static int reqbufs(int fd, unsigned int numbufs)
{
  struct v4l2_requestbuffers req;
  memset (&(req), 0, sizeof (req));

  req.count               = numbufs;
  req.type                = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  req.memory              = V4L2_MEMORY_MMAP;

  if (-1 == xioctl (fd, VIDIOC_REQBUFS, &req)) {
    return -1;
  }

  return req.count;
}

int videoV4L2::init_mmap (void)
{
  const char *devname=(m_devicename.empty())?"device":m_devicename.c_str();
  int count = reqbufs(m_tvfd, V4L2_NBUF);

  if(count<0) {
    if (EINVAL == errno) {
      error("[GEM:videoV4L2] %s does not support memory mapping", devname);
      return 0;
    } else {
      perror("[GEM:videoV4L2] VIDIOC_REQBUFS");
      return 0;
    }
  }

  if (count < V4L2_NBUF) {
    //error("[GEM:videoV4L2] Insufficient buffer memory on %s: %d", devname, count);
    //return(0);
  }

  m_buffers = (t_v4l2_buffer*)calloc (count, sizeof (*m_buffers));

  if (!m_buffers) {
    perror("[GEM:videoV4L2] out of memory");
    return(0);
  }

  for (m_nbuffers = 0; m_nbuffers < count; ++m_nbuffers) {
    struct v4l2_buffer buf;

    memset (&(buf), 0, sizeof (buf));

    buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory      = V4L2_MEMORY_MMAP;
    buf.index       = m_nbuffers;
    debugPost("v4l2: buf.index==%d", buf.index);

    if (-1 == xioctl (m_tvfd, VIDIOC_QUERYBUF, &buf)) {
      perror("[GEM:videoV4L2] VIDIOC_QUERYBUF");
      return(0);
    }

    m_buffers[m_nbuffers].length = buf.length;
    m_buffers[m_nbuffers].start =
      v4l2_mmap (NULL /* start anywhere */,
                 buf.length,
                 PROT_READ | PROT_WRITE /* required */,
                 MAP_SHARED /* recommended */,
                 m_tvfd, buf.m.offset);

    if (MAP_FAILED == m_buffers[m_nbuffers].start) {
      perror("[GEM:videoV4L2] mmap");
      return 0;
    }
  }
  return 1;
}

/////////////////////////////////////////////////////////
// this is the work-horse
// a thread that does the capturing
//
/////////////////////////////////////////////////////////
void *videoV4L2::capturing_(void*you)
{
  videoV4L2 *me=(videoV4L2 *)you;
  return me->capturing();
}
void *videoV4L2 :: capturing(void)
{
  int errorcount=0;

  t_v4l2_buffer*buffers=m_buffers;
  void *currentBuffer=NULL;

  const __u32 expectedSize=m_frameSize;
  __u32 gotSize=0;


  struct v4l2_buffer buf;
  int nbuf=m_nbuffers;

  fd_set fds;
  struct timeval tv;

  m_capturing=true;

  debugThread("V4L2: memset");
  memset(&(buf), 0, sizeof (buf));

  buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  buf.memory = V4L2_MEMORY_MMAP;

  while(m_continue_thread) {
    bool captureerror=false;
    FD_ZERO (&fds);
    FD_SET (m_tvfd, &fds);

    debugThread("V4L2: grab");

    m_frame++;
    m_frame%=nbuf;


    /* Timeout. */
    tv.tv_sec = 0;
    tv.tv_usec = 100;
    int r = select(0,0,0,0,&tv);
    debugThread("V4L2: waited...");


    if (-1 == r) {
      if (EINTR == errno) {
        continue;
      }
      perror("[GEM:videoV4L2] select");//exit
    }

    memset(&(buf), 0, sizeof (buf));
    debugThread("V4L2: memset...");

    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;

    if (-1 == xioctl (m_tvfd, VIDIOC_DQBUF, &buf)) {
      switch (errno) {
      /* coverity[unterminated_case] */
      case EAGAIN:
        perror("[GEM:videoV4L2] VIDIOC_DQBUF: stopping capture thread!");
        m_stopTransfer=true;
        m_continue_thread=false;
      /* coverity[unterminated_case] */
      case EIO:
      /* Could ignore EIO, see spec. */
      /* fall through */
      default:
        captureerror=true;
        perror("[GEM:videoV4L2] VIDIOC_DQBUF");
      }
    }

    debugThread("V4L2: grabbed %d", buf.index);

    gotSize=buf.bytesused;
    currentBuffer=buffers[buf.index].start;
    //process_image (m_buffers[buf.index].start);

    if (-1 == xioctl (m_tvfd, VIDIOC_QBUF, &buf)) {
      perror("[GEM:videoV4L2] VIDIOC_QBUF");
      captureerror=true;
    }

    debugThread("V4L2: dequeueued");

    if(expectedSize<=gotSize) {
      m_frame_ready = 1;
      m_last_frame=m_frame;
      m_currentBuffer=currentBuffer;
    } else {
      fprintf(stderr,
              "[GEM:videoV4L2] oops, skipping incomplete capture %d of %d bytes\n",
              gotSize, expectedSize);
    }

    if(captureerror) {
      errorcount++;
      if(errorcount>1000) {
        error("[GEM:videoV4L2] %d capture errors in a row... I think I better stop now...",
              errorcount);
        m_continue_thread=false;
        m_stopTransfer=true;
      }
    } else {
      errorcount=0;
    }
  }

  // stop capturing
  m_capturing=false;
  debugThread("V4L2: thread finished");
  return NULL;
}

//////////////////
// this reads the data that was captured by capturing() and returns it within a pixBlock
pixBlock *videoV4L2 :: getFrame()
{
  if(!(m_haveVideo && m_capturing)) {
    return NULL;
  }
  if(m_stopTransfer) {
    bool rendering=m_rendering;
    stopTransfer();
    m_rendering=rendering;
    return NULL;
  }
  //debugPost("v4l2: getting frame %d", m_frame_ready);
  m_image.newfilm=0;
  if (!m_frame_ready) {
    m_image.newimage = 0;
  } else {
    unsigned char*data=(unsigned char*)m_currentBuffer;
    if (m_colorConvert) {
      m_image.image.notowned = false;
      switch(m_gotFormat) {
#if 1
# define CONVERT(type) m_image.image.from##type (data)
#else
# define CONVERT(type) post("from " #type "!");m_image.image.from##type (data)
#endif
      case V4L2_PIX_FMT_RGB24:
        CONVERT(RGB   );
        break;
      case V4L2_PIX_FMT_BGR32:
        CONVERT(BGRA  );
        break;
      case V4L2_PIX_FMT_RGB32:
        CONVERT(ARGB  );
        break;
      case V4L2_PIX_FMT_GREY :
        CONVERT(Gray  );
        break;
      case V4L2_PIX_FMT_UYVY :
        CONVERT(YUV422);
        break;
      case V4L2_PIX_FMT_YUYV :
        CONVERT(YUY2  );
        break;
      case V4L2_PIX_FMT_YUV420:
        CONVERT(YU12  );
        break;


      default: // ? what should we do ?
        m_image.image.data=data;
        m_image.image.notowned = true;
      }
    } else {
      m_image.image.data=data;
      m_image.image.notowned = true;
    }
    m_image.image.upsidedown=true;

    m_image.newimage = 1;
    m_frame_ready = false;
  }
  return &m_image;
}

bool videoV4L2 :: openDevice(gem::Properties&props)
{
  close();

  /* check the device */
  // if we don't have a devicename, create one
  std::string devname = m_devicename;


  if(devname.empty()) {
    devname="/dev/video";
    if(m_devicenum>=0) {
      char buf[256];
      snprintf(buf, 255, "%d", m_devicenum);
      buf[255]=0;
      devname+=buf;
    }
  }


  if (devname.at(0) !=
      '/') { // assuming all v4l2 device's paths starts with '/'

    std::vector<std::string> alldev = enumerate();
    int i;
    for(i=0; i<alldev.size(); i++) {
      std::string dev=alldev[i];
      verbose(1, "[GEM:videoV4L2] found possible device %s", dev.c_str());
      int fd=v4l2_open(dev.c_str(), O_RDWR);
      verbose(1, "[GEM:videoV4L2] v4l2_open returned %d", fd);
      if(fd<0) {
        continue;
      }
      struct v4l2_capability cap;
      if (-1 != xioctl (fd, VIDIOC_QUERYCAP, &cap)) {
        std::string bus;
        bus = (char*) cap.bus_info;
        if ( devname == bus ) {
          devname = dev;
          break;
        }
      } else {
        verbose(1, "[GEM:videoV4L2] %s is no v4l2 device\n", dev.c_str());
      }
      v4l2_close(fd);
    }
    if ( i >= alldev.size() ) {
      verbose(0, "[GEM:videoV4L2] no v4l2 input device on bus %s\n",
              devname.c_str());
      devname = "";
    }
  }


  const char*dev_name=devname.c_str();
  debugPost("v4l2: device: %s", dev_name);

  // try to open the device
  m_tvfd = v4l2_open (dev_name, O_RDWR /* required */, 0);

  if (-1 == m_tvfd) {
    verbose(0, "[GEM:videoV4L2] Cannot open '%s': %d, %s", dev_name, errno,
            strerror (errno));
    closeDevice();
    return false;
  }

  struct stat st;
  if (-1 == fstat (m_tvfd, &st)) {
    verbose(0, "[GEM:videoV4L2] Cannot identify '%s': %d, %s", dev_name, errno,
            strerror (errno));
    closeDevice();
    return false;
  }

  if (!S_ISCHR (st.st_mode)) {
    verbose(0, "[GEM:videoV4L2] %s is no device", dev_name);
    closeDevice();
    return false;
  }

  // by now, we have an open file-descriptor
  // check whether this is really a v4l2-device
  struct v4l2_capability cap;
  if (-1 == xioctl (m_tvfd, VIDIOC_QUERYCAP, &cap)) {
    if (EINVAL == errno) {
      verbose(0, "[GEM:videoV4L2] %s is no V4L2 device",  dev_name);
      closeDevice();
      return false;
    } else {
      perror("[GEM:videoV4L2] VIDIOC_QUERYCAP");//exit
      closeDevice();
      return false;
    }
  }

  if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
    verbose(0, "[GEM:videoV4L2] %s is no video capture device", dev_name);
    closeDevice();
    return false;
  }

  if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
    verbose(0, "[GEM:videoV4L2] %s does not support streaming i/o", dev_name);
    closeDevice();
    return false;
  }

  verbose(1, "[GEM:videoV4L2] successfully opened %s", dev_name);

  setProperties(props);

  return true;
}
void videoV4L2 :: closeDevice()
{
  verbose(1, "[GEM:videoV4L2] closing device %d", m_tvfd);
  if (m_tvfd>=0) {
    v4l2_close(m_tvfd);
  }
  m_tvfd=-1;
}


/////////////////////////////////////////////////////////
// restartTransfer
//
/////////////////////////////////////////////////////////
bool videoV4L2 :: restartTransfer()
{
  bool rendering=m_rendering;
  debugPost("v4l2: restart transfer");
  if(m_capturing) {
    stopTransfer();
  }
  debugPost("v4l2: restart stopped");
  if (rendering) {
    startTransfer();
  }
  debugPost("v4l2: restart started");

  return true;
}

/////////////////////////////////////////////////////////
// startTransfer
//
/////////////////////////////////////////////////////////
bool videoV4L2 :: startTransfer()
{
  if(m_tvfd<0) {
    return false;
  }
  debugPost("v4l2: startTransfer: %d", m_capturing);
  if(m_capturing) {
    stopTransfer();  // just in case we are already running!
  }
  debugPost("v4l2: start transfer");
  m_stopTransfer=false;
  m_rendering=true;
  verbose(1, "[GEM:videoV4L2] starting transfer");
  int i;

  __u32 pixelformat=0;
  struct v4l2_format fmt;

  enum v4l2_buf_type type;

  m_frame = 0;
  m_last_frame = 0;

  /* Select video format */
  memset (&(fmt), 0, sizeof (fmt));
  fmt.type                = V4L2_BUF_TYPE_VIDEO_CAPTURE;

  /* initialize the format struct to what we currently have */
  if (-1 == xioctl (m_tvfd, VIDIOC_G_FMT, &fmt)) {
    perror("[GEM:videoV4L2] VIDIOC_G_FMT");//exit
  }

  switch(m_reqFormat) {
  case GL_YCBCR_422_GEM:
    pixelformat = V4L2_PIX_FMT_UYVY;
    break;
  case GL_LUMINANCE:
    pixelformat = V4L2_PIX_FMT_GREY;
    break;
  case GL_RGB:
    pixelformat = V4L2_PIX_FMT_RGB24;
    break;
  default:
    pixelformat = V4L2_PIX_FMT_RGB32;
    m_reqFormat=GL_RGBA;
    break;
  }

  if(fmt.fmt.pix.pixelformat != pixelformat) {
    fmt.fmt.pix.pixelformat = pixelformat;

    verbose(1, "[GEM:videoV4L2] want 0x%X == '%c%c%c%c' ", m_reqFormat,
            (char)(fmt.fmt.pix.pixelformat),
            (char)(fmt.fmt.pix.pixelformat>>8),
            (char)(fmt.fmt.pix.pixelformat>>16),
            (char)(fmt.fmt.pix.pixelformat>>24));

    if (-1 == xioctl (m_tvfd, VIDIOC_S_FMT, &fmt)) {
      perror("[GEM:videoV4L2] VIDIOC_S_FMT(fmt)");//exit
    }

    // query back what we have set
    /* in theory this should not be needed,
     * as S_FMT is supposed to return the actual data
     * however, some buggy drivers seem to not do that,
     * so we have to make sure...
     */
    if (-1 == xioctl (m_tvfd, VIDIOC_G_FMT, &fmt)) {
      perror("[GEM:videoV4L2] VIDIOC_G_FMT");//exit
    }
  }

  m_gotFormat=fmt.fmt.pix.pixelformat;
  switch(m_gotFormat) {
  case V4L2_PIX_FMT_RGB32:
    debugPost("v4l2: ARGB");
    break;
  case V4L2_PIX_FMT_RGB24:
    debugPost("v4l2: RGB");
    break;
  case V4L2_PIX_FMT_UYVY:
    debugPost("v4l2: YUV ");
    break;
  case V4L2_PIX_FMT_GREY:
    debugPost("v4l2: gray");
    break;
  case V4L2_PIX_FMT_YUV420:
    debugPost("v4l2: YUV 4:2:0");
    break;
  default:
    /* hmm, we don't know how to handle this
     * let's try formats that should be always supported by libv4l2
     */
    switch(m_reqFormat) {
    case GL_YCBCR_422_GEM:
    case GL_LUMINANCE:
      pixelformat = V4L2_PIX_FMT_YUV420;
      break;
    default:
      pixelformat = V4L2_PIX_FMT_RGB24;
      break;
    }
    fmt.fmt.pix.pixelformat = pixelformat;

    if (-1 == xioctl (m_tvfd, VIDIOC_S_FMT, &fmt)) {
      perror("[GEM:videoV4L2] VIDIOC_S_FMT(fmt2)");
    }
    // query back what we have set
    if (-1 == xioctl (m_tvfd, VIDIOC_G_FMT, &fmt)) {
      perror("[GEM:videoV4L2] VIDIOC_G_FMT(fmt2)");
    }
    m_gotFormat=fmt.fmt.pix.pixelformat;
  }

  switch(m_gotFormat) {
  case V4L2_PIX_FMT_RGB32:
  case V4L2_PIX_FMT_RGB24:
  case V4L2_PIX_FMT_UYVY:
  case V4L2_PIX_FMT_YUV420:
  case V4L2_PIX_FMT_YUYV:
  case V4L2_PIX_FMT_GREY:
    break;
  default:
    error("[GEM:videoV4L2] unknown format '%c%c%c%c'",
          (char)(m_gotFormat),
          (char)(m_gotFormat>>8),
          (char)(m_gotFormat>>16),
          (char)(m_gotFormat>>24));
    /* we should really return here! */
  }

  verbose(1, "[GEM:videoV4L2] got '%c%c%c%c'",
          (char)(m_gotFormat),
          (char)(m_gotFormat>>8),
          (char)(m_gotFormat>>16),
          (char)(m_gotFormat>>24));

  if(!init_mmap ()) {
    goto closit;
  }

  for (i = 0; i < m_nbuffers; ++i) {
    struct v4l2_buffer buf;

    memset (&(buf), 0, sizeof (buf));

    buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory      = V4L2_MEMORY_MMAP;
    buf.index       = i;

    if (-1 == xioctl (m_tvfd, VIDIOC_QBUF, &buf)) {
      perror("[GEM:videoV4L2] VIDIOC_QBUF");//exit
    }
  }

  type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  if (-1 == xioctl (m_tvfd, VIDIOC_STREAMON, &type)) {
    perror("[GEM:videoV4L2] VIDIOC_STREAMON");//exit
  }

  m_frameSize=fmt.fmt.pix.sizeimage;

  /* fill in image specifics for Gem pixel object.  Could we have
     just used RGB, I wonder? */
  m_image.image.xsize = fmt.fmt.pix.width;
  m_image.image.ysize = fmt.fmt.pix.height;
  m_image.image.setCsizeByFormat(m_reqFormat);
  m_image.image.reallocate();

  debugPost("v4l2: format: %c%c%c%c -> 0x%X",
            (char)(m_gotFormat),
            (char)(m_gotFormat>>8),
            (char)(m_gotFormat>>16),
            (char)(m_gotFormat>>24),
            m_reqFormat);
  switch(m_gotFormat) {
  case V4L2_PIX_FMT_GREY  :
    m_colorConvert=(m_reqFormat!=GL_LUMINANCE);
    break;
  case V4L2_PIX_FMT_RGB24 :
    m_colorConvert=(m_reqFormat!=GL_BGR);
    break;
  case V4L2_PIX_FMT_RGB32 :
    m_colorConvert=true;
    break;
  case V4L2_PIX_FMT_UYVY  :
    m_colorConvert=(m_reqFormat!=GL_YCBCR_422_GEM);
    break;
  case V4L2_PIX_FMT_YUV420:
    m_colorConvert=1;
    break;
  default:
    m_colorConvert=true;
  }

  debugPost("v4l2: colorconvert=%d", m_colorConvert);

  /* create thread */
  m_continue_thread = 1;
  m_frame_ready = 0;
  pthread_create(&m_thread_id, 0, capturing_, this);
  while(!m_capturing) {
    usleep(10);
    debugPost("v4l2: waiting for thread to come up");
  }

  verbose(1, "[GEM:videoV4L2] Opened video connection 0x%X", m_tvfd);

  return(1);

closit:
  debugPost("v4l2: closing it!");
  stopTransfer();
  debugPost("v4l2: closed it");
  return(0);
}

/////////////////////////////////////////////////////////
// stopTransfer
//
/////////////////////////////////////////////////////////
bool videoV4L2 :: stopTransfer()
{
  debugPost("v4l2: stoptransfer");
  if(!m_capturing) {
    return false;
  }
  /* close the v4l2 device and dealloc buffer */
  /* terminate thread if there is one */
  if(m_continue_thread) {
    void *dummy;
    m_continue_thread = 0;
    pthread_join (m_thread_id, &dummy);
  }
  while(m_capturing) {
    usleep(10);
    debugPost("v4l2: waiting for thread to finish");
  }

  // unmap the mmap
  debugPost("v4l2: unmapping %d buffers: %x", m_nbuffers, m_buffers);
  if(m_buffers) {
    for (int i = 0; i < m_nbuffers; ++i)
      if (-1 == v4l2_munmap (m_buffers[i].start, m_buffers[i].length)) {
        // oops: couldn't unmap the memory
      }
    debugPost("v4l2: freeing buffers: %x", m_buffers);
    free (m_buffers);
  }
  m_buffers=NULL;
  debugPost("v4l2: freed");

  // stop streaming
  if(m_tvfd) {
    enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (-1 == xioctl (m_tvfd, VIDIOC_STREAMOFF, &type)) {
      perror("[GEM:videoV4L2] VIDIOC_STREAMOFF");
    }
  }

  debugPost("v4l2: de-requesting buffers");
  reqbufs(m_tvfd, 0);

  m_frame_ready = 0;
  m_rendering=false;
  debugPost("v4l2: stoppedTransfer");
  return true;
}

bool videoV4L2 :: setColor(int format)
{
  if (format<=0 || format==m_reqFormat) {
    return -1;
  }
  m_reqFormat=format;
  restartTransfer();
  return true;
}

std::vector<std::string> videoV4L2::enumerate()
{
  std::vector<std::string> result;
  std::vector<std::string> glob, allglob;
  glob=gem::files::getFilenameListing("/dev/video*");
  for(int i=0; i<glob.size(); i++) {
    allglob.push_back(glob[i]);
  }

  glob=gem::files::getFilenameListing("/dev/v4l/*");
  for(int i=0; i<glob.size(); i++) {
    allglob.push_back(glob[i]);
  }

  for(int i=0; i<allglob.size(); i++) {
    std::string dev=allglob[i];
    verbose(1, "[GEM:videoV4L2] found possible device %s", dev.c_str());
    int fd=v4l2_open(dev.c_str(), O_RDWR);
    verbose(1, "[GEM:videoV4L2]  v4l2_open returned %d", fd);
    if(fd<0) {
      continue;
    }
    struct v4l2_capability cap;
    memset (&cap, 0, sizeof (cap));
    if (-1 != xioctl (fd, VIDIOC_QUERYCAP, &cap)) {
      if (cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) {
        result.push_back(dev);
      } else {
        verbose(1, "[GEM:videoV4L2] %s is v4l2 but cannot capture", dev.c_str());
      }
    } else {
      verbose(1, "[GEM:videoV4L2] %s is no v4l2 device", dev.c_str());
    }
    v4l2_close(fd);
  }

  return result;
}

void videoV4L2::addProperties(struct v4l2_queryctrl queryctrl,
                              gem::Properties&readable,
                              gem::Properties&writeable)
{
  const char* name=NULL;
  gem::any typ;

  if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED) {
    return;
  }

  switch(queryctrl.type) {
  case V4L2_CTRL_TYPE_BUTTON:
    break;
  case V4L2_CTRL_TYPE_BOOLEAN:
    typ=1;
    break;
  case V4L2_CTRL_TYPE_MENU:
    typ=queryctrl.maximum;
    break;
  case V4L2_CTRL_TYPE_INTEGER:
    typ=queryctrl.maximum;
    break;
  case V4L2_CTRL_TYPE_INTEGER64:
    typ=0;
    break;
  default:
    return;
  }

  name=(const char*)(queryctrl.name);

  m_readprops[name]=queryctrl;
  readable.set(name, typ);

  if (!(queryctrl.flags & V4L2_CTRL_FLAG_READ_ONLY)) {
    m_writeprops[name]=queryctrl;
    writeable.set(name, typ);
  }


}

bool videoV4L2 :: enumProperties(gem::Properties&readable,
                                 gem::Properties&writeable)
{
  struct v4l2_queryctrl queryctrl;
  __u32 id=0;
  std::string dummy_s;

  if(m_tvfd<0) {
    return false;
  }

  readable.clear();
  writeable.clear();

  m_readprops.clear();
  m_writeprops.clear();

  memset (&queryctrl, 0, sizeof (queryctrl));

  for (id = V4L2_CID_BASE;
       id < V4L2_CID_LASTP1;
       id++) {
    queryctrl.id = id;
    if (0 == xioctl (m_tvfd, VIDIOC_QUERYCTRL, &queryctrl)) {
      addProperties(queryctrl, readable, writeable);

    } else {
      if (errno == EINVAL) {
        continue;
      }
    }
  }

  for (id = V4L2_CID_PRIVATE_BASE;;
       id++) {
    queryctrl.id = id;
    if (0 == xioctl (m_tvfd, VIDIOC_QUERYCTRL, &queryctrl)) {
      addProperties(queryctrl, readable, writeable);
    } else {
      if (errno == EINVAL) {
        break;
      }
    }
  }

  readable.set("channel",0);
  readable.set("frequency",0);
  readable.set("norm", dummy_s);
  readable.set("width",0);
  readable.set("height",0);

  writeable.set("channel",0);
  writeable.set("frequency",0);
  writeable.set("norm", dummy_s);
  writeable.set("width",0);
  writeable.set("height",0);

  if (-1 != xioctl (m_tvfd, VIDIOC_QUERYCAP, &m_caps)) {
    readable.set("driver", (char*) m_caps.driver);
    readable.set("card", (char*) m_caps.card);
    readable.set("bus_info", (char*) m_caps.bus_info);
  }

  return true;
}
void videoV4L2 :: getProperties(gem::Properties&props)
{
  int getformat=0;

  if(m_tvfd<0) {
    props.clear();
    return;
  }
  std::vector<std::string>keys=props.keys();
  for(int i=0; i<keys.size(); i++) {
    std::string key=keys[i];
    std::map<std::string,  struct v4l2_queryctrl>::iterator it =
      m_readprops.find(key);
    if(it != m_readprops.end()) {
      struct v4l2_queryctrl qc=it->second;
      struct v4l2_control vc;
      memset (&vc, 0, sizeof (vc));
      vc.id=qc.id;
      vc.value=0;

      int err=xioctl(m_tvfd, VIDIOC_G_CTRL, &vc);
      if(0==err) {
        props.set(key, vc.value);
      } else {
        props.erase(key);
      }
    } else {
      if("norm" == key) {
        v4l2_std_id stdid = 0;
        if(0==xioctl(m_tvfd, VIDIOC_G_STD, &stdid)) {
          std::string std;
          switch(stdid) {
          default:
          case V4L2_STD_UNKNOWN:
            std="UNKNOWN";
            break;
          case V4L2_STD_ALL:
            std="ALL";
            break;

          case V4L2_STD_ATSC:
            std="ATSC";
            break;
          case V4L2_STD_625_50:
            std="625_50";
            break;
          case V4L2_STD_525_60:
            std="525_60";
            break;
          case V4L2_STD_SECAM:
            std="SECAM";
            break;
          case V4L2_STD_SECAM_DK:
            std="SECAM_DK";
            break;
          case V4L2_STD_NTSC:
            std="NTSC";
            break;
          case V4L2_STD_PAL:
            std="PAL";
            break;
          case V4L2_STD_PAL_DK:
            std="PAL_DK";
            break;
          case V4L2_STD_PAL_BG:
            std="PAL_BG";
            break;
          case V4L2_STD_DK:
            std="DK";
            break;
          case V4L2_STD_GH:
            std="GH";
            break;
          case V4L2_STD_B:
            std="B";
            break;
          case V4L2_STD_MN:
            std="MN";
            break;
          case V4L2_STD_ATSC_16_VSB:
            std="ATSC_16_VSB";
            break;
          case V4L2_STD_ATSC_8_VSB:
            std="ATSC_8_VSB";
            break;
          case V4L2_STD_SECAM_LC:
            std="SECAM_LC";
            break;
          case V4L2_STD_SECAM_L:
            std="SECAM_L";
            break;
          case V4L2_STD_SECAM_K1:
            std="SECAM_K1";
            break;
          case V4L2_STD_SECAM_K:
            std="SECAM_K";
            break;
          case V4L2_STD_SECAM_H:
            std="SECAM_H";
            break;
          case V4L2_STD_SECAM_G:
            std="SECAM_G";
            break;
          case V4L2_STD_SECAM_D:
            std="SECAM_D";
            break;
          case V4L2_STD_SECAM_B:
            std="SECAM_B";
            break;
          case V4L2_STD_NTSC_M_KR:
            std="NTSC_M_KR";
            break;
          case V4L2_STD_NTSC_443:
            std="NTSC_443";
            break;
          case V4L2_STD_NTSC_M_JP:
            std="NTSC_M_JP";
            break;
          case V4L2_STD_NTSC_M:
            std="NTSC_M";
            break;
          case V4L2_STD_PAL_60:
            std="PAL_60";
            break;
          case V4L2_STD_PAL_Nc:
            std="PAL_Nc";
            break;
          case V4L2_STD_PAL_N:
            std="PAL_N";
            break;
          case V4L2_STD_PAL_M:
            std="PAL_M";
            break;
          case V4L2_STD_PAL_K:
            std="PAL_K";
            break;
          case V4L2_STD_PAL_D1:
            std="PAL_D1";
            break;
          case V4L2_STD_PAL_D:
            std="PAL_D";
            break;
          case V4L2_STD_PAL_I:
            std="PAL_I";
            break;
          case V4L2_STD_PAL_H:
            std="PAL_H";
            break;
          case V4L2_STD_PAL_G:
            std="PAL_G";
            break;
          case V4L2_STD_PAL_B1:
            std="PAL_B1";
            break;
          case V4L2_STD_PAL_B:
            std="PAL_B";
            break;
          }
          props.set("norm", std);
        }
      } else if("channel" == key) {
        int channel=0;
        if(0==xioctl(m_tvfd, VIDIOC_G_INPUT, &channel)) {
          props.set("channel", channel);
        }
      } else if("frequency" == key) {
        struct v4l2_frequency freq;
        memset (&(freq), 0, sizeof (freq));
        freq.tuner=0; /* FIXXME: this should be a bit more intelligent... */

        if(0==xioctl(m_tvfd, VIDIOC_G_FREQUENCY, &freq)) {
          props.set("frequency", freq.frequency);
        }
      } else if("width" == key) {
        getformat|=WIDTH_FLAG;
      } else if("height" == key) {
        getformat|=HEIGHT_FLAG;
      } else if("driver" == key) {
        props.set("driver", (char*) m_caps.driver);
      } else if("card" == key) {
        props.set("card", (char*) m_caps.card);
      } else if("bus_info" == key) {
        props.set("bus_info", (char*) m_caps.bus_info);
      } else {
      }
    }
  }

  if(getformat) {
    struct v4l2_format fmt;
    memset (&(fmt), 0, sizeof (fmt));
    fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

    if (0 == xioctl (m_tvfd, VIDIOC_G_FMT, &fmt)) {
      if(getformat & WIDTH_FLAG) {
        props.set("width", fmt.fmt.pix.width);
      }
      if(getformat & HEIGHT_FLAG) {
        props.set("height", fmt.fmt.pix.height);
      }
    } else {
      perror("[GEM:videoV4L2] VIDIOC_G_FMT");
    }
  }
}
void videoV4L2 :: setProperties(gem::Properties&props)
{
  if(m_tvfd<0) {
    return;
  }
  bool restart=false;

  bool setformat=false, setcropping=false;


  std::vector<std::string>keys=props.keys();
  for(int i=0; i<keys.size(); i++) {
    std::string key=keys[i];
    std::map<std::string,  struct v4l2_queryctrl>::iterator it =
      m_writeprops.find(key);
    if(it != m_writeprops.end()) {
      double d=0;
      struct v4l2_queryctrl qc=it->second;
      struct v4l2_control vc;
      memset (&vc, 0, sizeof (vc));
      vc.id=qc.id;
      if(props.get(key, d)) {
        vc.value=d;
      }

      int err=xioctl(m_tvfd, VIDIOC_S_CTRL, &vc);

      if(V4L2_CTRL_TYPE_BUTTON == qc.type) {
        props.erase(key);
      }
    } else {
      if("norm" == key) {
        v4l2_std_id stdid = V4L2_STD_UNKNOWN;
        std::string std;
        switch(props.type(key)) {
        case gem::Properties::STRING:
          if(props.get(key, std)) {
            if("ALL" == std) {
              stdid=V4L2_STD_ALL;
            } else if("PAL_B" == std) {
              stdid=V4L2_STD_PAL_B;
            } else if("PAL_B1" == std) {
              stdid=V4L2_STD_PAL_B1;
            } else if("PAL_G" == std) {
              stdid=V4L2_STD_PAL_G;
            } else if("PAL_H" == std) {
              stdid=V4L2_STD_PAL_H;
            } else if("PAL_I" == std) {
              stdid=V4L2_STD_PAL_I;
            } else if("PAL_D" == std) {
              stdid=V4L2_STD_PAL_D;
            } else if("PAL_D1" == std) {
              stdid=V4L2_STD_PAL_D1;
            } else if("PAL_K" == std) {
              stdid=V4L2_STD_PAL_K;
            } else if("PAL_M" == std) {
              stdid=V4L2_STD_PAL_M;
            } else if("PAL_N" == std) {
              stdid=V4L2_STD_PAL_N;
            } else if("PAL_Nc" == std) {
              stdid=V4L2_STD_PAL_Nc;
            } else if("PAL_60" == std) {
              stdid=V4L2_STD_PAL_60;
            } else if("NTSC_M" == std) {
              stdid=V4L2_STD_NTSC_M;
            } else if("NTSC_M_JP" == std) {
              stdid=V4L2_STD_NTSC_M_JP;
            } else if("NTSC_443" == std) {
              stdid=V4L2_STD_NTSC_443;
            } else if("NTSC_M_KR" == std) {
              stdid=V4L2_STD_NTSC_M_KR;
            } else if("SECAM_B" == std) {
              stdid=V4L2_STD_SECAM_B;
            } else if("SECAM_D" == std) {
              stdid=V4L2_STD_SECAM_D;
            } else if("SECAM_G" == std) {
              stdid=V4L2_STD_SECAM_G;
            } else if("SECAM_H" == std) {
              stdid=V4L2_STD_SECAM_H;
            } else if("SECAM_K" == std) {
              stdid=V4L2_STD_SECAM_K;
            } else if("SECAM_K1" == std) {
              stdid=V4L2_STD_SECAM_K1;
            } else if("SECAM_L" == std) {
              stdid=V4L2_STD_SECAM_L;
            } else if("SECAM_LC" == std) {
              stdid=V4L2_STD_SECAM_LC;
            } else if("ATSC_8_VSB" == std) {
              stdid=V4L2_STD_ATSC_8_VSB;
            } else if("ATSC_16_VSB" == std) {
              stdid=V4L2_STD_ATSC_16_VSB;
            } else if("MN" == std) {
              stdid=V4L2_STD_MN;
            } else if("B" == std) {
              stdid=V4L2_STD_B;
            } else if("GH" == std) {
              stdid=V4L2_STD_GH;
            } else if("DK" == std) {
              stdid=V4L2_STD_DK;
            } else if("PAL_BG" == std) {
              stdid=V4L2_STD_PAL_BG;
            } else if("PAL_DK" == std) {
              stdid=V4L2_STD_PAL_DK;
            } else if("PAL" == std) {
              stdid=V4L2_STD_PAL;
            } else if("NTSC" == std) {
              stdid=V4L2_STD_NTSC;
            } else if("SECAM_DK" == std) {
              stdid=V4L2_STD_SECAM_DK;
            } else if("SECAM" == std) {
              stdid=V4L2_STD_SECAM;
            } else if("525_60" == std) {
              stdid=V4L2_STD_525_60;
            } else if("625_50" == std) {
              stdid=V4L2_STD_625_50;
            } else if("ATSC" == std) {
              stdid=V4L2_STD_ATSC;
            }
          }
          break;
        default:
          continue;
        }
        if(0 != xioctl(m_tvfd, VIDIOC_S_STD, &stdid)) {
          perror("[GEM:videoV4L2] unable to set standard");
        }

      } else if("channel" == key) {
        double ch;
        if(props.get("channel", ch)) {
          int channel=ch;
          if(0 != xioctl(m_tvfd, VIDIOC_S_INPUT, &channel)) {
            perror("[GEM:videoV4L2] unable to set channel");
          }
        }
      } else if("frequency" == key) {
      } else if("width" == key) {
        double d=0.;
        if(props.get("width", d)) {
          int i=d;
          if(m_width != i) {
            setformat=true;
          }
          m_width = i;
        }
      } else if("height" == key) {
        double d=0.;
        if(props.get("height", d)) {
          int i=d;
          if(m_height != i) {
            setformat=true;
          }
          m_height = i;
        }
      } else {
      }
    }
  }


  if(setformat || setcropping) {
    restart=true;
  }

  if(restart) {
    bool rendering=m_rendering;
    if(m_capturing) {
      stopTransfer();
    }

#if 0
    setcropping=true;
    if(setcropping) {
      struct v4l2_cropcap cropcap;
      cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

      if (-1 == xioctl (m_tvfd, VIDIOC_CROPCAP, &cropcap)) {
        /* Errors ignored. */
      }

      memset(&(cropcap), 0, sizeof (cropcap));
      cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

      if (0 == xioctl (m_tvfd, VIDIOC_CROPCAP, &cropcap)) {
        struct v4l2_crop crop;

        crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        crop.c = cropcap.defrect; /* reset to default */

        if (-1 == xioctl (m_tvfd, VIDIOC_S_CROP, &crop)) {
          perror("[GEM:videoV4L2] vidioc_s_crop");
          switch (errno) {
          case EINVAL:
            /* Cropping not supported. */
            break;
          default:
            /* Errors ignored. */
            break;
          }
        }
      }
    } // cropping
#endif

    if(setformat) {
      struct v4l2_format fmt;
      memset (&(fmt), 0, sizeof (fmt));
      fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

      if (0 == xioctl (m_tvfd, VIDIOC_G_FMT, &fmt)) {
        double d;
        debugPost("current format %dx%d", fmt.fmt.pix.width, fmt.fmt.pix.height);

        if(props.get("width", d)) {
          fmt.fmt.pix.width=d;
        }
        if(props.get("height", d)) {
          fmt.fmt.pix.height=d;
        }

        debugPost("want format %dx%d", fmt.fmt.pix.width, fmt.fmt.pix.height);
        if(0 != xioctl (m_tvfd, VIDIOC_S_FMT, &fmt)) {
          perror("[GEM:videoV4L2] VIDIOC_S_FMT(dim)");
        }
        debugPost("new format %dx%d", fmt.fmt.pix.width, fmt.fmt.pix.height);
      }
    } // format

    if (rendering) {
      startTransfer();
    }
  }
}


#else
videoV4L2 ::  videoV4L2() : videoBase("") {}
videoV4L2 :: ~videoV4L2() {}
#endif /* HAVE_VIDEO4LINUX2 */
