// file: record-simple.c
// auth: Albert Huang
// date: October 10, 2005
//
// Records video from ladybug2 to disk.
//
// requires libdc1394 2.0+
//
// gcc -o record-simple record-simple.c -ldc1394_control

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

#include <libdc1394/dc1394_control.h>

#define s2s(status) ((status)==DC1394_SUCCESS?"OK":"FAILURE")

void usage()
{
    printf("usage: record <duration> <filename>\n"
            "  specify duration in seconds\n");
}

int main(int argc, char **argv)
{
    int status;
	int i;
    uint_t camCount = 0;
    dc1394camera_t **cameras = NULL, *cam = NULL;
    int duration = 0;
    char filename[1024] = { 0 };

    // figure out how long to record for (cmd line arg)
    if( argc < 3 ) {
        usage();
        exit(1);
    }

    duration = atoi(argv[1]);
    if( duration <= 0 ) {
        usage();
        exit(1);
    }

    // output file
    strncpy( filename, argv[2], 1024 );
    FILE *fp = fopen( filename, "wb+");
    if( fp == NULL ) {
        perror("creating output file");
        exit(1);
    }
    
    status = dc1394_find_cameras(&cameras, &camCount);
    DC1394_ERR_CHK(status, "failed to find cameras");

	if( camCount <= 0 ) return 0;

    // just pick the first camera on the bus
    cam = cameras[0];

    // and free all the rest
	for( i=1; i<camCount; i++ ) {
		dc1394_free_camera( cameras[i] );
	}
	free( cameras );

    // show some information about the camera we're using
    dc1394_print_camera_info( cam );

    printf("=======================\n\n\n");

    // initialize this camera
    status = dc1394_reset_camera( cam );
    DC1394_ERR_CHK(status, "resetting camera");
	

    // set 1394b mode
    uint_t opmode ;
    status = dc1394_video_get_operation_mode( cam, &opmode );
    DC1394_ERR_CHK(status, "retrieving operation mode");
    printf("get operation mode (%s): %u\n", s2s(status), opmode);

    opmode = DC1394_OPERATION_MODE_1394B;
    printf("setting operation mode...\n");
    status = dc1394_video_set_operation_mode( cam, opmode );
    DC1394_ERR_CHK(status, "retrieving operation mode");

    status = dc1394_video_get_operation_mode( cam, &opmode );
    DC1394_ERR_CHK(status, "retrieving operation mode");
    printf("get operation mode (%s): %u\n", s2s(status), opmode);

    // start data transmission
    status = dc1394_video_set_transmission(cam, DC1394_ON);
    DC1394_ERR_CHK(status, "enabling video transmission");

    // get camera channel and speed setting
    uint_t channel, speed;
    status = dc1394_video_get_iso_channel_and_speed(cam, &channel, &speed);
    DC1394_ERR_CHK(status, "getting channel and speed");
    printf("get channel: %u speed: %u\n", channel, speed);

    speed = DC1394_SPEED_800;
    printf("setting speed...\n");
    status = dc1394_video_set_iso_channel_and_speed(cam, channel, speed);
    DC1394_ERR_CHK(status, "setting channel and speed");

    status = dc1394_video_get_iso_channel_and_speed(cam, &channel, &speed);
    DC1394_ERR_CHK(status, "getting channel and speed");
    printf("get channel: %u speed: %u\n", channel, speed);

    // get and set framerate
    uint_t framerate;
    status = dc1394_video_get_framerate(cam, &framerate);
    DC1394_ERR_CHK(status, "getting framerate");
    printf("get framerate: %u\n", framerate);

    framerate = DC1394_FRAMERATE_30;
    printf("setting framerate...\n");
    status = dc1394_video_set_framerate(cam, framerate);
    DC1394_ERR_CHK(status, "setting framerate");

    status = dc1394_video_get_framerate(cam, &framerate);
    DC1394_ERR_CHK(status, "getting framerate");
    printf("get framerate: %u\n", framerate);

    // setup capture
    uint_t mode = DC1394_MODE_FORMAT7_0;
    status = dc1394_dma_setup_format7_capture(cam, channel, mode, speed,
            DC1394_USE_MAX_AVAIL, 
            0, 0, DC1394_USE_MAX_AVAIL, DC1394_USE_MAX_AVAIL, 
            10, 0, NULL);

    // check the image size for the capture
    uint_t width, height;
    status = dc1394_format7_get_image_size(cam, mode, &width, &height);
    DC1394_ERR_CHK(status, "querying image size");
    printf("capture image width: %d height: %d\n", width, height);

    // check the image size in bytes
    uint64_t totalbytes;
    status = dc1394_format7_get_total_bytes(cam, mode, &totalbytes);
    DC1394_ERR_CHK(status, "querying bytes per frame");
    printf("bytes per frame: %llu\n", totalbytes);

    // compute actual framerate
    struct timeval start, now;
    gettimeofday( &start, NULL );
    now = start;
    int numframes = 0;
    unsigned long elapsed = (now.tv_usec / 1000 + now.tv_sec * 1000) - 
        (start.tv_usec / 1000 + start.tv_sec * 1000);

    while(elapsed < duration * 1000)
    {
        // get a single frame
        status = dc1394_dma_capture(&cam, 1, 0);
        DC1394_ERR_CHK(status,"capturing frame");

        // write it to disk
        fwrite(cam->capture.capture_buffer, totalbytes, 1, fp);
        
        status = dc1394_dma_done_with_buffer( cam );
        DC1394_ERR_CHK(status,"releasing buffer");

        gettimeofday( &now, NULL );
        elapsed = (now.tv_usec / 1000 + now.tv_sec * 1000) - 
            (start.tv_usec / 1000 + start.tv_sec * 1000);

        printf("\r%d frames (%lu ms)", ++numframes, elapsed);
        fflush(stdout);
    }
    printf("\n");

    elapsed = (now.tv_usec / 1000 + now.tv_sec * 1000) - 
        (start.tv_usec / 1000 + start.tv_sec * 1000);
    printf("time elapsed: %lu ms - %4.1f fps\n", elapsed,
            (float)numframes/elapsed * 1000);


    // release capture resources
    dc1394_dma_unlisten(cam);
    dc1394_dma_release_camera(cam);

    // stop data transmission
    status = dc1394_video_set_transmission(cam, DC1394_OFF);
    DC1394_ERR_CHK(status, "disabling video transmission");

    dc1394_free_camera( cam );

    fclose(fp);
	return 0;
}