// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package edu.wpi.first.cscore;

import edu.wpi.first.util.PixelFormat;

/**
 * A source for video that provides a sequence of frames. Each frame may consist of multiple images
 * (e.g. from a stereo or depth camera); these are called channels.
 */
public class VideoSource implements AutoCloseable {
  /** Video source kind. */
  public enum Kind {
    /** Unknown video source. */
    kUnknown(0),
    /** USB video source. */
    kUsb(1),
    /** HTTP video source. */
    kHttp(2),
    /** CV video source. */
    kCv(4),
    /** Raw video source. */
    kRaw(8);

    private final int value;

    Kind(int value) {
      this.value = value;
    }

    /**
     * Returns the Kind value.
     *
     * @return The Kind value.
     */
    public int getValue() {
      return value;
    }
  }

  /** Connection strategy. */
  public enum ConnectionStrategy {
    /**
     * Automatically connect or disconnect based on whether any sinks are connected to this source.
     * This is the default behavior.
     */
    kAutoManage(0),

    /** Try to keep the connection open regardless of whether any sinks are connected. */
    kKeepOpen(1),

    /**
     * Never open the connection. If this is set when the connection is open, close the connection.
     */
    kForceClose(2);

    private final int value;

    ConnectionStrategy(int value) {
      this.value = value;
    }

    /**
     * Returns the ConnectionStrategy value.
     *
     * @return The ConnectionStrategy value.
     */
    public int getValue() {
      return value;
    }
  }

  /**
   * Convert from the numerical representation of kind to an enum type.
   *
   * @param kind The numerical representation of kind
   * @return The kind
   */
  public static Kind getKindFromInt(int kind) {
    return switch (kind) {
      case 1 -> Kind.kUsb;
      case 2 -> Kind.kHttp;
      case 4 -> Kind.kCv;
      case 8 -> Kind.kRaw;
      default -> Kind.kUnknown;
    };
  }

  /**
   * Constructs a VideoSource.
   *
   * @param handle The video source handle.
   */
  protected VideoSource(int handle) {
    m_handle = handle;
  }

  @Override
  public synchronized void close() {
    if (m_handle != 0) {
      CameraServerJNI.releaseSource(m_handle);
    }
    m_handle = 0;
  }

  /**
   * Returns true if the VideoSource is valid.
   *
   * @return True if the VideoSource is valid.
   */
  public boolean isValid() {
    return m_handle != 0;
  }

  /**
   * Returns the video source handle.
   *
   * @return The video source handle.
   */
  public int getHandle() {
    return m_handle;
  }

  @Override
  public boolean equals(Object other) {
    if (this == other) {
      return true;
    }
    if (other == null) {
      return false;
    }
    return other instanceof VideoSource source && m_handle == source.m_handle;
  }

  @Override
  public int hashCode() {
    return m_handle;
  }

  /**
   * Get the kind of the source.
   *
   * @return The kind of the source.
   */
  public Kind getKind() {
    return getKindFromInt(CameraServerJNI.getSourceKind(m_handle));
  }

  /**
   * Get the name of the source. The name is an arbitrary identifier provided when the source is
   * created, and should be unique.
   *
   * @return The name of the source.
   */
  public String getName() {
    return CameraServerJNI.getSourceName(m_handle);
  }

  /**
   * Get the source description. This is source-kind specific.
   *
   * @return The source description.
   */
  public String getDescription() {
    return CameraServerJNI.getSourceDescription(m_handle);
  }

  /**
   * Get the last time a frame was captured.
   *
   * @return Time in 1 us increments.
   */
  public long getLastFrameTime() {
    return CameraServerJNI.getSourceLastFrameTime(m_handle);
  }

  /**
   * Sets the connection strategy. By default, the source will automatically connect or disconnect
   * based on whether any sinks are connected.
   *
   * <p>This function is non-blocking; look for either a connection open or close event or call
   * {@link #isConnected()} to determine the connection state.
   *
   * @param strategy connection strategy (auto, keep open, or force close)
   */
  public void setConnectionStrategy(ConnectionStrategy strategy) {
    CameraServerJNI.setSourceConnectionStrategy(m_handle, strategy.getValue());
  }

  /**
   * Returns true if the source currently connected to whatever is providing the images.
   *
   * @return True if the source currently connected to whatever is providing the images.
   */
  public boolean isConnected() {
    return CameraServerJNI.isSourceConnected(m_handle);
  }

  /**
   * Gets source enable status. This is determined with a combination of connection strategy and the
   * number of sinks connected.
   *
   * @return True if enabled, false otherwise.
   */
  public boolean isEnabled() {
    return CameraServerJNI.isSourceEnabled(m_handle);
  }

  /**
   * Get a property.
   *
   * @param name Property name
   * @return Property contents (of kind Property::kNone if no property with the given name exists)
   */
  public VideoProperty getProperty(String name) {
    return new VideoProperty(CameraServerJNI.getSourceProperty(m_handle, name));
  }

  /**
   * Enumerate all properties of this source.
   *
   * @return Array of video properties.
   */
  public VideoProperty[] enumerateProperties() {
    int[] handles = CameraServerJNI.enumerateSourceProperties(m_handle);
    VideoProperty[] rv = new VideoProperty[handles.length];
    for (int i = 0; i < handles.length; i++) {
      rv[i] = new VideoProperty(handles[i]);
    }
    return rv;
  }

  /**
   * Get the current video mode.
   *
   * @return The current video mode.
   */
  public VideoMode getVideoMode() {
    return CameraServerJNI.getSourceVideoMode(m_handle);
  }

  /**
   * Set the video mode.
   *
   * @param mode Video mode
   * @return True if set successfully.
   */
  public boolean setVideoMode(VideoMode mode) {
    return CameraServerJNI.setSourceVideoMode(
        m_handle, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps);
  }

  /**
   * Set the video mode.
   *
   * @param pixelFormat desired pixel format
   * @param width desired width
   * @param height desired height
   * @param fps desired FPS
   * @return True if set successfully
   */
  public boolean setVideoMode(PixelFormat pixelFormat, int width, int height, int fps) {
    return CameraServerJNI.setSourceVideoMode(m_handle, pixelFormat.getValue(), width, height, fps);
  }

  /**
   * Set the pixel format.
   *
   * @param pixelFormat desired pixel format
   * @return True if set successfully
   */
  public boolean setPixelFormat(PixelFormat pixelFormat) {
    return CameraServerJNI.setSourcePixelFormat(m_handle, pixelFormat.getValue());
  }

  /**
   * Set the resolution.
   *
   * @param width desired width
   * @param height desired height
   * @return True if set successfully
   */
  public boolean setResolution(int width, int height) {
    return CameraServerJNI.setSourceResolution(m_handle, width, height);
  }

  /**
   * Set the frames per second (FPS).
   *
   * @param fps desired FPS
   * @return True if set successfully
   */
  public boolean setFPS(int fps) {
    return CameraServerJNI.setSourceFPS(m_handle, fps);
  }

  /**
   * Set video mode and properties from a JSON configuration string.
   *
   * <p>The format of the JSON input is:
   *
   * <pre>
   * {
   *     "pixel format": "MJPEG", "YUYV", etc
   *     "width": video mode width
   *     "height": video mode height
   *     "fps": video mode fps
   *     "brightness": percentage brightness
   *     "white balance": "auto", "hold", or value
   *     "exposure": "auto", "hold", or value
   *     "properties": [
   *         {
   *             "name": property name
   *             "value": property value
   *         }
   *     ]
   * }
   * </pre>
   *
   * @param config configuration
   * @return True if set successfully
   */
  public boolean setConfigJson(String config) {
    return CameraServerJNI.setSourceConfigJson(m_handle, config);
  }

  /**
   * Get a JSON configuration string.
   *
   * @return JSON configuration string
   */
  public String getConfigJson() {
    return CameraServerJNI.getSourceConfigJson(m_handle);
  }

  /**
   * Get the actual FPS.
   *
   * <p>CameraServerJNI#setTelemetryPeriod() must be called for this to be valid (throws
   * VisionException if telemetry is not enabled).
   *
   * @return Actual FPS averaged over the telemetry period.
   */
  public double getActualFPS() {
    return CameraServerJNI.getTelemetryAverageValue(
        m_handle, CameraServerJNI.TelemetryKind.kSourceFramesReceived);
  }

  /**
   * Get the data rate (in bytes per second).
   *
   * <p>CameraServerJNI#setTelemetryPeriod() must be called for this to be valid (throws
   * VisionException if telemetry is not enabled).
   *
   * @return Data rate averaged over the telemetry period.
   */
  public double getActualDataRate() {
    return CameraServerJNI.getTelemetryAverageValue(
        m_handle, CameraServerJNI.TelemetryKind.kSourceBytesReceived);
  }

  /**
   * Enumerate all known video modes for this source.
   *
   * @return Vector of video modes.
   */
  public VideoMode[] enumerateVideoModes() {
    return CameraServerJNI.enumerateSourceVideoModes(m_handle);
  }

  /**
   * Enumerate all sinks connected to this source.
   *
   * @return Vector of sinks.
   */
  public VideoSink[] enumerateSinks() {
    int[] handles = CameraServerJNI.enumerateSourceSinks(m_handle);
    VideoSink[] rv = new VideoSink[handles.length];
    for (int i = 0; i < handles.length; i++) {
      rv[i] = new VideoSink(handles[i]);
    }
    return rv;
  }

  /**
   * Enumerate all existing sources.
   *
   * @return Vector of sources.
   */
  public static VideoSource[] enumerateSources() {
    int[] handles = CameraServerJNI.enumerateSources();
    VideoSource[] rv = new VideoSource[handles.length];
    for (int i = 0; i < handles.length; i++) {
      rv[i] = new VideoSource(handles[i]);
    }
    return rv;
  }

  /** Video source handle. */
  protected int m_handle;
}