#include "camera.hpp"
#include <atomic>
#include <mutex>
#include <thread>

static cv::VideoCapture* cap       = nullptr;
static cv::Mat           pubframe;
static std::mutex        frame_mutex;
static std::atomic<bool> stream_running{false};

bool camera_init()
{
    cap = new cv::VideoCapture(0);
    if (!cap->isOpened()) return false;

    cap->set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'));
    cap->set(cv::CAP_PROP_FRAME_WIDTH,  CAMERA_WIDTH);
    cap->set(cv::CAP_PROP_FRAME_HEIGHT, CAMERA_HEIGHT);
    cap->set(cv::CAP_PROP_AUTO_EXPOSURE, -1);

    return true;
}

void camera_deinit()
{
    if (cap) { cap->release(); delete cap; cap = nullptr; }
}

cv::Mat camera_capture()
{
    std::lock_guard<std::mutex> lock(frame_mutex);
    return pubframe.clone();
}

cv::Mat camera_resize(const cv::Mat& src)
{
    cv::Mat resized;
    cv::resize(src, resized, cv::Size(IMAGE_WIDTH, IMAGE_HEIGHT));
    return resized;
}

void camera_stream_start()
{
    stream_running.store(true);
    std::thread([]() {
        cv::Mat tmp;
        while (stream_running.load())
        {
            if (cap && cap->read(tmp))
            {
                std::lock_guard<std::mutex> lock(frame_mutex);
                pubframe = tmp.clone();
            }
        }
    }).detach();
}