# vision/camera.py
import cv2


class CameraController:
    def __init__(self):
        self.camera = None
        self.camera_type = "ip"
        self.camera_ip = "192.168.1.51"
        self.camera_port = 554
        self.camera_username = "admin"
        self.camera_password = "XJ123456"
        self.camera_channel = 1

    def set_config(self, camera_type="ip", ip=None, port=None, username=None, password=None, channel=1):
        """
        设置摄像头配置
        """
        self.camera_type = camera_type
        if ip:
            self.camera_ip = ip
        if port:
            self.camera_port = port
        if username:
            self.camera_username = username
        if password:
            self.camera_password = password
        self.camera_channel = channel

    def setup_capture(self, camera_index=0):
        """
        设置摄像头捕获
        """
        try:
            rtsp_url = f"rtsp://{self.camera_username}:{self.camera_password}@{self.camera_ip}:{self.camera_port}/streaming/channels/{self.camera_channel}01"
            self.camera = cv2.VideoCapture(rtsp_url)

            if not self.camera.isOpened():
                print(f"无法打开网络摄像头: {rtsp_url}")
                return False
            print(f"网络摄像头初始化成功，地址: {rtsp_url}")
            return True
        except Exception as e:
            print(f"摄像头设置失败: {e}")
            return False

    def capture_frame_exec(self):
            """捕获当前帧并返回numpy数组，设置5秒总超时"""
            try:
                if self.camera is None:
                    print("摄像头未初始化")
                    return None

                # 设置总超时时间为5秒
                total_timeout = 5.0  # 5秒总超时时间
                start_time = time.time()
                
                # 跳20帧，获取最新图像
                frames_skipped = 0
                while frames_skipped < 20:
                    # 检查总超时
                    if time.time() - start_time > total_timeout:
                        print("捕获图像总超时")
                        return None
                    self.camera.grab()
                    time.sleep(0.05)  # 稍微增加延迟，确保有新帧到达
                    frames_skipped += 1
                
                # 尝试读取帧，使用同一超时计时器
                read_attempts = 0
                max_read_attempts = 3
                if self.camera.grab():
                    while read_attempts < max_read_attempts:
                        # 使用同一个超时计时器检查
                        if time.time() - start_time > total_timeout:
                            print("捕获图像总超时")
                            return None
                        
                        ret, frame = self.camera.retrieve()
                        if ret:
                            return frame
                        else:
                            print(f"尝试读取图像帧失败，重试 ({read_attempts+1}/{max_read_attempts})")
                            read_attempts += 1
                            # 短暂延迟后重试
                            time.sleep(0.05)
                
                print("多次尝试后仍无法捕获有效图像帧")
                return None
            except Exception as e:
                print(f"图像捕获失败: {e}")
                return None
    
    def capture_frame(self):
        """捕获当前帧并返回numpy数组"""
        try:
            if self.camera is None:
                # self.set_config()
                self.setup_capture()
            

            frame = self.capture_frame_exec()
            if frame is not None:
                return frame
            else:
                print("无法捕获图像帧")
                return None
        except Exception as e:
            print(f"图像捕获失败: {e}")
            return None

    def capture_frame_bak(self):
        """捕获当前帧并返回numpy数组"""
        try:
            if self.camera is None:
                print("摄像头未初始化")
                return None

            ret, frame = self.camera.read()
            if ret:
                return frame
            else:
                print("无法捕获图像帧")
                return None
        except Exception as e:
            print(f"图像捕获失败: {e}")
            return None

    def release(self):
        """释放摄像头资源"""
        if self.camera is not None:
            self.camera.release()
            self.camera = None

    def __del__(self):
        """析构函数，确保资源释放"""
        self.release()