/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (C) 2010-2012 Ken Tossell
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the author nor other contributors may be
*     used to endorse or promote products derived from this software
*     without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/**
 * @defgroup streaming Streaming control functions
 */

#include "libuvc/libuvc.h"
#include "libuvc/libuvc_internal.h"

uvc_frame_desc_t *uvc_find_frame_desc_stream(uvc_stream_handle_t *strmh,
    uint16_t format_id, uint16_t frame_id);
uvc_frame_desc_t *uvc_find_frame_desc(uvc_device_handle_t *devh,
    uint16_t format_id, uint16_t frame_id);
void *_uvc_user_caller(void *arg);
void _uvc_populate_frame(uvc_stream_handle_t *strmh);

struct format_table_entry {
  enum uvc_frame_format format;
  uint8_t abstract_fmt;
  uint8_t guid[16];
  int children_count;
  enum uvc_frame_format *children;
};

struct format_table_entry *_get_format_entry(enum uvc_frame_format format) {
  #define ABS_FMT(_fmt, ...) \
    case _fmt: { \
    static enum uvc_frame_format _fmt##_children[] = __VA_ARGS__; \
    static struct format_table_entry _fmt##_entry = { \
      _fmt, 0, {}, ARRAYSIZE(_fmt##_children), _fmt##_children }; \
    return &_fmt##_entry; }

  #define FMT(_fmt, ...) \
    case _fmt: { \
    static struct format_table_entry _fmt##_entry = { \
      _fmt, 0, __VA_ARGS__, 0, NULL }; \
    return &_fmt##_entry; }

  switch(format) {
    /* Define new formats here */
    ABS_FMT(UVC_FRAME_FORMAT_ANY,
      {UVC_FRAME_FORMAT_UNCOMPRESSED, UVC_FRAME_FORMAT_COMPRESSED})

    ABS_FMT(UVC_FRAME_FORMAT_UNCOMPRESSED,
      {UVC_FRAME_FORMAT_YUYV, UVC_FRAME_FORMAT_UYVY, UVC_FRAME_FORMAT_GRAY8})
    FMT(UVC_FRAME_FORMAT_YUYV,
      {'Y',  'U',  'Y',  '2', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
    FMT(UVC_FRAME_FORMAT_UYVY,
      {'U',  'Y',  'V',  'Y', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
    FMT(UVC_FRAME_FORMAT_GRAY8,
      {'Y',  '8',  '0',  '0', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})

    ABS_FMT(UVC_FRAME_FORMAT_COMPRESSED,
      {UVC_FRAME_FORMAT_MJPEG})
    FMT(UVC_FRAME_FORMAT_MJPEG,
      {'M',  'J',  'P',  'G'})

    default:
      return NULL;
  }

  #undef ABS_FMT
  #undef FMT
}

static uint8_t _uvc_frame_format_matches_guid(enum uvc_frame_format fmt, uint8_t guid[16]) {
  struct format_table_entry *format;
  int child_idx;

  format = _get_format_entry(fmt);
  if (!format)
    return 0;

  if (!format->abstract_fmt && !memcmp(guid, format->guid, 16))
    return 1;

  for (child_idx = 0; child_idx < format->children_count; child_idx++) {
    if (_uvc_frame_format_matches_guid(format->children[child_idx], guid))
      return 1;
  }

  return 0;
}

static enum uvc_frame_format uvc_frame_format_for_guid(uint8_t guid[16]) {
  struct format_table_entry *format;
  enum uvc_frame_format fmt;

  for (fmt = 0; fmt < UVC_FRAME_FORMAT_COUNT; ++fmt) {
    format = _get_format_entry(fmt);
    if (!format || format->abstract_fmt)
      continue;
    if (!memcmp(format->guid, guid, 16))
      return format->format;
  }

  return UVC_FRAME_FORMAT_UNKNOWN;
}

/** @internal
 * Run a streaming control query
 * @param[in] devh UVC device
 * @param[in,out] ctrl Control block
 * @param[in] probe Whether this is a probe query or a commit query
 * @param[in] req Query type
 */
uvc_error_t uvc_query_stream_ctrl(
    uvc_device_handle_t *devh,
    uvc_stream_ctrl_t *ctrl,
    uint8_t probe,
    enum uvc_req_code req) {
  uint8_t buf[34];
  size_t len;
  uvc_error_t err;

  bzero(buf, sizeof(buf));

  if (devh->info->ctrl_if.bcdUVC >= 0x0110)
    len = 34;
  else
    len = 26;

  /* prepare for a SET transfer */
  if (req == UVC_SET_CUR) {
    SHORT_TO_SW(ctrl->bmHint, buf);
    buf[2] = ctrl->bFormatIndex;
    buf[3] = ctrl->bFrameIndex;
    INT_TO_DW(ctrl->dwFrameInterval, buf + 4);
    SHORT_TO_SW(ctrl->wKeyFrameRate, buf + 8);
    SHORT_TO_SW(ctrl->wPFrameRate, buf + 10);
    SHORT_TO_SW(ctrl->wCompQuality, buf + 12);
    SHORT_TO_SW(ctrl->wCompWindowSize, buf + 14);
    SHORT_TO_SW(ctrl->wDelay, buf + 16);
    INT_TO_DW(ctrl->dwMaxVideoFrameSize, buf + 18);
    INT_TO_DW(ctrl->dwMaxPayloadTransferSize, buf + 22);

    if (len == 34) {
      /** @todo support UVC 1.1 */
      return UVC_ERROR_NOT_SUPPORTED;
    }
  }

  /* do the transfer */
  err = libusb_control_transfer(
      devh->usb_devh,
      req == UVC_SET_CUR ? 0x21 : 0xA1,
      req,
      probe ? (UVC_VS_PROBE_CONTROL << 8) : (UVC_VS_COMMIT_CONTROL << 8),
      ctrl->bInterfaceNumber,
      buf, len, 0
  );

  if (err <= 0) {
    return err;
  }

  /* now decode following a GET transfer */
  if (req != UVC_SET_CUR) {
    ctrl->bmHint = SW_TO_SHORT(buf);
    ctrl->bFormatIndex = buf[2];
    ctrl->bFrameIndex = buf[3];
    ctrl->dwFrameInterval = DW_TO_INT(buf + 4);
    ctrl->wKeyFrameRate = SW_TO_SHORT(buf + 8);
    ctrl->wPFrameRate = SW_TO_SHORT(buf + 10);
    ctrl->wCompQuality = SW_TO_SHORT(buf + 12);
    ctrl->wCompWindowSize = SW_TO_SHORT(buf + 14);
    ctrl->wDelay = SW_TO_SHORT(buf + 16);
    ctrl->dwMaxVideoFrameSize = DW_TO_INT(buf + 18);
    ctrl->dwMaxPayloadTransferSize = DW_TO_INT(buf + 22);

    if (len == 34) {
      /** @todo support UVC 1.1 */
      return UVC_ERROR_NOT_SUPPORTED;
    }

    /* fix up block for cameras that fail to set dwMax* */
    if (ctrl->dwMaxVideoFrameSize == 0) {
      uvc_frame_desc_t *frame = uvc_find_frame_desc(devh, ctrl->bFormatIndex, ctrl->bFrameIndex);

      if (frame) {
        ctrl->dwMaxVideoFrameSize = frame->dwMaxVideoFrameBufferSize;
      }
    }
  }

  return UVC_SUCCESS;
}

/** @brief Reconfigure stream with a new stream format.
 * @ingroup streaming
 *
 * This may be executed whether or not the stream is running.
 *
 * @param[in] strmh Stream handle
 * @param[in] ctrl Control block, processed using {uvc_probe_stream_ctrl} or
 *             {uvc_get_stream_ctrl_format_size}
 */
uvc_error_t uvc_stream_ctrl(uvc_stream_handle_t *strmh, uvc_stream_ctrl_t *ctrl) {
  uvc_error_t ret;

  if (strmh->stream_if->bInterfaceNumber != ctrl->bInterfaceNumber)
    return UVC_ERROR_INVALID_PARAM;

  /* @todo Allow the stream to be modified without restarting the stream */
  if (strmh->running)
    return UVC_ERROR_BUSY;

  ret = uvc_query_stream_ctrl(strmh->devh, ctrl, 0, UVC_SET_CUR);
  if (ret != UVC_SUCCESS)
    return ret;

  strmh->cur_ctrl = *ctrl;
  return UVC_SUCCESS;
}

/** @internal
 * @brief Find the descriptor for a specific frame configuration
 * @param stream_if Stream interface
 * @param format_id Index of format class descriptor
 * @param frame_id Index of frame descriptor
 */
static uvc_frame_desc_t *_uvc_find_frame_desc_stream_if(uvc_streaming_interface_t *stream_if,
    uint16_t format_id, uint16_t frame_id) {
 
  uvc_format_desc_t *format = NULL;
  uvc_frame_desc_t *frame = NULL;

  DL_FOREACH(stream_if->format_descs, format) {
    if (format->bFormatIndex == format_id) {
      DL_FOREACH(format->frame_descs, frame) {
        if (frame->bFrameIndex == frame_id)
          return frame;
      }
    }
  }

  return NULL;
}

uvc_frame_desc_t *uvc_find_frame_desc_stream(uvc_stream_handle_t *strmh,
    uint16_t format_id, uint16_t frame_id) {
  return _uvc_find_frame_desc_stream_if(strmh->stream_if, format_id, frame_id);
}

/** @internal
 * @brief Find the descriptor for a specific frame configuration
 * @param devh UVC device
 * @param format_id Index of format class descriptor
 * @param frame_id Index of frame descriptor
 */
uvc_frame_desc_t *uvc_find_frame_desc(uvc_device_handle_t *devh,
    uint16_t format_id, uint16_t frame_id) {
 
  uvc_streaming_interface_t *stream_if;
  uvc_frame_desc_t *frame;

  DL_FOREACH(devh->info->stream_ifs, stream_if) {
    frame = _uvc_find_frame_desc_stream_if(stream_if, format_id, frame_id);
    if (frame)
      return frame;
  }

  return NULL;
}

/** Get a negotiated streaming control block for some common parameters.
 * @ingroup streaming
 *
 * @param[in] devh Device handle
 * @param[in,out] ctrl Control block
 * @param[in] format_class Type of streaming format
 * @param[in] width Desired frame width
 * @param[in] height Desired frame height
 * @param[in] fps Frame rate, frames per second
 */
uvc_error_t uvc_get_stream_ctrl_format_size(
    uvc_device_handle_t *devh,
    uvc_stream_ctrl_t *ctrl,
    enum uvc_frame_format cf,
    int width, int height,
    int fps) {
  uvc_streaming_interface_t *stream_if;
  enum uvc_vs_desc_subtype format_class;

  /* get the max values */
  uvc_query_stream_ctrl(
      devh, ctrl, 1, UVC_GET_MAX
  );

  /* find a matching frame descriptor and interval */
  DL_FOREACH(devh->info->stream_ifs, stream_if) {
    uvc_format_desc_t *format;

    DL_FOREACH(stream_if->format_descs, format) {
      uvc_frame_desc_t *frame;

      if (!_uvc_frame_format_matches_guid(cf, format->guidFormat))
        continue;

      DL_FOREACH(format->frame_descs, frame) {
        if (frame->wWidth != width || frame->wHeight != height)
          continue;

        uint32_t *interval;

        if (frame->intervals) {
          for (interval = frame->intervals; *interval; ++interval) {
            if (10000000 / *interval == (unsigned int) fps) {
              ctrl->bmHint = (1 << 0); /* don't negotiate interval */
              ctrl->bFormatIndex = format->bFormatIndex;
              ctrl->bFrameIndex = frame->bFrameIndex;
              ctrl->bInterfaceNumber = stream_if->bInterfaceNumber;
              ctrl->dwFrameInterval = *interval;

              goto found;
            }
          }
        } else {
          uint32_t interval_100ns = 10000000 / fps;
          uint32_t interval_offset = interval_100ns - frame->dwMinFrameInterval;

          if (interval_100ns >= frame->dwMinFrameInterval
              && interval_100ns <= frame->dwMaxFrameInterval
              && !(interval_offset
                   && (interval_offset % frame->dwFrameIntervalStep))) {
            ctrl->bmHint = (1 << 0);
            ctrl->bFormatIndex = format->bFormatIndex;
            ctrl->bFrameIndex = frame->bFrameIndex;
            ctrl->bInterfaceNumber = stream_if->bInterfaceNumber;
            ctrl->dwFrameInterval = interval_100ns;

            goto found;
          }
        }
      }
    }
  }

  return UVC_ERROR_INVALID_MODE;

found:
  return uvc_probe_stream_ctrl(devh, ctrl);
}

/** @internal
 * Negotiate streaming parameters with the device
 *
 * @param[in] devh UVC device
 * @param[in,out] ctrl Control block
 */
uvc_error_t uvc_probe_stream_ctrl(
    uvc_device_handle_t *devh,
    uvc_stream_ctrl_t *ctrl) {
 
  uvc_claim_if(devh, ctrl->bInterfaceNumber);

  uvc_query_stream_ctrl(
      devh, ctrl, 1, UVC_SET_CUR
  );

  uvc_query_stream_ctrl(
      devh, ctrl, 1, UVC_GET_CUR
  );

  /** @todo make sure that worked */
  return UVC_SUCCESS;
}

/** @internal
 * @brief Isochronous transfer callback
 * 
 * Processes stream, places frames into buffer, signals listeners
 * (such as user callback thread and any polling thread) on new frame
 *
 * @param transfer Active transfer
 */ 
void _uvc_iso_callback(struct libusb_transfer *transfer) {
  uvc_stream_handle_t *strmh;
  int packet_id;

  /* per packet */
  uint8_t *pktbuf;
  uint8_t check_header;
  size_t header_len;
  struct libusb_iso_packet_descriptor *pkt;
  uint8_t *tmp_buf;

  static uint8_t isight_tag[] = {
    0x11, 0x22, 0x33, 0x44,
    0xde, 0xad, 0xbe, 0xef, 0xde, 0xad, 0xfa, 0xce
  };

  strmh = transfer->user_data;

  switch (transfer->status) {
  case LIBUSB_TRANSFER_COMPLETED:
    for (packet_id = 0; packet_id < transfer->num_iso_packets; ++packet_id) {
      check_header = 1;

      pkt = transfer->iso_packet_desc + packet_id;

      if (pkt->status != 0) {
        printf("bad packet (transfer): %d\n", pkt->status);
        continue;
      }

      if (pkt->actual_length == 0) {
        continue;
      }

      pktbuf = libusb_get_iso_packet_buffer_simple(transfer, packet_id);

      if (strmh->devh->is_isight) {
        if (pkt->actual_length < 30 ||
            (memcmp(isight_tag, pktbuf + 2, sizeof(isight_tag))
             && memcmp(isight_tag, pktbuf + 3, sizeof(isight_tag)))) {
          check_header = 0;
          header_len = 0;
        } else {
          header_len = pktbuf[0];
        }
      } else {
        header_len = pktbuf[0];
      }

      if (check_header && pktbuf[1] & 0x40) {
        printf("bad packet\n");
        continue;
      }

      /** @todo support sending the frame on EOF instead of on flip(FID) */
      if (check_header && strmh->fid != (pktbuf[1] & 1)) {
        pthread_mutex_lock(&strmh->cb_mutex);

        /* swap the buffers */
        tmp_buf = strmh->holdbuf;
        strmh->hold_bytes = strmh->got_bytes;
        strmh->holdbuf = strmh->outbuf;
        strmh->outbuf = tmp_buf;
        strmh->hold_last_scr = strmh->last_scr;
        strmh->hold_pts = strmh->pts;
        strmh->hold_seq = strmh->seq;

        pthread_cond_broadcast(&strmh->cb_cond);
        pthread_mutex_unlock(&strmh->cb_mutex);

        strmh->seq++;
        strmh->got_bytes = 0;
        strmh->last_scr = 0;
        strmh->pts = 0;
        strmh->fid = pktbuf[1] & 1;
      }

      if (check_header) {
        if (pktbuf[1] & (1 << 2))
          strmh->pts = DW_TO_INT(pktbuf + 2);

        if (pktbuf[1] & (1 << 3))
          strmh->last_scr = DW_TO_INT(pktbuf + 6);

        if (strmh->devh->is_isight)
          continue; // don't look for data after an iSight header
      }

      if (pkt->actual_length < header_len) {
        /* Bogus packet received */
        printf("bogus packet: actual_len=%d, header_len=%zd\n", pkt->actual_length, header_len);
        continue;
      }
      if (pkt->actual_length - header_len > 0)
        memcpy(strmh->outbuf + strmh->got_bytes, pktbuf + header_len, pkt->actual_length - header_len);

      strmh->got_bytes += pkt->actual_length - header_len;
    }
    break;
  case LIBUSB_TRANSFER_CANCELLED: 
  case LIBUSB_TRANSFER_ERROR:
  case LIBUSB_TRANSFER_NO_DEVICE: {
    int i;
    UVC_DEBUG("not retrying transfer, status = %d", transfer->status);
    pthread_mutex_lock(&strmh->cb_mutex);

    /* Mark transfer as deleted. */
    for(i=0; i<ARRAYSIZE(strmh->transfers); i++) {
      if(strmh->transfers[i] == transfer) {
        UVC_DEBUG("Freeing transfer %d (%p)", i, transfer);
        free(transfer->buffer);
        libusb_free_transfer(transfer);
        strmh->transfers[i] = NULL;
        break;
      }
    }
    if(i == ARRAYSIZE(strmh->transfers)) {
      UVC_DEBUG("transfer %p not found; not freeing!", transfer);
    }

    pthread_cond_broadcast(&strmh->cb_cond);
    pthread_mutex_unlock(&strmh->cb_mutex);

    break;
  }
  case LIBUSB_TRANSFER_TIMED_OUT:
  case LIBUSB_TRANSFER_STALL:
  case LIBUSB_TRANSFER_OVERFLOW:
    UVC_DEBUG("retrying transfer, status = %d", transfer->status);
    break;
  }
  
  if (strmh->running)
    libusb_submit_transfer(transfer);
}

/** Begin streaming video from the camera into the callback function.
 * @ingroup streaming
 *
 * @param devh UVC device
 * @param ctrl Control block, processed using {uvc_probe_stream_ctrl} or
 *             {uvc_get_stream_ctrl_format_size}
 * @param cb   User callback function. See {uvc_frame_callback_t} for restrictions.
 * @param isochronous Whether to use isochronous transfers rather than bulk ones
 */
uvc_error_t uvc_start_streaming(
    uvc_device_handle_t *devh,
    uvc_stream_ctrl_t *ctrl,
    uvc_frame_callback_t *cb,
    void *user_ptr,
    uint8_t isochronous
) {
  uvc_error_t ret;
  uvc_stream_handle_t *strmh;

  ret = uvc_stream_open_ctrl(devh, &strmh, ctrl);
  if (ret != UVC_SUCCESS)
    return ret;

  ret = uvc_stream_start(strmh, cb, user_ptr, isochronous);
  if (ret != UVC_SUCCESS) {
    uvc_stream_close(strmh);
    return ret;
  }

  return UVC_SUCCESS;
}

/** Begin streaming video from the camera into the callback function.
 * @ingroup streaming
 *
 * @param devh UVC device
 * @param ctrl Control block, processed using {uvc_probe_stream_ctrl} or
 *             {uvc_get_stream_ctrl_format_size}
 * @param cb   User callback function. See {uvc_frame_callback_t} for restrictions.
 */
uvc_error_t uvc_start_iso_streaming(
    uvc_device_handle_t *devh,
    uvc_stream_ctrl_t *ctrl,
    uvc_frame_callback_t *cb,
    void *user_ptr
) {
  return uvc_start_streaming(devh, ctrl, cb, user_ptr, 1);
}

static uvc_stream_handle_t *_uvc_get_stream_by_interface(uvc_device_handle_t *devh, int interface_idx) {
  uvc_stream_handle_t *strmh;

  DL_FOREACH(devh->streams, strmh) {
    if (strmh->stream_if->bInterfaceNumber == interface_idx)
      return strmh;
  }

  return NULL;
}

static uvc_streaming_interface_t *_uvc_get_stream_if(uvc_device_handle_t *devh, int interface_idx) {
  uvc_streaming_interface_t *stream_if;

  DL_FOREACH(devh->info->stream_ifs, stream_if) {
    if (stream_if->bInterfaceNumber == interface_idx)
      return stream_if;
  }
  
  return NULL;
}

/** Open a new video stream.
 * @ingroup streaming
 *
 * @param devh UVC device
 * @param ctrl Control block, processed using {uvc_probe_stream_ctrl} or
 *             {uvc_get_stream_ctrl_format_size}
 */
uvc_error_t uvc_stream_open_ctrl(uvc_device_handle_t *devh, uvc_stream_handle_t **strmhp, uvc_stream_ctrl_t *ctrl) {
  /* Chosen frame and format descriptors */
  uvc_stream_handle_t *strmh = NULL;
  uvc_streaming_interface_t *stream_if;
  uvc_error_t ret;

  UVC_ENTER();

  if (_uvc_get_stream_by_interface(devh, ctrl->bInterfaceNumber) != NULL) {
    ret = UVC_ERROR_BUSY; /* Stream is already opened */
    goto fail;
  }

  stream_if = _uvc_get_stream_if(devh, ctrl->bInterfaceNumber);
  if (!stream_if) {
    ret = UVC_ERROR_INVALID_PARAM;
    goto fail;
  }

  strmh = calloc(1, sizeof(*strmh));
  if (!strmh) {
    ret = UVC_ERROR_NO_MEM;
    goto fail;
  }
  strmh->devh = devh;
  strmh->stream_if = stream_if;
  strmh->frame.library_owns_data = 1;

  ret = uvc_claim_if(strmh->devh, strmh->stream_if->bInterfaceNumber);
  if (ret != UVC_SUCCESS)
    goto fail;

  ret = uvc_stream_ctrl(strmh, ctrl);
  if (ret != UVC_SUCCESS)
    goto fail;

  // Set up the streaming status and data space
  strmh->running = 0;
  strmh->outbuf = malloc(8 * 1024 * 1024); /** @todo take only what we need */
  strmh->holdbuf = malloc(8 * 1024 * 1024);
   
  pthread_mutex_init(&strmh->cb_mutex, NULL);
  pthread_cond_init(&strmh->cb_cond, NULL);

  DL_APPEND(devh->streams, strmh);

  *strmhp = strmh;

  UVC_EXIT(0);
  return UVC_SUCCESS;

fail:
  if(strmh)
    free(strmh);
  UVC_EXIT(ret);
  return ret;
}

/** Begin streaming video from the stream into the callback function.
 * @ingroup streaming
 *
 * @param strmh UVC stream
 * @param cb   User callback function. See {uvc_frame_callback_t} for restrictions.
 * @param isochronous Whether to use isochronous transfers rather than bulk ones
 */
uvc_error_t uvc_stream_start(
    uvc_stream_handle_t *strmh,
    uvc_frame_callback_t *cb,
    void *user_ptr,
    uint8_t isochronous
) {
  /* USB interface we'll be using */
  const struct libusb_interface *interface;
  int interface_id;
  uvc_frame_desc_t *frame_desc;
  uvc_format_desc_t *format_desc;
  uvc_stream_ctrl_t *ctrl;
  uvc_error_t ret;

  ctrl = &strmh->cur_ctrl;

  UVC_ENTER();

  if (strmh->running) {
    UVC_EXIT(UVC_ERROR_BUSY);
    return UVC_ERROR_BUSY;
  }

  strmh->running = 1;
  strmh->seq = 0;
  strmh->fid = 0;
  strmh->pts = 0;
  strmh->last_scr = 0;

  frame_desc = uvc_find_frame_desc_stream(strmh, ctrl->bFormatIndex, ctrl->bFrameIndex);
  if (!frame_desc) {
    ret = UVC_ERROR_INVALID_PARAM;
    goto fail;
  }
  format_desc = frame_desc->parent;

  strmh->frame_format = uvc_frame_format_for_guid(format_desc->guidFormat);
  if (strmh->frame_format == UVC_FRAME_FORMAT_UNKNOWN) {
    ret = UVC_ERROR_NOT_SUPPORTED;
    goto fail;
  }

  // Get the interface that provides the chosen format and frame configuration
  interface_id = strmh->stream_if->bInterfaceNumber;
  interface = &strmh->devh->info->config->interface[interface_id];

  if (isochronous) {
    /* For isochronous streaming, we choose an appropriate altsetting for the endpoint
     * and set up several transfers */
    const struct libusb_interface_descriptor *altsetting;
    const struct libusb_endpoint_descriptor *endpoint;
    /* The greatest number of bytes that the device might provide, per packet, in this
     * configuration */
    size_t config_bytes_per_packet;
    /* Number of packets per transfer */
    size_t packets_per_transfer;
    /* Total amount of data per transfer */
    size_t total_transfer_size;
    /* Size of packet transferable from the chosen endpoint */
    size_t endpoint_bytes_per_packet;
    /* Index of the altsetting */
    int alt_idx, ep_idx;
    
    struct libusb_transfer *transfer;
    int transfer_id;

    /* If the interface doesn't support isochronous mode, give up */
    if (interface->num_altsetting == 0) {
      ret = UVC_ERROR_INVALID_DEVICE;
      goto fail;
    }

    config_bytes_per_packet = strmh->cur_ctrl.dwMaxPayloadTransferSize;

    /* Go through the altsettings and find one whose packets are at least
     * as big as our format's maximum per-packet usage. Assume that the
     * packet sizes are increasing. */
    for (alt_idx = 0; alt_idx < interface->num_altsetting; alt_idx++) {
      altsetting = interface->altsetting + alt_idx;
      endpoint_bytes_per_packet = 0;

      /* Find the endpoint with the number specified in the VS header */
      for (ep_idx = 0; ep_idx < altsetting->bNumEndpoints; ep_idx++) {
        endpoint = altsetting->endpoint + ep_idx;

        if (endpoint->bEndpointAddress == format_desc->parent->bEndpointAddress) {
          endpoint_bytes_per_packet = endpoint->wMaxPacketSize;
          // wMaxPacketSize: [unused:2 (multiplier-1):3 size:11]
          endpoint_bytes_per_packet = (endpoint_bytes_per_packet & 0x07ff) *
                                      (((endpoint_bytes_per_packet >> 11) & 3) + 1);
          break;
        }
      }

      if (endpoint_bytes_per_packet >= config_bytes_per_packet) {
        /* Transfers will be at most one frame long: Divide the maximum frame size
         * by the size of the endpoint and round up */
        packets_per_transfer = (ctrl->dwMaxVideoFrameSize +
                                endpoint_bytes_per_packet - 1) / endpoint_bytes_per_packet;

        /* But keep a reasonable limit: Otherwise we start dropping data */
        if (packets_per_transfer > 32)
          packets_per_transfer = 32;
        
        total_transfer_size = packets_per_transfer * endpoint_bytes_per_packet;
        break;
      }
    }

    /* If we searched through all the altsettings and found nothing usable */
    if (alt_idx == interface->num_altsetting) {
      ret = UVC_ERROR_INVALID_MODE;
      goto fail;
    }

    /* Select the altsetting */
    ret = libusb_set_interface_alt_setting(strmh->devh->usb_devh,
                                           altsetting->bInterfaceNumber,
                                           altsetting->bAlternateSetting);
    if (ret != UVC_SUCCESS) {
      UVC_DEBUG("libusb_set_interface_alt_setting failed");
      goto fail;
    }

    /* Set up the transfers */
    for (transfer_id = 0; transfer_id < ARRAYSIZE(strmh->transfers); ++transfer_id) {
      transfer = libusb_alloc_transfer(packets_per_transfer);
      strmh->transfers[transfer_id] = transfer;      
      strmh->transfer_bufs[transfer_id] = malloc(total_transfer_size);

      libusb_fill_iso_transfer(
        transfer, strmh->devh->usb_devh, format_desc->parent->bEndpointAddress,
        strmh->transfer_bufs[transfer_id],
        total_transfer_size, packets_per_transfer, _uvc_iso_callback, (void*) strmh, 5000);

      libusb_set_iso_packet_lengths(transfer, endpoint_bytes_per_packet);
    }
  } else {
    /** @todo prepare for bulk transfer */
  }

  strmh->user_cb = cb;
  strmh->user_ptr = user_ptr;

  /* If the user wants it, set up a thread that calls the user's function
   * with the contents of each frame.
   */
  if (cb) {
    pthread_create(&strmh->cb_thread, NULL, _uvc_user_caller, (void*) strmh);
  }

  if (isochronous) {
    int transfer_id;

    for (transfer_id = 0; transfer_id < ARRAYSIZE(strmh->transfers); transfer_id++) {
      ret = libusb_submit_transfer(strmh->transfers[transfer_id]);
      if (ret != UVC_SUCCESS) {
        UVC_DEBUG("libusb_submit_transfer failed");
        break;
      }
    }
  } else {
    /** @todo submit bulk transfer */
  }

  if (ret != UVC_SUCCESS) {
    /** @todo clean up transfers and memory */
    goto fail;
  }

  UVC_EXIT(ret);
  return ret;
fail:
  strmh->running = 0;
  UVC_EXIT(ret);
  return ret;
}

/** Begin streaming video from the stream into the callback function.
 * @ingroup streaming
 *
 * @param strmh UVC stream
 * @param cb   User callback function. See {uvc_frame_callback_t} for restrictions.
 * @param isochronous Whether to use isochronous transfers rather than bulk ones
 */
uvc_error_t uvc_stream_start_iso(
    uvc_stream_handle_t *strmh,
    uvc_frame_callback_t *cb,
    void *user_ptr
) {
  return uvc_stream_start(strmh, cb, user_ptr, 1);
}

/** @internal
 * @brief User callback runner thread
 * @note There should be at most one of these per currently streaming device
 * @param arg Device handle
 */
void *_uvc_user_caller(void *arg) {
  uvc_stream_handle_t *strmh = (uvc_stream_handle_t *) arg;

  uint32_t last_seq = 0;

  do {
    pthread_mutex_lock(&strmh->cb_mutex);

    while (strmh->running && last_seq == strmh->hold_seq) {
      pthread_cond_wait(&strmh->cb_cond, &strmh->cb_mutex);
    }

    if (!strmh->running) {
      pthread_mutex_unlock(&strmh->cb_mutex);
      break;
    }
    
    last_seq = strmh->hold_seq;
    _uvc_populate_frame(strmh);
    
    pthread_mutex_unlock(&strmh->cb_mutex);
    
    strmh->user_cb(&strmh->frame, strmh->user_ptr);
  } while(1);

  return NULL; // return value ignored
}

/** @internal
 * @brief Populate the fields of a frame to be handed to user code
 * must be called with stream cb lock held!
 */
void _uvc_populate_frame(uvc_stream_handle_t *strmh) {
  size_t alloc_size = strmh->cur_ctrl.dwMaxVideoFrameSize;
  uvc_frame_t *frame = &strmh->frame;
  uvc_frame_desc_t *frame_desc;

  /** @todo this stuff that hits the main config cache should really happen
   * in start() so that only one thread hits these data. all of this stuff
   * is going to be reopen_on_change anyway
   */

  frame_desc = uvc_find_frame_desc(strmh->devh, strmh->cur_ctrl.bFormatIndex,
				   strmh->cur_ctrl.bFrameIndex);

  frame->frame_format = strmh->frame_format;
  
  frame->width = frame_desc->wWidth;
  frame->height = frame_desc->wHeight;
  
  switch (frame->frame_format) {
  case UVC_FRAME_FORMAT_YUYV:
    frame->step = frame->width * 2;
    break;
  case UVC_FRAME_FORMAT_MJPEG:
    frame->step = 0;
    break;
  default:
    frame->step = 0;
    break;
  }
  
  /* copy the image data from the hold buffer to the frame (unnecessary extra buf?) */
  if (frame->data_bytes < strmh->hold_bytes) {
    frame->data = realloc(frame->data, strmh->hold_bytes);
    frame->data_bytes = strmh->hold_bytes;
  }
  memcpy(frame->data, strmh->holdbuf, frame->data_bytes);
  
  /** @todo set the frame time */
}

/** Poll for a frame
 * @ingroup streaming
 *
 * @param devh UVC device
 * @param[out] frame Location to store pointer to captured frame (NULL on error)
 * @param timeout_us >0: Wait at most N microseconds; 0: Wait indefinitely; -1: return immediately
 */
uvc_error_t uvc_stream_get_frame(uvc_stream_handle_t *strmh,
			  uvc_frame_t **frame,
			  int32_t timeout_us) {
  time_t add_secs;
  time_t add_nsecs;
  struct timespec ts;
  struct timeval tv;

  if (!strmh->running)
    return UVC_ERROR_INVALID_PARAM;

  if (strmh->user_cb)
    return UVC_ERROR_CALLBACK_EXISTS;

  pthread_mutex_lock(&strmh->cb_mutex);

  if (strmh->last_polled_seq < strmh->hold_seq) {
    _uvc_populate_frame(strmh);
    *frame = &strmh->frame;
    strmh->last_polled_seq = strmh->hold_seq;
  } else if (timeout_us != -1) {
    if (timeout_us == 0) {
      pthread_cond_wait(&strmh->cb_cond, &strmh->cb_mutex);
    } else {
      add_secs = timeout_us / 1000000;
      add_nsecs = (timeout_us % 1000000) * 1000;
      ts.tv_sec = 0;
      ts.tv_nsec = 0;

#if _POSIX_TIMERS > 0
      clock_gettime(CLOCK_REALTIME, &ts);
#else
      gettimeofday(&tv, NULL);
      ts.tv_sec = tv.tv_sec;
      ts.tv_nsec = tv.tv_usec * 1000;
#endif

      ts.tv_sec += add_secs;
      ts.tv_nsec += add_nsecs;

      pthread_cond_timedwait(&strmh->cb_cond, &strmh->cb_mutex, &ts);
    }
    
    if (strmh->last_polled_seq < strmh->hold_seq) {
      _uvc_populate_frame(strmh);
      *frame = &strmh->frame;
      strmh->last_polled_seq = strmh->hold_seq;
    } else {
      *frame = NULL;
    }
  } else {
    *frame = NULL;
  }

  pthread_mutex_unlock(&strmh->cb_mutex);

  return UVC_SUCCESS;
}

/** @brief Stop streaming video
 * @ingroup streaming
 *
 * Closes all streams, ends threads and cancels pollers
 *
 * @param devh UVC device
 */
void uvc_stop_streaming(uvc_device_handle_t *devh) {
  uvc_stream_handle_t *strmh, *strmh_tmp;

  DL_FOREACH_SAFE(devh->streams, strmh, strmh_tmp) {
    uvc_stream_close(strmh);
  }
}

/** @brief Stop stream.
 * @ingroup streaming
 *
 * Stops stream, ends threads and cancels pollers
 *
 * @param devh UVC device
 */
uvc_error_t uvc_stream_stop(uvc_stream_handle_t *strmh) {
  int i;

  if (!strmh->running)
    return UVC_ERROR_INVALID_PARAM;

  strmh->running = 0;

  pthread_mutex_lock(&strmh->cb_mutex);

  for(i=0; i<ARRAYSIZE(strmh->transfers); i++) {
    if(strmh->transfers[i] != NULL) {
      int res = libusb_cancel_transfer(strmh->transfers[i]);
      if(res < 0) {
        free(strmh->transfers[i]->buffer);
        libusb_free_transfer(strmh->transfers[i]);
        strmh->transfers[i] = NULL;
      }
    }
  }

  /* Wait for transfers to complete/cancel */
  do {
    for(i=0; i<ARRAYSIZE(strmh->transfers); i++) {
      if(strmh->transfers[i] != NULL)
        break;
    }
    if(i == ARRAYSIZE(strmh->transfers))
      break;
    pthread_cond_wait(&strmh->cb_cond, &strmh->cb_mutex);
  } while(1);
  // Kick the user thread awake
  pthread_cond_broadcast(&strmh->cb_cond);
  pthread_mutex_unlock(&strmh->cb_mutex);

  /** @todo stop the actual stream, camera side? */

  if (strmh->user_cb) {
    /* wait for the thread to stop (triggered by
     * LIBUSB_TRANSFER_CANCELLED transfer) */
    pthread_join(strmh->cb_thread, NULL);
  }

  return UVC_SUCCESS;
}

/** @brief Close stream.
 * @ingroup streaming
 *
 * Closes stream, frees handle and all streaming resources.
 *
 * @param strmh UVC stream handle
 */
void uvc_stream_close(uvc_stream_handle_t *strmh) {
  if (strmh->running)
    uvc_stream_stop(strmh);

  uvc_release_if(strmh->devh, strmh->stream_if->bInterfaceNumber);

  if (strmh->frame.data)
    free(strmh->frame.data);

  free(strmh->outbuf);
  free(strmh->holdbuf);

  pthread_cond_destroy(&strmh->cb_cond);
  pthread_mutex_destroy(&strmh->cb_mutex);

  DL_DELETE(strmh->devh->streams, strmh);
  free(strmh);
}
