// opencv
#include <cv.h>
#include <highgui.h>

#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <errno.h>
#include <sys/mman.h>
#include <unistd.h> //close
#include <signal.h>

/* This will be created under /dev/shm/ */
#define STATE_FILE "/camproxy.shared"
#define WIDTH 480
#define HEIGHT 360
#define  SIZE 640*480*3

int shm_fd;

void ex_program(int sig) {
	close(shm_fd);
	printf("Bye\n");
	exit(0);
}


int main(int argc, char **argv)
{
	int num = 0;
	if (argc > 1)
		num = atol(argv[1]);

	printf("CamProxy: Using camera index #%d\n", num);

	unsigned char *shared_frame;
	
	int shm_fd;
	if ((shm_fd = shm_open(STATE_FILE, (O_CREAT | O_RDWR),
						   (S_IREAD | S_IWRITE))) < 0) {
		printf("Could not create shm object. %s\n", strerror(errno));
		return errno;
	}
	ftruncate(shm_fd, SIZE);
	if((shared_frame =  mmap(0, SIZE, (PROT_READ | PROT_WRITE),
							 MAP_SHARED, shm_fd, 0)) == MAP_FAILED) {
		printf("Could not create shm object. %s\n", strerror(errno));
		return errno;
	}

    static CvCapture* camera_capture = 0;

	// initialize camera
	camera_capture = cvCaptureFromCAM(num);
	
	//cvSetCaptureProperty(camera_capture, CV_CAP_PROP_FRAME_WIDTH, 640);
	//cvSetCaptureProperty(camera_capture, CV_CAP_PROP_FRAME_HEIGHT, 480);

        // cvSetCaptureProperty(camera_capture, CV_CAP_PROP_CONVERT_RGB, 0);
        // 
        IplImage *img = cvCreateImage(cvSize(640, 480), 8, 3);
	
	printf("Camera initialized.\n");

	(void) signal(SIGINT, ex_program);

	
	while (1) {
	
		if( !cvGrabFrame( camera_capture )) {
			printf("Cannot grab frames!\n");
			return 1;
		}
		
		
		IplImage *frame = cvRetrieveFrame( camera_capture );
		if( !frame) {
			printf("Cannot grab frames.");
			return 1;
		}
	   
	        cvResize(frame, img, 0);
	   
		int x, y;
		for (x=0; x<640; x++) {
			for (y=0; y<480; y++)  {
				shared_frame[3*640*(479-y) + 3*x + 2] = img->imageData[img->widthStep * y + 3 * x + 0];
				shared_frame[3*640*(479-y) + 3*x + 1] = img->imageData[img->widthStep * y + 3 * x + 1];
				shared_frame[3*640*(479-y) + 3*x + 0] = img->imageData[img->widthStep * y + 3 * x + 2];
			}
		}
	}

	return 0;
}