#include "gvideoisp1.h"
#include <fcntl.h> /* low-level i/o */
#include <unistd.h>
#include <sys/stat.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include "linux/videodev2.h"
#include "linux/v4l2-subdev.h"
#include <dlfcn.h>
#include "string.h"
#include <iostream>
#include <malloc.h>

#define LOG_TRACE(...)
#define LOG_ERROR printf
#define LOG_INFO(...)

static const std::string loggername = "GVideoISP1";

#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
#define CLEAR(x) memset(&(x), 0, sizeof(x))

#define V4L2_BUF_TYPE_META_OUTPUT 14
#define V4L2_CAP_META_OUTPUT 0x08000000 /* Is a metadata output device */

static struct
{
	enum v4l2_buf_type type;
	bool supported;
	const char *name;
	const char *string;
} buf_types[] = {
	{
		V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE,
		1,
		"Video capture mplanes",
		"capture-mplane",
	},
	{
		V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
		1,
		"Video output",
		"output-mplane",
	},
	{
		V4L2_BUF_TYPE_VIDEO_CAPTURE,
		1,
		"Video capture",
		"capture",
	},
	{
		V4L2_BUF_TYPE_VIDEO_OUTPUT,
		1,
		"Video output mplanes",
		"output",
	},
	{V4L2_BUF_TYPE_VIDEO_OVERLAY, 0, "Video overlay", "overlay"},
	//{ V4L2_BUF_TYPE_META_CAPTURE, 1, "Meta-data capture", "meta-capture", }//,
};

static struct v4l2_format_info
{
	const char *name;
	unsigned int fourcc;
	unsigned char n_planes;
} pixel_formats[] = {
	{"RGB332", V4L2_PIX_FMT_RGB332, 1},
	{"RGB444", V4L2_PIX_FMT_RGB444, 1},
	{"ARGB444", V4L2_PIX_FMT_ARGB444, 1},
	{"XRGB444", V4L2_PIX_FMT_XRGB444, 1},
	{"RGB555", V4L2_PIX_FMT_RGB555, 1},
	{"ARGB555", V4L2_PIX_FMT_ARGB555, 1},
	{"XRGB555", V4L2_PIX_FMT_XRGB555, 1},
	{"RGB565", V4L2_PIX_FMT_RGB565, 1},
	{"RGB555X", V4L2_PIX_FMT_RGB555X, 1},
	{"RGB565X", V4L2_PIX_FMT_RGB565X, 1},
	{"BGR666", V4L2_PIX_FMT_BGR666, 1},
	{"BGR24", V4L2_PIX_FMT_BGR24, 1},
	{"RGB24", V4L2_PIX_FMT_RGB24, 1},
	{"BGR32", V4L2_PIX_FMT_BGR32, 1},
	{"ABGR32", V4L2_PIX_FMT_ABGR32, 1},
	{"XBGR32", V4L2_PIX_FMT_XBGR32, 1},
	{"RGB32", V4L2_PIX_FMT_RGB32, 1},
	{"ARGB32", V4L2_PIX_FMT_ARGB32, 1},
	{"XRGB32", V4L2_PIX_FMT_XRGB32, 1},
	//{ "HSV24", V4L2_PIX_FMT_HSV24, 1 },
	//{ "HSV32", V4L2_PIX_FMT_HSV32, 1 },
	{"Y8", V4L2_PIX_FMT_GREY, 1},
	{"Y10", V4L2_PIX_FMT_Y10, 1},
	{"Y12", V4L2_PIX_FMT_Y12, 1},
	{"Y16", V4L2_PIX_FMT_Y16, 1},
	{"UYVY", V4L2_PIX_FMT_UYVY, 1},
	{"VYUY", V4L2_PIX_FMT_VYUY, 1},
	{"YUYV", V4L2_PIX_FMT_YUYV, 1},
	{"YVYU", V4L2_PIX_FMT_YVYU, 1},
	{"NV12", V4L2_PIX_FMT_NV12, 1},
	{"NV12M", V4L2_PIX_FMT_NV12M, 2},
	{"NV21", V4L2_PIX_FMT_NV21, 1},
	{"NV21M", V4L2_PIX_FMT_NV21M, 2},
	{"NV16", V4L2_PIX_FMT_NV16, 1},
	{"NV16M", V4L2_PIX_FMT_NV16M, 2},
	{"NV61", V4L2_PIX_FMT_NV61, 1},
	{"NV61M", V4L2_PIX_FMT_NV61M, 2},
	{"NV24", V4L2_PIX_FMT_NV24, 1},
	{"NV42", V4L2_PIX_FMT_NV42, 1},
	{"YUV420M", V4L2_PIX_FMT_YUV420M, 3},
	{"YUV422M", V4L2_PIX_FMT_YUV422M, 3},
	{"YUV444M", V4L2_PIX_FMT_YUV444M, 3},
	{"YVU420M", V4L2_PIX_FMT_YVU420M, 3},
	{"YVU422M", V4L2_PIX_FMT_YVU422M, 3},
	{"YVU444M", V4L2_PIX_FMT_YVU444M, 3},
	{"SBGGR8", V4L2_PIX_FMT_SBGGR8, 1},
	{"SGBRG8", V4L2_PIX_FMT_SGBRG8, 1},
	{"SGRBG8", V4L2_PIX_FMT_SGRBG8, 1},
	{"SRGGB8", V4L2_PIX_FMT_SRGGB8, 1},
	{"SBGGR10_DPCM8", V4L2_PIX_FMT_SBGGR10DPCM8, 1},
	{"SGBRG10_DPCM8", V4L2_PIX_FMT_SGBRG10DPCM8, 1},
	{"SGRBG10_DPCM8", V4L2_PIX_FMT_SGRBG10DPCM8, 1},
	{"SRGGB10_DPCM8", V4L2_PIX_FMT_SRGGB10DPCM8, 1},
	{"SBGGR10", V4L2_PIX_FMT_SBGGR10, 1},
	{"SGBRG10", V4L2_PIX_FMT_SGBRG10, 1},
	{"SGRBG10", V4L2_PIX_FMT_SGRBG10, 1},
	{"SRGGB10", V4L2_PIX_FMT_SRGGB10, 1},
	{"SBGGR10P", V4L2_PIX_FMT_SBGGR10P, 1},
	{"SGBRG10P", V4L2_PIX_FMT_SGBRG10P, 1},
	{"SGRBG10P", V4L2_PIX_FMT_SGRBG10P, 1},
	{"SRGGB10P", V4L2_PIX_FMT_SRGGB10P, 1},
	{"SBGGR12", V4L2_PIX_FMT_SBGGR12, 1},
	{"SGBRG12", V4L2_PIX_FMT_SGBRG12, 1},
	{"SGRBG12", V4L2_PIX_FMT_SGRBG12, 1},
	{"SRGGB12", V4L2_PIX_FMT_SRGGB12, 1},
	{"DV", V4L2_PIX_FMT_DV, 1},
	{"MJPEG", V4L2_PIX_FMT_MJPEG, 1},
	{"MPEG", V4L2_PIX_FMT_MPEG, 1},
};

static const struct
{
	const char *name;
	enum v4l2_field field;
} fields[] = {
	{"any", V4L2_FIELD_ANY},
	{"none", V4L2_FIELD_NONE},
	{"top", V4L2_FIELD_TOP},
	{"bottom", V4L2_FIELD_BOTTOM},
	{"interlaced", V4L2_FIELD_INTERLACED},
	{"seq-tb", V4L2_FIELD_SEQ_TB},
	{"seq-bt", V4L2_FIELD_SEQ_BT},
	{"alternate", V4L2_FIELD_ALTERNATE},
	{"interlaced-tb", V4L2_FIELD_INTERLACED_TB},
	{"interlaced-bt", V4L2_FIELD_INTERLACED_BT},
};

GVideoISP1::GVideoISP1()
{
	dev_name = "/dev/video0";
}

GVideoISP1::~GVideoISP1()
{
}

void *GVideoISP1::read_frame(int timeout)
{
	if (!wait(timeout))
	{
		LOG_TRACE("read frame time out!!!\n");
		return 0;
	}
	struct v4l2_plane planes[VIDEO_MAX_PLANES];
	v4l2_buffer buf;
	int ret;
	memset(&buf, 0, sizeof buf);
	memset(planes, 0, sizeof planes);

	buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
	buf.memory = V4L2_MEMORY_MMAP;
	buf.length = VIDEO_MAX_PLANES;
	buf.m.planes = planes;

	ret = ioctl(fd, VIDIOC_DQBUF, &buf);
	if (ret < 0)
		LOG_TRACE("Unable to dequeue buffer: %s (%d).", strerror(errno), errno);
	else
		LOG_TRACE("VIDIOC_DQBUF sucess");

	ret = ioctl(fd, VIDIOC_QBUF, &buf);
	if (ret < 0)
		LOG_ERROR("Unable to requeue buffer: %s (%d).\n", strerror(errno), errno);
	else
		LOG_TRACE("VIDIOC_QBUF sucess");

	LOG_TRACE("buf.index = %d,buf.addr = %p\n", buf.index, buffers[buf.index].start);
	return buffers[buf.index].start;
}

void GVideoISP1::start_capturing(void)
{
	unsigned int i;
	int ret;
	enum v4l2_buf_type type;

	for (i = 0; i < n_buffers; ++i)
	{
		struct v4l2_buffer buf;
		struct v4l2_plane planes[VIDEO_MAX_PLANES];
		CLEAR(buf);
		CLEAR(planes);
		for (int j = 0; j < VIDEO_MAX_PLANES; j++)
		{
			planes[j].length = buffers[i].length;
			planes[j].m.userptr = (unsigned long)buffers[i].start;
		}
		buf.index = i;
		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
		buf.memory = V4L2_MEMORY_MMAP;
		buf.m.planes = planes;
		buf.length = 1;

		ret = ioctl(fd, VIDIOC_QBUF, &buf);
		if (ret < 0)
			LOG_ERROR("Unable to queue buffer: %s (%d).", strerror(errno), errno);
		else
			LOG_TRACE("buf.index = %d VIDIOC_QBUF sucess.", i);
	}

	type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
	ret = ioctl(fd, VIDIOC_STREAMON, &type);
	if (ret < 0)
		LOG_ERROR("Unable to %s streaming: %s (%d).", "start", strerror(errno), errno);
	else
		LOG_TRACE("VIDIOC_STREAMON sucess.");
}

void GVideoISP1::stop_capturing(void)
{
	enum v4l2_buf_type type;

	type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
	if (-1 == ioctl(fd, VIDIOC_STREAMOFF, &type))
		LOG_ERROR("streamo off error\n");
}

static void get_ts_flags(uint32_t flags, const char **ts_type, const char **ts_source)
{
	switch (flags & V4L2_BUF_FLAG_TIMESTAMP_MASK)
	{
	case V4L2_BUF_FLAG_TIMESTAMP_UNKNOWN:
		*ts_type = "unk";
		break;
	case V4L2_BUF_FLAG_TIMESTAMP_MONOTONIC:
		*ts_type = "mono";
		break;
	case V4L2_BUF_FLAG_TIMESTAMP_COPY:
		*ts_type = "copy";
		break;
	default:
		*ts_type = "inv";
	}
	switch (flags & V4L2_BUF_FLAG_TSTAMP_SRC_MASK)
	{
	case V4L2_BUF_FLAG_TSTAMP_SRC_EOF:
		*ts_source = "EoF";
		break;
	case V4L2_BUF_FLAG_TSTAMP_SRC_SOE:
		*ts_source = "SoE";
		break;
	default:
		*ts_source = "inv";
	}
}

static const char *v4l2_buf_type_name(__u32 type)
{
	unsigned int i;

	for (i = 0; i < ARRAY_SIZE(buf_types); ++i)
	{
		if (buf_types[i].type == type)
			return buf_types[i].name;
	}

	if (type & V4L2_BUF_TYPE_PRIVATE)
		return "Private";
	else
		return "Unknown";
}

static const struct v4l2_format_info *v4l2_format_by_fourcc(unsigned int fourcc)
{
	unsigned int i;

	for (i = 0; i < ARRAY_SIZE(pixel_formats); ++i)
	{
		if (pixel_formats[i].fourcc == fourcc)
			return &pixel_formats[i];
	}

	return NULL;
}

static const char *v4l2_format_name(unsigned int fourcc)
{
	const struct v4l2_format_info *info;
	static char name[5];
	unsigned int i;

	info = v4l2_format_by_fourcc(fourcc);
	if (info)
		return info->name;

	for (i = 0; i < 4; ++i)
	{
		name[i] = fourcc & 0xff;
		fourcc >>= 8;
	}

	name[4] = '\0';
	return name;
}

static void video_enum_frame_intervals(int fd, __u32 pixelformat,
									   unsigned int width, unsigned int height)
{
	struct v4l2_frmivalenum ival;
	unsigned int i;
	int ret;

	for (i = 0;; ++i)
	{
		memset(&ival, 0, sizeof ival);
		ival.index = i;
		ival.pixel_format = pixelformat;
		ival.width = width;
		ival.height = height;
		ret = ioctl(fd, VIDIOC_ENUM_FRAMEINTERVALS, &ival);
		if (ret < 0)
			break;

		if (i != ival.index)
			LOG_TRACE("Warning: driver returned wrong ival index "
					  "%u.\n",
					  ival.index);
		if (pixelformat != ival.pixel_format)
			LOG_TRACE("Warning: driver returned wrong ival pixel "
					  "format %08x.\n",
					  ival.pixel_format);
		if (width != ival.width)
			LOG_TRACE("Warning: driver returned wrong ival width "
					  "%u.\n",
					  ival.width);
		if (height != ival.height)
			LOG_TRACE("Warning: driver returned wrong ival height "
					  "%u.\n",
					  ival.height);

		if (i != 0)
			LOG_TRACE(", ");

		switch (ival.type)
		{
		case V4L2_FRMIVAL_TYPE_DISCRETE:
			LOG_TRACE("%u/%u", ival.discrete.numerator, ival.discrete.denominator);
			break;

		case V4L2_FRMIVAL_TYPE_CONTINUOUS:
			LOG_TRACE("%u/%u - %u/%u", ival.stepwise.min.numerator, ival.stepwise.min.denominator, ival.stepwise.max.numerator, ival.stepwise.max.denominator);
			return;

		case V4L2_FRMIVAL_TYPE_STEPWISE:
			LOG_TRACE("%u/%u - %u/%u (by %u/%u)", ival.stepwise.min.numerator, ival.stepwise.min.denominator, ival.stepwise.max.numerator, ival.stepwise.max.denominator, ival.stepwise.step.numerator, ival.stepwise.step.denominator);
			return;

		default:
			break;
		}
	}
}

static void video_enum_frame_sizes(int fd, __u32 pixelformat)
{
	struct v4l2_frmsizeenum frame;
	unsigned int i;
	int ret;

	for (i = 0;; ++i)
	{
		memset(&frame, 0, sizeof frame);
		frame.index = i;
		frame.pixel_format = pixelformat;
		ret = ioctl(fd, VIDIOC_ENUM_FRAMESIZES, &frame);
		if (ret < 0)
			break;

		if (i != frame.index)
			LOG_TRACE("Warning: driver returned wrong frame index "
					  "%u.\n",
					  frame.index);
		if (pixelformat != frame.pixel_format)
			LOG_TRACE("Warning: driver returned wrong frame pixel "
					  "format %08x.\n",
					  frame.pixel_format);

		switch (frame.type)
		{
		case V4L2_FRMSIZE_TYPE_DISCRETE:
			LOG_TRACE("\tFrame size: %ux%u (", frame.discrete.width, frame.discrete.height);
			video_enum_frame_intervals(fd, frame.pixel_format, frame.discrete.width, frame.discrete.height);
			break;

		case V4L2_FRMSIZE_TYPE_CONTINUOUS:
			LOG_TRACE("\tFrame size: %ux%u - %ux%u (", frame.stepwise.min_width, frame.stepwise.min_height, frame.stepwise.max_width, frame.stepwise.max_height);
			video_enum_frame_intervals(fd, frame.pixel_format, frame.stepwise.max_width, frame.stepwise.max_height);
			break;

		case V4L2_FRMSIZE_TYPE_STEPWISE:
			LOG_TRACE("\tFrame size: %ux%u - %ux%u (by %ux%u) (\n", frame.stepwise.min_width, frame.stepwise.min_height, frame.stepwise.max_width, frame.stepwise.max_height, frame.stepwise.step_width, frame.stepwise.step_height);
			video_enum_frame_intervals(fd, frame.pixel_format, frame.stepwise.max_width, frame.stepwise.max_height);
			break;

		default:
			break;
		}
	}
}

static void video_enum_formats(int fd, enum v4l2_buf_type type)
{
	struct v4l2_fmtdesc fmt;
	unsigned int i;
	int ret;

	for (i = 0;; ++i)
	{
		memset(&fmt, 0, sizeof fmt);
		fmt.index = i;
		fmt.type = type;
		ret = ioctl(fd, VIDIOC_ENUM_FMT, &fmt);
		if (ret < 0)
			break;

		if (i != fmt.index)
			LOG_TRACE("Warning: driver returned wrong format index "
					  "%u.\n",
					  fmt.index);
		if (type != fmt.type)
			LOG_TRACE("Warning: driver returned wrong format type "
					  "%u.\n",
					  fmt.type);

		LOG_TRACE("\tFormat %u: %s (%08x)\n", i, v4l2_format_name(fmt.pixelformat), fmt.pixelformat);
		LOG_TRACE("\tType: %s (%u)\n", v4l2_buf_type_name(fmt.type), fmt.type);
		LOG_TRACE("\tName: %.32s\n", fmt.description);
		video_enum_frame_sizes(fd, fmt.pixelformat);
	}
}

static void video_enum_inputs(int fd)
{
	struct v4l2_input input;
	unsigned int i;
	int ret;

	for (i = 0;; ++i)
	{
		memset(&input, 0, sizeof input);
		input.index = i;
		ret = ioctl(fd, VIDIOC_ENUMINPUT, &input);
		if (ret < 0)
			break;

		if (i != input.index)
			LOG_TRACE("Warning: driver returned wrong input index "
					  "%u.\n",
					  input.index);

		LOG_TRACE("\tInput %u: %s.\n", i, input.name);
	}
}

static const char *v4l2_field_name(__u32 field)
{
	unsigned int i;

	for (i = 0; i < ARRAY_SIZE(fields); ++i)
	{
		if (fields[i].field == field)
			return fields[i].name;
	}

	return "unknown";
}

static void rkisp_sd_set_crop(const char *ispsd, int fd, int pad, int *w, int *h)
{
	struct v4l2_subdev_selection sel;
	int ret;

	memset(&sel, 0, sizeof(sel));
	sel.which = V4L2_SUBDEV_FORMAT_ACTIVE;
	sel.pad = pad;
	sel.r.width = *w;
	sel.r.height = *h;
	sel.r.left = 0;
	sel.r.top = 0;
	sel.target = V4L2_SEL_TGT_CROP;
	sel.flags = V4L2_SEL_FLAG_LE;
	ret = ioctl(fd, VIDIOC_SUBDEV_S_SELECTION, &sel);
	if (ret)
	{
		LOG_ERROR("subdev %s pad %d crop failed, ret = %d\n", ispsd, sel.pad, ret);
	}
	else
	{
		LOG_TRACE("VIDIOC_SUBDEV_S_SELECTION sucess.\n");
	}

	*w = sel.r.width;
	*h = sel.r.height;
}

static void rkisp_video_set_crop(int fd, int x, int y, int w, int h)
{
	struct v4l2_selection sel;
	int ret;
	memset(&sel, 0, sizeof(sel));
	sel.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
	sel.r.width = w;
	sel.r.height = h;
	sel.r.left = x;
	sel.r.top = y;
	sel.target = V4L2_SEL_TGT_CROP;
	sel.flags = 0;
	ret = ioctl(fd, VIDIOC_S_SELECTION, &sel);
	if (ret)
	{
		LOG_ERROR("VIDIOC_S_SELECTION::set output crop(0,0/%dx%d) failed, %s\n", w, h, strerror(errno));
	}
	else
	{
		LOG_TRACE("sVIDIOC_S_SELECTION scuess\n");
	}
}

void GVideoISP1::init_device(void)
{
	struct v4l2_capability cap;
	struct v4l2_format fmt;

	enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	struct v4l2_fmtdesc fmt_1;
	struct v4l2_frmsizeenum frmsize;
	struct v4l2_frmivalenum frmival;
	struct v4l2_subdev_format subdev_fmt;
	int subdev_fd;

	unsigned int caps;
	bool has_video;
	bool has_meta;
	bool has_capture;
	bool has_output;
	bool has_mplane;

	int ret;
	int i;
	//---------------------------set /dev/v4l2-subdev*-------------------------------------//
	//----------------------1.v4l2_subdev2 set format----------------------//
	subdev_fd = ::open(subdev2_name.c_str(), O_RDWR, 0);
	if (-1 == subdev_fd)
	{
		LOG_ERROR("Cannot open '%s'\n", subdev2_name.c_str());
	}
	else
	{
		LOG_TRACE("open %s success.fd = %d.\n", subdev2_name.c_str(), subdev_fd);
	}
	memset(&subdev_fmt, 0, sizeof subdev_fmt);
	subdev_fmt.pad = 0;
	subdev_fmt.which = V4L2_SUBDEV_FORMAT_ACTIVE;
	ret = ioctl(subdev_fd, VIDIOC_SUBDEV_G_FMT, &subdev_fmt);
	if (ret < 0)
	{
		LOG_ERROR("VIDIOC_SUBDEV_G_FMT failed.\n");
	}
	else
	{
		LOG_TRACE("VIDIOC_SUBDEV_G_FMT SUCESS\n");
	}
	LOG_TRACE("VIDIOC_SUBDEV_G_FMT:height = %d;width = %d;code = %d.\n", subdev_fmt.format.height, subdev_fmt.format.width, subdev_fmt.format.code);

	subdev_fmt.format.width = v4l_width;
	subdev_fmt.format.height = v4l_height;
	LOG_TRACE("set height = %d\n", subdev_fmt.format.height);
	LOG_TRACE("set width = %d\n", subdev_fmt.format.width);
	ret = ioctl(subdev_fd, VIDIOC_SUBDEV_S_FMT, &subdev_fmt);
	if (ret < 0)
	{
		LOG_ERROR("VIDIOC_SUBDEV_S_FMT failed.\n");
	}
	else
	{
		LOG_TRACE("VIDIOC_SUBDEV_S_FMT SUCESS\n");
	}
	LOG_TRACE("VIDIOC_SUBDEV_S_FMT:height = %d;width = %d;code = %d.\n", subdev_fmt.format.height, subdev_fmt.format.width, subdev_fmt.format.code);
	::close(subdev_fd);
	//-------------------------------------------------------------//

	//----------------------2.v4l2_subdev0 set format::pad0----------------------//
	subdev_fd = ::open(subdev0_name.c_str(), O_RDWR, 0);
	if (-1 == subdev_fd)
	{
		LOG_ERROR("Cannot open '%s'\n", subdev0_name.c_str());
	}
	else
	{
		LOG_TRACE("open %s success.fd = %d.\n", subdev0_name.c_str(), subdev_fd);
	}
	memset(&subdev_fmt, 0, sizeof subdev_fmt);
	subdev_fmt.pad = 0;
	subdev_fmt.which = V4L2_SUBDEV_FORMAT_ACTIVE;
	ret = ioctl(subdev_fd, VIDIOC_SUBDEV_G_FMT, &subdev_fmt);
	if (ret < 0)
	{
		LOG_ERROR("VIDIOC_SUBDEV_G_FMT failed.\n");
	}
	else
	{
		LOG_TRACE("VIDIOC_SUBDEV_G_FMT SUCESS\n");
	}
	LOG_TRACE("VIDIOC_SUBDEV_G_FMT:pad = %d;height = %d;width = %d;code = %d.\n", subdev_fmt.pad, subdev_fmt.format.height, subdev_fmt.format.width, subdev_fmt.format.code);
	subdev_fmt.format.width = v4l_width;
	subdev_fmt.format.height = v4l_height;
	LOG_TRACE("set height = %d;width = %d\n", subdev_fmt.format.height, subdev_fmt.format.width);

	ret = ioctl(subdev_fd, VIDIOC_SUBDEV_S_FMT, &subdev_fmt);
	if (ret < 0)
	{
		LOG_ERROR("VIDIOC_SUBDEV_S_FMT failed.\n");
	}
	else
	{
		LOG_TRACE("VIDIOC_SUBDEV_S_FMT SUCESS\n");
	}
	LOG_TRACE("VIDIOC_SUBDEV_S_FMT:pad = %d;height = %d;width = %d;code = %d.\n", subdev_fmt.pad, subdev_fmt.format.height, subdev_fmt.format.width, subdev_fmt.format.code);
	rkisp_sd_set_crop(subdev0_name.c_str(), subdev_fd, 0, &v4l_width, &v4l_height);
	LOG_TRACE("v4l_set height = %d;width = %d\n", v4l_width, v4l_height);
	//----------------------3.v4l2_subdev0 set format::pad2----------------------//
	rkisp_sd_set_crop(subdev0_name.c_str(), subdev_fd, 2, &v4l_width, &v4l_height);
	LOG_TRACE("v4l_set height = %d;width = %d\n", v4l_width, v4l_height);
	memset(&subdev_fmt, 0, sizeof subdev_fmt);
	subdev_fmt.pad = 2;
	subdev_fmt.which = V4L2_SUBDEV_FORMAT_ACTIVE;
	ret = ioctl(subdev_fd, VIDIOC_SUBDEV_G_FMT, &subdev_fmt);
	if (ret < 0)
	{
		LOG_TRACE("VIDIOC_SUBDEV_G_FMT failed.\n");
	}
	else
	{
		LOG_TRACE("VIDIOC_SUBDEV_G_FMT SUCESS\n");
	}
	LOG_TRACE("VIDIOC_SUBDEV_G_FMT:pad = %d\n", subdev_fmt.pad);
	LOG_TRACE("VIDIOC_SUBDEV_G_FMT:subdev_fmt.format.height = %d\n", subdev_fmt.format.height);
	LOG_TRACE("VIDIOC_SUBDEV_G_FMT:subdev_fmt.format.width = %d\n", subdev_fmt.format.width);
	LOG_TRACE("VIDIOC_SUBDEV_G_FMT:subdev_fmt.format.code = %d\n", subdev_fmt.format.code);
	subdev_fmt.format.width = v4l_width;
	subdev_fmt.format.height = v4l_height;
	LOG_TRACE("set height = %d\n", subdev_fmt.format.height);
	LOG_TRACE("set width = %d\n", subdev_fmt.format.width);

	ret = ioctl(subdev_fd, VIDIOC_SUBDEV_S_FMT, &subdev_fmt);
	if (ret < 0)
	{
		LOG_TRACE("VIDIOC_SUBDEV_S_FMT failed.\n");
	}
	else
	{
		LOG_TRACE("VIDIOC_SUBDEV_S_FMT SUCESS\n");
	}
	LOG_TRACE("VIDIOC_SUBDEV_G_FMT:pad = %d\n", subdev_fmt.pad);
	LOG_TRACE("VIDIOC_SUBDEV_S_FMT:subdev_fmt.format.height = %d\n", subdev_fmt.format.height);
	LOG_TRACE("VIDIOC_SUBDEV_S_FMT:subdev_fmt.format.width = %d\n", subdev_fmt.format.width);
	LOG_TRACE("VIDIOC_SUBDEV_S_FMT:subdev_fmt.format.code = %d\n", subdev_fmt.format.code);
	//-------------------------------------------------------------//

	//-------4.set video selection(crop) because ispsd size changed------------------//
	rkisp_video_set_crop(fd, 0, 0, v4l_width, v4l_height);
	//----------------------1.VIDIOC_QUERYCAP----------------------//
	memset(&cap, 0, sizeof cap);
	if (-1 == ioctl(fd, VIDIOC_QUERYCAP, &cap))

		ret = ioctl(fd, VIDIOC_QUERYCAP, &cap);
	if (ret < 0)
	{
		LOG_TRACE("VIDIOC_QUERYCAP failed.\n");
	}
	else
	{
		LOG_TRACE("cap.capabilities = %x .\n", cap.capabilities);
		LOG_TRACE("cap.device_caps = %x .\n", cap.device_caps);
	}
	caps = cap.capabilities & V4L2_CAP_DEVICE_CAPS
			   ? cap.device_caps
			   : cap.capabilities;

	has_video = caps & (V4L2_CAP_VIDEO_CAPTURE_MPLANE |
						V4L2_CAP_VIDEO_CAPTURE |
						V4L2_CAP_VIDEO_OUTPUT_MPLANE |
						V4L2_CAP_VIDEO_OUTPUT);
	//  has_meta = caps & (V4L2_CAP_META_CAPTURE |
	// 			V4L2_CAP_META_OUTPUT);
	//  has_capture = caps & (V4L2_CAP_VIDEO_CAPTURE_MPLANE |
	// 			   V4L2_CAP_VIDEO_CAPTURE |
	// 			   V4L2_CAP_META_CAPTURE);
	has_output = caps & (V4L2_CAP_VIDEO_OUTPUT_MPLANE |
						 V4L2_CAP_VIDEO_OUTPUT |
						 V4L2_CAP_META_OUTPUT);
	has_mplane = caps & (V4L2_CAP_VIDEO_CAPTURE_MPLANE |
						 V4L2_CAP_VIDEO_OUTPUT_MPLANE);

	LOG_TRACE("Device `%s' on `%s' (driver '%s') supports%s%s%s%s %s mplanes.\n", cap.card, cap.bus_info, cap.driver, has_video ? " video," : "", has_meta ? " meta-data," : "", has_capture ? " capture," : "", has_output ? " output," : "", has_mplane ? "with" : "without");

	if (!(cap.capabilities & V4L2_CAP_STREAMING))
	{
		LOG_ERROR("%s does not support streaming i/o\n", dev_name.c_str());
	}
	else
	{
		LOG_TRACE("%s support streaming i/o\n", dev_name.c_str());
	}
	//-------------------------------------------------------------//

	//----------------------2.VIDIOC_ENUM_FMT----------------------//
	LOG_TRACE("- Available formats:\n");
	LOG_TRACE("------------------------------------------------------\n");
	LOG_TRACE("fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE = %d\n", V4L2_BUF_TYPE_VIDEO_CAPTURE);
	video_enum_formats(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE);

	LOG_TRACE("------------------------------------------------------\n");
	LOG_TRACE("fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE = %d\n", V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE);
	video_enum_formats(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE);

	LOG_TRACE("------------------------------------------------------\n");
	LOG_TRACE("fmt.type = V4L2_BUF_TYPE_VIDEO_OUTPUT = %d\n", V4L2_BUF_TYPE_VIDEO_OUTPUT);
	video_enum_formats(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT);

	LOG_TRACE("------------------------------------------------------\n");
	LOG_TRACE("fmt.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE = %d\n", V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE);
	video_enum_formats(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE);

	LOG_TRACE("------------------------------------------------------\n");
	LOG_TRACE("fmt.type = V4L2_BUF_TYPE_VIDEO_OVERLAY = %d\n", V4L2_BUF_TYPE_VIDEO_OVERLAY);
	video_enum_formats(fd, V4L2_BUF_TYPE_VIDEO_OVERLAY);

	LOG_TRACE("------------------------------------------------------\n");
	// LOG_TRACE( "fmt.type = V4L2_BUF_TYPE_META_CAPTURE = %d\n", V4L2_BUF_TYPE_META_CAPTURE));
	// video_enum_formats(fd, V4L2_BUF_TYPE_META_CAPTURE);

	LOG_TRACE("------------------------------------------------------\n");
	LOG_TRACE("fmt.type = V4L2_BUF_TYPE_META_OUTPUT = %d\n", V4L2_BUF_TYPE_META_OUTPUT);
	// video_enum_formats(fd, V4L2_BUF_TYPE_META_OUTPUT);
	LOG_TRACE("------------------------------------------------------\n");
	//--------------------------------------------------------------//

	//----------------------3.VIDIOC_ENUMINPUT----------------------//
	LOG_TRACE("- Available inputs:\n");
	video_enum_inputs(fd);
	//-------------------------------------------------------------//

	//----------------------4.VIDIOC_S_FMT-------------------------//
	LOG_TRACE("..........................................................................\n");
	CLEAR(fmt);
	// fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
	fmt.fmt.pix.width = v4l_width;
	fmt.fmt.pix.height = v4l_height;
	LOG_TRACE("v4l2 VIDIOC_S_FMT width:%d, height:%d\n", fmt.fmt.pix.width, fmt.fmt.pix.height);
	// fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
	fmt.fmt.pix_mp.pixelformat = V4L2_PIX_FMT_RGB24;
	fmt.fmt.pix_mp.field = 0;
	fmt.fmt.pix_mp.num_planes = 1;
	fmt.fmt.pix_mp.flags = 0;
	fmt.fmt.pix_mp.plane_fmt[0].bytesperline = 0;
	fmt.fmt.pix_mp.plane_fmt[0].sizeimage = 0;

	ret = ioctl(fd, VIDIOC_S_FMT, &fmt);
	if (ret < 0)
	{
		LOG_TRACE("Unable to set format: %s (%d).\n", strerror(errno), errno);
	}
	else
	{
		LOG_TRACE("VIDIOC_S_FMT sucess.\n");
	}

	LOG_TRACE("Video format set: %s (%08x) %ux%u field %s, %u planes: \n", v4l2_format_name(fmt.fmt.pix_mp.pixelformat), fmt.fmt.pix_mp.pixelformat, fmt.fmt.pix_mp.width, fmt.fmt.pix_mp.height, v4l2_field_name(fmt.fmt.pix_mp.field), fmt.fmt.pix_mp.num_planes);

	for (i = 0; i < fmt.fmt.pix_mp.num_planes; i++)
	{
		LOG_TRACE(" * bytesperline %u, buffer size %u\n", fmt.fmt.pix_mp.plane_fmt[i].bytesperline, fmt.fmt.pix_mp.plane_fmt[i].sizeimage);
	}
	//-------------------------------------------------------------//

	//----------------------5.VIDIOC_G_FMT-------------------------//
	memset(&fmt, 0, sizeof fmt);
	fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
	ret = ioctl(fd, VIDIOC_G_FMT, &fmt);
	if (ret < 0)
	{
		LOG_TRACE("Unable to get format: %s (%d).\n", strerror(errno), errno);
	}
	else
	{
		LOG_TRACE("VIDIOC_G_FMT sucess.");
	}
	LOG_TRACE("Video format: %s (%08x) %ux%u field %s, %u planes: \n", v4l2_format_name(fmt.fmt.pix_mp.pixelformat), fmt.fmt.pix_mp.pixelformat, fmt.fmt.pix_mp.width, fmt.fmt.pix_mp.height, v4l2_field_name(fmt.fmt.pix_mp.field), fmt.fmt.pix_mp.num_planes);
	for (i = 0; i < fmt.fmt.pix_mp.num_planes; i++)
		LOG_TRACE(" * bytesperline %u, buffer size %u\n", fmt.fmt.pix_mp.plane_fmt[i].bytesperline, fmt.fmt.pix_mp.plane_fmt[i].sizeimage);

	::close(subdev_fd);
	//-------------------------------------------------------------//

	// 6.VIDIOC_REQBUFS	//7.VIDIOC_QUERYBUF mmmap
	init_mmap();
	//-------------------------------------------------------------//
}

void GVideoISP1::init_mmap(void)
{
	struct v4l2_requestbuffers req;
	int ret;
	unsigned int length;
	unsigned int offset;

	CLEAR(req);
	req.count = v4l_buffer_count;
	req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
	req.memory = V4L2_MEMORY_MMAP;
	LOG_INFO("set v4l_buffer_count = %d\n", req.count);
	LOG_INFO("set v4l_buffer_type = %d\n", req.type);
	LOG_INFO("set v4l_buffer_memory = %d\n", req.memory);

	ret = ioctl(fd, VIDIOC_REQBUFS, &req);
	if (ret < 0)
	{
		LOG_ERROR("Unable to request buffers: %s (%d).\n", strerror(errno), errno);
	}
	else
	{
		LOG_INFO("%s VIDIOC_REQBUFS sucess\n", dev_name.c_str());
	}
	LOG_INFO("%u buffers requested.\n", req.count);

	buffers.resize(req.count);
	if (buffers.empty())
		LOG_ERROR("Out of memory\n");

	// 7.VIDIOC_QUERYBUF
	for (n_buffers = 0; n_buffers < req.count; ++n_buffers)
	{
		const char *ts_type, *ts_source;
		struct v4l2_buffer buf;
		struct v4l2_plane planes[VIDEO_MAX_PLANES];
		CLEAR(buf);
		CLEAR(planes);
		buf.index = n_buffers;
		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
		buf.memory = V4L2_MEMORY_MMAP;
		buf.length = VIDEO_MAX_PLANES;
		buf.m.planes = planes;

		ret = ioctl(fd, VIDIOC_QUERYBUF, &buf);
		if (ret < 0)
			LOG_ERROR("Unable to query buffer %u: %s (%d).\n", n_buffers, strerror(errno), errno);
		else
			LOG_INFO("index %d VIDIOC_QUERYBUF sucess.\n", n_buffers);
		// mmap
		unsigned int length;
		unsigned int offset;
		length = buf.m.planes[0].length;
		offset = buf.m.planes[0].m.mem_offset;
		LOG_INFO("Buffer %u length  = %d.\n", n_buffers, length);
		LOG_INFO("Buffer %u offset  = %d.\n", n_buffers, offset);

		buffers[n_buffers].length = length;
		buffers[n_buffers].start =
			mmap(NULL /* start anywhere */,
				 length,
				 PROT_READ | PROT_WRITE /* required */,
				 MAP_SHARED /* recommended */,
				 fd, offset);
		if (buffers[n_buffers].start == MAP_FAILED)
			LOG_ERROR("Unable to map buffer %u: %s (%d)\n", n_buffers, strerror(errno), errno);
		else
			LOG_INFO("Buffer %u mapped at address %p.\n", n_buffers, buffers[n_buffers].start);
	}
}

void GVideoISP1::uninit_device(void)
{
	if (!buffers.empty())
	{
		for (int i = 0; i < buffers.size(); ++i)
			if (-1 == munmap(buffers[i].start, buffers[i].length))
				LOG_ERROR("munmap %d error\n", i);

		struct v4l2_requestbuffers req;
		CLEAR(req);
		req.count = 0;
		req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
		req.memory = V4L2_MEMORY_MMAP;

		if (-1 == ioctl(fd, VIDIOC_REQBUFS, &req))
			LOG_ERROR("uinit_device VIDIOC_REQBUFS fail\n");

		buffers.clear();
	}
}