GSS2Rework/GSS2.Core/Hardware/CameraService.cs

using Microsoft.Extensions.Logging;
using LibCameraSharp;
using Stream = LibCameraSharp.Stream;

namespace GSS2.Core.Hardware;

public class CameraService : IDisposable
{
    public class CameraServiceConfiguration
    {
        public static CameraServiceConfiguration Default => new CameraServiceConfiguration
        {
            CameraId = "",
            FrameBufferCount = 5,
            ViewFinderWidth = 1920,
            ViewFinderHeight = 1080,
            ViewFinderFps = 30,
            ImageCaptureWidth = 4056,
            ImageCaptureHeight = 3080,
        };

        public string CameraId { get; set; } = "";
        public int FrameBufferCount { get; set; }
        public int ViewFinderWidth { get; set; }
        public int ViewFinderHeight { get; set; }
        public int ViewFinderFps { get; set; }
        public int ImageCaptureWidth { get; set; }
        public int ImageCaptureHeight { get; set; }
    }

    [Flags]
    private enum State
    {
        NotInitialized = 0,
        CameraManagerStarted = 1 << 1,
        CameraAcquired = 1 << 2,
        CameraStarted = 1 << 3,
        ViewFinderFrameBufferAllocated = 1 << 4,
        ImageCaptureFrameBufferAllocated = 1 << 5
    }

    private bool _disposedValue;
    private readonly ILogger<CameraService> _logger;
    private readonly CameraServiceConfiguration _configuration;
    private State _state = State.NotInitialized;
    private CameraManager? _cameraManager;
    private Camera? _camera;
    private CameraConfiguration? _cameraConfiguration;
    private FrameBufferAllocator? _frameBufferAllocator;
    private Stream? _viewFinderStream;
    private Stream? _imageCaptureStream;
    private readonly CancellationTokenSource _disposeCts = new CancellationTokenSource();

    public CameraService(ILogger<CameraService> logger, CameraServiceConfiguration? configuration = null, bool autoInitialize = false)
    {
        _logger = logger;

        _logger.LogInformation("CameraService initialization");

        if (configuration is null)
        {
            _logger.LogWarning("CameraService configuration not set. Using default configuration.");
            _configuration = CameraServiceConfiguration.Default;
        }
        else
        {
            _configuration = configuration;
        }

        _logger.LogDebug(@$"CameraService use following configuration:
        ");

        if (autoInitialize)
            Initialize(CancellationToken.None);
    }

    public async Task InitializeAsync(CancellationToken cancellationToken)
    {
        var linkedCancellationToken = CancellationTokenSource
            .CreateLinkedTokenSource(_disposeCts.Token, cancellationToken)
            .Token;
        await Task.Run(() => Initialize(linkedCancellationToken), linkedCancellationToken);
    }
    public void Initialize(CancellationToken cancellationToken)
    {
        var effectiveCancellationToken = CancellationTokenSource
            .CreateLinkedTokenSource(_disposeCts.Token, cancellationToken)
            .Token;

        try
        {
            if (_state != State.NotInitialized)
                throw new InvalidOperationException("Camera already initialized");

            CameraManagerCreateAndStart(effectiveCancellationToken);
            CameraSelect(effectiveCancellationToken);
            CameraAcquire(effectiveCancellationToken);
            CameraConfigure(effectiveCancellationToken);
            CameraStart(effectiveCancellationToken);
            FrameBuffersAllocate(effectiveCancellationToken);
        }
        catch (Exception e)
        {
            _logger.LogCritical(e, "An exception occurred while camera initialization");
            CleanupAfterFailedInitialization();
            throw;
        }
    }
    private void CameraManagerCreateAndStart(CancellationToken cancellationToken)
    {
        cancellationToken.ThrowIfCancellationRequested();

        _cameraManager = new CameraManager();
        int result = _cameraManager.Start();
        if (result < 0)
        {
            _logger.LogCritical("Error while camera manager start {Result}", result);
            throw new Exception($"Error while camera manager start {result}");
        }

        _state |= State.CameraManagerStarted;
    }
    private void CameraSelect(CancellationToken cancellationToken)
    {
        cancellationToken.ThrowIfCancellationRequested();

        if (_cameraManager!.Cameras.Count() == 0)
            throw new Exception("No cameras found");

        _camera = _cameraManager.Cameras
            .FirstOrDefault(c => c.Id == _configuration.CameraId);

        if (_camera is null)
        {
            var camerasIds = string.Join("\", \"", _cameraManager.Cameras.Select(c => c.Id));
            _logger.LogError(
                "Configured camera id (\"{CameraId}\") not found, using first camera from following list: [\"{Cameras}\"]",
                _configuration.CameraId,
                camerasIds);

            _camera = _cameraManager.Cameras.First();
        }
    }
    private void CameraAcquire(CancellationToken cancellationToken)
    {
        cancellationToken.ThrowIfCancellationRequested();

        int result = _camera!.Acquire();
        if (result < 0)
        {
            _logger.LogCritical("Error while camera acquire {Result}", result);
            throw new Exception($"Error while camera acquire {result}");
        }

        _state |= State.CameraAcquired;
    }
    private void CameraConfigure(CancellationToken cancellationToken)
    {
        cancellationToken.ThrowIfCancellationRequested();

        _cameraConfiguration = _camera!.GenerateConfiguration(
            StreamRoleEnum.Viewfinder,
            StreamRoleEnum.StillCapture);

        var viewFinderConfig = _cameraConfiguration.First();
        viewFinderConfig.BufferCount = (uint)_configuration.FrameBufferCount;
        viewFinderConfig.Size = new Size(
            (uint)_configuration.ViewFinderWidth,
            (uint)_configuration.ViewFinderHeight);

        if (_cameraConfiguration.Validate() == CameraConfiguration.Status.Invalid)
        {
            _logger.LogCritical("Error while camera configuration validation");
            throw new Exception("Error while camera configuration validation");
        }

        cancellationToken.ThrowIfCancellationRequested();

        int result = _camera.Configure(_cameraConfiguration);
        if (result < 0)
        {
            _logger.LogCritical("Error while camera configuration {Result}", result);
            throw new Exception($"Error while camera configuration {result}");
        }

        _viewFinderStream = _cameraConfiguration.First().Stream();
        _imageCaptureStream = _cameraConfiguration.Skip(1).First().Stream();
    }
    private void CameraStart(CancellationToken cancellationToken)
    {
        cancellationToken.ThrowIfCancellationRequested();

        int result = _camera!.Start();
        if (result < 0)
        {
            _logger.LogCritical("Error while camera start {Result}", result);
            throw new Exception($"Error while camera start {result}");
        }

        _state |= State.CameraStarted;
    }
    private void FrameBuffersAllocate(CancellationToken cancellationToken)
    {
        cancellationToken.ThrowIfCancellationRequested();

        _frameBufferAllocator = new FrameBufferAllocator(_camera!);

        cancellationToken.ThrowIfCancellationRequested();

        int result = _frameBufferAllocator.Allocate(_viewFinderStream!);
        if (result < 0)
        {
            _logger.LogCritical("Error while view finder frame buffers allocation {Result}", result);
            throw new Exception($"Error while view finder frame buffers allocation {result}");
        }

        _state |= State.ViewFinderFrameBufferAllocated;

        cancellationToken.ThrowIfCancellationRequested();

        result = _frameBufferAllocator.Allocate(_imageCaptureStream!);
        if (result < 0)
        {
            _logger.LogCritical("Error while image capture frame buffers allocation {Result}", result);
            throw new Exception($"Error while image capture frame buffers allocation {result}");
        }

        _state |= State.ImageCaptureFrameBufferAllocated;
    }
    private void CleanupAfterFailedInitialization()
    {
        try
        {
            if (_state.HasFlag(State.ViewFinderFrameBufferAllocated) && _viewFinderStream is not null)
                _frameBufferAllocator?.Free(_viewFinderStream);
            if (_state.HasFlag(State.ImageCaptureFrameBufferAllocated) && _imageCaptureStream is not null)
                _frameBufferAllocator?.Free(_imageCaptureStream);
            if (_state.HasFlag(State.CameraStarted))
                _camera?.Stop();
            if (_state.HasFlag(State.CameraAcquired))
                _camera?.Release();
            if (_state.HasFlag(State.CameraManagerStarted))
                _cameraManager?.Stop();

            _frameBufferAllocator?.Dispose();
            _cameraManager?.Dispose();
            _viewFinderStream?.Dispose();
            _imageCaptureStream?.Dispose();
        }
        catch
        { }
        finally
        {
            _cameraManager = null;
            _camera = null;
            _frameBufferAllocator = null;
            _viewFinderStream = null;
            _imageCaptureStream = null;
            _state = State.NotInitialized;
        }
    }

    

    protected virtual void Dispose(bool disposing)
    {
        if (!_disposedValue)
        {
            if (disposing)
            {
                _disposeCts.Cancel();

                if (_state.HasFlag(State.ViewFinderFrameBufferAllocated) && _viewFinderStream is not null)
                    _frameBufferAllocator?.Free(_viewFinderStream);
                if (_state.HasFlag(State.ImageCaptureFrameBufferAllocated) && _imageCaptureStream is not null)
                    _frameBufferAllocator?.Free(_imageCaptureStream);
                if (_state.HasFlag(State.CameraStarted))
                    _camera?.Stop();
                if (_state.HasFlag(State.CameraAcquired))
                    _camera?.Release();
                if (_state.HasFlag(State.CameraManagerStarted))
                    _cameraManager?.Stop();

                _viewFinderStream?.Dispose();
                _imageCaptureStream?.Dispose();
                _frameBufferAllocator?.Dispose();
                _cameraConfiguration?.Dispose();
                _cameraManager?.Dispose();

                _cameraManager = null;
                _frameBufferAllocator = null;
                _camera = null;
                _cameraConfiguration = null;
                _frameBufferAllocator = null;
                _viewFinderStream = null;
                _imageCaptureStream = null;
            }

            _disposedValue = true;
        }
    }
    void IDisposable.Dispose()
    {
        Dispose(disposing: true);
        GC.SuppressFinalize(this);
    }
}