#include <opencv2/opencv.hpp>
//#include <opencv.hpp>
#include <iostream>
#include <string>
#include <chrono>
cv::Mat dst_frame;
cv::Mat src_frame;
//auto start=0;
using namespace std;
auto end2 = std::chrono::steady_clock::now();
auto end3 = std::chrono::steady_clock::now();
auto end4 = std::chrono::steady_clock::now();
void read_cam(int width, int height, int fps) {
    std::string v4l2_cmd = "media-ctl -d /dev/media0 --set-v4l2 '\"m00_b_mvcam 7-003b\":0[fmt:Y8_1X8/" + std::to_string(width) + "x" + std::to_string(height) + "@1/" + std::to_string(fps) + " field:none]'";
    system(v4l2_cmd.c_str());

   cv::VideoCapture cap("v4l2src io-mode=dmabuf device=/dev/video0 ! video/x-raw, format=(string)GRAY8, width=(int)" + std::to_string(width) + ", height=(int)" + std::to_string(height) + " ! appsink");
    if (cap.isOpened()) {
        src_frame = cv::Mat(height, width, CV_8UC1);
        cv::namedWindow("demo", cv::WINDOW_AUTOSIZE);
        int framesProcessed = 0;
        auto lastSecond = std::chrono::steady_clock::now();
        while (true) {
            
            auto start = std::chrono::steady_clock::now();  // 获取处理开始时间
            bool ret_val = cap.read(src_frame);
            auto end1 = std::chrono::steady_clock::now(); // 获取处理结束时间
            if (ret_val) {
		        cv::medianBlur(src_frame, dst_frame, 3);
                end2 = std::chrono::steady_clock::now(); // 获取处理结束时间
                cv::imshow("demo", dst_frame);
                end3 = std::chrono::steady_clock::now(); // 获取处理结束时间
                cv::waitKey(1);
                end4 = std::chrono::steady_clock::now(); // 获取处理结束时间
            } else {
                std::cout << "camera open failed" << std::endl;
                break;
            }
            auto end = std::chrono::steady_clock::now(); // 获取处理结束时间
            //auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(end - start); // 计算时间差
            auto duration_read = std::chrono::duration_cast<std::chrono::milliseconds>(end1 - start); // 计算读取时间
            auto duration_median = std::chrono::duration_cast<std::chrono::milliseconds>(end2 - end1); // 计算中值模糊时间
            auto duration_display = std::chrono::duration_cast<std::chrono::milliseconds>(end3 - end2); // 计算显示时间
            auto duration_waitkey = std::chrono::duration_cast<std::chrono::milliseconds>(end4 - end3); // 计算按键等待时间
            auto total_duration = std::chrono::duration_cast<std::chrono::milliseconds>(end - start); // 计算总时间


            //std::cout << "Time taken for duration_read one frame: " << duration_read.count() << " milliseconds" << std::endl;
            
            // std::cout << "Time taken for processing one frame: " << total_duration.count() << " milliseconds" << std::endl;
            // std::cout << "Read time: " << duration_read.count() << " milliseconds" << std::endl;
            // std::cout << "Median blur time: " << duration_median.count() << " milliseconds" << std::endl;
            // std::cout << "Display time: " << duration_display.count() << " milliseconds" << std::endl;
            // std::cout << "WaitKey time: " << duration_waitkey.count() << " milliseconds" << std::endl;

            framesProcessed++;
            auto now = std::chrono::steady_clock::now();
            auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(now - lastSecond);
            if (elapsed.count() >= 1000) {
                std::cout << "Frames processed in last second: " << framesProcessed << std::endl;
                framesProcessed = 0;
                lastSecond = now;
            }
        }
    } else {
        std::cout << "camera open failed" << std::endl;
    }
    
    cv::destroyAllWindows();
}

int main(int argc, char** argv) {
    int width = 1080;
    int height = 1080;
    int fps = 30;

    if (argc > 1) {
        width = std::stoi(argv[1]);
    }
    if (argc > 2) {
        height = std::stoi(argv[2]);
    }
    if (argc > 3) {
        fps = std::stoi(argv[3]);
    }

    read_cam(width, height, fps);

    return 0;
}