opencv_backend.py

"""OpenCV-based camera backend (platform-optimized, fast startup, robust read)."""

# dlclivegui/cameras/backends/opencv_backend.py
from __future__ import annotations

import logging
import os
import platform
import time
from typing import TYPE_CHECKING, Literal

import cv2
import numpy as np
from pydantic import BaseModel, Field, model_validator

from ..base import CameraBackend, SupportLevel, register_backend
from ..factory import DetectedCamera
from .utils.opencv_discovery import (
    ModeRequest,
    apply_mode_with_verification,
    list_cameras,
    open_with_fallbacks,
    preferred_backend_for_platform,
    select_camera,
)

logger = logging.getLogger(__name__)

if TYPE_CHECKING:
    from dlclivegui.config import CameraSettings


AspectPolicy = Literal["strict", "prefer", "ignore"]
FourCC = Literal["MJPG", "YUY2", "NV12", "H264", "XRGB", "BGR3"]  # expand as needed
ResolutionPolicy = Literal["warn", "strict", "accept"]


class OpenCVOptions(BaseModel):
    # --- device selection ---
    device_id: str | None = None  # stable_id from cv2-enumerate-cameras
    device_name: str | None = None  # substring match
    device_vid: int | None = None
    device_pid: int | None = None

    # --- backend/open behavior ---
    api: str | None = None  # "DSHOW", "MSMF", "V4L2", "AVFOUNDATION", "ANY"
    fast_start: bool = False
    alt_index_probe: bool = False

    # --- format negotiation policy ---
    resolution_policy: ResolutionPolicy = "warn"
    persist_last_applied_resolution: bool = False
    enforce_aspect: AspectPolicy = "strict"
    aspect_tol: float = Field(default=0.01, ge=0.0, le=0.2)  # 1% default
    area_tol: float = Field(default=0.05, ge=0.0, le=1.0)  # 5% default

    # --- codec policy ---
    prefer_mjpg: bool = False  # opt-in MJPG attempt on Windows
    fourcc: FourCC | None = None  # explicit request overrides prefer_mjpg

    @model_validator(mode="after")
    def _codec_consistency(self):
        # If user explicitly sets fourcc, we don't need prefer_mjpg
        if self.fourcc is not None and self.prefer_mjpg:
            self.prefer_mjpg = False
        return self


@register_backend("opencv")
class OpenCVCameraBackend(CameraBackend):
    """
    Platform-aware OpenCV backend:

    - Windows: prefer DSHOW, fall back to MSMF/ANY.
      Order: FOURCC -> resolution -> FPS. Try standard UVC modes if request fails.
      Optional alt-index probe (index+1) for Logitech-like endpoints: properties["alt_index_probe"]=True
      Optional fast-start: properties["fast_start"]=True

    - macOS: prefer AVFOUNDATION, fall back to ANY.

    - Linux: prefer V4L2, fall back to GStreamer (if explicitly requested) or ANY.
      Discovery can use /dev/video* to avoid blind opens (via quick_ping()).

    Robust read(): returns (None, ts) on transient failures (never raises).
    """

    OPTIONS_KEY = "opencv"
    SAFE_PROP_IDS = {
        int(getattr(cv2, "CAP_PROP_EXPOSURE", 15)),
        int(getattr(cv2, "CAP_PROP_AUTO_EXPOSURE", 21)),
        int(getattr(cv2, "CAP_PROP_GAIN", 14)),
        int(getattr(cv2, "CAP_PROP_FPS", 5)),
        int(getattr(cv2, "CAP_PROP_BRIGHTNESS", 10)),
        int(getattr(cv2, "CAP_PROP_CONTRAST", 11)),
        int(getattr(cv2, "CAP_PROP_SATURATION", 12)),
        int(getattr(cv2, "CAP_PROP_HUE", 13)),
        int(getattr(cv2, "CAP_PROP_CONVERT_RGB", 17)),
    }

    def __init__(self, settings):
        super().__init__(settings)
        self._capture: cv2.VideoCapture | None = None

        # do not overwrite based on actual resolution
        self._requested_resolution: tuple[int, int] = self._get_requested_resolution()

        opt = self.parse_options(settings)
        self._fast_start: bool = opt.fast_start
        self._alt_index_probe: bool = opt.alt_index_probe
        self._actual_width: int | None = None
        self._actual_height: int | None = None
        self._actual_fps: float | None = None
        self._codec_str: str = ""
        self._mjpg_attempted: bool = False

    @classmethod
    def parse_options(cls, settings: CameraSettings) -> OpenCVOptions:
        raw = (settings.properties or {}).get(cls.OPTIONS_KEY, {})
        # no flat keys supported — clean ground
        return OpenCVOptions.model_validate(raw)

    @classmethod
    def options_schema(cls) -> dict:
        return OpenCVOptions.model_json_schema()

    @classmethod
    def static_capabilities(cls) -> dict[str, SupportLevel]:
        caps = super().static_capabilities()
        caps.update(
            {
                "set_resolution": SupportLevel.BEST_EFFORT,  # see tolerance values in OpenCVOptions
                "set_fps": SupportLevel.BEST_EFFORT,  # ditto
                "set_exposure": SupportLevel.UNSUPPORTED,
                "set_gain": SupportLevel.UNSUPPORTED,
                "device_discovery": SupportLevel.SUPPORTED,  # uses opencv2-enumerate-cameras
                "stable_identity": SupportLevel.SUPPORTED,  # to get VID/PID/path
            }
        )
        return caps

    # ----------------------------
    # Public API
    # ----------------------------
    def open(self) -> None:
        opt = self.parse_options(self.settings)  # typed + validated
        backend_flag = self._preferred_backend_flag(opt.api)
        index = int(self.settings.index)

        cams = list_cameras(backend_flag)
        chosen = select_camera(
            cams,
            prefer_stable_id=opt.device_id,
            prefer_name_substr=opt.device_name,
            prefer_vid_pid=(opt.device_vid, opt.device_pid) if opt.device_vid and opt.device_pid else None,
            fallback_index=index,
        )

        if chosen:
            index = chosen.index
            backend_flag = chosen.backend

            if opt.device_id is None:
                ns = self.settings.properties.setdefault(self.OPTIONS_KEY, {})
                ns["device_id"] = chosen.stable_id
                if chosen.vid is not None:
                    ns["device_vid"] = int(chosen.vid)
                if chosen.pid is not None:
                    ns["device_pid"] = int(chosen.pid)
                if chosen.name:
                    ns["device_name"] = chosen.name
                logger.debug("Persisted OpenCV device_id=%s", chosen.stable_id)

        self._capture, spec = open_with_fallbacks(index, backend_flag)

        # 2) Optional Logitech endpoint trick (Windows only)
        # if (
        #     (not self._capture or not self._capture.isOpened())
        #     and platform.system() == "Windows"
        #     and self._alt_index_probe
        # ):
        #     logger.debug("Primary index failed; trying alternate endpoint (index+1) with same backend.")
        #     self._capture = self._try_open(index + 1, backend_flag)

        if not self._capture or not self._capture.isOpened():
            raise RuntimeError(
                f"Unable to open camera index {self.settings.index} with OpenCV (backend {backend_flag})"
            )

        # MSMF hint for slow systems
        if platform.system() == "Windows" and backend_flag == getattr(cv2, "CAP_MSMF", cv2.CAP_ANY):
            if os.environ.get("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS") is None:
                logger.debug(
                    "MSMF selected. If open is slow, consider setting "
                    "OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS=0 before importing cv2."
                )

        if platform.system() == "Windows" and opt.prefer_mjpg and not self._mjpg_attempted:
            self._maybe_enable_mjpg()

        self._configure_capture()

    def read(self) -> tuple[np.ndarray | None, float]:
        """Robust frame read: return (None, ts) on transient failures; never raises."""
        if self._capture is None:
            logger.warning("OpenCVCameraBackend.read() called before open()")
            return None, time.time()
        try:
            if not self._capture.grab():
                return None, time.time()
            success, frame = self._capture.retrieve()
            if not success or frame is None or frame.size == 0:
                return None, time.time()
            return frame, time.time()
        except Exception as exc:
            logger.debug(f"OpenCV read transient error: {exc}")
            return None, time.time()

    def close(self) -> None:
        self._release_capture()

    def stop(self) -> None:
        self._release_capture()

    def device_name(self) -> str:
        base_name = "OpenCV"
        if self._capture and hasattr(self._capture, "getBackendName"):
            try:
                backend_name = self._capture.getBackendName()
            except Exception:
                backend_name = ""
            if backend_name:
                base_name = backend_name
        return f"{base_name} camera #{self.settings.index}"

    @property
    def actual_fps(self) -> float | None:
        """Return the actual configured FPS, if known."""
        return self._actual_fps

    @property
    def actual_resolution(self) -> tuple[int, int] | None:
        """Return the actual configured resolution, if known."""
        if self._actual_width and self._actual_height:
            return (self._actual_width, self._actual_height)
        return None

    @property
    def actual_exposure(self) -> None:
        """Not supported by OpenCV backend."""
        return None

    @property
    def actual_gain(self) -> None:
        """Not supported by OpenCV backend."""
        return None

    # ----------------------------
    # Internal helpers
    # ----------------------------

    def _release_capture(self) -> None:
        if self._capture:
            try:
                self._capture.release()
            except Exception:
                pass
            finally:
                self._capture = None
            time.sleep(0.02 if platform.system() == "Windows" else 0.0)

    def _get_requested_resolution(self) -> tuple[int, int]:
        """Return (w, h) requested by settings with precedence."""
        # 1) legacy / explicit property
        props = self.settings.properties or {}
        res = props.get("resolution", None)
        if isinstance(res, (list, tuple)) and len(res) == 2:
            try:
                w, h = int(res[0]), int(res[1])
                if w > 0 and h > 0:
                    return (w, h)
            except Exception:
                pass

        # 2) canonical GUI fields
        try:
            w, h = int(getattr(self.settings, "width", 0)), int(getattr(self.settings, "height", 0))
            if w > 0 and h > 0:
                return (w, h)
        except Exception:
            pass

        # 3) default -> auto (0,0)
        return (0, 0)

    def _apply_resolution_policy(
        self,
        *,
        requested: tuple[int, int],
        actual: tuple[int, int] | None,
        policy: ResolutionPolicy,
    ) -> None:
        """Enforce mismatch policy (warn/strict/accept)."""
        if not actual:
            if policy == "strict":
                logger.warning("Cannot verify resolution; proceeding in strict mode")
            return

        req_w, req_h = requested
        act_w, act_h = actual

        if req_w <= 0 or req_h <= 0:
            return  # no request

        if (act_w, act_h) == (req_w, req_h):
            return

        msg = f"Resolution mismatch: requested {req_w}x{req_h}, got {act_w}x{act_h}"

        if policy == "strict":
            raise RuntimeError(msg)
        elif policy == "warn":
            logger.warning(msg)
        else:  # "accept"
            logger.info(msg)

    def _preferred_backend_flag(self, backend: str | None) -> int:
        """Resolve preferred backend by platform."""
        if backend:  # user override
            return self._resolve_backend(backend)

        sys = platform.system()
        if sys == "Windows":
            # Prefer DSHOW (faster on many Logitech cams), then MSMF, then ANY.
            return getattr(cv2, "CAP_DSHOW", cv2.CAP_ANY)
        if sys == "Darwin":
            return getattr(cv2, "CAP_AVFOUNDATION", cv2.CAP_ANY)
        # Linux and others
        return getattr(cv2, "CAP_V4L2", cv2.CAP_ANY)

    def _try_open(self, index: int, preferred_flag: int) -> cv2.VideoCapture | None:
        """Try opening with preferred backend, then platform-appropriate fallbacks."""
        # 1) preferred
        cap = cv2.VideoCapture(index, preferred_flag)
        if cap.isOpened():
            return cap

        sys = platform.system()

        # Windows: try MSMF then ANY
        if sys == "Windows":
            ms = getattr(cv2, "CAP_MSMF", cv2.CAP_ANY)
            if preferred_flag != ms:
                cap = cv2.VideoCapture(index, ms)
                if cap.isOpened():
                    return cap

        # macOS: ANY fallback
        if sys == "Darwin":
            cap = cv2.VideoCapture(index, cv2.CAP_ANY)
            if cap.isOpened():
                return cap

        # Linux: try ANY as final fallback
        cap = cv2.VideoCapture(index, cv2.CAP_ANY)
        if cap.isOpened():
            return cap
        return None

    def _configure_capture(self) -> None:
        if not self._capture:
            return

        opt = self.parse_options(self.settings)

        # --- FOURCC ---
        self._codec_str = self._read_codec_string()
        logger.info(f"Camera using codec: {self._codec_str}")

        # Requested values
        req_w, req_h = self._requested_resolution
        enforce_aspect = opt.enforce_aspect
        requested_fps = float(self.settings.fps or 0.0)

        # -------------------------
        # Resolution
        # -------------------------
        # If Auto (0,0), do NOT set resolution. Just read device defaults.
        if req_w <= 0 or req_h <= 0:
            # Some backends only populate width/height after a few grabs.
            try:
                # for _ in range(3):
                self._capture.grab()
            except Exception:
                pass

            self._actual_width = int(self._capture.get(cv2.CAP_PROP_FRAME_WIDTH) or 0)
            self._actual_height = int(self._capture.get(cv2.CAP_PROP_FRAME_HEIGHT) or 0)
            self._actual_fps = float(self._capture.get(cv2.CAP_PROP_FPS) or 0.0)

            # For clarity in logs
            logger.debug("Resolution requested=Auto, actual=%sx%s", self._actual_width, self._actual_height)

        elif not self._fast_start:
            # Verified, robust path (tries candidates + verifies)
            result = apply_mode_with_verification(
                self._capture,
                ModeRequest(
                    width=req_w,
                    height=req_h,
                    fps=requested_fps,
                    enforce_aspect=enforce_aspect,
                    aspect_tol=float(opt.aspect_tol),
                    area_tol=float(opt.area_tol),
                ),
            )
            self._actual_width, self._actual_height, self._actual_fps = result.width, result.height, result.fps

        else:
            # fast-start: best-effort set (no heavy negotiation)
            try:
                self._capture.set(cv2.CAP_PROP_FRAME_WIDTH, float(req_w))
                self._capture.set(cv2.CAP_PROP_FRAME_HEIGHT, float(req_h))
            except Exception as exc:
                logger.debug(f"Fast-start resolution set failed: {exc}")

            self._actual_width = int(self._capture.get(cv2.CAP_PROP_FRAME_WIDTH) or 0)
            self._actual_height = int(self._capture.get(cv2.CAP_PROP_FRAME_HEIGHT) or 0)

        # Compute actual_res tuple if known
        actual_res = None
        if (self._actual_width or 0) > 0 and (self._actual_height or 0) > 0:
            actual_res = (int(self._actual_width), int(self._actual_height))

        logger.debug(
            "Resolution requested=%s, actual=%s",
            f"{req_w}x{req_h}" if (req_w > 0 and req_h > 0) else "Auto",
            f"{actual_res[0]}x{actual_res[1]}" if actual_res else "unknown",
        )

        # Enforce mismatch policy only if a real request was made
        if req_w > 0 and req_h > 0:
            self._apply_resolution_policy(
                requested=(req_w, req_h),
                actual=actual_res,
                policy=opt.resolution_policy,
            )

        # Optional persistence of "what worked"
        if opt.persist_last_applied_resolution and actual_res:
            ns = self.settings.properties.setdefault(self.OPTIONS_KEY, {})
            ns["last_applied_resolution"] = [actual_res[0], actual_res[1]]

        # -------------------------
        # FPS (best-effort always)
        # -------------------------
        # IMPORTANT CHANGE:
        # Try to set FPS even in fast_start (best-effort). Many drivers ignore it,
        # and CAP_PROP_FPS often reads back 0, but at least we attempt consistently.
        if requested_fps > 0.0:
            try:
                current_fps = float(self._capture.get(cv2.CAP_PROP_FPS) or 0.0)
            except Exception:
                current_fps = 0.0

            # Only attempt if clearly different or unknown
            if current_fps <= 0.0 or abs(current_fps - requested_fps) > 0.1:
                try:
                    ok = self._capture.set(cv2.CAP_PROP_FPS, float(requested_fps))
                    if not ok:
                        logger.debug(f"Device ignored FPS set to {requested_fps:.2f}")
                except Exception as exc:
                    logger.debug(f"FPS set raised: {exc}")

        # Read back (may be 0.0 on many backends)
        try:
            self._actual_fps = float(self._capture.get(cv2.CAP_PROP_FPS) or 0.0)
        except Exception:
            self._actual_fps = 0.0

        if self._actual_fps and requested_fps and abs(self._actual_fps - requested_fps) > 0.1:
            logger.warning(f"FPS mismatch: requested {requested_fps:.2f}, got {self._actual_fps:.2f}")

        logger.info(f"Camera configured with FPS: {self._actual_fps:.2f}")

        # -------------------------
        # Extra properties (safe whitelist)
        # -------------------------
        for prop, value in self.settings.properties.items():
            if prop in ("api", "resolution", "fast_start", "alt_index_probe"):
                continue
            try:
                prop_id = int(prop)
            except (TypeError, ValueError):
                logger.debug(f"Ignoring non-numeric property ID: {prop}")
                continue
            if prop_id not in self.SAFE_PROP_IDS:
                logger.debug(f"Skipping unsupported/unsafe property {prop_id}")
                continue
            try:
                if not self._capture.set(prop_id, float(value)):
                    logger.debug(f"Device ignored property {prop_id} -> {value}")
            except Exception as exc:
                logger.debug(f"Failed to set property {prop_id} -> {value}: {exc}")

    # ----------------------------
    # Lower-level helpers
    # ----------------------------

    def _read_codec_string(self) -> str:
        try:
            fourcc = int(self._capture.get(cv2.CAP_PROP_FOURCC) or 0)
        except Exception:
            fourcc = 0
        if fourcc <= 0:
            return ""
        return "".join([chr((fourcc >> (8 * i)) & 0xFF) for i in range(4)])

    def _maybe_enable_mjpg(self) -> None:
        """Attempt to enable MJPG on Windows devices; verify once."""
        if platform.system() != "Windows":
            return
        try:
            fourcc_mjpg = cv2.VideoWriter_fourcc(*"MJPG")
            if self._capture.set(cv2.CAP_PROP_FOURCC, fourcc_mjpg):
                verify = self._read_codec_string()
                if verify and verify.upper().startswith("MJPG"):
                    logger.info("MJPG enabled successfully.")
                else:
                    logger.debug(f"MJPG set reported success, but codec is '{verify}'")
            else:
                logger.debug("Device rejected MJPG FourCC set.")
        except Exception as exc:
            logger.debug(f"MJPG enable attempt raised: {exc}")

    @classmethod
    def discover_devices(
        cls,
        *,
        max_devices: int = 10,
        should_cancel: callable[[], bool] | None = None,
        progress_cb: callable[[str], None] | None = None,
    ) -> list[DetectedCamera] | None:
        """
        Use cv2-enumerate-cameras if available to return rich identity info.
        Returns None if enumeration is not available (factory will fallback to probing).
        """

        def canceled() -> bool:
            return bool(should_cancel and should_cancel())

        if canceled():
            return []

        # Prefer platform backend, but enumeration supports CAP_ANY too
        api_pref = preferred_backend_for_platform()

        cams = list_cameras(api_pref)
        if not cams:
            # Enumeration unavailable -> tell factory to probe
            return None

        out: list[DetectedCamera] = []
        for c in cams:
            if canceled():
                break
            label = c.name or f"OpenCV camera #{c.index}"
            if progress_cb:
                progress_cb(f"Found {label}")

            out.append(
                DetectedCamera(
                    index=int(c.index),
                    label=label,
                    device_id=c.stable_id,
                    vid=c.vid,
                    pid=c.pid,
                    path=c.path or None,
                    backend_hint=c.backend,
                )
            )
        return out

    def _resolve_backend(self, backend: str | None) -> int:
        if backend is None:
            return cv2.CAP_ANY
        key = backend.upper()
        return getattr(cv2, f"CAP_{key}", cv2.CAP_ANY)

    @classmethod
    def rebind_settings(cls, settings: CameraSettings) -> CameraSettings:
        """
        If stable identity exists in settings.properties['opencv'], update settings.index
        (and keep identity fields fresh).
        """
        props = settings.properties or {}
        opt = props.get(cls.OPTIONS_KEY, {}) if isinstance(props, dict) else {}

        device_id = opt.get("device_id")
        device_name = opt.get("device_name")
        vid = opt.get("device_vid")
        pid = opt.get("device_pid")

        # Nothing to rebind with
        if not (device_id or (vid and pid) or device_name):
            return settings

        api_pref = preferred_backend_for_platform()
        cams = list_cameras(api_pref)
        if not cams:
            return settings

        chosen = select_camera(
            cams,
            prefer_stable_id=device_id,
            prefer_name_substr=device_name,
            prefer_vid_pid=(int(vid), int(pid)) if vid and pid else None,
            fallback_index=int(settings.index),
        )
        if not chosen:
            return settings

        # Update the index to current mapping
        settings.index = int(chosen.index)

        # Refresh persisted identity (max robustness)
        ns = settings.properties.setdefault(cls.OPTIONS_KEY, {})
        ns["device_id"] = chosen.stable_id
        if chosen.name:
            ns["device_name"] = chosen.name
        if chosen.vid is not None:
            ns["device_vid"] = int(chosen.vid)
        if chosen.pid is not None:
            ns["device_pid"] = int(chosen.pid)

        return settings

    # ----------------------------
    # Discovery helper (optional use by factory)
    # ----------------------------
    @staticmethod
    def quick_ping(index: int, backend_flag: int | None = None) -> bool:
        """Cheap 'is-present' check to avoid expensive blind opens during discovery."""
        sys = platform.system()
        if sys == "Linux":
            # /dev/videoN present? That's a cheap, reliable hint.
            return os.path.exists(f"/dev/video{index}")
        if backend_flag is None:
            if sys == "Windows":
                backend_flag = getattr(cv2, "CAP_DSHOW", cv2.CAP_ANY)
            elif sys == "Darwin":
                backend_flag = getattr(cv2, "CAP_AVFOUNDATION", cv2.CAP_ANY)
            else:
                backend_flag = getattr(cv2, "CAP_V4L2", cv2.CAP_ANY)
        cap = cv2.VideoCapture(index, backend_flag)
        ok = cap.isOpened()
        try:
            cap.release()
        except Exception:
            pass
        return ok