TermApp/app/src/main/cpp/camera2/ndkcamera.cpp

// Tencent is pleased to support the open source community by making ncnn available.
//
// Copyright (C) 2021 THL A29 Limited, a Tencent company. All rights reserved.
//
// Licensed under the BSD 3-Clause License (the "License"); you may not use this file except
// in compliance with the License. You may obtain a copy of the License at
//
// https://opensource.org/licenses/BSD-3-Clause
//
// Unless required by applicable law or agreed to in writing, software distributed
// under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
// CONDITIONS OF ANY KIND, either express or implied. See the License for the
// specific language governing permissions and limitations under the License.

#include "ndkcamera.h"

#include <string>
#include <thread>
#include <android/log.h>
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui.hpp>
#include "mat.h"
#include "gpu.h"
#include "Camera2Helper.h"
#include <AndroidHelper.h>
#include <LogThread.h>

static void onAvailabilityCallback(void* context, const char* cameraId)
{
    ((NdkCamera*)context)->onAvailabilityCallback(cameraId);
    // ALOGI("CameraStatus::onAvailability CameraId: %s", cameraId);
    XYLOG(XYLOG_SEVERITY_INFO, "CameraStatus::onAvailability CameraId: %s", cameraId);
}

static void onUnavailabilityCallback(void* context, const char* cameraId)
{
    ((NdkCamera*)context)->onUnavailabilityCallback(cameraId);
    XYLOG(XYLOG_SEVERITY_INFO, "CameraStatus::onUnavailability CameraId: %s", cameraId);
}

static void onDisconnected(void* context, ACameraDevice* device)
{
    ((NdkCamera*)context)->onDisconnected(device);
    XYLOG(XYLOG_SEVERITY_INFO, "CameraStatus::onDisconnected CameraId: %s", ACameraDevice_getId(device));
}

static void onError(void* context, ACameraDevice* device, int error)
{
    if (ACAMERA_ERROR_CAMERA_DEVICE == error)
    {

    }

    XYLOG(XYLOG_SEVERITY_ERROR, "CameraStatus::onError CameraId: %s err=%d", ACameraDevice_getId(device), error);
    std::string msg = "NdkCamera error code=" + std::to_string(error);
    ((NdkCamera*)context)->on_error(msg);
    // __android_log_print(ANDROID_LOG_WARN, "NdkCamera", "onError %p %d", device, error);
}

static void onImageAvailable(void* context, AImageReader* reader)
{
    ((NdkCamera*)context)->onImageAvailable(reader);
}

static void onSessionActive(void* context, ACameraCaptureSession *session)
{
    ALOGD("onSessionActive %p", session);
}

static void onSessionReady(void* context, ACameraCaptureSession *session)
{
    ALOGD("onSessionReady %p", session);
    ((NdkCamera*)context)->onSessionReady(session);
}

static void onSessionClosed(void* context, ACameraCaptureSession *session)
{
    XYLOG(XYLOG_SEVERITY_INFO, "onSessionClosed %p", session);
}

void onCaptureFailed(void* context, ACameraCaptureSession* session, ACaptureRequest* request, ACameraCaptureFailure* failure)
{
    XYLOG(XYLOG_SEVERITY_WARNING, "onCaptureFailed session=%p request=%p reason=%d", session, request, failure->reason);
}

void onCaptureSequenceCompleted(void* context, ACameraCaptureSession* session, int sequenceId, int64_t frameNumber)
{
    ALOGD("onCaptureSequenceCompleted %p %d %ld", session, sequenceId, frameNumber);
}

void onCaptureSequenceAborted(void* context, ACameraCaptureSession* session, int sequenceId)
{
    ALOGD("onCaptureSequenceAborted %p %d", session, sequenceId);
}

void onCaptureProgressed(void* context, ACameraCaptureSession* session, ACaptureRequest* request, const ACameraMetadata* result)
{
    ((NdkCamera*)context)->onCaptureProgressed(session, request, result);
}

void onCaptureCompleted(void* context, ACameraCaptureSession* session, ACaptureRequest* request, const ACameraMetadata* result)
{
    ((NdkCamera*)context)->onCaptureCompleted(session, request, result);
}

NdkCamera::NdkCamera(int32_t width, int32_t height, const NdkCamera::CAMERA_PARAMS& params)
{
    camera_facing = 0;
    camera_orientation = 0;

    m_params = params;
    m_firstFrame = true;
    mWidth = width;
    mHeight = height;

    m_imagesCaptured = ~0;

    afSupported = false;
    aeLockAvailable = false;
    awbLockAvailable = false;

    sceneModeSupported = false;

    camera_manager_cb.context = this;
    camera_manager_cb.onCameraAvailable = ::onAvailabilityCallback;
    camera_manager_cb.onCameraUnavailable = ::onUnavailabilityCallback;

    camera_device = 0;
    image_reader = 0;
    image_reader_surface = 0;
    image_reader_target = 0;
    capture_request = 0;
    capture_session_output_container = 0;
    capture_session_output = 0;
    capture_session = 0;
    captureSequenceId = 0;

    mResult = { 0 };
}

NdkCamera::~NdkCamera()
{
    close();
}

int NdkCamera::open(const std::string& cameraId) {
    XYLOG(XYLOG_SEVERITY_DEBUG, "DBG::try open %s", cameraId.c_str());

    // camera_facing = _camera_facing;

    camera_manager.Create();
    // ACameraManager_registerAvailabilityCallback(camera_manager, &camera_manager_cb);

    // find camera
    bool foundIt = false;
    DisplayDimension disp(mWidth, mHeight);
    DisplayDimension foundRes = disp;
    camera_status_t status = ACAMERA_OK;

    ALOGD("Start ACameraManager_getCameraIdList");
    {
        ACameraIdList *camera_id_list = 0;
        for (int retry = 0; retry < 100; retry++)
        {
            status = ACameraManager_getCameraIdList(camera_manager, &camera_id_list);
            AASSERT(status == ACAMERA_OK, "ACameraManager_getCameraIdList return error, %d", status);

            for (int i = 0; i < camera_id_list->numCameras; ++i) {
                const char *id = camera_id_list->cameraIds[i];
                if (cameraId.compare(id) == 0) {
                    foundIt = true;
                    break;
                }
            }
            ACameraManager_deleteCameraIdList(camera_id_list);
            if (foundIt)
            {
                break;
            }
            std::this_thread::sleep_for(std::chrono::milliseconds(16));
        }

        ALOGD("End ACameraManager_getCameraIdList");

        // ACameraManager_unregisterAvailabilityCallback(camera_manager, &camera_manager_cb);
        if (!foundIt)
        {
            XYLOG(XYLOG_SEVERITY_ERROR, "Camera Not Found on ID: %s", cameraId.c_str());
            return 1;
        }

        mCameraId = cameraId;

        ACameraMetadata * camera_metadata = 0;
        status = ACameraManager_getCameraCharacteristics(camera_manager, cameraId.c_str(), &camera_metadata);
        AASSERT(status == ACAMERA_OK, "ACameraManager_getCameraCharacteristics return error, %d", status);

        {
            ACameraMetadata_const_entry e = {0};
            camera_status_t status = ACameraMetadata_getConstEntry(camera_metadata,ACAMERA_SCALER_AVAILABLE_STREAM_CONFIGURATIONS, &e);
            // format of the data: format, width, height, input?, type int32

            // DisplayDimension foundRes(4000, 4000);
            // DisplayDimension maxJPG(0, 0);

            foundIt = false;
            DisplayDimension temp;

            for (int i = 0; i < e.count; i += 4)
            {
                int32_t input = e.data.i32[i + 3];
                int32_t format = e.data.i32[i + 0];
                if (input) continue;

                // if (format == AIMAGE_FORMAT_YUV_420_888 || format == AIMAGE_FORMAT_JPEG)
                {
                    DisplayDimension res(e.data.i32[i + 1], e.data.i32[i + 2]);
                    if (!disp.IsSameRatio(res))
                    {
                        if (res.width() >= mWidth && res.height() >= mHeight)
                        {
                            temp = res;
                        }
                        continue;
                    }

                    if (/*format == AIMAGE_FORMAT_YUV_420_888 && */res > disp)
                    {
                        foundIt = true;
                        foundRes = res;
                    }
                }
            }

            if (!foundIt)
            {
                foundRes = temp;
                foundIt = true;
            }
        }

        if (!foundIt || foundRes.width() == 0 || foundRes.height() == 0)
        {
            ACameraMetadata_free(camera_metadata);
            XYLOG(XYLOG_SEVERITY_ERROR, "Camera RES(%d, %d) Not Found on ID: %s", mWidth, mHeight, cameraId.c_str());
            return 1;
        }

        // foundRes.Flip();

        // query faceing
        acamera_metadata_enum_android_lens_facing_t facing = ACAMERA_LENS_FACING_FRONT;
        {
            ACameraMetadata_const_entry e = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata, ACAMERA_LENS_FACING, &e);
            AASSERT(status == ACAMERA_OK, "ACameraMetadata_getConstEntry::ACAMERA_LENS_FACING return error, %d", status);
            if (status == ACAMERA_OK)
            {
                facing = (acamera_metadata_enum_android_lens_facing_t) e.data.u8[0];
            }
        }
        camera_facing = facing;

        // query orientation
        int orientation = 0;
        {
            ACameraMetadata_const_entry e = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata, ACAMERA_SENSOR_ORIENTATION, &e);
            AASSERT(status == ACAMERA_OK, "ACameraMetadata_getConstEntry::ACAMERA_SENSOR_ORIENTATION return error, %d", status);
            if (status == ACAMERA_OK)
            {
                orientation = (int) e.data.i32[0];
            }
        }
        camera_orientation = orientation;

        {
            ACameraMetadata_const_entry e = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata,ACAMERA_LENS_INFO_MINIMUM_FOCUS_DISTANCE, &e);
        }

        {
            ACameraMetadata_const_entry e = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata,ACAMERA_CONTROL_AF_AVAILABLE_MODES, &e);
            // AASSERT(status == ACAMERA_OK, "ACameraMetadata_getConstEntry::ACAMERA_CONTROL_AF_AVAILABLE_MODES return error, %d", status);
#ifdef _DEBUG
            for (int idx = 0; idx < e.count; idx++)
            {
                unsigned int m = e.data.u8[idx];
                XYLOG(XYLOG_SEVERITY_DEBUG, "Available AF Mode %u", m);
            }
#endif
            afSupported = (status == ACAMERA_OK) && !(e.count == 0 || (e.count == 1 && e.data.u8[0] == ACAMERA_CONTROL_AF_MODE_OFF));
        }

        if (!afSupported)
        {
            XYLOG(XYLOG_SEVERITY_ERROR, "AF not Supported");
        }

        {
            ACameraMetadata_const_entry val = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata,ACAMERA_SENSOR_INFO_EXPOSURE_TIME_RANGE, &val);
            // AASSERT(status == ACAMERA_OK, "ACameraMetadata_getConstEntry::ACAMERA_SENSOR_INFO_EXPOSURE_TIME_RANGE return error, %d", status);
            if (status == ACAMERA_OK)
            {
                exposureRange.min_ = val.data.i64[0];
                if (exposureRange.min_ < kMinExposureTime)
                {
                    exposureRange.min_ = kMinExposureTime;
                }
                exposureRange.max_ = val.data.i64[1];
                if (exposureRange.max_ > kMaxExposureTime)
                {
                    exposureRange.max_ = kMaxExposureTime;
                }
                // exposureTime = exposureRange.value(2);
            }
            else
            {
                ALOGW("Unsupported ACAMERA_SENSOR_INFO_EXPOSURE_TIME_RANGE");
                exposureRange.min_ = exposureRange.max_ = 0l;
                // exposureTime_ = 0l;
            }
        }

        {
            ACameraMetadata_const_entry e = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata,ACAMERA_CONTROL_AE_LOCK_AVAILABLE, &e);
            // AASSERT(status == ACAMERA_OK, "ACameraMetadata_getConstEntry::ACAMERA_CONTROL_AF_AVAILABLE_MODES return error, %d", status);
            aeLockAvailable = (status == ACAMERA_OK) ? (*e.data.u8 == ACAMERA_CONTROL_AE_LOCK_AVAILABLE_TRUE) : false;
        }

        {
            ACameraMetadata_const_entry e = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata,ACAMERA_CONTROL_AWB_LOCK_AVAILABLE, &e);
            awbLockAvailable = (status == ACAMERA_OK) ? (*e.data.u8 == ACAMERA_CONTROL_AWB_LOCK_AVAILABLE_TRUE) : false;
        }

        {
            ACameraMetadata_const_entry val = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata, ACAMERA_CONTROL_ZOOM_RATIO_RANGE, &val);
            if (status == ACAMERA_OK)
            {
                float zoomRatioMin = val.data.f[0];
                float zoomRatioMax = val.data.f[1];

                ALOGI("Zoom Ratio Range: %f -> %f", zoomRatioMin, zoomRatioMax);
            }
        }

        {
            ACameraMetadata_const_entry val = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata, ACAMERA_CONTROL_AE_COMPENSATION_RANGE, &val);
            if (status == ACAMERA_OK)
            {
                aeCompensationRange.min_ = val.data.i32[0];
                aeCompensationRange.max_ = val.data.i32[1];

                XYLOG(XYLOG_SEVERITY_DEBUG, "AE_COMPENSATION_RANGE %d-%d", aeCompensationRange.min_, aeCompensationRange.max_);
            }
            else
            {
                ALOGW("Unsupported ACAMERA_CONTROL_AE_COMPENSATION_RANGE");
                aeCompensationRange.min_ = aeCompensationRange.max_ = 0l;
            }
        }

        {
            ACameraMetadata_const_entry val = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata, ACAMERA_CONTROL_AE_COMPENSATION_STEP, &val);
            if (status == ACAMERA_OK)
            {
                aeCompensationStep = val.data.r[0];

                XYLOG(XYLOG_SEVERITY_DEBUG, "AE_COMPENSATION_RANGE num=%d den=%d", aeCompensationStep.numerator, aeCompensationStep.denominator);
            }
        }

        {
            ACameraMetadata_const_entry val = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata,ACAMERA_SENSOR_INFO_SENSITIVITY_RANGE, &val);
            if (status == ACAMERA_OK)
            {
                sensitivityRange.min_ = val.data.i32[0];
                sensitivityRange.max_ = val.data.i32[1];
            }
            else
            {
                ALOGW("failed for ACAMERA_SENSOR_INFO_SENSITIVITY_RANGE");
                sensitivityRange.min_ = sensitivityRange.max_ = 0;
            }
        }

        {
            ACameraMetadata_const_entry e = {0};
            status = ACameraMetadata_getConstEntry(camera_metadata,ACAMERA_CONTROL_AVAILABLE_SCENE_MODES, &e);
            if (status == ACAMERA_OK)
            {
                for (int i = 0; i < e.count; i++)
                {
                    if (m_params.sceneMode == e.data.u8[i])
                    {
                        sceneModeSupported = true;
                        break;
                    }
                }
            }
        }

        ACameraMetadata_free(camera_metadata);
    }

    // open camera
    {
        ACameraDevice_StateCallbacks camera_device_state_callbacks;
        camera_device_state_callbacks.context = this;
        camera_device_state_callbacks.onDisconnected = ::onDisconnected;
        camera_device_state_callbacks.onError = onError;

        status = ACameraManager_openCamera(camera_manager, cameraId.c_str(), &camera_device_state_callbacks, &camera_device);
        if (status != ACAMERA_OK)
        {
            XYLOG(XYLOG_SEVERITY_ERROR, "Failed to open camera %s res=%d", cameraId.c_str(), status);
            return 1;
        }
    }

    XYLOG(XYLOG_SEVERITY_INFO, "CameraStatus::Open %s Orientation=%d width=%d height=%d", cameraId.c_str(), camera_orientation, foundRes.width(), foundRes.height());

    // setup imagereader and its surface
    {
        // media_status_t mstatus = AImageReader_new(foundRes.width(), foundRes.height(), AIMAGE_FORMAT_YUV_420_888, /*maxImages*/2, &image_reader);
        media_status_t mstatus = AImageReader_new(foundRes.org_width(), foundRes.org_height(), AIMAGE_FORMAT_YUV_420_888, /*maxImages*/2, &image_reader);

        if (mstatus == AMEDIA_OK)
        {
            AImageReader_ImageListener listener;
            listener.context = this;
            listener.onImageAvailable = ::onImageAvailable;
            mstatus = AImageReader_setImageListener(image_reader, &listener);
            mstatus = AImageReader_getWindow(image_reader, &image_reader_surface);
            // ANativeWindow_setBuffersGeometry(image_reader_surface, width, height,WINDOW_FORMAT_RGBX_8888);
            ANativeWindow_acquire(image_reader_surface);
        }
    }

    m_imagesCaptured = 0;

    // capture request
    {
        ACameraDevice_request_template templateId = ((afSupported && m_params.autoFocus) ||
                                                     m_params.autoExposure) ? TEMPLATE_PREVIEW
                                                                            : TEMPLATE_STILL_CAPTURE;
        status = ACameraDevice_createCaptureRequest(camera_device, templateId, &capture_request);

        int32_t fpsRange[2] = {1,1};
        status = ACaptureRequest_setEntry_i32(capture_request, ACAMERA_CONTROL_AE_TARGET_FPS_RANGE,2,fpsRange);
    }

    if (afSupported && m_params.autoFocus) {
        // uint8_t afMode = ACAMERA_CONTROL_AF_MODE_CONTINUOUS_VIDEO;
        uint8_t afMode = ACAMERA_CONTROL_AF_MODE_CONTINUOUS_PICTURE;
        // uint8_t afMode = ACAMERA_CONTROL_AF_MODE_AUTO;
        status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AF_MODE, 1, &afMode);

        if (!m_params.zoom)
        {
            uint8_t trig = ACAMERA_CONTROL_AF_TRIGGER_CANCEL;
            // status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AF_TRIGGER, 1, &trig);

            trig = ACAMERA_CONTROL_AF_TRIGGER_START;
            // status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AF_TRIGGER, 1, &trig);
        }
        if (status == ACAMERA_OK)
        {
            m_imagesCaptured = ~0;
        }
    }
    else
    {
        uint8_t trig = ACAMERA_CONTROL_AF_TRIGGER_START;
        // status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AF_TRIGGER, 1, &trig);
        // m_imagesCaptured = (status == ACAMERA_OK) ? ~0 : 0;
    }

    // std::this_thread::sleep_for(std::chrono::milliseconds(128));


    {
        if (m_params.sceneMode != 0)
        {
            uint8_t sceneMode = m_params.sceneMode;
            status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_SCENE_MODE, 1, &sceneMode);
        }

        if (m_params.autoExposure) {
            uint8_t aeMode = ACAMERA_CONTROL_AE_MODE_ON;
            status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AE_MODE, 1, &aeMode);
            // ACaptureRequest_setEntry_i32(capture_request, ACAMERA_SENSOR_SENSITIVITY, 1, &sensitivity_);

            if ((aeCompensationRange.min_ != 0 || aeCompensationRange.max_ != 0) && m_params.compensation != 0)
            {
                int32_t compensation = m_params.compensation;
                if (compensation < aeCompensationRange.min_)
                {
                    compensation = aeCompensationRange.min_;
                }
                if (compensation > aeCompensationRange.max_)
                {
                    compensation = aeCompensationRange.max_;
                }
                // int32_t aeCompensation = aeCompensationRange.max_;
                status = ACaptureRequest_setEntry_i32(capture_request, ACAMERA_CONTROL_AE_EXPOSURE_COMPENSATION, 1, &compensation);
                if (status != ACAMERA_OK)
                {
                    int aa = 0;
                }
            }

            uint8_t aePrecatureTrigger = ACAMERA_CONTROL_AE_PRECAPTURE_TRIGGER_START;
            status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AE_PRECAPTURE_TRIGGER, 1, &aePrecatureTrigger);
            if (status == ACAMERA_OK)
            {
                m_imagesCaptured = ~0;
            }

            uint8_t aeLockOff = ACAMERA_CONTROL_AE_LOCK_OFF;
            // ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AE_LOCK, 1, &aeLockOff);
        }
        else
        {
            uint8_t aeMode = ACAMERA_CONTROL_AE_MODE_OFF;
            status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AE_MODE, 1, &aeMode);

            if (m_params.sensitivity > 0)
            {
                int32_t sensitivity = m_params.sensitivity;
                status = ACaptureRequest_setEntry_i32(capture_request, ACAMERA_SENSOR_SENSITIVITY, 1, &sensitivity);
            }
            if (m_params.exposureTime > 0)
            {
                int64_t exposureTime = ((int64_t)m_params.exposureTime) * 1000000;
                status = ACaptureRequest_setEntry_i64(capture_request, ACAMERA_SENSOR_EXPOSURE_TIME, 1, &exposureTime);
            }
        }
        // TODO:
        // m_imagesCaptured = 0;

        uint8_t awbMode = ACAMERA_CONTROL_AWB_MODE_AUTO;
        status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AWB_MODE, 1, &awbMode);

        status = ACameraOutputTarget_create(image_reader_surface, &image_reader_target);
        status = ACaptureRequest_addTarget(capture_request, image_reader_target);
    }

    if (m_params.zoom)
    {
        float zoomRatio = m_params.zoomRatio;
        // uint8_t afMode = ACAMERA_CONTROL_AF_MODE_AUTO;
        status = ACaptureRequest_setEntry_float(capture_request, ACAMERA_CONTROL_ZOOM_RATIO, 1, &zoomRatio);
        if (status != ACAMERA_OK)
        {
#ifdef _DEBUG
            int aa = 0;
#endif
        }
    }

    // capture session
    {
        ACameraCaptureSession_stateCallbacks camera_capture_session_state_callbacks;
        camera_capture_session_state_callbacks.context = this;
        camera_capture_session_state_callbacks.onActive = onSessionActive;
        camera_capture_session_state_callbacks.onReady = ::onSessionReady;
        camera_capture_session_state_callbacks.onClosed = onSessionClosed;

        status = ACaptureSessionOutputContainer_create(&capture_session_output_container);

        status = ACaptureSessionOutput_create(image_reader_surface, &capture_session_output);

        status = ACaptureSessionOutputContainer_add(capture_session_output_container, capture_session_output);

        status = ACameraDevice_createCaptureSession(camera_device, capture_session_output_container, &camera_capture_session_state_callbacks, &capture_session);

        ACameraCaptureSession_captureCallbacks camera_capture_session_capture_callbacks;
        camera_capture_session_capture_callbacks.context = this;
        camera_capture_session_capture_callbacks.onCaptureStarted = 0;
        camera_capture_session_capture_callbacks.onCaptureProgressed = ::onCaptureProgressed;
        camera_capture_session_capture_callbacks.onCaptureCompleted = ::onCaptureCompleted;
        camera_capture_session_capture_callbacks.onCaptureFailed = onCaptureFailed;
        camera_capture_session_capture_callbacks.onCaptureSequenceCompleted = onCaptureSequenceCompleted;
        camera_capture_session_capture_callbacks.onCaptureSequenceAborted = onCaptureSequenceAborted;
        camera_capture_session_capture_callbacks.onCaptureBufferLost = 0;

        if (m_imagesCaptured != 0)
        {
            status = ACameraCaptureSession_setRepeatingRequest(capture_session, &camera_capture_session_capture_callbacks, 1, &capture_request, &captureSequenceId);
        }
        else
        {
            status = ACameraCaptureSession_capture(capture_session, &camera_capture_session_capture_callbacks, 1, &capture_request, &captureSequenceId);
        }

        m_startTime = GetMicroTimeStamp();
    }

    return status == ACAMERA_OK ? 0 : 1;
}

void NdkCamera::close()
{
    XYLOG(XYLOG_SEVERITY_INFO, "CameraStatus::try close %s", mCameraId.c_str());
    camera_status_t res = ACAMERA_OK;

    if ((ACameraManager *)camera_manager != NULL)
    {
        // res = ACameraManager_unregisterAvailabilityCallback(camera_manager, &camera_manager_cb);
    }

    if (capture_session)
    {
        // res = ACameraCaptureSession_stopRepeating(capture_session);
        ACameraCaptureSession_close(capture_session);
        capture_session = 0;
    }

    if (capture_request)
    {
        res = ACaptureRequest_removeTarget(capture_request, image_reader_target);
        ACaptureRequest_free(capture_request);
        capture_request = 0;
    }

    if (image_reader_target)
    {
        ACameraOutputTarget_free(image_reader_target);
        image_reader_target = 0;
    }

    if (capture_session_output)
    {
        if (capture_session_output_container)
        {
            ACaptureSessionOutputContainer_remove(capture_session_output_container, capture_session_output);
        }
        ACaptureSessionOutput_free(capture_session_output);
        capture_session_output = 0;
    }

    if (capture_session_output_container)
    {
        ACaptureSessionOutputContainer_free(capture_session_output_container);
        capture_session_output_container = 0;
    }

    if (camera_device)
    {
        XYLOG(XYLOG_SEVERITY_INFO, "CameraStatus::close device %s, %p", mCameraId.c_str(), camera_device);
        ACameraDevice_close(camera_device);
        XYLOG(XYLOG_SEVERITY_INFO, "CameraStatus::closed device %s, %p", mCameraId.c_str(), camera_device);
        camera_device = 0;
    }

    if (image_reader_surface)
    {
        ANativeWindow_release(image_reader_surface);
        image_reader_surface = 0;
    }

    if (image_reader != NULL)
    {
        // AImageReader_setImageListener(image_reader, NULL);
        XYLOG(XYLOG_SEVERITY_INFO, "CameraStatus::AImageReader_delete %s", mCameraId.c_str());

        AImageReader_delete(image_reader);
        XYLOG(XYLOG_SEVERITY_INFO, "CameraStatus::End AImageReader_delete %s", mCameraId.c_str());

        image_reader = 0;
    }
    XYLOG(XYLOG_SEVERITY_INFO, "CameraStatus::closed %s", mCameraId.c_str());
}

void NdkCamera::onImageAvailable(AImageReader* reader)
{
    ALOGD("onImageAvailable %p", reader);

    AImage* image = 0;
    media_status_t status = AImageReader_acquireLatestImage(reader, &image);

    if (status != AMEDIA_OK)
    {
        // error
        XYLOG(XYLOG_SEVERITY_ERROR, "AImageReader_acquireLatestImage error: %d", status);
        return;
    }

    if (m_imagesCaptured == ~0 || m_imagesCaptured >= 1)
    {
        // XYLOG(XYLOG_SEVERITY_DEBUG, "m_imagesCaptured=%u wait for next image", m_imagesCaptured);
        // Not Ready Or Taken
        AImage_delete(image);
        return;
    }

    int32_t format;
    AImage_getFormat(image, &format);

    // ASSERT(format == AIMAGE_FORMAT_YUV_420_888);

    int32_t width = 0;
    int32_t height = 0;
    AImage_getWidth(image, &width);
    AImage_getHeight(image, &height);

    int32_t y_pixelStride = 0;
    int32_t u_pixelStride = 0;
    int32_t v_pixelStride = 0;
    AImage_getPlanePixelStride(image, 0, &y_pixelStride);
    AImage_getPlanePixelStride(image, 1, &u_pixelStride);
    AImage_getPlanePixelStride(image, 2, &v_pixelStride);

    int32_t y_rowStride = 0;
    int32_t u_rowStride = 0;
    int32_t v_rowStride = 0;
    AImage_getPlaneRowStride(image, 0, &y_rowStride);
    AImage_getPlaneRowStride(image, 1, &u_rowStride);
    AImage_getPlaneRowStride(image, 2, &v_rowStride);

    uint8_t* y_data = 0;
    uint8_t* u_data = 0;
    uint8_t* v_data = 0;
    int y_len = 0;
    int u_len = 0;
    int v_len = 0;
    AImage_getPlaneData(image, 0, &y_data, &y_len);
    AImage_getPlaneData(image, 1, &u_data, &u_len);
    AImage_getPlaneData(image, 2, &v_data, &v_len);

    if (u_data == v_data + 1 && v_data == y_data + width * height && y_pixelStride == 1 && u_pixelStride == 2 && v_pixelStride == 2 && y_rowStride == width && u_rowStride == width && v_rowStride == width)
    {
        // already nv21  :)
        on_image((unsigned char*)y_data, (int)width, (int)height);
    }
    else
    {
        // construct nv21
        unsigned char* nv21 = new unsigned char[width * height + width * height / 2];
        {
            // Y
            unsigned char* yptr = nv21;
            for (int y=0; y<height; y++)
            {
                const unsigned char* y_data_ptr = y_data + y_rowStride * y;
                for (int x=0; x<width; x++)
                {
                    yptr[0] = y_data_ptr[0];
                    yptr++;
                    y_data_ptr += y_pixelStride;
                }
            }

            // UV
            unsigned char* uvptr = nv21 + width * height;
            for (int y=0; y<height/2; y++)
            {
                const unsigned char* v_data_ptr = v_data + v_rowStride * y;
                const unsigned char* u_data_ptr = u_data + u_rowStride * y;
                for (int x=0; x<width/2; x++)
                {
                    uvptr[0] = v_data_ptr[0];
                    uvptr[1] = u_data_ptr[0];
                    uvptr += 2;
                    v_data_ptr += v_pixelStride;
                    u_data_ptr += u_pixelStride;
                }
            }
        }

        on_image((unsigned char*)nv21, (int)width, (int)height);

        delete[] nv21;
    }

    AImage_delete(image);
    m_imagesCaptured ++;

    if (capture_session != 0)
    {
        // camera_status_t cs = ACameraCaptureSession_stopRepeating(capture_session);
        //if (cs != ACAMERA_OK)
        {
            // XYLOG(XYLOG_SEVERITY_ERROR, "ACameraCaptureSession_stopRepeating error=%d", cs);
        }
    }
}

void NdkCamera::on_error(const std::string& msg)
{
}

void NdkCamera::onDisconnected(ACameraDevice* device)
{

}

bool NdkCamera::on_image(cv::Mat& rgb)
{
    return false;
}

void NdkCamera::on_image(const unsigned char* nv21, int nv21_width, int nv21_height)
{
    // ALOGW("nv21 size: %d x %d", nv21_width, nv21_height);
    // rotate nv21
    int w = 0;
    int h = 0;
    int rotate_type = 0;
    cv::Mat nv21_rotated;
    const unsigned char* yuv420data = nv21;
    // TODO !!!???
    /*
    if (camera_->GetSensorOrientation(&facing, &angle)) {
        if (facing == ACAMERA_LENS_FACING_FRONT) {
            imageRotation = (angle + rotation_) % 360;
            imageRotation = (360 - imageRotation) % 360;
        } else {
            imageRotation = (angle - rotation_ + 360) % 360;
        }
    }
     */

    int orgWidth = mWidth;
    int orgHeight = mHeight;
    // int co = camera_orientation > 0 ? camera_orientation + 90 : camera_orientation;
    if (m_params.orientation != 0)
    {
        int co = 0;
        if (camera_facing == ACAMERA_LENS_FACING_FRONT)
        {
            co = (camera_orientation + (m_params.orientation - 1) * 90) % 360;
            co = (360 - co) % 360;
        }
        else
        {
            co = (camera_orientation - (m_params.orientation - 1) * 90 + 360) % 360;
        }

        XYLOG(XYLOG_SEVERITY_DEBUG, "Orientation=%d Facing=%d", co, camera_facing);

        // int co = 0;
        if (co == 0)
        {
            w = nv21_width;
            h = nv21_height;
            rotate_type = camera_facing == ACAMERA_LENS_FACING_FRONT ? 2 : 1;
        }
        else if (co == 90)
        {
            w = nv21_height;
            h = nv21_width;

            orgWidth = mHeight;
            orgHeight = mWidth;

            rotate_type = camera_facing == ACAMERA_LENS_FACING_FRONT ? 5 : 6;
        }
        else if (co == 180)
        {
            w = nv21_width;
            h = nv21_height;
            rotate_type = camera_facing == ACAMERA_LENS_FACING_FRONT ? 4 : 3;
        }
        else if (co == 270)
        {
            w = nv21_height;
            h = nv21_width;

            orgWidth = mHeight;
            orgHeight = mWidth;

            rotate_type = camera_facing == ACAMERA_LENS_FACING_FRONT ? 7 : 8;
        }

        nv21_rotated.create(h + h / 2, w, CV_8UC1);
        ncnn::kanna_rotate_yuv420sp(nv21, nv21_width, nv21_height, nv21_rotated.data, w, h, rotate_type);
        yuv420data = nv21_rotated.data;
    }
    else
    {
        w = nv21_width;
        h = nv21_height;
        XYLOG(XYLOG_SEVERITY_DEBUG, "NO Orientation Facing=%d", camera_facing);
    }

    // nv21_rotated to rgb
    cv::Mat rgb;
    if (w == orgWidth && h == orgHeight)
    {
        rgb.create(h, w, CV_8UC3);
        // ncnn::yuv420sp2rgb(nv21_rotated.data, w, h, rgb.data);
        ncnn::yuv420sp2rgb_nv12(yuv420data, w, h, rgb.data);
    }
    else
    {
        cv::Mat org(h, w, CV_8UC3);
        ncnn::yuv420sp2rgb_nv12(yuv420data, w, h, org.data);
        if (w * orgHeight == h * orgWidth) // Same Ratio
        {
            cv::resize(org, rgb, cv::Size(orgWidth, orgHeight));
        }
        else
        {
            // Crop image
            int left = (w - orgWidth) / 2;
            int top = (h - orgHeight) / 2;
            rgb = org(cv::Range(top, top + orgHeight), cv::Range(left, left + orgWidth));
        }
    }
    on_image(rgb);
}

void NdkCamera::onSessionReady(ACameraCaptureSession *session)
{
    return;

    camera_status_t status = ACAMERA_OK;

    ACameraCaptureSession_captureCallbacks camera_capture_session_capture_callbacks;
    camera_capture_session_capture_callbacks.context = this;
    camera_capture_session_capture_callbacks.onCaptureStarted = 0;
    camera_capture_session_capture_callbacks.onCaptureProgressed = ::onCaptureProgressed;
    camera_capture_session_capture_callbacks.onCaptureCompleted = ::onCaptureCompleted;
    camera_capture_session_capture_callbacks.onCaptureFailed = onCaptureFailed;
    camera_capture_session_capture_callbacks.onCaptureSequenceCompleted = onCaptureSequenceCompleted;
    camera_capture_session_capture_callbacks.onCaptureSequenceAborted = onCaptureSequenceAborted;
    camera_capture_session_capture_callbacks.onCaptureBufferLost = 0;

    if (m_imagesCaptured != 0)
    {
        status = ACameraCaptureSession_setRepeatingRequest(capture_session, &camera_capture_session_capture_callbacks, 1, &capture_request, &captureSequenceId);
    }
    else
    {
        status = ACameraCaptureSession_capture(capture_session, &camera_capture_session_capture_callbacks, 1, &capture_request, &captureSequenceId);
    }
}

void NdkCamera::onCaptureProgressed(ACameraCaptureSession* session, ACaptureRequest* request, const ACameraMetadata* result)
{

}

void NdkCamera::onCaptureCompleted(ACameraCaptureSession* session, ACaptureRequest* request, const ACameraMetadata* result)
{
// CALL_REQUEST(setEntry_i64(requests_[PREVIEW_REQUEST_IDX].request_,
    //                           ACAMERA_SENSOR_EXPOSURE_TIME, 1, &exposureTime_));

    // ACameraMetadata_getConstEntry(result, )
    ACameraMetadata_const_entry val = { 0 };
    camera_status_t status = ACAMERA_ERROR_BASE;
    mResult.afState = ACAMERA_CONTROL_AF_STATE_INACTIVE;

    val = { 0 };
    status = ACameraMetadata_getConstEntry(result, ACAMERA_CONTROL_AE_STATE, &val);
    mResult.aeState = (status == ACAMERA_OK) ? *(val.data.u8) : ACAMERA_CONTROL_AE_STATE_INACTIVE;

    if (afSupported && (m_params.autoFocus != 0))
    {
        val = { 0 };
        status = ACameraMetadata_getConstEntry(result, ACAMERA_CONTROL_AF_STATE, &val);
        mResult.afState = (status == ACAMERA_OK) ? *(val.data.u8) : ACAMERA_CONTROL_AF_STATE_INACTIVE;
    }

    if (m_imagesCaptured == ~0)
    {
        unsigned long long ts = GetMicroTimeStamp();
        if (ts - m_startTime >= m_params.focusTimeout * 2)
        {
            XYLOG(XYLOG_SEVERITY_WARNING, "onCaptureCompleted Timeout for AF/AE And will Capture AFS=%u AES=%u Time=%u", (unsigned int)mResult.afState, (unsigned int)mResult.aeState, (unsigned int)(ts - m_startTime));
            m_imagesCaptured = 0;
        }
        else
        {
            if (m_params.autoExposure != 0)
            {
                if (mResult.aeState == ACAMERA_CONTROL_AE_STATE_SEARCHING)
                {
                    // Waiting
                    return;
                }
                else if (mResult.aeState == ACAMERA_CONTROL_AE_STATE_PRECAPTURE)
                {
                    uint8_t aePrecatureTrigger = ACAMERA_CONTROL_AE_PRECAPTURE_TRIGGER_START;
                    status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AE_PRECAPTURE_TRIGGER, 1, &aePrecatureTrigger);
                    return;
                }
                else if (mResult.aeState == ACAMERA_CONTROL_AE_STATE_CONVERGED)
                {
                    if (aeLockAvailable)
                    {
                        uint8_t aeLock = ACAMERA_CONTROL_AE_LOCK_ON;
                        status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AE_LOCK, 1, &aeLock);
                    }
                }
            }

            if (afSupported && (m_params.autoFocus != 0))
            {
                // if (mResult.afState == ACAMERA_CONTROL_AF_STATE_NOT_FOCUSED_LOCKED || mResult.afState == ACAMERA_CONTROL_AF_STATE_PASSIVE_UNFOCUSED)
                if (mResult.afState == ACAMERA_CONTROL_AF_STATE_NOT_FOCUSED_LOCKED)
                {
                    // uint8_t aePrecatureTrigger = ACAMERA_CONTROL_AE_PRECAPTURE_TRIGGER_CANCEL;
                    // status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AE_PRECAPTURE_TRIGGER, 1, &aePrecatureTrigger);

                    // aePrecatureTrigger = ACAMERA_CONTROL_AE_PRECAPTURE_TRIGGER_START;
                    // status = ACaptureRequest_setEntry_u8(capture_request, ACAMERA_CONTROL_AE_PRECAPTURE_TRIGGER, 1, &aePrecatureTrigger);
                    // XYLOG(XYLOG_SEVERITY_INFO, "onCaptureCompleted New Focus Trigger AFS=%u AES=%u Time=%u", (unsigned int)mResult.afState, (unsigned int)mResult.aeState);
                    return;
                }

                ALOGD("onCaptureCompleted 1 AFS=%u AES=%u", (unsigned int)mResult.afState, (unsigned int)mResult.aeState);
                if (mResult.afState == ACAMERA_CONTROL_AF_STATE_PASSIVE_FOCUSED || mResult.afState == ACAMERA_CONTROL_AF_STATE_FOCUSED_LOCKED)
                    // if (afState != ACAMERA_CONTROL_AF_STATE_INACTIVE)
                {
                    m_imagesCaptured = 0;
                }
            }
            else
            {
                m_imagesCaptured = 0;
            }
        }
    }


    if (m_imagesCaptured != 0 || camera_facing == 2)
    {
        return;
    }

    val = { 0 };
    status = ACameraMetadata_getConstEntry(result, ACAMERA_SENSOR_EXPOSURE_TIME, &val);
    int64_t exTime = (status == ACAMERA_OK) ? val.data.i64[0] : -1;
    mResult.exposureTime = exTime;

    val = { 0 };
    status = ACameraMetadata_getConstEntry(result, ACAMERA_CONTROL_AE_MODE, &val);
    uint8_t aeMode = (status == ACAMERA_OK) ? val.data.u8[0] : 0;
    // ACaptureRequest_setEntry_i32(capture_request, ACAMERA_SENSOR_SENSITIVITY, 1, &sensitivity_);
    mResult.autoExposure = aeMode;

    val = { 0 };
    status = ACameraMetadata_getConstEntry(result, ACAMERA_CONTROL_AWB_STATE, &val);
    mResult.awbState = (status == ACAMERA_OK) ? val.data.u8[0] : 0;

    val = { 0 };
    float focusDistance = NAN;
    if (afSupported && (m_params.autoFocus != 0))
    {
        status = ACameraMetadata_getConstEntry(result, ACAMERA_LENS_FOCUS_DISTANCE, &val);
        if (status == ACAMERA_OK)
        {
            focusDistance = *val.data.f;
        }
    }
    mResult.FocusDistance = focusDistance;

    val = { 0 };
    status = ACameraMetadata_getConstEntry(result, ACAMERA_CONTROL_ZOOM_RATIO, &val);
    if (status == ACAMERA_OK)
    {
        mResult.zoomRatio = *val.data.f;
    }

    /*
    val = { 0 };
    status = ACameraMetadata_getConstEntry(result, ACAMERA_CONTROL_AF_STATE, &val);
    mResult.afState = *(val.data.u8);
    */

    ALOGD("onCaptureCompleted 2 AFS=%u AES=%u", (unsigned int)mResult.afState, (unsigned int)mResult.aeState);

    val = {0};
    status = ACameraMetadata_getConstEntry(result, ACAMERA_SENSOR_SENSITIVITY, &val);
    mResult.sensitibity = *(val.data.i32);

    val = {0};
    status = ACameraMetadata_getConstEntry(result, ACAMERA_CONTROL_SCENE_MODE, &val);
    mResult.sceneMode = status == ACAMERA_OK ? *(val.data.u8) : 0;

    val = {0};
    status = ACameraMetadata_getConstEntry(result, ACAMERA_CONTROL_AF_MODE, &val);
    mResult.autoFocus = *(val.data.u8);

    val = {0};
    status = ACameraMetadata_getConstEntry(result, ACAMERA_CONTROL_AE_EXPOSURE_COMPENSATION, &val);
    mResult.compensation = *(val.data.i32);

    ALOGD("onCaptureCompleted EXPO=%lld, FD=%f camera id=%s, AE=%s AFS=%u AES=%u", exTime, focusDistance, mCameraId.c_str(), ((aeMode == 1) ? "ON" : "OFF"), mResult.afState, mResult.aeState);

    // __android_log_print(ANDROID_LOG_WARN, "NdkCamera", "onCaptureCompleted %p %p %p", session, request, result);
}

void NdkCamera::onAvailabilityCallback(const char* cameraId)
{
    std::string s(cameraId);
    m_locker.lock();
    m_availableCameras.insert(s);
    m_locker.unlock();

}
void NdkCamera::onUnavailabilityCallback(const char* cameraId)
{
    std::string s(cameraId);
    m_locker.lock();
    m_availableCameras.erase(s);
    m_locker.unlock();
}

bool NdkCamera::IsCameraAvailable(const std::string& cameraId)
{
    bool existed = false;
    m_locker.lock();
    existed = (m_availableCameras.find(cameraId) != m_availableCameras.cend());
    m_locker.unlock();

    return existed;
}