#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <pthread.h>
#include <time.h>  
#include <unistd.h>

#include "JZsdkLib.h"
#include "BaseConfig.h"
#include "JZsdk_usb_bulk/JZsdk_usb_bulk.h"

#include "IRCUT/ircut.h"


#ifdef RTK_MPP_STATUS_ON
#include "MediaProc/MultProc/RTK_mmp/RTK_mmp.h"
#include "MediaProc/MultProc/RTK_mmp/Dec/RTK_mmp_dec.h"
#include "MediaProc/MultProc/RTK_mmp/Enc/RTK_mmp_enc.h"
#include "MediaProc/Camera/Camera.h"

#endif

#ifdef RTK_RGA_STATUS_ON

#include "MediaProc/RgaProc/RK_Rga/RK_Rga.h"

//c1的rga结构体
typedef struct C1_RgaInfo
{
    //源图像
    RK_RgaImage *src_img;

    //裁剪图像
    RK_RgaImage *corp_img;

    //目标图像
    RK_RgaImage *dst_img;

    //放大倍数
    int scale;

}C1_RgaInfo;

static C1_RgaInfo *g_C1_RgaIrcInfo = NULL;
static C1_RgaInfo *g_C1_RgaOptInfo = NULL;

static unsigned char *g_MixedIrc_Buffer = NULL;

static unsigned char *g_MixedOpt_Buffer = NULL;
static unsigned int g_MixedOptBuffer_UseFlag = JZ_FLAGCODE_OFF;

#endif

#ifdef MEDIA_PROC_CONFIG_STATUS_ON

#include "MediaProc/Camera/Cam_FrameCatch/Cam_FrameCatch.h"
#include "MediaProc/MediaParm.h"
#include "MediaProc/VideoMgmt/VideoStreamPush/VideoStream_Push.h"
#include "MediaProc/VideoMgmt/VideoMgmt.h"
#include "MediaProc/IRC_funtion/IRC_Param.h"
#include "MediaProc/IRC_funtion/IRC_funtion.h"
#include "MediaProc/MediaProc_Param.h"



static void *g_usb_index = NULL;

// 定义 昆腾的 帧头长度和帧头内容  
#define FRAME_HEADER_SIZE 4
static const unsigned char FRAME_HEADER[FRAME_HEADER_SIZE] = {0xaa, 0xbb, 0xcc, 0xdd};  
#define NSEC_PER_SEC 1000000000L  //1秒的纳秒数
#define TARGET_FPS 30  

static unsigned char FrameBuffer[FIRST_HEIGHT * FIRST_WIDTH *2]; //用于存储帧数据的缓冲区
static unsigned int FrameBufferLen = 0; //用于存储帧数据的长度
static int FrameBuffer_UseFlag = JZ_FLAGCODE_OFF;

#ifdef RTK_RGA_STATUS_ON
static T_JZsdkReturnCode JZC1_RgaDeal(C1_RgaInfo *rga_info, int resize, unsigned char *image, unsigned int *imgage_size);
static T_JZsdkReturnCode JZC1_RgaInit(C1_RgaInfo **rgaInfo, int dst_width, int dst_height, int dst_format);
#endif

//数据推送函数
static T_JZsdkReturnCode JZC1_PushFrame(int CameraIndex, unsigned char* data, unsigned int data_len)
{
    int currentIndex = VideoMgmt_GetVideoStreamFlowIndexNum(); //获取当前视频流索引
    //无视频流
    if (currentIndex == 0)
    {
        //不推送视频
        return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
    }

    //红外相机
    if (currentIndex == VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST && CameraIndex == VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST)
    {

        //推送数据到流转模块
        VideoMgmt_Single_FrameIn(data, data_len);
    }

    //光学相机
    if(CameraIndex == VIDEOMGMT_STREAMING_FLOW_INDEX_SECOND && currentIndex == VIDEOMGMT_STREAMING_FLOW_INDEX_SECOND)
    {
        //推送数据到流转模块
        VideoMgmt_Single_FrameIn(data, data_len);
    }

    //组合视频流
    if (currentIndex == VIDEOMGMT_STREAMING_FLOW_INDEX_THIRD && CameraIndex == VIDEOMGMT_STREAMING_FLOW_INDEX_THIRD)
    {
        //推送数据到流转模块
        VideoMgmt_Single_FrameIn(data, data_len);
    }

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

static T_JZsdkReturnCode JZC1_OptDeal(unsigned char *data, unsigned int data_len)
{
    

#ifdef RTK_MPP_STATUS_ON

    //JZSDK_LOG_INFO("JZC1_OptDeal");

    MppFrame yuv_data = NULL; //用于传递yuv数据的地址
    MppPacket Packet = NULL;

    //输入数据进入解码器
    RTK_mmp_dec_input(JZsdk_RtkMmpGetDecHandleAddr(1), data, data_len, &yuv_data);

    // int width    = mpp_frame_get_width(yuv_data);
    // int height   = mpp_frame_get_height(yuv_data);
    // int h_stride = mpp_frame_get_hor_stride(yuv_data);
    // int v_stride = mpp_frame_get_ver_stride(yuv_data);

    // JZSDK_LOG_INFO("w:%d h:%d hor:%d ver:%d",width,height,h_stride,v_stride);

    //光学数据缩放
    int resize = JZ_FLAGCODE_OFF;
    Camera_param(JZ_FLAGCODE_GET, CAMERA_RESIZE, &resize);
    
    //将size转化为倍数
    int ZoomRatio = 0;
    switch (resize)
    {
        case 0:
            ZoomRatio = JZ_FLAGCODE_OFF;
        break;

        case 1:
            ZoomRatio = 2;
        break;

        case 2:
            ZoomRatio = 4;
        break;

        case 3:
            ZoomRatio = 8;
        break;
    
        default:
            ZoomRatio = JZ_FLAGCODE_OFF;
        break;
    }
    

    if (ZoomRatio != JZ_FLAGCODE_OFF)
    {

        MppBuffer temp = mpp_frame_get_buffer(yuv_data);
        RK_U32 h = mpp_frame_get_hor_stride(yuv_data);
        RK_U32 w = mpp_frame_get_ver_stride(yuv_data);

        int size = (h * w * 1.5);

        unsigned char *temp_data = (unsigned char *)malloc(size);
        memcpy(temp_data, mpp_buffer_get_ptr(temp), size);
        
        JZC1_RgaDeal(g_C1_RgaOptInfo, ZoomRatio, temp_data, &size);

        //重新将数据放回
        memcpy(mpp_buffer_get_ptr(temp), temp_data, size);

        free(temp_data);
    }


    //将数据放入混合缓冲区
    MppBuffer temp = mpp_frame_get_buffer(yuv_data);
    if (g_MixedOpt_Buffer != NULL && g_MixedOptBuffer_UseFlag == JZ_FLAGCODE_OFF)
    {
        g_MixedOptBuffer_UseFlag = JZ_FLAGCODE_ON;
        memcpy(g_MixedOpt_Buffer, mpp_buffer_get_ptr(temp), (mpp_frame_get_hor_stride(yuv_data) * mpp_frame_get_ver_stride(yuv_data) * 1.5));
        g_MixedOptBuffer_UseFlag = JZ_FLAGCODE_OFF;
    }


    //将返回的数据输入进编码器
    RTK_mmp_enc_yuv_to_h264_byFrame(JZsdk_RtkMmpGetEncHandleAddr(1), yuv_data, &Packet);

    //获取数据指针与长度
    int packet_len = mpp_packet_get_length(Packet);
    void *ptr   = mpp_packet_get_pos(Packet);

    //推送视频流
    JZC1_PushFrame(2, (unsigned char *)ptr, packet_len);

    //释放掉编码图像
    mpp_packet_deinit(&Packet);
#endif

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

//红外数据纠正函数, 暂定全部替换
static T_JZsdkReturnCode JZC1_Irc_DataCorrect(unsigned char *data)
{
    //像素修正
    data[0] = data[5];
    data[1] = data[6];
    data[2] = data[5];
    data[3] = data[6];       
}


//在这里将灰度图数据转换成目标数据
static T_JZsdkReturnCode JZC1_IrcDeal(unsigned char *data, unsigned int data_len)
{
    //JZSDK_LOG_DEBUG("irc数据处理");
    if (data_len == 0)
    {
        JZSDK_LOG_ERROR("无数据错误");
        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
    }
    
    //红外数据纠正处理
    JZC1_Irc_DataCorrect(data);

    //将 8位的raw数据 合并为16位数据
    U16_t *  u16Data = (U16_t *)malloc(sizeof(U16_t) * (data_len / 2));
    int u16DataSize = data_len / 2;

    //JZSDK_LOG_DEBUG("data_len:%d u16DataSize:%d", data_len / 2, FIRST_HEIGHT * FIRST_WIDTH);

    //合成像素，u8转换合并成u16
    JZsdk_Merge_U8_to_U16_byReverse(data, data_len, u16Data, &u16DataSize);

    //将灰度图数据转换为原始码流数据
    unsigned char *raw_data = NULL;  
    int raw_data_len = 0;  

    //将原始码流数据转换为rgb数据
    IRC_FrameDeal(u16Data, u16DataSize, &raw_data, &raw_data_len);

    //获取放大的倍数
    //光学数据缩放
    int resize = JZ_FLAGCODE_OFF;
    Camera_param(JZ_FLAGCODE_GET, CAMERA_RESIZE, &resize);
    
    //将size转化为倍数
    int ZoomRatio = 0;
    switch (resize)
    {
        case 0:
            ZoomRatio = JZ_FLAGCODE_OFF;
        break;

        case 1:
            ZoomRatio = 2;
        break;

        case 2:
            ZoomRatio = 4;
        break;

        case 3:
            //红外做不了8倍放大咧
            ZoomRatio = 4;
            //ZoomRatio = 8;
        break;
    
        default:
            ZoomRatio = 0;
        break;
    }

    if (ZoomRatio != JZ_FLAGCODE_OFF)
    {
        JZC1_RgaDeal(g_C1_RgaIrcInfo, ZoomRatio, raw_data, &raw_data_len);
    }

    //将数据放入混合缓冲区
    if (g_MixedIrc_Buffer != NULL)
    {
        memcpy(g_MixedIrc_Buffer, raw_data, raw_data_len);
    }

    //将原始码流数据写入到编码器 并转换为h264
    unsigned char *h264Data = NULL;
    unsigned int h264DataLen = 0;

#ifdef RTK_MPP_STATUS_ON
    MppPacket Packet = NULL;

    RTK_mmp_enc_data_to_h264(JZsdk_RtkMmpGetEncHandleAddr(0), raw_data, raw_data_len, &Packet);
    
    h264DataLen = mpp_packet_get_length(Packet);
    h264Data   = (unsigned char *)mpp_packet_get_pos(Packet);
    //EncCfg->Packet_eos = mpp_packet_get_eos(packet);
    // printf("获取到编码内容 len:%d\n",packet_len);

    //释放掉packet
    mpp_packet_deinit(&Packet);
#endif

    //将h264数据推送
    JZC1_PushFrame(1, h264Data, h264DataLen);

    //释放内存
    if (raw_data != NULL)
    {
        free(raw_data);
        raw_data = NULL;
    }

    if (u16Data != NULL)
    {
        free(u16Data);
        u16Data = NULL;
    }

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

static void *JZC1_IrcDataBuffer_Thread(void *args)
{

    struct timespec now;  

    //获取起始时间
    struct timespec start_time;
    clock_gettime(CLOCK_MONOTONIC, &start_time);  
    long long prev_time = start_time.tv_sec * NSEC_PER_SEC  + start_time.tv_nsec;

    //设置间隔时间
    long long period = NSEC_PER_SEC / TARGET_FPS;

    unsigned char *TempBuffer = (unsigned char *)malloc(163840);
    unsigned int TempBufferLen = 0;

    

    while (1)
    {
        //获取当前时间
        clock_gettime(CLOCK_MONOTONIC, &now);  
        long long current_time = now.tv_sec * NSEC_PER_SEC  + now.tv_nsec;

        //计算时间差
        long long elapsed_time = current_time - prev_time;

        //超过33ms
        if (elapsed_time >= period)
        {
            while (FrameBuffer_UseFlag == JZ_FLAGCODE_ON)
            {
                delayUs(100);
            }

            FrameBuffer_UseFlag = JZ_FLAGCODE_ON;

            memset(TempBuffer, 0, sizeof(TempBuffer));
            memcpy(TempBuffer, FrameBuffer, FrameBufferLen);
            TempBufferLen = FrameBufferLen;
    
            FrameBuffer_UseFlag = JZ_FLAGCODE_OFF;
 
            //红外数据缓冲线程
            JZC1_IrcDeal(TempBuffer, TempBufferLen);

            prev_time = current_time;
        }
        
        // 为了防止过于频繁地调用 clock_gettime，可以添加一个小的睡眠时间  
        // 例如，休眠1毫秒（100000000纳秒），以减少CPU占用  
        struct timespec req = { .tv_sec = 0, .tv_nsec = 1000000 };  
        nanosleep(&req, NULL);  
    }
    

}

static T_JZsdkReturnCode JZC1_IrcDataSave(unsigned char *data, unsigned int data_len)
{
    //避免缓冲区被同时操作
    while (FrameBuffer_UseFlag == JZ_FLAGCODE_ON)
    {
        delayUs(100);
    }
    
    FrameBuffer_UseFlag = JZ_FLAGCODE_ON;

    memset(FrameBuffer, 0, sizeof(FrameBuffer));
    memcpy(FrameBuffer, data, data_len);
    FrameBufferLen = data_len;

    FrameBuffer_UseFlag = JZ_FLAGCODE_OFF;

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

//红外数据接收线程
static void *JZC1_IrcDataRecv_Thread(void *args)
{
    int frame_len = FIRST_WIDTH *2* FIRST_HEIGHT;    //163840
    unsigned char buf[frame_len]; //usb数据缓冲区需要为512的倍数
    unsigned char frameData[frame_len]; // 存储整帧数据的画面缓冲区  
    unsigned int lineNum = 0;  
    int frame = 0;
    int frameDataLen = 0;//缓冲区的数据长度

    /*****
     * 
     *  数据格式说明
     * 
     *  帧头 0xaa 0xbb 0x02 0x80 0x01 0x00 + 行数 如第一行0x00 0x01
     *  数据包长度为 0x0280 
     *  数据包 一包的行数为256 0x0100
     *  当前数据为第x行 x= 0x0001
     *  两位数据为一个点
     *  接着把前4个点的数据 用第五个点替换掉
     * *****/

    while (1)
    {  
        int realLen;  
        memset(buf,0,sizeof(buf));
        T_JZsdkReturnCode ret = JZsdk_HalUsbBulk_ReadData(&g_usb_index, buf, sizeof(buf), &realLen);  
        if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) 
        {  
            // 处理读取错误  
            JZSDK_LOG_ERROR("读取错误");
            continue;
            //return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;  
        }
        if (realLen != 0)
        {
            //JZSDK_LOG_INFO("读取到%d 字节",realLen);
        }

        //寻找数据是否存在帧头
        for (int i = 0; i < realLen; i++)
        {
            // 验证帧头  
            if (memcmp(buf+i, FRAME_HEADER, FRAME_HEADER_SIZE) != 0) 
            {  
                // 帧头不匹配，可能是噪声或错误的数据包  
                continue;  
            }  

/**********************
 * 
 *  方法一，将usb缓冲区调整大小 到超过640*256， 然后直接输出整段画面，避免重复复制，节省处理时间
 * 
 * ******************************/
            //如果查找到帧头

            //查看是否是第0帧
            if (frame == 0)
            {
                //重置掉画面缓冲区
                memset(frameData,0,sizeof(frameData));

                //将数据置于缓冲区
                frameDataLen = (realLen-i);
                memcpy( &frameData[0], buf + i, frameDataLen);
                
                //让画面帧强跳到第一帧
                frame = 1;

                continue;
            }

            //如果是第一帧
            if (frame == 1)
            {
                memcpy( &frameData[frameDataLen], buf, frame_len-frameDataLen );

                JZC1_IrcDataSave(frameData, frame_len);

                frame = 2;
                frameDataLen = 0;
                //memset(frameData,0,sizeof(frameData));
            }
            

            //如果不是第1帧，且上段数据小于一画面段，说明为数据被切割
            if ( i<frame_len)
            {
                //则于前端残余数据拼接，并输出
                if (frame%2==0 && (frame != 1)  )
                {

                    memcpy( &frameData[frame_len-i], buf, i);
                    //将未处理raw数据放入缓冲区
                    
                    //JZSDK_LOG_INFO("写入1 %d %x", i, frameData[20]);

                    JZC1_IrcDataSave(frameData, frame_len);
                    //JZSDK_LOG_INFO("放入数据到缓冲区");
                    //memset(frameData,0,sizeof(frameData));
                }
                frame++;
            }
            
            //如果剩余长度超出一画数据，将画面数据整段输出
            if ( (i + frame_len) < realLen)
            {                
                if (frame%2==0)
                {
                    //JZSDK_LOG_INFO("写入2");

                    memcpy( &frameData[0], buf, frame_len);

                    //将未处理raw数据放入缓冲区
                    JZC1_IrcDataSave(frameData, frame_len);
                    //JZSDK_LOG_INFO("放入数据到缓冲区");
                }
                frame++;
                continue;
            }

            //JZSDK_LOG_INFO("i:%d, frame_len:%d realLen:%d frame:%d",i,frame_len,realLen,frame);
            
            //如果剩余数据小于一画，存进画面缓冲区
            //memset(frameData,0,sizeof(frameData));
            memcpy(frameData, buf+i, (realLen-i));
            break;
        } 
    }
}


//C1 红外相机数据的初始化
static T_JZsdkReturnCode JZsdk_JZC1_Irc_Data_Init()
{
    T_JZsdkReturnCode ret;

    //初始化接收的usb口
    ret = JZsdk_HalUsbBulk_Init(&g_usb_index, 0, 0, LINUX_USB_PID, LINUX_USB_VID, USB_IN_POINT, USB_OUT_POINT);
    if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
    {
        return ret;
    }
    
    //初始化usb接收线程
    pthread_t ReadDataTask;
	pthread_attr_t task_attribute; //线程属性
	pthread_attr_init(&task_attribute);  //初始化线程属性
	pthread_attr_setdetachstate(&task_attribute, PTHREAD_CREATE_DETACHED);      //设置线程分离属性
	int Urcdata_Protection = pthread_create(&ReadDataTask,&task_attribute,JZC1_IrcDataRecv_Thread,NULL);		//线程
	if(Urcdata_Protection != 0)
	{
		JZSDK_LOG_ERROR("创建视频usb线程失败！");
		return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
	}

    //初始化送usb数据去处理的线程
    pthread_t BufferDataTask;
	pthread_attr_t BufferDataTask_attribute; //线程属性
	pthread_attr_init(&BufferDataTask_attribute);  //初始化线程属性
	pthread_attr_setdetachstate(&BufferDataTask_attribute, PTHREAD_CREATE_DETACHED);      //设置线程分离属性
	int bufferdata_Protection = pthread_create(&BufferDataTask,&BufferDataTask_attribute,JZC1_IrcDataBuffer_Thread,NULL);		//线程
	if(bufferdata_Protection != 0)
	{
		JZSDK_LOG_ERROR("创建usb缓冲失败!");
		return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
	}

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}



/********************
 * 
 *   混合视频说明
 * 
 *  1920*1088 做处理 并输出为 1920*1080
 *  __________________________________________________________________
 * |_________________________________                                 |
 * |                                 |________________________________|
 * |                                 |                                |  
 * |                                 |   1920*1088 /2   960*  544     | 
 * |                                 |                                |
 * |  320*256 拉伸4到 1280*1024      |                                |
 * |  裁剪出 3/4 到 960 * 768        |                                |
 * |                                 |                                |
 * |                                 |________________________________|
 * |_________________________________|                                |
 * |__________________________________________________________________|
 * 
 * ******************/


/******************
 * 
 *  混合视频处理
 * 
 * 
 * ********************/
static void JZC1_MixedVideo_Deal()
{

}


static void *MixedVideo_Thread(void *args)
{
#ifdef RTK_RGA_STATUS_ON
    struct timespec now;  
    int d_ret = 0;

    //获取起始时间
    struct timespec start_time;
    clock_gettime(CLOCK_MONOTONIC, &start_time);  
    long long prev_time = start_time.tv_sec * NSEC_PER_SEC  + start_time.tv_nsec;

    //设置间隔时间
    long long period = NSEC_PER_SEC / TARGET_FPS;

/***** 红外图像参数 **********************************************************************************************************/

    //红外源图像
    im_rect Irc_Rect;
    Irc_Rect.x = 0;
    Irc_Rect.y = 0;
    Irc_Rect.width = JZ_ALIGN(FIRST_WIDTH, 16);
    Irc_Rect.height = JZ_ALIGN(FIRST_HEIGHT, 16);
    int IRc_Format = RK_FORMAT_YCbCr_420_SP;

    //红外放大图像
    im_rect Irc_ResizeRect;
    Irc_ResizeRect.x = 0;
    Irc_ResizeRect.y = 0;
    Irc_ResizeRect.width = JZ_ALIGN(FIRST_WIDTH, 16) * 4;
    Irc_ResizeRect.height = JZ_ALIGN(FIRST_HEIGHT, 16) * 4;

    //红外裁剪区域
    im_rect Irc_CropRect;
    Irc_CropRect.width = Irc_ResizeRect.width / 4 * 3;
    Irc_CropRect.height = Irc_ResizeRect.height / 4 * 3;
    Irc_CropRect.x = (Irc_ResizeRect.width - Irc_CropRect.width)/2;
    Irc_CropRect.y = (Irc_ResizeRect.height - Irc_CropRect.height)/2;

    //红外源图像
    RK_RgaImage *Irc_SrcImg = NULL;
    RK_Rga_ImageInit(&Irc_SrcImg, Irc_Rect.width, Irc_Rect.height, IRc_Format, Irc_Rect.x, Irc_Rect.y, Irc_Rect.width, Irc_Rect.height);

    //红外放大图像
    RK_RgaImage *Irc_ResizeImg = NULL;
    RK_Rga_ImageInit(&Irc_ResizeImg, Irc_ResizeRect.width, Irc_ResizeRect.height, IRc_Format, Irc_ResizeRect.x, Irc_ResizeRect.y, Irc_ResizeRect.width, Irc_ResizeRect.height);

    //红外裁剪图像
    RK_RgaImage *Irc_CropImg = NULL;
    RK_Rga_ImageInit(&Irc_CropImg, Irc_CropRect.width, Irc_CropRect.height, IRc_Format, 0, 0, Irc_CropRect.width, Irc_CropRect.height);

/***** 光学图像参数 **********************************************************************************************************/
    
    //光学源图像
    im_rect Opt_Rect;
    Opt_Rect.x = 0;
    Opt_Rect.y = 0;
    Opt_Rect.width = JZ_ALIGN(SECOND_WIDTH, 16);
    Opt_Rect.height = JZ_ALIGN(SECOND_HEIGHT, 16);
    int Opt_Format = RK_FORMAT_YCbCr_420_SP;

    //光学源缩小图像
    im_rect Opt_ResizeRect;
    Opt_ResizeRect.x = 0;
    Opt_ResizeRect.y = 0;
    Opt_ResizeRect.width = JZ_ALIGN(SECOND_WIDTH, 16) / 2;
    Opt_ResizeRect.height = JZ_ALIGN(SECOND_HEIGHT, 16) / 2;

    //光学源图像
    RK_RgaImage *Opt_SrcImg = NULL;
    RK_Rga_ImageInit(&Opt_SrcImg, Opt_Rect.width, Opt_Rect.height, Opt_Format, Opt_Rect.x, Opt_Rect.y, Opt_Rect.width, Opt_Rect.height);

    //光学的缩小图像
    RK_RgaImage *Opt_ResizeImg = NULL;
    RK_Rga_ImageInit(&Opt_ResizeImg, Opt_ResizeRect.width, Opt_ResizeRect.height, Opt_Format, Opt_ResizeRect.x, Opt_ResizeRect.y, Opt_ResizeRect.width, Opt_ResizeRect.height);


/***** 目标图像参数 ***************************************************************************************************/
    
    //目标图像的矩形
    im_rect Dst_Rect;
    Dst_Rect.x = 0;
    Dst_Rect.y = 0;
    Dst_Rect.width = JZ_ALIGN(SECOND_WIDTH, 16);
    Dst_Rect.height = JZ_ALIGN(SECOND_HEIGHT, 16);
    int Dst_Format = RK_FORMAT_YCbCr_420_SP;

    //目标图像中光学图像的矩形
    im_rect Dst_OptRect;
    Dst_OptRect.x = Dst_Rect.width / 2;
    Dst_OptRect.y = Dst_Rect.height / 4;
    Dst_OptRect.width = Opt_ResizeRect.width;
    Dst_OptRect.height = Opt_ResizeRect.height;

    //目标图像中红外图像的矩形
    im_rect Dst_IrcRect;
    Dst_IrcRect.x = 0;
    Dst_IrcRect.y = (Dst_Rect.height - Irc_CropRect.height) / 2;
    Dst_IrcRect.width = Irc_CropRect.width;
    Dst_IrcRect.height = Irc_CropRect.height;

    //目标图像
    RK_RgaImage *DstImg = NULL; 
    RK_Rga_ImageInit(&DstImg, Dst_Rect.width, Dst_Rect.height, Dst_Format, Dst_Rect.x, Dst_Rect.y, Dst_Rect.width, Dst_Rect.height);
    JZSDK_LOG_DEBUG("Dstimg witdh :%d height:%d DstImg->buf_size:%d", DstImg->width, DstImg->height, DstImg->buf_size);

    //空缓冲区
    rga_buffer_t EmptyImg = {0};
    im_rect EmptyRect = {0};

//开始绘制画面，待优化，如多步骤合成为一个步骤
    while (1)
    {
        //获取当前时间
        clock_gettime(CLOCK_MONOTONIC, &now);  
        long long current_time = now.tv_sec * NSEC_PER_SEC  + now.tv_nsec;

        //计算时间差
        long long elapsed_time = current_time - prev_time;

        //超过33ms
        if (elapsed_time >= period)
        {
            if (g_MixedIrc_Buffer == NULL || g_MixedOpt_Buffer == NULL)
            {
                delayMs(100);
                continue;
            }
        
            while (g_MixedOptBuffer_UseFlag == JZ_FLAGCODE_ON)
            {
                delayUs(100);
            }

            g_MixedOptBuffer_UseFlag = JZ_FLAGCODE_ON;

            //填充输出图像
            memset(DstImg->buf, 0x80, DstImg->buf_size);

            //混合视频处理
            memset(Irc_SrcImg->buf, 0, Irc_SrcImg->buf_size);
            memset(Opt_SrcImg->buf, 0, Opt_SrcImg->buf_size);

            //将数据放入缓冲区
            memcpy(Irc_SrcImg->buf, g_MixedIrc_Buffer, (JZ_ALIGN(FIRST_WIDTH, 16)) * (JZ_ALIGN(FIRST_HEIGHT, 16)) * 3 / 2);
            memcpy(Opt_SrcImg->buf, g_MixedOpt_Buffer, JZ_ALIGN(SECOND_WIDTH, 16) * JZ_ALIGN(SECOND_HEIGHT, 16) * 3 / 2);

            g_MixedOptBuffer_UseFlag = JZ_FLAGCODE_OFF;
 
            //光学数据处理
            //缩小图像到1/2
            d_ret = imresize(Opt_SrcImg->img, Opt_ResizeImg->img);
            if (d_ret != IM_STATUS_SUCCESS)
            {
                printf("irc resize failed\n");
                continue;
            }

            //红外数据处理
            //放大图像到4倍
            d_ret = imresize(Irc_SrcImg->img, Irc_ResizeImg->img);
            if (d_ret != IM_STATUS_SUCCESS)
            {
                printf("opt resize failed\n");
                continue;
            }

            //裁切红外图像
            d_ret = imcrop(Irc_ResizeImg->img, Irc_CropImg->img, Irc_CropRect);
            if (d_ret != IM_STATUS_SUCCESS)
            {
                printf("opt crop failed\n");
                continue;
            }

            //将缩放好的光学画面放入目标画面
            d_ret = improcess(Opt_ResizeImg->img, DstImg->img, EmptyImg, Opt_ResizeRect, Dst_OptRect, EmptyRect, IM_SYNC);
            if (d_ret != IM_STATUS_SUCCESS)
            {
                printf("opt improcess failed\n");
                continue;
            }

            //将裁切好的红外画面放入目标画面
            d_ret = improcess(Irc_CropImg->img, DstImg->img, EmptyImg, Irc_CropImg->rect, Dst_IrcRect, EmptyRect, IM_SYNC);
            if (d_ret != IM_STATUS_SUCCESS)
            {
                printf("irc improcess failed\n");
            }

            //将原始码流数据写入到编码器 并转换为h264
            unsigned char *h264Data = NULL;
            unsigned int h264DataLen = 0;

            //JZSDK_LOG_DEBUG("DstImg->buf_size:%d", DstImg->buf_size);

#ifdef RTK_MPP_STATUS_ON
            MppPacket Packet = NULL;

            RTK_mmp_enc_data_to_h264(JZsdk_RtkMmpGetEncHandleAddr(2), DstImg->buf, DstImg->buf_size, &Packet);
            
            h264DataLen = mpp_packet_get_length(Packet);
            h264Data   = (unsigned char *)mpp_packet_get_pos(Packet);
            //EncCfg->Packet_eos = mpp_packet_get_eos(packet);
            // printf("获取到编码内容 len:%d\n",packet_len);

            //释放掉packet
            mpp_packet_deinit(&Packet);
#endif

            //推送视频流
            JZC1_PushFrame(VIDEOMGMT_STREAMING_FLOW_INDEX_THIRD, h264Data, h264DataLen);

            //JZSDK_LOG_DEBUG("混合一帧 :%d", h264DataLen);

            //更新时间
            prev_time = current_time;
        }
        
        // 为了防止过于频繁地调用 clock_gettime，可以添加一个小的睡眠时间  
        // 例如，休眠1毫秒（100000000纳秒），以减少CPU占用  
        struct timespec req = { .tv_sec = 0, .tv_nsec = 1000000 };  
        nanosleep(&req, NULL);  
    }
#endif
}


/******************
 * 
 *  混合视频初始化
 * 
 * 
 * ********************/
static JZC1_MixedVideo_Init()
{
    g_MixedIrc_Buffer = (unsigned char *)malloc(JZ_ALIGN(FIRST_WIDTH, 16)*JZ_ALIGN(FIRST_HEIGHT, 16)*3/2);
    g_MixedOpt_Buffer = (unsigned char *)malloc(JZ_ALIGN(SECOND_WIDTH, 16)*JZ_ALIGN(SECOND_HEIGHT, 16)*3/2);

    //混合视频初始化
    pthread_t Task;
	pthread_attr_t attribute; //线程属性
	pthread_attr_init(&attribute);  //初始化线程属性
	pthread_attr_setdetachstate(&attribute, PTHREAD_CREATE_DETACHED);      //设置线程分离属性
	int bufferdata_Protection = pthread_create(&Task,&attribute,MixedVideo_Thread,NULL);		//线程
	if(bufferdata_Protection != 0)
	{
		JZSDK_LOG_ERROR("创建混合视频初始化失败!");
		return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
	}

    JZSDK_LOG_INFO("MixedVidoe_Init Success");

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}


#endif

//JZ_C1 的媒体初始化
static T_JZsdkReturnCode JZC1_MediaInit()
{
    T_JZsdkReturnCode ret = JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;


//初始化媒体模块
#ifdef MEDIA_PROC_CONFIG_STATUS_ON

    //初始化videoMgmt模块
    VideoMgmt_Init();

    //初始化Mulit模块
    #ifdef RTK_MPP_STATUS_ON
    //初始化红外的编解码器
    RTK_mmp_enc_Init(JZsdk_RtkMmpGetEncHandleAddr(0), MPP_VIDEO_CodingAVC, MPP_FMT_YUV420SP, FIRST_WIDTH, FIRST_HEIGHT, 30, 5);

    //初始化光学的编解码器
    RTK_mmp_dec_Init(JZsdk_RtkMmpGetDecHandleAddr(1), MPP_VIDEO_CodingMJPEG, MPP_FMT_YUV420SP, SECOND_WIDTH, SECOND_HEIGHT);
    RTK_mmp_enc_Init(JZsdk_RtkMmpGetEncHandleAddr(1), MPP_VIDEO_CodingAVC, MPP_FMT_YUV420SP, SECOND_WIDTH, SECOND_HEIGHT, 30, 15);

    // RTK_mmp_dec_Init(JZsdk_RtkMmpGetDecHandleAddr(1), MPP_VIDEO_CodingMJPEG, MPP_FMT_YUV420SP, SECOND_WIDTH, SECOND_HEIGHT);
    // RTK_mmp_enc_Init(JZsdk_RtkMmpGetEncHandleAddr(1), MPP_VIDEO_CodingAVC, MPP_FMT_YUV420SP, SECOND_WIDTH, SECOND_HEIGHT, 30, 15);

    //初始化混合视频流的编码器
    RTK_mmp_enc_Init(JZsdk_RtkMmpGetEncHandleAddr(2), MPP_VIDEO_CodingAVC, MPP_FMT_YUV420SP, SECOND_WIDTH, SECOND_HEIGHT, 30, 15);

    #endif    

    //初始化Camera模块
    int CameraFd = -1;
    ret = V4l2_Camarainit2(&CameraFd, SECOND_WIDTH, SECOND_HEIGHT, 30);
    if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
    {
        JZSDK_LOG_ERROR("光学相机启动失败");
    }
    else
    {

        //光学相机的抓取
        ret = JZsdk_FrameCatch_Single(JZC1_OptDeal);    
    }

    //初始化IRC_funtion模块
    ret = IRC_ParamInit(FIRST_HEIGHT, FIRST_WIDTH, 25);
    if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
    {
        JZSDK_LOG_ERROR("初始化红外的数据处理失败");
    }
    else
    {
        //初始化红外的数据输入
        ret = JZsdk_JZC1_Irc_Data_Init();
        if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
        {
            JZSDK_LOG_ERROR("红外相机初始化失败");
        }  
    }

    //设置默认参数

    //默认推送红外摄像头  后续改成 红外+光学 的组合画面
    VideoMgmt_VideoStreamFlowIndex(VIDEOMGMT_STREAMING_FLOW_INDEX_THIRD); 
    
    //设置快门为开
    JZsdk_Camera_ShutterSwitch(JZ_FLAGCODE_ON);

    //设置伪彩颜色为hot
    int value = 8;
    Camera_param(JZ_FLAGCODE_SET, CAMERA_PSEUDO_COLOR, &value);
    
    //设置为默认输出模式
    value = 0;
    Camera_param(JZ_FLAGCODE_SET, CAMERA_PIXEL_PSEUDO_COLOR_MODE, &value);

    //设置默认打开自动校正
    value = JZ_FLAGCODE_ON;
    Proc_IRC_param(JZ_FLAGCODE_SET, JZSDK_WIDGET_BAD_PIXEL_CORRECT_MODE, &value);

    //初始化变焦模块
    Cam_Zoom_Init();

    //初始化RGA模块
#ifdef RTK_RGA_STATUS_ON       
    ret = JZC1_RgaInit(&g_C1_RgaIrcInfo, JZ_ALIGN(FIRST_WIDTH, 16), JZ_ALIGN(FIRST_HEIGHT, 16), RK_FORMAT_YCbCr_420_SP);
    ret = JZC1_RgaInit(&g_C1_RgaOptInfo, JZ_ALIGN(SECOND_WIDTH, 16), JZ_ALIGN(SECOND_HEIGHT, 16), RK_FORMAT_YCbCr_420_SP);

    //混合视频初始化
    JZC1_MixedVideo_Init();
#endif

#endif


    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

#ifdef RTK_RGA_STATUS_ON   

static T_JZsdkReturnCode JZC1_RgaInit(C1_RgaInfo **rgaInfo, int dst_width, int dst_height, int dst_format)
{


    //初始化rga结构体
    (*rgaInfo) = (C1_RgaInfo *)malloc(sizeof(C1_RgaInfo));
    if ((*rgaInfo) == NULL)
    {
        JZSDK_LOG_ERROR("RGA初始化失败");
        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
    }

    int width = dst_width;
    int height = dst_height;
    int rect_x = 0;
    int rect_y = 0;
    int rect_w = dst_width;
    int rect_h = dst_height;


    (*rgaInfo)->src_img = NULL;
    RK_Rga_ImageInit(&(*rgaInfo)->src_img, width, height, dst_format, rect_x, rect_y, rect_w, rect_h); //初始化输入模块

    (*rgaInfo)->corp_img = NULL;
    RK_Rga_ImageInit(&(*rgaInfo)->corp_img, width, height, dst_format, rect_x, rect_y, rect_w, rect_h); //初始化裁剪模块

    (*rgaInfo)->dst_img = NULL;
    RK_Rga_ImageInit(&(*rgaInfo)->dst_img, width, height, dst_format, rect_x, rect_y, rect_w, rect_h); //初始化输出模块



}

#endif

//rga处理
#ifdef RTK_RGA_STATUS_ON
static T_JZsdkReturnCode JZC1_RgaDeal(C1_RgaInfo *rga_info, int resize, unsigned char *image, unsigned int *imgage_size)
{
    int d_ret;


    if (g_C1_RgaIrcInfo == NULL || *imgage_size != rga_info->src_img->buf_size)
    {
        printf("C1_Rga_Deal failed imagesize:%d bufsize:%d\n", *imgage_size, rga_info->src_img->buf_size);
        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
    }

    //检查裁剪倍数是否改变
    if (resize != rga_info->scale)
    {
        rga_info->scale = resize;

        //释放裁剪区域, 并重新注册
        if (rga_info->corp_img != NULL)
        {
            RK_Rga_ImageDeInit(&(rga_info->corp_img));
            
            int width = rga_info->src_img->width / resize;
            int height = rga_info->src_img->height / resize;
            int rect_x = (rga_info->src_img->width) / 2 - width / 2;
            int rect_y = (rga_info->src_img->height) / 2 - height / 2;
            int rect_w = width;
            int rect_h = height;
            int dst_format = rga_info->src_img->format;

            RK_Rga_ImageInit(&(rga_info->corp_img), width, height, dst_format, rect_x, rect_y, rect_w, rect_h); //初始化裁剪模块
        }
    }

    //将图像放入处理器
    memcpy(rga_info->src_img->buf, image, *imgage_size);

    //JZSDK_LOG_DEBUG("裁剪倍率%d",resize);

    if (resize == 0)
    {
        return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
    }

    //裁剪图像
    d_ret = imcrop(rga_info->src_img->img, rga_info->corp_img->img, rga_info->corp_img->rect);
    if (d_ret != IM_STATUS_SUCCESS)
    {
        printf("crop failed resize:%d\n",resize);
        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
    }

    //缩放图像
    d_ret = imresize(rga_info->corp_img->img, rga_info->dst_img->img);
    if (d_ret != IM_STATUS_SUCCESS)
    {
        printf("resize failed\n");
        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
    }

    //返回图像
    memcpy(image, rga_info->dst_img->buf, rga_info->dst_img->buf_size);
    //printf("image[0]:%d image[1]:%d\n", image[0], image[1]);
    *imgage_size = rga_info->dst_img->buf_size;

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;


    return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;

}

#endif

T_JZsdkReturnCode JZC1_Init()
{
    T_JZsdkReturnCode ret;

    //初始化引脚
    Ircut_Init();

    //初始化媒体模块
    ret = JZC1_MediaInit();

    JZSDK_LOG_INFO("JZ_C1 INIT COMPLETED\n");

    return ret;
}