ccap-rs 1.6.0

/**
 * @file ccap_imp_linux.cpp
 * @author wysaid (this@wysaid.org)
 * @brief Linux implementation of ccap::Provider class using V4L2.
 * @date 2025-04
 *
 */

#if defined(__linux__) || defined(__linux) || defined(linux) || defined(__gnu_linux__)

#include "ccap_imp_linux.h"

#include "ccap_convert_frame.h"
#include "ccap_utils.h"

#include <algorithm>
#include <cassert>
#include <chrono>
#include <cmath>
#include <cstring>
#include <deque>
#include <dirent.h>
#include <filesystem>
#include <fstream>
#include <sys/stat.h>

namespace ccap {

// Supported V4L2 pixel formats mapping
const std::vector<ProviderV4L2::V4L2Format> ProviderV4L2::s_supportedV4L2Formats = {
    { V4L2_PIX_FMT_YUYV, PixelFormat::YUYV, "YUYV" },
    { V4L2_PIX_FMT_UYVY, PixelFormat::UYVY, "UYVY" },
    { V4L2_PIX_FMT_NV12, PixelFormat::NV12, "NV12" },
    { V4L2_PIX_FMT_YUV420, PixelFormat::I420, "YUV420" },
    { V4L2_PIX_FMT_RGB24, PixelFormat::RGB24, "RGB24" },
    { V4L2_PIX_FMT_BGR24, PixelFormat::BGR24, "BGR24" },
    { V4L2_PIX_FMT_RGB32, PixelFormat::RGBA32, "RGB32" },
    { V4L2_PIX_FMT_BGR32, PixelFormat::BGRA32, "BGR32" },
    { V4L2_PIX_FMT_MJPEG, PixelFormat::Unknown, "MJPEG" },
};

ProviderV4L2::ProviderV4L2() {
    CCAP_LOG_V("ccap: ProviderV4L2 created\n");
    m_lifeHolder = std::make_shared<int>(1); // Keep the provider alive while frames are being processed
}

ProviderV4L2::~ProviderV4L2() {
    std::weak_ptr<void> holder = m_lifeHolder;
    m_lifeHolder.reset(); // Release the life holder to allow cleanup
    while (!holder.expired()) {
        std::this_thread::sleep_for(std::chrono::milliseconds(1)); // Wait for cleanup
        CCAP_LOG_W("ccap: life holder is in use, waiting for cleanup...\n");
    }

    close();
    CCAP_LOG_V("ccap: ProviderV4L2 destroyed\n");
}

std::vector<std::string> ProviderV4L2::findDeviceNames() {
    std::vector<std::string> deviceNames;

    // Scan /dev/video* devices
    for (const auto& entry : std::filesystem::directory_iterator("/dev")) {
        const std::string filename = entry.path().filename().string();
        if (filename.find("video") == 0) {
            std::string devicePath = entry.path().string();
            if (isVideoDevice(devicePath)) {
                std::string description = getDeviceDescription(devicePath);
                if (!description.empty()) {
                    deviceNames.push_back(std::move(description));
                } else {
                    deviceNames.push_back(devicePath);
                }
                CCAP_LOG_I("ccap: Found video device: %s -> %s\n", devicePath.c_str(), deviceNames.back().c_str());
            }
        }
    }

    return deviceNames;
}

bool ProviderV4L2::open(std::string_view deviceName) {
    if (m_isOpened) {
        reportError(ErrorCode::DeviceOpenFailed, "Device already opened");
        return false;
    }

    // Find device path
    if (deviceName.empty()) {
        // Pick the first valid /dev/video* deterministically
        std::vector<std::string> candidates;
        for (const auto& entry : std::filesystem::directory_iterator("/dev")) {
            const std::string filename = entry.path().filename().string();
            if (filename.rfind("video", 0) == 0 && isVideoDevice(entry.path().string())) {
                candidates.emplace_back(entry.path().string());
            }
        }
        std::sort(candidates.begin(), candidates.end()); // ensures video0 < video1 < ...
        if (candidates.empty()) {
            reportError(ErrorCode::NoDeviceFound, "No video devices found");
            return false;
        }
        m_devicePath = candidates.front();
        m_deviceName = getDeviceDescription(m_devicePath);
        if (m_deviceName.empty()) m_deviceName = m_devicePath;
    } else {
        m_deviceName = deviceName;
        // Try to find device path by name
        bool found = false;
        for (const auto& entry : std::filesystem::directory_iterator("/dev")) {
            const std::string filename = entry.path().filename().string();
            if (filename.find("video") == 0) {
                std::string devicePath = entry.path().string();
                std::string description = getDeviceDescription(devicePath);
                if (description == deviceName || devicePath == deviceName) {
                    m_devicePath = devicePath;
                    found = true;
                    break;
                }
            }
        }
        if (!found) {
            reportError(ErrorCode::InvalidDevice, "Device not found: " + std::string(deviceName));
            return false;
        }
    }

    // Open device
    m_fd = ::open(m_devicePath.c_str(), O_RDWR | O_NONBLOCK);
    if (m_fd < 0) {
        reportError(ErrorCode::DeviceOpenFailed, "Failed to open device " + m_devicePath + ": " + strerror(errno));
        return false;
    }

    if (!setupDevice()) {
        ::close(m_fd);
        m_fd = -1;
        reportError(ErrorCode::DeviceOpenFailed, "Failed to setup device " + m_devicePath);
        return false;
    }

    m_isOpened = true;
    CCAP_LOG_I("ccap: Successfully opened device: %s\n", m_deviceName.c_str());
    return true;
}

bool ProviderV4L2::isOpened() const {
    return m_isOpened && m_fd >= 0;
}

std::optional<DeviceInfo> ProviderV4L2::getDeviceInfo() const {
    if (!isOpened()) {
        return std::nullopt;
    }

    DeviceInfo info;
    info.deviceName = m_deviceName;

    // Get supported pixel formats
    for (const auto& format : m_supportedFormats) {
        if (format.ccapFormat != PixelFormat::Unknown) {
            info.supportedPixelFormats.push_back(format.ccapFormat);
        }
    }

    info.supportedResolutions = m_supportedResolutions;

    return info;
}

void ProviderV4L2::close() {
    if (isStarted()) {
        stop();
    }

    if (m_fd >= 0) {
        ::close(m_fd);
        m_fd = -1;
    }

    m_isOpened = false;
    m_isStreaming = false;

    CCAP_LOG_V("ccap: Device closed\n");
}

bool ProviderV4L2::start() {
    if (!isOpened()) {
        reportError(ErrorCode::DeviceStartFailed, "Device not opened");
        return false;
    }

    if (m_isStreaming) {
        CCAP_LOG_W("ccap: Already streaming\n");
        return true;
    }

    if (!negotiateFormat() || !allocateBuffers() || !startStreaming()) {
        reportError(ErrorCode::DeviceStartFailed, "Failed to start streaming");
        return false;
    }

    m_shouldStop = false;
    m_startTime = std::chrono::steady_clock::now();
    m_frameIndex = 0;

    // Start capture thread
    m_captureThread = std::make_unique<std::thread>(&ProviderV4L2::captureThread, this);

    m_isStreaming = true;
    CCAP_LOG_I("ccap: Streaming started\n");
    return true;
}

void ProviderV4L2::stop() {
    if (!m_isStreaming) {
        return;
    }

    m_shouldStop = true;

    // Notify waiting grab() calls that camera is stopping
    notifyGrabWaiters();

    // Wait for capture thread to finish
    if (m_captureThread && m_captureThread->joinable()) {
        m_captureThread->join();
        m_captureThread.reset();
    }

    stopStreaming();
    releaseBuffers();

    m_isStreaming = false;
    CCAP_LOG_I("ccap: Streaming stopped\n");
}

bool ProviderV4L2::isStarted() const {
    return m_isStreaming && !m_shouldStop;
}

// Private implementation methods

bool ProviderV4L2::setupDevice() {
    if (!queryCapabilities()) {
        return false;
    }

    if (!enumerateFormats()) {
        return false;
    }

    return true;
}

bool ProviderV4L2::queryCapabilities() {
    if (ioctl(m_fd, VIDIOC_QUERYCAP, &m_caps) < 0) {
        reportError(ErrorCode::DeviceOpenFailed, "Query device capabilities failed: " + std::string(strerror(errno)));
        return false;
    }

    if (!(m_caps.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
        reportError(ErrorCode::UnsupportedPixelFormat, "Device does not support video capture");
        return false;
    }

    if (!(m_caps.capabilities & V4L2_CAP_STREAMING)) {
        reportError(ErrorCode::UnsupportedPixelFormat, "Device does not support streaming");
        return false;
    }

    CCAP_LOG_V("ccap: Device capabilities: %s\n", m_caps.card);
    return true;
}

bool ProviderV4L2::enumerateFormats() {
    m_supportedFormats.clear();

    struct v4l2_fmtdesc fmt = {};
    fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

    for (fmt.index = 0; ioctl(m_fd, VIDIOC_ENUM_FMT, &fmt) == 0; fmt.index++) {
        // Find matching format
        for (const auto& supportedFormat : s_supportedV4L2Formats) {
            if (supportedFormat.pixelformat == fmt.pixelformat) {
                m_supportedFormats.push_back(supportedFormat);
                CCAP_LOG_V("ccap: Supported format: %s (%c%c%c%c)\n",
                           supportedFormat.name,
                           fmt.pixelformat & 0xFF,
                           (fmt.pixelformat >> 8) & 0xFF,
                           (fmt.pixelformat >> 16) & 0xFF,
                           (fmt.pixelformat >> 24) & 0xFF);

                // Get supported resolutions for this format
                auto resolutions = getSupportedResolutions(fmt.pixelformat);
                m_supportedResolutions.insert(m_supportedResolutions.end(),
                                              resolutions.begin(), resolutions.end());
                break;
            }
        }
    }

    return !m_supportedFormats.empty();
}

std::vector<DeviceInfo::Resolution> ProviderV4L2::getSupportedResolutions(uint32_t pixelformat) {
    std::vector<DeviceInfo::Resolution> resolutions;

    struct v4l2_frmsizeenum framesize = {};
    framesize.pixel_format = pixelformat;

    for (framesize.index = 0; ioctl(m_fd, VIDIOC_ENUM_FRAMESIZES, &framesize) == 0; framesize.index++) {
        if (framesize.type == V4L2_FRMSIZE_TYPE_DISCRETE) {
            resolutions.push_back({ framesize.discrete.width, framesize.discrete.height });
        } else if (framesize.type == V4L2_FRMSIZE_TYPE_STEPWISE) {
            // Add some common resolutions within the range
            uint32_t commonWidths[] = { 320, 640, 800, 1024, 1280, 1920, 2560, 3840 };
            uint32_t commonHeights[] = { 240, 480, 600, 768, 720, 1080, 1440, 2160 };

            for (size_t i = 0; i < sizeof(commonWidths) / sizeof(commonWidths[0]); i++) {
                if (commonWidths[i] >= framesize.stepwise.min_width &&
                    commonWidths[i] <= framesize.stepwise.max_width &&
                    commonHeights[i] >= framesize.stepwise.min_height &&
                    commonHeights[i] <= framesize.stepwise.max_height) {
                    resolutions.push_back({ commonWidths[i], commonHeights[i] });
                }
            }
        }
    }

    return resolutions;
}

bool ProviderV4L2::negotiateFormat() {
    // Get current format
    m_currentFormat.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (ioctl(m_fd, VIDIOC_G_FMT, &m_currentFormat) < 0) {
        reportError(ErrorCode::DeviceStartFailed, "Get device format failed: " + std::string(strerror(errno)));
        return false;
    }

    // Set desired format if specified
    bool formatChanged = false;
    auto& pix = m_currentFormat.fmt.pix;

    if (m_frameProp.width > 0 && m_frameProp.height > 0) {
        if (pix.width != m_frameProp.width || pix.height != m_frameProp.height) {
            pix.width = m_frameProp.width;
            pix.height = m_frameProp.height;
            formatChanged = true;
        }
    }

    // Try to set a supported format
    if (m_frameProp.cameraPixelFormat != PixelFormat::Unknown) {
        uint32_t v4l2Format = ccapFormatToV4l2Format(m_frameProp.cameraPixelFormat);
        if (v4l2Format != 0 && pix.pixelformat != v4l2Format) {
            pix.pixelformat = v4l2Format;
            formatChanged = true;
        }
    }

    // Apply format if changed
    if (formatChanged) {
        if (ioctl(m_fd, VIDIOC_S_FMT, &m_currentFormat) < 0) {
            CCAP_LOG_W("ccap: VIDIOC_S_FMT failed, using current format: %s\n", strerror(errno));
        }

        // Get the actual format set by the driver
        if (ioctl(m_fd, VIDIOC_G_FMT, &m_currentFormat) < 0) {
            reportError(ErrorCode::DeviceStartFailed, "Get device format failed after set: " + std::string(strerror(errno)));
            return false;
        }
    }

    // Update frame properties
    m_frameProp.width = pix.width;
    m_frameProp.height = pix.height;
    m_frameProp.cameraPixelFormat = v4l2FormatToCcapFormat(pix.pixelformat);

    CCAP_LOG_I("ccap: Format negotiated: %dx%d, format=%s\n",
               pix.width, pix.height, getFormatName(pix.pixelformat));

    return true;
}

bool ProviderV4L2::allocateBuffers() {
    struct v4l2_requestbuffers req = {};
    req.count = kBufferCount;
    req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    req.memory = V4L2_MEMORY_MMAP;

    if (ioctl(m_fd, VIDIOC_REQBUFS, &req) < 0) {
        reportError(ErrorCode::MemoryAllocationFailed, "Request device buffers failed: " + std::string(strerror(errno)));
        return false;
    }

    if (req.count < 2) {
        reportError(ErrorCode::MemoryAllocationFailed, "Insufficient buffer memory");
        return false;
    }

    m_buffers.resize(req.count);

    for (size_t i = 0; i < req.count; i++) {
        struct v4l2_buffer buf = {};
        buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory = V4L2_MEMORY_MMAP;
        buf.index = i;

        if (ioctl(m_fd, VIDIOC_QUERYBUF, &buf) < 0) {
            reportError(ErrorCode::MemoryAllocationFailed, "Query device buffer failed: " + std::string(strerror(errno)));
            releaseAndFreeDriverBuffers();
            return false;
        }

        m_buffers[i].length = buf.length;
        m_buffers[i].start = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, m_fd, buf.m.offset);
        m_buffers[i].index = i;

        if (m_buffers[i].start == MAP_FAILED) {
            reportError(ErrorCode::MemoryAllocationFailed, "Memory mapping failed: " + std::string(strerror(errno)));
            releaseAndFreeDriverBuffers();
            return false;
        }
    }

    CCAP_LOG_V("ccap: Allocated %zu buffers\n", m_buffers.size());
    return true;
}

void ProviderV4L2::releaseBuffers() {
    for (auto& buffer : m_buffers) {
        if (buffer.start != nullptr && buffer.start != MAP_FAILED) {
            munmap(buffer.start, buffer.length);
        }
    }
    m_buffers.clear();
}

void ProviderV4L2::releaseAndFreeDriverBuffers() {
    // Unmap any mapped buffers we have and clear the vector
    releaseBuffers();

    // Hint the driver to free any requested buffers
    struct v4l2_requestbuffers zero = {};
    zero.count = 0;
    zero.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    zero.memory = V4L2_MEMORY_MMAP;
    // Ignoring return value: this is a best-effort hint during cleanup
    ioctl(m_fd, VIDIOC_REQBUFS, &zero);
}

bool ProviderV4L2::startStreaming() {
    // Queue all buffers
    for (size_t i = 0; i < m_buffers.size(); i++) {
        struct v4l2_buffer buf = {};
        buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory = V4L2_MEMORY_MMAP;
        buf.index = i;

        if (ioctl(m_fd, VIDIOC_QBUF, &buf) < 0) {
            reportError(ErrorCode::DeviceStartFailed, "Queue buffer failed: " + std::string(strerror(errno)));
            return false;
        }
    }

    enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (ioctl(m_fd, VIDIOC_STREAMON, &type) < 0) {
        reportError(ErrorCode::DeviceStartFailed, "Start streaming failed: " + std::string(strerror(errno)));
        return false;
    }

    return true;
}

void ProviderV4L2::stopStreaming() {
    enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (ioctl(m_fd, VIDIOC_STREAMOFF, &type) < 0) {
        reportError(ErrorCode::DeviceStopFailed, "VIDIOC_STREAMOFF failed: " + std::string(strerror(errno)));
    }
}

void ProviderV4L2::captureThread() {
    CCAP_LOG_V("ccap: Capture thread started\n");

    while (!m_shouldStop) {
        if (!readFrame()) {
            // Error or timeout, continue
            std::this_thread::sleep_for(std::chrono::milliseconds(10));
        }
    }

    CCAP_LOG_V("ccap: Capture thread finished\n");
}

bool ProviderV4L2::readFrame() {
    // Use poll to wait for data
    struct pollfd fds[1];
    fds[0].fd = m_fd;
    fds[0].events = POLLIN;

    int ret = poll(fds, 1, 100); // 100ms timeout
    if (ret < 0) {
        if (errno != EINTR) {
            CCAP_LOG_E("ccap: poll failed: %s\n", strerror(errno));
        }
        return false;
    } else if (ret == 0) {
        // Timeout
        return false;
    }

    // Check frame availability before dequeuing buffer
    if (tooManyNewFrames()) {
        if (m_callback && *m_callback) {
            CCAP_LOG_I("ccap: new frame callback returned false, but grab() was not called or is called less frequently than the camera frame rate.\n");
        } else {
            CCAP_LOG_I("ccap: VideoFrame dropped to avoid memory leak: grab() called less frequently than camera frame rate.\n");
        }
        return false; // Don't dequeue if we're going to drop the frame anyway
    }

    auto frame = getFreeFrame();
    if (!frame) {
        CCAP_LOG_W("ccap: VideoFrame pool is full, a new frame skipped...\n");
        return false;
    }

    struct v4l2_buffer buf = {};
    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;

    if (ioctl(m_fd, VIDIOC_DQBUF, &buf) < 0) {
        if (errno != EAGAIN) {
            CCAP_LOG_E("ccap: VIDIOC_DQBUF failed: %s\n", strerror(errno));
        }
        return false;
    }

    // Fill frame metadata
    frame->width = m_frameProp.width;
    frame->height = m_frameProp.height;
    frame->pixelFormat = m_frameProp.cameraPixelFormat;
    frame->timestamp = (std::chrono::steady_clock::now() - m_startTime).count();
    frame->sizeInBytes = buf.bytesused;

    assert(frame->pixelFormat != PixelFormat::Unknown);

    // Check input/output format types and orientations
    bool isInputYUV = (frame->pixelFormat & kPixelFormatYUVColorBit) != 0;
    bool isOutputYUV = (m_frameProp.outputPixelFormat & kPixelFormatYUVColorBit) != 0;
    auto inputOrientation = FrameOrientation::TopToBottom; // V4L2 always provides TopToBottom

    // Set output orientation based on format type
    frame->orientation = isOutputYUV ? FrameOrientation::TopToBottom : m_frameOrientation;

    // Check if we need conversion or flipping
    bool shouldFlip = frame->orientation != inputOrientation && !isOutputYUV;
    bool shouldConvert = (m_frameProp.outputPixelFormat != PixelFormat::Unknown &&
                          m_frameProp.outputPixelFormat != frame->pixelFormat);
    bool zeroCopy = !shouldConvert && !shouldFlip;

    uint8_t* bufferData = static_cast<uint8_t*>(m_buffers[buf.index].start);

    if (isInputYUV) {
        // Setup YUV planes for zero-copy
        frame->data[0] = bufferData;
        frame->stride[0] = m_frameProp.width;

        if (pixelFormatInclude(frame->pixelFormat, PixelFormat::NV12)) {
            // NV12: Y plane + interleaved UV plane
            frame->data[1] = bufferData + m_frameProp.width * m_frameProp.height;
            frame->data[2] = nullptr;
            frame->stride[1] = m_frameProp.width;
            frame->stride[2] = 0;
        } else if (pixelFormatInclude(frame->pixelFormat, PixelFormat::I420)) {
            // I420: Y + U + V planes
            frame->data[1] = bufferData + m_frameProp.width * m_frameProp.height;
            frame->data[2] = bufferData + m_frameProp.width * m_frameProp.height * 5 / 4;
            frame->stride[1] = m_frameProp.width / 2;
            frame->stride[2] = m_frameProp.width / 2;
        } else {
            // YUYV/UYVY: packed format
            frame->data[1] = nullptr;
            frame->data[2] = nullptr;
            frame->stride[0] = m_currentFormat.fmt.pix.bytesperline;
            frame->stride[1] = 0;
            frame->stride[2] = 0;
        }
    } else {
        // RGB formats: single plane
        frame->data[0] = bufferData;
        frame->data[1] = nullptr;
        frame->data[2] = nullptr;
        frame->stride[0] = m_currentFormat.fmt.pix.bytesperline;
        frame->stride[1] = 0;
        frame->stride[2] = 0;
    }

    if (!zeroCopy) {
        // Need conversion: copy data and requeue buffer immediately
        if (!frame->allocator) {
            frame->allocator = m_allocatorFactory ? m_allocatorFactory() : std::make_shared<DefaultAllocator>();
        }

        // Perform pixel format conversion
        if (verboseLogEnabled()) {
#ifdef DEBUG
            constexpr const char* mode = "(Debug)";
#else
            constexpr const char* mode = "(Release)";
#endif

            std::chrono::steady_clock::time_point startTime = std::chrono::steady_clock::now();

            zeroCopy = !inplaceConvertFrame(frame.get(), m_frameProp.outputPixelFormat, shouldFlip);

            double durInMs = (std::chrono::steady_clock::now() - startTime).count() / 1.e6;
            static double s_allCostTime = 0;
            static double s_frames = 0;

            if (s_frames > 60) {
                s_allCostTime = 0;
                s_frames = 0;
            }

            s_allCostTime += durInMs;
            ++s_frames;

            CCAP_LOG_V(
                "ccap: inplaceConvertFrame requested pixel format: %s, actual pixel format: %s, flip: %s, cost time %s: (cur %g ms, avg %g ms)\n",
                pixelFormatToString(m_frameProp.outputPixelFormat).data(), pixelFormatToString(m_frameProp.cameraPixelFormat).data(),
                shouldFlip ? "YES" : "NO", mode, durInMs, s_allCostTime / s_frames);
        } else {
            zeroCopy = !inplaceConvertFrame(frame.get(), m_frameProp.outputPixelFormat, shouldFlip);
        }
    }

    if (zeroCopy) {
        // Conversion may fail. If conversion fails, fall back to zero-copy mode.
        // In this case, the returned format is the original camera input format.
        frame->orientation = inputOrientation;

        // Create shared buffer manager to handle V4L2 buffer lifecycle
        auto bufferIndex = buf.index;
        frame->nativeHandle = (void*)(uintptr_t)bufferIndex;
        std::weak_ptr<void> lifeHolder = m_lifeHolder;
        auto bufferManager = std::make_shared<FakeFrame>([lifeHolder, this, bufferIndex, frame]() mutable {
            // Requeue the V4L2 buffer when frame is destroyed
            auto holder = lifeHolder.lock();
            if (!holder) {
                CCAP_LOG_W("ccap: Frame life holder expired, not requeuing buffer\n");
                return;
            }

            if (m_fd >= 0 && m_isStreaming) {
                struct v4l2_buffer requeueBuf = {};
                requeueBuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
                requeueBuf.memory = V4L2_MEMORY_MMAP;
                requeueBuf.index = bufferIndex;

                if (ioctl(m_fd, VIDIOC_QBUF, &requeueBuf) < 0) {
                    CCAP_LOG_E("ccap: VIDIOC_QBUF failed in destructor: %s\n", strerror(errno));
                    reportError(ErrorCode::FrameCaptureFailed, "VIDIOC_QBUF failed in destructor: " + std::string(strerror(errno)));
                }
            }
            frame = nullptr;
        });

        // Replace frame with shared_ptr that manages V4L2 buffer lifecycle
        auto sharedFrame = std::shared_ptr<VideoFrame>(bufferManager, frame.get());
        frame = sharedFrame;
    } else {
        // Update sizeInBytes after conversion
        frame->sizeInBytes = frame->stride[0] * frame->height + (frame->stride[1] + frame->stride[2]) * frame->height / 2;

        // Requeue buffer immediately after copying data
        if (ioctl(m_fd, VIDIOC_QBUF, &buf) < 0) {
            CCAP_LOG_E("ccap: VIDIOC_QBUF failed: %s\n", strerror(errno));
            reportError(ErrorCode::FrameCaptureFailed, "VIDIOC_QBUF failed: " + std::string(strerror(errno)));
            return false;
        }
    }

    frame->frameIndex = m_frameIndex++;

    if (verboseLogEnabled()) { // Usually camera interfaces are not called from multiple threads, and verbose log is for debugging, so
                               // no lock here.
        static uint64_t s_lastFrameTime;
        static std::deque<uint64_t> s_durations;

        if (s_lastFrameTime != 0) {
            auto dur = frame->timestamp - s_lastFrameTime;
            s_durations.emplace_back(dur);
        }

        s_lastFrameTime = frame->timestamp;

        // use a window of 30 frames to calculate the fps
        if (s_durations.size() > 30) {
            s_durations.pop_front();
        }

        double fps = 0.0;

        if (!s_durations.empty()) {
            double sum = 0.0;
            for (auto& d : s_durations) {
                sum += d / 1e9f;
            }
            fps = std::round(s_durations.size() / sum * 10) / 10.0;
        }

        CCAP_LOG_V("ccap: New frame available: %ux%u, bytes %u, Data address: %p, fps: %g\n", frame->width, frame->height,
                   frame->sizeInBytes, frame->data[0], fps);
    }

    newFrameAvailable(std::move(frame));
    return true;
}

// Utility methods

PixelFormat ProviderV4L2::v4l2FormatToCcapFormat(uint32_t v4l2Format) {
    for (const auto& format : s_supportedV4L2Formats) {
        if (format.pixelformat == v4l2Format) {
            return format.ccapFormat;
        }
    }
    return PixelFormat::Unknown;
}

uint32_t ProviderV4L2::ccapFormatToV4l2Format(PixelFormat ccapFormat) {
    for (const auto& format : s_supportedV4L2Formats) {
        if (format.ccapFormat == ccapFormat) {
            return format.pixelformat;
        }
    }
    return 0;
}

const char* ProviderV4L2::getFormatName(uint32_t pixelformat) {
    for (const auto& format : s_supportedV4L2Formats) {
        if (format.pixelformat == pixelformat) {
            return format.name;
        }
    }
    return "Unknown";
}

bool ProviderV4L2::isVideoDevice(const std::string& devicePath) {
    int fd = ::open(devicePath.c_str(), O_RDWR | O_NONBLOCK);
    if (fd < 0) {
        return false;
    }

    struct v4l2_capability cap;
    bool isVideo = (ioctl(fd, VIDIOC_QUERYCAP, &cap) == 0) &&
        (cap.capabilities & V4L2_CAP_VIDEO_CAPTURE);

    ::close(fd);
    return isVideo;
}

std::string ProviderV4L2::getDeviceDescription(const std::string& devicePath) {
    int fd = ::open(devicePath.c_str(), O_RDWR | O_NONBLOCK);
    if (fd < 0) {
        return "";
    }

    struct v4l2_capability cap;
    std::string description;
    if (ioctl(fd, VIDIOC_QUERYCAP, &cap) == 0) {
        description = reinterpret_cast<const char*>(cap.card);
    }

    ::close(fd);
    return description;
}

// Factory function
ProviderImp* createProviderV4L2() {
    return new ProviderV4L2();
}

} // namespace ccap

#endif // Linux check