//! V4L2 capture implementation using v4l2r (ioctl layer).

use std::fs::File;
use std::io;
use std::os::fd::AsFd;
use std::path::{Path, PathBuf};
use std::time::Duration;

use nix::poll::{poll, PollFd, PollFlags, PollTimeout};
use tracing::{debug, info, warn};
use v4l2r::bindings::{
    v4l2_dv_timings, v4l2_requestbuffers, v4l2_streamparm, v4l2_streamparm__bindgen_ty_1,
    V4L2_DV_BT_656_1120,
};
use v4l2r::ioctl::{
    self, Capabilities, Capability as V4l2rCapability, Event as V4l2Event, EventType,
    MemoryConsistency, PlaneMapping, QBufPlane, QBuffer, QueryBuffer, QueryDvTimingsError,
    SubscribeEventFlags, V4l2Buffer,
};
use v4l2r::memory::{MemoryType, MmapHandle};
use v4l2r::nix::errno::Errno;
use v4l2r::{Format as V4l2rFormat, PixelFormat as V4l2rPixelFormat, QueueType};

use crate::error::{AppError, Result};
use crate::video::device::bridge::{self as csi_bridge, CsiBridgeKind, ProbeResult};
use crate::video::format::{PixelFormat, Resolution};
use crate::video::signal::SignalStatus;

/// `io::Error` payload when the driver posts `V4L2_EVENT_SOURCE_CHANGE`.
pub const SOURCE_CHANGED_MARKER: &str = "v4l2_source_changed";

pub fn is_source_changed_error(err: &io::Error) -> bool {
    err.get_ref()
        .map(|inner| inner.to_string() == SOURCE_CHANGED_MARKER)
        .unwrap_or(false)
}

/// Metadata for a captured frame.
#[derive(Debug, Clone, Copy)]
pub struct CaptureMeta {
    pub bytes_used: usize,
    pub sequence: u64,
}

/// When set, DV ioctls use the subdev (rkcif: video node has no DV ioctls).
#[derive(Debug, Clone, Default)]
pub struct BridgeContext {
    pub subdev_path: Option<PathBuf>,
    pub kind: Option<CsiBridgeKind>,
}

impl BridgeContext {
    pub fn from_parts(subdev_path: Option<PathBuf>, kind: Option<CsiBridgeKind>) -> Self {
        Self { subdev_path, kind }
    }

    pub fn has_subdev(&self) -> bool {
        self.subdev_path.is_some()
    }
}

/// V4L2 capture stream backed by v4l2r ioctl.
pub struct CaptureStream {
    fd: File,
    queue: QueueType,
    resolution: Resolution,
    format: PixelFormat,
    stride: u32,
    timeout: Duration,
    mappings: Vec<Vec<PlaneMapping>>,
    subdev_fd: Option<File>,
    bridge_kind: Option<CsiBridgeKind>,
}

impl CaptureStream {
    /// UVC: uses `resolution`. CSI bridges: DV-probe first; may return `CaptureNoSignal`.
    pub fn open(
        device_path: impl AsRef<Path>,
        resolution: Resolution,
        format: PixelFormat,
        fps: u32,
        buffer_count: u32,
        timeout: Duration,
    ) -> Result<Self> {
        Self::open_with_bridge(
            device_path,
            resolution,
            format,
            fps,
            buffer_count,
            timeout,
            BridgeContext::default(),
        )
    }

    /// With subdev: probe DV on subdev before opening video (RK628 safety); may ignore requested size.
    pub fn open_with_bridge(
        device_path: impl AsRef<Path>,
        resolution: Resolution,
        format: PixelFormat,
        fps: u32,
        buffer_count: u32,
        timeout: Duration,
        bridge: BridgeContext,
    ) -> Result<Self> {
        // Probe subdev before video open (RK628: no-signal must not reach capture STREAMON).
        let mut subdev_fd_opt: Option<File> = None;
        let mut subdev_dv_mode: Option<csi_bridge::DvTimingsMode> = None;

        if let Some(subdev_path) = bridge.subdev_path.as_ref() {
            let subdev_fd = csi_bridge::open_subdev(subdev_path).map_err(|e| {
                AppError::VideoError(format!(
                    "Failed to open CSI bridge subdev {:?}: {}",
                    subdev_path, e
                ))
            })?;

            let kind = bridge.kind.unwrap_or(CsiBridgeKind::Unknown);
            match csi_bridge::probe_signal(&subdev_fd, kind) {
                ProbeResult::Locked(mode) => {
                    info!(
                        "Subdev {:?} locked: {}x{} @ {}Hz",
                        subdev_path, mode.width, mode.height, mode.pixelclock
                    );
                    csi_bridge::apply_dv_timings(&subdev_fd, mode.raw);
                    if let Err(e) = csi_bridge::subscribe_source_change(&subdev_fd) {
                        debug!("subdev SOURCE_CHANGE subscribe failed: {}", e);
                    }
                    subdev_dv_mode = Some(mode);
                }
                other => {
                    let status = other.as_status().unwrap_or(SignalStatus::NoSignal);
                    debug!(
                        "Subdev {:?} reports no signal ({:?}) — refusing STREAMON",
                        subdev_path, status
                    );
                    return Err(AppError::CaptureNoSignal {
                        kind: status.as_str().to_string(),
                    });
                }
            }
            subdev_fd_opt = Some(subdev_fd);
        }

        // ── Phase 1: open the capture (video) node ─────────────────────
        let mut fd = File::options()
            .read(true)
            .write(true)
            .open(device_path.as_ref())
            .map_err(|e| AppError::VideoError(format!("Failed to open device: {}", e)))?;

        let caps: V4l2rCapability = ioctl::querycap(&fd)
            .map_err(|e| AppError::VideoError(format!("Failed to query capabilities: {}", e)))?;
        let caps_flags = caps.device_caps();
        let driver_name = caps.driver.to_string();
        let is_csi_bridge = is_csi_bridge_driver(&driver_name);

        // Prefer multi-planar capture when available, as it is required for some
        // devices/pixel formats (e.g. NV12 via VIDEO_CAPTURE_MPLANE).
        let queue = if caps_flags.contains(Capabilities::VIDEO_CAPTURE_MPLANE) {
            QueueType::VideoCaptureMplane
        } else if caps_flags.contains(Capabilities::VIDEO_CAPTURE) {
            QueueType::VideoCapture
        } else {
            return Err(AppError::VideoError(
                "Device does not support capture queues".to_string(),
            ));
        };

        // CSI/HDMI bridge without a subdev pairing (tc358743 on uvcvideo,
        // rk_hdmirx on RK3588): probe DV timings on the video node, with
        // the same no-signal gate as the subdev path.  When we *do* have
        // a subdev, reuse its already-probed mode to drive S_FMT.
        let dv_mode = if let Some(mode) = subdev_dv_mode.as_ref() {
            Some(DvTimingsMode {
                width: mode.width,
                height: mode.height,
                fps: mode.fps,
            })
        } else if is_csi_bridge {
            Some(probe_and_apply_dv_timings(&fd)?)
        } else {
            None
        };

        // rkcif + RK628: G_FMT is often 0×0 until the first S_FMT; G_FMT may
        // also fail. With DV timings from the subdev, build the format (same as
        // `v4l2-ctl --set-fmt-video=width=…,height=…`).
        let mut fmt: V4l2rFormat = match (
            ioctl::g_fmt::<V4l2rFormat>(&fd, queue),
            is_csi_bridge,
            dv_mode.as_ref(),
        ) {
            (Ok(f), _, _) if f.width > 0 && f.height > 0 => f,
            (_, true, Some(m)) => {
                let fourcc = format.to_fourcc();
                V4l2rFormat::from((&fourcc, (m.width as usize, m.height as usize)))
            }
            (Ok(f), _, _) => f,
            (Err(e), _, _) => {
                return Err(AppError::VideoError(format!(
                    "Failed to get device format: {}",
                    e
                )));
            }
        };

        // Prefer the DV-timings-reported geometry for CSI bridges — the
        // source, not the user config, dictates what the capture hardware
        // will actually deliver.
        let (target_w, target_h) = match dv_mode {
            Some(DvTimingsMode { width, height, .. }) => (width, height),
            None => (resolution.width, resolution.height),
        };
        fmt.width = target_w;
        fmt.height = target_h;
        fmt.pixelformat = V4l2rPixelFormat::from(&format.to_fourcc());

        let actual_fmt: V4l2rFormat = ioctl::s_fmt(&mut fd, (queue, &fmt))
            .map_err(|e| AppError::VideoError(format!("Failed to set device format: {}", e)))?;

        let actual_resolution = Resolution::new(actual_fmt.width, actual_fmt.height);
        let actual_format = PixelFormat::from_v4l2r(actual_fmt.pixelformat).unwrap_or(format);

        let stride = actual_fmt
            .plane_fmt
            .first()
            .map(|p| p.bytesperline)
            .unwrap_or_else(|| match actual_format.bytes_per_pixel() {
                Some(bpp) => actual_resolution.width * bpp as u32,
                None => actual_resolution.width,
            });

        if fps > 0 {
            match set_fps(&fd, queue, fps) {
                Ok(()) => {}
                Err(ioctl::GParmError::IoctlError(err))
                    if matches!(err, Errno::ENOTTY | Errno::ENOSYS | Errno::EOPNOTSUPP) => {}
                Err(e) => warn!("Failed to set hardware FPS: {}", e),
            }
        }

        let req: v4l2_requestbuffers = ioctl::reqbufs(
            &fd,
            queue,
            MemoryType::Mmap,
            buffer_count,
            MemoryConsistency::empty(),
        )
        .map_err(|e| AppError::VideoError(format!("Failed to request buffers: {}", e)))?;
        let allocated = req.count as usize;
        if allocated == 0 {
            return Err(AppError::VideoError(
                "Driver returned zero capture buffers".to_string(),
            ));
        }

        let mut mappings = Vec::with_capacity(allocated);
        for index in 0..allocated as u32 {
            let query: QueryBuffer = ioctl::querybuf(&fd, queue, index as usize).map_err(|e| {
                AppError::VideoError(format!("Failed to query buffer {}: {}", index, e))
            })?;

            if query.planes.is_empty() {
                return Err(AppError::VideoError(format!(
                    "Driver returned zero planes for buffer {}",
                    index
                )));
            }

            let mut plane_maps = Vec::with_capacity(query.planes.len());
            for plane in &query.planes {
                let mapping = ioctl::mmap(&fd, plane.mem_offset, plane.length).map_err(|e| {
                    AppError::VideoError(format!("Failed to mmap buffer {}: {}", index, e))
                })?;
                plane_maps.push(mapping);
            }
            mappings.push(plane_maps);
        }

        let mut stream = Self {
            fd,
            queue,
            resolution: actual_resolution,
            format: actual_format,
            stride,
            timeout,
            mappings,
            subdev_fd: subdev_fd_opt,
            bridge_kind: bridge.kind,
        };

        stream.queue_all_buffers()?;
        ioctl::streamon(&stream.fd, stream.queue)
            .map_err(|e| AppError::VideoError(format!("Failed to start capture stream: {}", e)))?;

        // When the subdev path was used, SOURCE_CHANGE was already
        // subscribed *there* (the rkcif video node returns ENOTTY).
        // Otherwise try on the video node as a best-effort fallback for
        // drivers that do honour it (tc358743/uvcvideo, rk_hdmirx).
        if stream.subdev_fd.is_none() {
            match ioctl::subscribe_event(
                &stream.fd,
                EventType::SourceChange(0),
                SubscribeEventFlags::empty(),
            ) {
                Ok(()) => debug!("Subscribed to V4L2_EVENT_SOURCE_CHANGE on video node"),
                Err(e) => debug!(
                    "V4L2_EVENT_SOURCE_CHANGE subscription unavailable on video node \
                     ({}), falling back to timeout-based restart",
                    e
                ),
            }
        }

        Ok(stream)
    }

    pub fn resolution(&self) -> Resolution {
        self.resolution
    }

    pub fn format(&self) -> PixelFormat {
        self.format
    }

    pub fn stride(&self) -> u32 {
        self.stride
    }

    /// Re-probe DV timings on the persistent subdev handle (no extra `open`).
    pub fn probe_bridge_signal(&self) -> Option<ProbeResult> {
        let subdev_fd = self.subdev_fd.as_ref()?;
        Some(csi_bridge::probe_signal(
            subdev_fd,
            self.bridge_kind.unwrap_or(CsiBridgeKind::Unknown),
        ))
    }

    /// Like [`Self::probe_bridge_signal`] but isolates the ioctl on a dup'd
    /// fd with a wall-clock cap — see [`csi_bridge::probe_signal_thread_timeout`].
    pub fn probe_bridge_signal_with_timeout(&self, limit: Duration) -> Option<ProbeResult> {
        let subdev_fd = self.subdev_fd.as_ref()?;
        csi_bridge::probe_signal_thread_timeout(
            subdev_fd,
            self.bridge_kind.unwrap_or(CsiBridgeKind::Unknown),
            limit,
        )
    }

    fn expected_capture_bytes(&self) -> Option<usize> {
        if self.format.is_compressed() {
            return None;
        }
        // Stride is bytesperline; packed formats use stride × height (not × bpp).
        if self.format.bytes_per_pixel().is_some() {
            return (self.stride as usize).checked_mul(self.resolution.height as usize);
        }
        match self.format {
            PixelFormat::Nv12 | PixelFormat::Nv21 | PixelFormat::Yuv420 | PixelFormat::Yvu420 => {
                (self.stride as usize)
                    .checked_mul(self.resolution.height as usize)?
                    .checked_mul(3)?
                    .checked_div(2)
            }
            PixelFormat::Nv16 => (self.stride as usize)
                .checked_mul(self.resolution.height as usize)?
                .checked_mul(2),
            PixelFormat::Nv24 => (self.stride as usize)
                .checked_mul(self.resolution.height as usize)?
                .checked_mul(3),
            _ => None,
        }
    }

    pub fn next_into(&mut self, dst: &mut Vec<u8>) -> io::Result<CaptureMeta> {
        self.wait_ready()?;

        let dqbuf: V4l2Buffer = ioctl::dqbuf(&self.fd, self.queue)
            .map_err(|e| io::Error::other(format!("dqbuf failed: {}", e)))?;
        let index = dqbuf.as_v4l2_buffer().index as usize;
        let sequence = dqbuf.as_v4l2_buffer().sequence as u64;

        let mut total = 0usize;
        for (plane_idx, plane) in dqbuf.planes_iter().enumerate() {
            let bytes_used = *plane.bytesused as usize;
            let data_offset = plane.data_offset.copied().unwrap_or(0) as usize;
            if bytes_used == 0 {
                continue;
            }
            let mapping = &self.mappings[index][plane_idx];
            let start = data_offset.min(mapping.len());
            let end = (data_offset + bytes_used).min(mapping.len());
            total += end.saturating_sub(start);
        }

        dst.resize(total, 0);
        let mut cursor = 0usize;
        for (plane_idx, plane) in dqbuf.planes_iter().enumerate() {
            let bytes_used = *plane.bytesused as usize;
            let data_offset = plane.data_offset.copied().unwrap_or(0) as usize;
            if bytes_used == 0 {
                continue;
            }
            let mapping = &self.mappings[index][plane_idx];
            let start = data_offset.min(mapping.len());
            let end = (data_offset + bytes_used).min(mapping.len());
            let len = end.saturating_sub(start);
            if len == 0 {
                continue;
            }
            dst[cursor..cursor + len].copy_from_slice(&mapping[start..end]);
            cursor += len;
        }

        self.queue_buffer(index as u32)
            .map_err(|e| io::Error::other(e.to_string()))?;

        if let Some(expected) = self.expected_capture_bytes() {
            if total > 0 && total != expected {
                warn!(
                    "DQBUF bytes_used ({}) != expected ({}) for {:?} {}x{} stride={} — requesting stream re-open",
                    total,
                    expected,
                    self.format,
                    self.resolution.width,
                    self.resolution.height,
                    self.stride
                );
                return Err(io::Error::other(SOURCE_CHANGED_MARKER));
            }
        }

        Ok(CaptureMeta {
            bytes_used: total,
            sequence,
        })
    }

    fn wait_ready(&self) -> io::Result<()> {
        if self.timeout.is_zero() {
            return Ok(());
        }
        // Multiplex video fd (POLLIN for DQBUF, POLLPRI as fallback for
        // drivers that deliver events here) and the optional subdev fd
        // (POLLPRI only — SOURCE_CHANGE on RK628 / rkcif).
        let mut poll_fds: Vec<PollFd> = Vec::with_capacity(2);
        poll_fds.push(PollFd::new(
            self.fd.as_fd(),
            PollFlags::POLLIN | PollFlags::POLLPRI | PollFlags::POLLERR | PollFlags::POLLHUP,
        ));
        if let Some(subdev_fd) = self.subdev_fd.as_ref() {
            poll_fds.push(PollFd::new(subdev_fd.as_fd(), PollFlags::POLLPRI));
        }
        let timeout_ms = self.timeout.as_millis().min(u16::MAX as u128) as u16;
        let ready = poll(&mut poll_fds, PollTimeout::from(timeout_ms))?;
        if ready == 0 {
            return Err(io::Error::new(io::ErrorKind::TimedOut, "capture timeout"));
        }

        // Subdev POLLPRI fires first on rkcif/RK628 when the source-side
        // HDMI timings changed.  Drain all pending events and bubble up
        // the `source_changed` marker so the upper layer re-opens with a
        // fresh DV_TIMINGS probe.
        if let Some(subdev_fd) = self.subdev_fd.as_ref() {
            if let Some(revents) = poll_fds.get(1).and_then(|f| f.revents()) {
                if revents.contains(PollFlags::POLLPRI) {
                    let drained = drain_events(subdev_fd);
                    info!(
                        "Subdev SOURCE_CHANGE detected (drained {} event(s)), \
                         requesting stream re-open",
                        drained
                    );
                    return Err(io::Error::other(SOURCE_CHANGED_MARKER));
                }
            }
        }

        if let Some(revents) = poll_fds[0].revents() {
            if revents.contains(PollFlags::POLLERR) || revents.contains(PollFlags::POLLHUP) {
                debug!(
                    "capture poll: video revents={:?} (ERR/HUP) — requesting stream re-open",
                    revents
                );
                return Err(io::Error::other(SOURCE_CHANGED_MARKER));
            }
            if revents.contains(PollFlags::POLLPRI) {
                let drained = drain_events(&self.fd);
                info!(
                    "Video-node SOURCE_CHANGE detected (drained {} event(s)), \
                     requesting stream re-open",
                    drained
                );
                return Err(io::Error::other(SOURCE_CHANGED_MARKER));
            }
            if !revents.contains(PollFlags::POLLIN) {
                // rkcif + RK628: the driver may wake `poll` after internally
                // invalidating queued buffers without queueing a V4L2 event.
                // Treat like SOURCE_CHANGE so we STREAMOFF / re-S_FMT.
                debug!(
                    "capture poll: ready={} video revents={:?} (no POLLIN) — requesting stream re-open",
                    ready, revents
                );
                return Err(io::Error::other(SOURCE_CHANGED_MARKER));
            }
            return Ok(());
        }

        debug!(
            "capture poll: ready={} but video revents unavailable — requesting stream re-open",
            ready
        );
        Err(io::Error::other(SOURCE_CHANGED_MARKER))
    }

    fn queue_all_buffers(&mut self) -> Result<()> {
        for index in 0..self.mappings.len() as u32 {
            self.queue_buffer(index)?;
        }
        Ok(())
    }

    fn queue_buffer(&mut self, index: u32) -> Result<()> {
        let handle = MmapHandle;
        let planes = self.mappings[index as usize]
            .iter()
            .map(|mapping| {
                let mut plane = QBufPlane::new_from_handle(&handle, 0);
                plane.0.length = mapping.len() as u32;
                plane
            })
            .collect();
        let mut qbuf: QBuffer<MmapHandle> = QBuffer::new(self.queue, index);
        qbuf.planes = planes;
        ioctl::qbuf::<_, ()>(&self.fd, qbuf)
            .map_err(|e| AppError::VideoError(format!("Failed to queue buffer: {}", e)))?;
        Ok(())
    }
}

impl Drop for CaptureStream {
    fn drop(&mut self) {
        // Release ordering matters on rkcif: a subsequent open()/S_FMT from a
        // freshly-constructed stream returns EBUSY if the previous capture has
        // not fully relinquished its buffers.  Mirror the ustreamer teardown
        // order:
        //   1. STREAMOFF            (stop DMA)
        //   2. unsubscribe_all      (no further DQEVENT paths)
        //   3. munmap via Drop      (release buffer mappings)
        //   4. REQBUFS count=0      (free kernel buffer list)
        //   5. close(fd)            (implicit on File Drop)
        if let Err(e) = ioctl::streamoff(&self.fd, self.queue) {
            debug!("Failed to stop capture stream: {}", e);
        }
        if let Err(e) = ioctl::unsubscribe_all_events(&self.fd) {
            debug!("Failed to unsubscribe V4L2 events: {}", e);
        }
        // Explicit munmap *before* REQBUFS(0) — the kernel refuses to free the
        // buffer list while mappings are outstanding.
        self.mappings.clear();
        if let Err(e) = ioctl::reqbufs::<v4l2_requestbuffers>(
            &self.fd,
            self.queue,
            MemoryType::Mmap,
            0,
            MemoryConsistency::empty(),
        ) {
            debug!("Failed to release capture buffers: {}", e);
        }
    }
}

/// Driver-name check for CSI/HDMI bridge devices (rk_hdmirx, rkcif, tc358743,
/// …) that expose DV timings.  Kept in sync with `video::device::is_csi_hdmi_bridge`
/// but queries the raw V4L2 driver string so we don't need a full
/// `VideoDeviceInfo` at `CaptureStream::open` time.
fn is_csi_bridge_driver(driver: &str) -> bool {
    let d = driver.to_ascii_lowercase();
    d == "rk_hdmirx" || d == "rkcif" || d == "tc358743" || d.starts_with("rkcif")
}

/// Drain any pending `V4L2_EVENT_*` events on `fd`.  Used after POLLPRI to
/// clear the queue so the next poll doesn't immediately wake up on stale
/// state.  Capped at 16 events per call.
fn drain_events(fd: &File) -> u32 {
    let mut drained = 0u32;
    while let Ok(_ev) = ioctl::dqevent::<V4l2Event>(fd) {
        drained = drained.saturating_add(1);
        if drained >= 16 {
            break;
        }
    }
    drained
}

/// Result of a successful `VIDIOC_QUERY_DV_TIMINGS` + `VIDIOC_S_DV_TIMINGS`
/// probe.  Used by the CSI bridge path to override the requested resolution
/// with the source-reported geometry before `S_FMT`.
#[derive(Debug, Clone, Copy)]
struct DvTimingsMode {
    width: u32,
    height: u32,
    #[allow(dead_code)]
    fps: Option<f64>,
}

/// Probe DV timings from the source and latch them into the driver.
///
/// Mirrors PiKVM/ustreamer's `src_hdmi_open_sequence`:
///   1. `VIDIOC_QUERY_DV_TIMINGS` — active-probe the source.
///   2. On success, `VIDIOC_S_DV_TIMINGS` — commit so that subsequent
///      `S_FMT` is accepted at the matching geometry.
///   3. Return the timings for the caller to feed into `S_FMT`.
///
/// Errno mapping (see `V4L2_CID_DV_RX_POWER_PRESENT` semantics):
///   * `ENOLINK`    → `NoCable`  (TMDS clock absent, cable unplugged)
///   * `ENOLCK`     → `NoSync`   (TMDS present, timings unstable)
///   * `ERANGE`     → `OutOfRange` (timings outside hardware caps)
///   * `ENODATA`    → `NoSignal` (driver says "no DV timings support on
///                                this input", e.g. EDID not applied yet)
///   * anything else → `NoSignal` (fallback, keeps the retry loop going)
fn probe_and_apply_dv_timings(fd: &File) -> Result<DvTimingsMode> {
    let timings: v4l2_dv_timings = match ioctl::query_dv_timings(fd) {
        Ok(t) => t,
        Err(err) => {
            let status = match &err {
                QueryDvTimingsError::NoLink => SignalStatus::NoCable,
                QueryDvTimingsError::UnstableSignal => SignalStatus::NoSync,
                QueryDvTimingsError::IoctlError(Errno::ERANGE) => SignalStatus::OutOfRange,
                QueryDvTimingsError::Unsupported => SignalStatus::NoSignal,
                // I2C-layer failures between rkcif and the RK628 bridge
                // (`ret=-110`/-121/-5) typically mean the bridge is in the
                // middle of a PHY re-lock, not that the source is gone.
                // Classify them as `NoSync` so the upper layer keeps retrying
                // on the short end of the back-off ladder.
                QueryDvTimingsError::IoctlError(Errno::EIO)
                | QueryDvTimingsError::IoctlError(Errno::EREMOTEIO)
                | QueryDvTimingsError::IoctlError(Errno::ETIMEDOUT) => SignalStatus::NoSync,
                QueryDvTimingsError::IoctlError(_) => SignalStatus::NoSignal,
            };
            info!(
                "VIDIOC_QUERY_DV_TIMINGS failed: {} -> SignalStatus::{:?}",
                err, status
            );
            return Err(AppError::CaptureNoSignal {
                kind: status.as_str().to_string(),
            });
        }
    };

    // `v4l2_dv_timings` is a packed union; copy the scalar fields out to
    // aligned locals before formatting / comparing to avoid UB (and the
    // rustc E0793 "reference to field of packed struct is unaligned" error).
    let timings_type: u32 = timings.type_;
    if timings_type != V4L2_DV_BT_656_1120 {
        warn!(
            "QUERY_DV_TIMINGS returned unknown type {}, treating as NoSignal",
            timings_type
        );
        return Err(AppError::CaptureNoSignal {
            kind: SignalStatus::NoSignal.as_str().to_string(),
        });
    }

    let bt = unsafe { timings.__bindgen_anon_1.bt };
    let bt_width: u32 = bt.width;
    let bt_height: u32 = bt.height;
    let bt_pixelclock: u64 = bt.pixelclock;
    let bt_hfrontporch: u32 = bt.hfrontporch;
    let bt_hsync: u32 = bt.hsync;
    let bt_hbackporch: u32 = bt.hbackporch;
    let bt_vfrontporch: u32 = bt.vfrontporch;
    let bt_vsync: u32 = bt.vsync;
    let bt_vbackporch: u32 = bt.vbackporch;

    if bt_width == 0 || bt_height == 0 || bt_width <= 64 || bt_height <= 64 {
        warn!(
            "QUERY_DV_TIMINGS returned degenerate {}x{}, treating as NoSignal",
            bt_width, bt_height
        );
        return Err(AppError::CaptureNoSignal {
            kind: SignalStatus::NoSignal.as_str().to_string(),
        });
    }

    // Latch the detected timings so subsequent S_FMT / STREAMON use the
    // right pixel clock + blanking.  Failure here is *not* fatal on some
    // drivers (rkcif doesn't implement S_DV_TIMINGS per-output-device, only
    // on the bridging subdev), so degrade to a warning and keep going.
    if let Err(e) = ioctl::s_dv_timings::<_, v4l2_dv_timings>(fd, timings) {
        debug!(
            "VIDIOC_S_DV_TIMINGS failed ({}), continuing with queried timings for S_FMT",
            e
        );
    }

    let fps = dv_timings_fps_from_scalars(
        bt_width,
        bt_height,
        bt_hfrontporch + bt_hsync + bt_hbackporch,
        bt_vfrontporch + bt_vsync + bt_vbackporch,
        bt_pixelclock,
    );
    info!(
        "DV timings locked: {}x{} @ {} (pix_clk={})",
        bt_width,
        bt_height,
        fps.map(|f| format!("{:.2} fps", f))
            .unwrap_or_else(|| "?fps".to_string()),
        bt_pixelclock
    );

    Ok(DvTimingsMode {
        width: bt_width,
        height: bt_height,
        fps,
    })
}

fn dv_timings_fps_from_scalars(
    width: u32,
    height: u32,
    h_blanking: u32,
    v_blanking: u32,
    pixelclock: u64,
) -> Option<f64> {
    let total_h = (width + h_blanking) as u64;
    let total_v = (height + v_blanking) as u64;
    let denom = total_h.checked_mul(total_v)?;
    if denom == 0 || pixelclock == 0 {
        return None;
    }
    Some(pixelclock as f64 / denom as f64)
}

fn set_fps(fd: &File, queue: QueueType, fps: u32) -> std::result::Result<(), ioctl::GParmError> {
    let mut params = unsafe { std::mem::zeroed::<v4l2_streamparm>() };
    params.type_ = queue as u32;
    params.parm = v4l2_streamparm__bindgen_ty_1 {
        capture: v4l2r::bindings::v4l2_captureparm {
            timeperframe: v4l2r::bindings::v4l2_fract {
                numerator: 1,
                denominator: fps,
            },
            ..unsafe { std::mem::zeroed() }
        },
    };

    let _actual: v4l2_streamparm = ioctl::s_parm(fd, params)?;
    Ok(())
}