`
using namespace std;
using namespace cv;

struct button {
    uint8_t btn;
    int btn_state;
};
typedef struct button BUTTON;
struct seaid_project {
    uint8_t ledGreen = RPI_V2_GPIO_P1_37;
    uint8_t ledRed = RPI_V2_GPIO_P1_31;
    uint8_t ledYellow = RPI_V2_GPIO_P1_35;
    uint8_t ledReader = RPI_V2_GPIO_P1_33;

BUTTON btnShutdown;
BUTTON btnReboot;

BUTTON btnShutdown;
BUTTON btnReboot;

SEAID *seaid;
seaid->btnShutdown.btn = RPI_V2_GPIO_P1_16;
seaid->btnReboot.btn = RPI_V2_GPIO_P1_18;
pthread_t t_btnShutdown, t_btnReboot, t_captureImage;
int ret;

bcm2835_gpio_write(seaid->ledGreen, HIGH);
bcm2835_gpio_write(seaid->ledYellow, LOW);
bcm2835_gpio_write(seaid->ledRed, LOW);
bcm2835_gpio_write(seaid->ledReader, LOW);

// Inicializa mutex
if (pthread_mutex_init(&lockMutex, NULL) != 0) {
    error(seaid->ledRed, "Erro ao inicializar mutex.n");
}
// Iniciliza biblioteca bcm2835
if (!bcm2835_init()) {
    error(seaid->ledRed, "Erro ao inicializar biblioteca bcm2835.n");
}
// Seleciona pinos de saída para LEDs
bcm2835_gpio_fsel(seaid->ledGreen, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(seaid->ledRed, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(seaid->ledYellow, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(seaid->ledReader, BCM2835_GPIO_FSEL_OUTP);

// Seleciona pinos de entrada para push buttons
// Desabilita resistores de pull up/down nesses pinos
bcm2835_gpio_fsel(seaid->btnShutdown.btn, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(seaid->btnShutdown.btn, BCM2835_GPIO_PUD_OFF);
bcm2835_gpio_fsel(seaid->btnReboot.btn, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(seaid->btnReboot.btn, BCM2835_GPIO_PUD_OFF);


//Cria thread para OpenCV
ret = pthread_create(&t_captureImage, NULL, captureImage, &seaid);
if (ret != 0) {
    error(seaid->ledRed, "Erro thread "t_captureImage"");
}

// Cria thread para ler estado dos botões
ret = pthread_create(&t_btnShutdown, NULL, inputRead, &seaid->btnShutdown);
if (ret != 0) {
    error(seaid->ledRed, "Erro thread "t_btnShutdown"");
}
ret = pthread_create(&t_btnReboot, NULL, inputRead, &seaid->btnReboot);
if (ret != 0) {
    error(seaid->ledRed, "Erro thread "t_btnReboot"");
}
// Aguarda as threads terminarem
pthread_join(t_captureImage, NULL);
pthread_join(t_btnShutdown, NULL);
pthread_join(t_btnReboot, NULL);

// Finaliza biblioteca bcm2835
bcm2835_close();
//Destrói o mutex
pthread_mutex_destroy(&lockMutex);

return 0;

//Loop infinito
while (1) {
    // Trava o mutex antes de acessar variável led_state
    pthread_mutex_lock(&lockMutex);
    // Atualiza estado do LED - liga ou desliga
    if (seaid->btnShutdown.btn_state)
        bcm2835_gpio_write(seaid->ledRed, HIGH);
    else
        bcm2835_gpio_write(seaid->ledRed, LOW);
    // Libera o mutex
    pthread_mutex_unlock(&lockMutex);
    // Pequeno delay
    bcm2835_delay(50);
}
pthread_exit(NULL);

//Loop infinito
while (1) {
    // Trava o mutex antes de acessar variável led_state
    pthread_mutex_lock(&lockMutex);
    // Atualiza estado do botão na variável
    button->btn_state = bcm2835_gpio_lev(button->btn);
    // Libera o mutex
    pthread_mutex_unlock(&lockMutex);
    // Pequeno delay
    bcm2835_delay(50);
}
pthread_exit(NULL);

SEAID *seaid = (SEAID *)p;
std::vector<Rect> digitais;
bcm2835_gpio_write(seaid->ledReader, HIGH);
VideoCapture cap(0);
Mat frame;

cap >> frame;
if (frame.empty()) {
    error(seaid->ledRed, "Erro ao capturar a imagem");
}
try {
    if (hasFingerprint(frame)) {
        try {
            startCapture(*seaid);
        }
        catch (...) {
            error(seaid->ledRed, "Erro captura das digitais do voluntário");
        }
        pthread_mutex_unlock(&lockMutex);
        bcm2835_gpio_write(seaid->ledReader, LOW);

    }
    else {
        pthread_mutex_unlock(&lockMutex);
        bcm2835_gpio_write(seaid->ledReader, LOW);

    }
}catch(...) {
    error(seaid->ledRed, "Erro na detecção da imagem");
}
pthread_exit(NULL);

CascadeClassifier fingerPrintCascade;
fingerPrintCascade.load("Training/data/cascade.xml");

try {
    fingerPrintCascade.detectMultiScale(frame, fingerprints, 1.1, 0, 0 | CASCADE_SCALE_IMAGE, Size(30, 30));
}
catch (...) {

}
if (!fingerprints.empty()) {
    hasImage = true;
}
return hasImage;