#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time    : 2024/9/7 11:49
# @Author  : hjw
# @File    : get_position_test.py
'''
import time
import platform
import cv2
import os

from Vision.camera_coordinate_dete import Detection
from Vision.camera_coordinate_dete_planevison import Detection_plane_vsion
from Trace.handeye_calibration import *
from Vision.tool.utils import get_disk_space
from Vision.tool.utils import remove_nan_mean_value
from Vision.detect_person import DetectionPerson
from Vision.detect_bag_num import DetectionBagNum
from Vision.tool.CameraHIK import camera_HIK
from Vision.bag_collection import DetectionBag

#
"""
   测试 Vision
"""

def detectionPosition_test():
    detection = Detection()
    while True:
        ret, img, xyz, nx_ny_nz, box = detection.get_position(Point_isVision=True, save_img_point=1)
        if ret==1:
            print('xyz点云坐标：', xyz)
            print('nx_ny_nz法向量：', nx_ny_nz)
            print('矩形框四顶点：', box)
            # img = cv2.resize(img,(720, 540))
            if xyz!=None:
                transformation_matrix = R_matrix(521.534, 0.705, 850.03, 0.0, 90.0, 0.0)   # (x, y, z, u, v, w)
                target_position, noraml_base = getPosition(xyz[0], xyz[1], xyz[2], nx_ny_nz[0], nx_ny_nz[1], nx_ny_nz[2], transformation_matrix, box)
                print("target_position:", target_position)
                print("noraml_base", noraml_base)
            cv2.imshow('img', img)
            cv2.waitKey(0)

def Detection_plane_vsion_test():
    detection = Detection_plane_vsion()
    while True:
        ret, img, xyz, nx_ny_nz, box = detection.get_position(Point_isVision=True, save_img_point=1)
        if ret==1:
            print('xyz点云坐标：', xyz)
            print('nx_ny_nz法向量：', nx_ny_nz)
            print('矩形框四顶点：', box)
            # img = cv2.resize(img,(720, 540))
            if xyz!=None:
                transformation_matrix = R_matrix(521.534, 0.705, 850.03, 0.0, 90.0, 0.0)   # (x, y, z, u, v, w)
                target_position, noraml_base = getPosition(xyz[0], xyz[1], xyz[2], nx_ny_nz[0], nx_ny_nz[1], nx_ny_nz[2], transformation_matrix, box)
                print("target_position:", target_position)
                print("noraml_base", noraml_base)
            cv2.imshow('img', img)
            cv2.waitKey(0)

def take_photo_position_test():
    detection = Detection()
    while True:
        ret, img, find_target, xyz = detection.get_take_photo_position()
        if ret==1:
            print('是否检测到目标：', find_target)
            if xyz!=None:
                print('xyz点云坐标：', xyz)
            else:
                print('目标点云无效')
            cv2.imshow('img', img)
            cv2.waitKey(1)

def detectionPerson_test():
    detectionPerson = DetectionPerson()
    while True:
        person, img_src = detectionPerson.get_person()
        if img_src is not None:
            cv2.imshow('detectPerson', img_src)
            cv2.waitKey(1)
            time.sleep(5)
        else:
            cv2.destroyAllWindows()


        print("person", person)
    # video_path = ''.join([os.getcwd(), '/Vision/model/data/1.mp4'])
    # cam = cv2.VideoCapture(video_path)
    # while cam.isOpened():
    #     ret, frame = cam.read()
    #     if ret:
    #         person, img = detectionPerson.get_person(frame)
    #         print(person)
    #         cv2.imshow('img', img)
    #         cv2.waitKey(1)
    #     else:
    #         break
def HIK_Camera_test():
    MY_CAMERA = camera_HIK("192.168.1.121", 554, "admin", "zlzk.123")
    while True:
        ret, frame = MY_CAMERA.get_img()
        if ret:
            img = cv2.resize(frame, (800, 600))
            cv2.imshow('img', img)
            cv2.waitKey(1)

def detectionBagNum_test():
    detectionBagNum = DetectionBagNum()
    video_path = ''.join([os.getcwd(), '/Vision/model/data/2.mp4'])
    cam = cv2.VideoCapture(video_path)
    while cam.isOpened():
        ret, frame = cam.read()
        if ret:
            num, img = detectionBagNum.get_BagNum(frame)
            print(num)
            cv2.imshow('img', img)
            cv2.waitKey(1)
        else:
            break

def bag_collection_test():
    save_bag_img_point = DetectionBag()
    # video_path = ''.join([os.getcwd(), '/Vision/model/data/2.mp4'])
    # cam = cv2.VideoCapture(video_path)
    while True:
        Bag, img_src = save_bag_img_point.detect_bag(save_img_point=2)
        if Bag:
            cv2.imshow('img', img_src)
            cv2.waitKey(1)
        else:
            break
        time.sleep(5)


if __name__ == '__main__':
    Detection_plane_vsion_test()