#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time    : 2024/9/19 16:08
# @Author  : hjw
# @File    : CameraPe.py
'''
from Vision.tool.percipio.win import pcammls
from Vision.tool.percipio.win.pcammls import *
import cv2


class PythonPercipioDeviceEvent(pcammls.DeviceEvent):
    Offline = False

    def __init__(self):
        pcammls.DeviceEvent.__init__(self)

    def run(self, handle, eventID):
        if eventID==TY_EVENT_DEVICE_OFFLINE:
          print('=== Event Callback: Device Offline!')
          self.Offline = True
        return 0

    def IsOffline(self):
        return self.Offline

class camera:

    def __init__(self):
        self.caminit_isok = False
        cl = PercipioSDK()
        dev_list = cl.ListDevice()
        for idx in range(len(dev_list)):
            dev = dev_list[idx]
            print('{} -- {} \t {}'.format(idx, dev.id, dev.iface.id))
        if len(dev_list) == 0:
            print('no device')
            return
        if len(dev_list) == 1:
            selected_idx = 0
        else:
            selected_idx = int(input('select a device:'))
        if selected_idx < 0 or selected_idx >= len(dev_list):
            return

        sn = dev_list[selected_idx].id
        # 设备ID
        handle = cl.Open(sn)
        if not cl.isValidHandle(handle):
            err = cl.TYGetLastErrorCodedescription()
            print('no device found : ', end='')
            print(err)
            return

        event = PythonPercipioDeviceEvent()
        cl.DeviceRegiststerCallBackEvent(event)

        color_fmt_list = cl.DeviceStreamFormatDump(handle, PERCIPIO_STREAM_COLOR)
        if len(color_fmt_list) == 0:
            print('device has no color stream.')
            return

        print('color image format list:')
        for idx in range(len(color_fmt_list)):
            fmt = color_fmt_list[idx]
            print('\t{} -size[{}x{}]\t-\t desc:{}'.format(idx, cl.Width(fmt), cl.Height(fmt), fmt.getDesc()))
        cl.DeviceStreamFormatConfig(handle, PERCIPIO_STREAM_COLOR, color_fmt_list[2])

        depth_fmt_list = cl.DeviceStreamFormatDump(handle, PERCIPIO_STREAM_DEPTH)
        if len(depth_fmt_list) == 0:
            print('device has no depth stream.')
            return

        print('depth image format list:')
        for idx in range(len(depth_fmt_list)):
            fmt = depth_fmt_list[idx]
            print('\t{} -size[{}x{}]\t-\t desc:{}'.format(idx, cl.Width(fmt), cl.Height(fmt), fmt.getDesc()))
        cl.DeviceStreamFormatConfig(handle, PERCIPIO_STREAM_DEPTH, depth_fmt_list[2])

        err = cl.DeviceLoadDefaultParameters(handle)
        if err:
            print('Load default parameters fail: ', end='')
            print(cl.TYGetLastErrorCodedescription())
        else:
            print('Load default parameters successful')

        scale_unit = cl.DeviceReadCalibDepthScaleUnit(handle)
        print('depth image scale unit :{}'.format(scale_unit))

        depth_calib = cl.DeviceReadCalibData(handle, PERCIPIO_STREAM_DEPTH)
        color_calib = cl.DeviceReadCalibData(handle, PERCIPIO_STREAM_COLOR)

        pointcloud_data_arr = pointcloud_data_list()

        err = cl.DeviceStreamEnable(handle, PERCIPIO_STREAM_COLOR | PERCIPIO_STREAM_DEPTH)
        if err:
            print('device stream enable err:{}'.format(err))
            return

        cl.DeviceStreamOn(handle)



    def get_img(self):
        ""
        '''
        :param api: None
        :return: ret ,img 
        '''
        if self.caminit_isok == False:
            return 0, None
        else:
            pass

    def get_point_map(self):
        ""
        '''
        :param api: None
        :return: img 
        '''
        if self.caminit_isok == False:
            return 0, None
        else:
            pass

    def get_img_and_point_map(self):
        ""
        '''
        :param api: None
        :return: ret , img, point_map
        '''
        if self.caminit_isok == False:
            return 0, None, None
        else:
            pass

    def release(self):
        if self.caminit_isok == False:
            pass
        else:
            pass