# On Ubuntu gstreamer interface is missing on OpenCV
# On Fedora enable RPM fusion repo and install packages
# dnf install python3-opencv gstreamer-plugins-bad-free gstreamer-plugins-ugly gstreamer1-plugins-bad-freeworld gstreamer1-plugins-good gstreamer1-libav python3-evdev

from time import sleep
import sys
import socket
import cv2
import numpy as np
import time
from threading import Thread

_, hostname = sys.argv

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.settimeout(0)
sock.bind(("", 37021))

#WIDTH, HEIGHT = 1920, 1080
WIDTH, HEIGHT = 1280, 720
WIDTH, HEIGHT = 640, 480
#WIDTH, HEIGHT = 320, 240

CROSSHAIR_THICKNESS = 3
CROSSHAIR_SIZE = 50



from glob import glob
from evdev import InputDevice, categorize, ecodes
state = dict()
shoot = False
robot_shoot_timestamp = 0


class GamepadReader(Thread):
    def run(self):
        global shoot
        global robot_shoot_timestamp
        gamepad = InputDevice(glob("/dev/input/by-id/usb-Microsoft_Controller*event*")[0])
        print("Opening:", gamepad)

        for event in gamepad.read_loop():
            if not event:
                continue
            if event.type == 3:
                state["axis%d" % event.code] = event.value
            elif event.type == 1:
                state["button%d" % event.code] = event.value
            elif event.type == 0:
                pass # dno?
            else:
                print(event.type, event.value, event.code)

            if state.get("button310", 0) or state.get("button311", 0):
                shoot = True



t = GamepadReader(daemon=True)

t.start()



print("Resolving hostname:", hostname)
while True:
    try:
        sockaddr = socket.getaddrinfo(hostname, 37020)[0][-1]
    except OSError:
        sleep(0.5)
    else:
        break


print("Sending let's play packet to", sockaddr)
msg = "play:%d:%d" % (WIDTH, HEIGHT)
sock.sendto(msg.encode("ascii"), sockaddr)


pipeline = 'udpsrc port=5000 caps = "application/x-rtp, encoding-name=(string)H264" ! rtpjitterbuffer mode=3 ! rtph264depay ! decodebin ! videoconvert ! appsink'

print("gst-launch-1.0 -v", pipeline.replace("appsink", "autovideosink"))
sleep(5)
cap = cv2.VideoCapture(pipeline)

if not cap.isOpened():
    print("Didn't receive video feed")
    quit()


red = np.zeros((HEIGHT,WIDTH,3), np.uint8)
cv2.rectangle(red, (0, 0), (WIDTH, HEIGHT), (0, 0, 255), thickness=-1)
cv2.namedWindow("window", cv2.WND_PROP_FULLSCREEN)
cv2.setWindowProperty("window",cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN)

blood = 1.0
shoot_box_width = 0


while True:
    ret, frame = cap.read()
    if ret == False:
        break

    # cv2.putText(frame, "yoyo",
    #     (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1.0, (0, 255, 0), 3)

    cv2.rectangle(frame, (WIDTH//2-CROSSHAIR_THICKNESS//2, HEIGHT//2-CROSSHAIR_SIZE//2), (WIDTH//2+CROSSHAIR_THICKNESS//2, HEIGHT//2+CROSSHAIR_SIZE//2), (0, 255, 0), thickness=-1)
    cv2.rectangle(frame, (WIDTH//2-CROSSHAIR_SIZE//2, HEIGHT//2-CROSSHAIR_THICKNESS//2), (WIDTH//2+CROSSHAIR_SIZE//2, HEIGHT//2+CROSSHAIR_THICKNESS//2), (0, 255, 0), thickness=-1)
    cv2.rectangle(frame, (10, HEIGHT-20), (int(WIDTH*0.30), HEIGHT-10),(0, 0, 0),thickness=-1)

    if blood > 0:
        blood -= 0.02
        frame = cv2.addWeighted( red, blood, frame, (1-blood), 0.0);



    msg =     "speed:%d:%d" % (state.get("axis1", 0), state.get("axis3", 0))
    sock.sendto(msg.encode("ascii"), sockaddr)

    if shoot and time.time() - robot_shoot_timestamp >=1:
        msg = "shoot"
        robot_shoot_timestamp = time.time()
        shoot_box_width = 0
        #cv2.rectangle(frame, (WIDTH-10, HEIGHT-10), (40, 100),(0, 0, 0),thickness=-1)
        sock.sendto(msg.encode("ascii"), sockaddr)
        shoot = False
    else:
        shoot = False

    if time.time() - robot_shoot_timestamp <=1:
        shoot_box_width += int((WIDTH*0.30)/22)
    else:
        shoot_box_width = int(WIDTH*0.30)
    cv2.rectangle(frame, (10, HEIGHT-20), (shoot_box_width, HEIGHT-10),(0, 255, 0),thickness=-1)




    cv2.imshow("window",frame)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break
    try:
       #print("got:", sock.recv(100))
        data = sock.recv(100)
        cmd = data.decode("ascii")
        #print(cmd)
        if cmd == "hit":
            robot_hit_timestamp = time.time()
            blood = 2.2




    except BlockingIOError:
        pass
       #print("nuffing")