import ctypes
import math
import random

from libs3 import gstt
from libs3 import homographyp
from .tracer_common import Tracer, OnePointIterator, ProtocolError, Status
import numpy as np
from pathlib import Path


# Define point structure
class HeliosPoint(ctypes.Structure):
    # _pack_=1
    _fields_ = [('x', ctypes.c_uint16),
                ('y', ctypes.c_uint16),
                ('r', ctypes.c_uint8),
                ('g', ctypes.c_uint8),
                ('b', ctypes.c_uint8),
                ('i', ctypes.c_uint8)]


# Load and initialize library
so_path = Path(__file__).absolute().parent.joinpath("libHeliosDacAPI.so")
HeliosLib = ctypes.cdll.LoadLibrary(so_path)
numDevices = HeliosLib.OpenDevices()
print("Found ", numDevices, "Helios DACs")




class TracerHelios(Tracer):
    """A connection to a DAC."""

    def __init__(self, laser_id, PL, redis):
        self.redis = redis
        self.laser_id = laser_id
        self.PL = PL
        self.pl = [[0, 0, 0]]
        self.clientkey = self.redis.get("/clientkey").decode('ascii')
        self.xyrgb = self.xyrgb_prev = (0, 0, 0, 0, 0)
        self.intensity = 65280
        self.intred = 100
        self.intgreen = 100
        self.intblue = 100
        self.prev_x = 0
        self.prev_y = 0

        self.min_res = 0
        self.max_res = 4095

        # self.newstream = OnePointIterator()

        # "Laser point List" Point generator
        # each points is yielded : Getpoints() call n times OnePoint()
        pass

    def clip(self, number):
        return int(  self.min_res if number < self.min_res else self.max_res if number > self.max_res else number)


    def get_points_capacity(self):
        return 1000

    # def GetPoints(self, capacity):
    #     a = [2,3]
    #     return a

    def prepare(self):
        return True

    def begin(self, n, kpps):
        return True

    def get_status(self):
        """ Return  0 if not ready (playing), 1 if ready to receive new frame,-1 if communication failed """
        # va chercher dans le helios et renvoie la normalisée
        status = HeliosLib.GetStatus(0)
        if status == 0:
            return self.lstate["2"]  # playing
        if status == 1:
            return self.lstate["0"]  # ready
        if status == -1:
            return self.lstate["64"]  # no connection

    def set_status(self, status: int):
        return

    def before_loop(self):
        return True

    def write(self, points):
        frame_type = HeliosPoint * self.get_points_capacity()
        frame = frame_type()
        helios_id = 0
        points = [point for point in points]
        for i, point in enumerate(points):
            x, y, r, g, b = point
            x *= 10
            y *= 10
            x = 0 if math.isnan(x) else self.clip(x)
            y = 0 if math.isnan(y) else self.clip(y)
            frame[i] = HeliosPoint(int(x), int(y), int(r), int(g), int(b), 255)
        statusAttempts = 0
        # Make 512 attempts for DAC status to be ready. After that, just give up and try to write the frame anyway
        while (statusAttempts < 512 and HeliosLib.GetStatus(helios_id) != 1):
            statusAttempts += 1
        f = ctypes.pointer(frame)
        # int HeliosDac::WriteFrame(unsigned int devNum, unsigned int pps, std::uint8_t flags, HeliosPoint* points, unsigned int numOfPoints)
        # ret_helios = HeliosLib.WriteFrame(0, 3000, 0, f, len(frame))
        # # @todo : detect errors
        # if ret_helios != 1:
        #     print(f"ERR ]Helios DAC #{self.laser_id} returned error {ret_helios}")

    def get_warped_point(self, x, y):
        # transform in one matrix, with warp !!
        # Etherpoint all transform in one matrix, with warp !!
        np_arr = np.array([(x, y, 0)])
        laser_edh = gstt.EDH[self.laser_id]
        position = homographyp.apply(laser_edh, np_arr)
        return position[0][0], position[0][1]