import threading
import time
from abc import abstractmethod

import cv2
import numpy as np

from gdx import gdx


class DataWorker(threading.Thread):
    def __init__(self):
        threading.Thread.__init__(self)
        self._running = False
        self._start_time = 0

    @abstractmethod
    def preprocess(self):
        pass

    @abstractmethod
    def read(self):
        pass

    @abstractmethod
    def postprocess(self):
        pass

    def run(self):
        self.preprocess()
        self._running = True
        self._data = np.array([tuple([0] * (self._num_channels + 1))])
        self._start_time = time.perf_counter()
        while self._running:
            measurements = self.read()
            current_time = time.perf_counter() - self._start_time
            measurements.insert(0, current_time)
            if len(measurements) == self._num_channels + 1:
                self._data = np.vstack([self._data, measurements])
            # print(measurements)

    def stop(self):
        self._running = False
        self.join(1.0)
        self.postprocess()
        self._data = self._data[1:, :]


class GoDirectWorker(DataWorker):
    def __init__(self):
        super().__init__()
        # Connect GoDirect device
        self._gdx = gdx.gdx()
        self._gdx.open(connection="usb")
        self._gdx.select_sensors([1])
        self._num_channels = 1
        print("GoDirect connected.")

    def preprocess(self):
        self._gdx.start(50)

    def read(self):
        return self._gdx.read()

    def postprocess(self):
        self._gdx.stop()
        self._gdx.close()


if __name__ == "__main__":
    win_name = "measurement"
    cv2.namedWindow(win_name, cv2.WINDOW_NORMAL)
    display_width = 800
    display_height = 600

    godirect_worker = GoDirectWorker()
    godirect_worker.start()

    # Wait for stop
    print("measurement start.")
    while True:
        disp = np.zeros((display_height, display_width, 3), np.uint8)
        cv2.imshow(win_name, disp)
        if cv2.waitKey(30) == 27:
            break

    # input("Press ENTER to stop")
    print("measurement end.")

    # Closing
    godirect_worker.stop()