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import PythonQt 

from PythonQt import QtCore, QtGui, QtUiTools 

import director.objectmodel as om 

from director import lcmUtils 

from director import applogic as app 

from director.utime import getUtime 

from director.timercallback import TimerCallback 

from director import visualization as vis 

import multisense as lcmmultisense 

import numpy as np 

import math 

from time import time 

from time import sleep 

class BlackoutMonitor(object): 

    UPDATE_RATE = 5 

    AVERAGE_N = 5 

    def __init__(self, robotStateJointController, view, cameraview, mapServerSource): 

        self.robotStateJointController = robotStateJointController 

        self.view = view 

        self.cameraview = cameraview 

        self.mapServerSource = mapServerSource 

        self.lastCameraMessageTime = 0 

        self.lastScanBundleMessageTime = 0 

        self.lastBlackoutLengths = [] 

        self.lastBlackoutLength = 0 

        self.inBlackout = False 

        self.averageBlackoutLength = 0.0 

        self.txt = vis.updateText("DATA AGE: 0 sec", "Data Age Text", view=self.view) 

        self.txt.addProperty('Show Avg Duration', False) 

        self.txt.setProperty('Visible', False) 

        self.updateTimer = TimerCallback(self.UPDATE_RATE) 

        self.updateTimer.callback = self.update 

        self.updateTimer.start() 

    def update(self): 

        self.lastCameraMessageTime = self.cameraview.imageManager.queue.getCurrentImageTime('MULTISENSE_CAMERA_LEFT') 

        self.lastScanBundleMessageTime = self.mapServerSource.reader.GetLastScanBundleUTime() 

        if self.robotStateJointController.lastRobotStateMessage: 

            elapsedCam = max((self.robotStateJointController.lastRobotStateMessage.utime - self.lastCameraMessageTime) / (1000*1000), 0.0) 

            elapsedScan = max((self.robotStateJointController.lastRobotStateMessage.utime - self.lastScanBundleMessageTime) / (1000*1000), 0.0) 

            # can't be deleted, only hidden, so this is ok 

            if (self.txt.getProperty('Visible')): 

                if (self.txt.getProperty('Show Avg Duration')): 

                    textstr = "CAM  AGE: %02d sec\nSCAN AGE: %02d sec    AVG: %02d sec" % (math.floor(elapsedCam), math.floor(elapsedScan), math.floor(self.averageBlackoutLength)) 

                else: 

                    textstr = "CAM  AGE: %02d sec\nSCAN AGE: %02d sec" % (math.floor(elapsedCam), math.floor(elapsedScan)) 

                ssize = self.view.size 

                self.txt.setProperty('Text', textstr) 

                self.txt.setProperty('Position', [10, 10]) 

            # count out blackouts 

            if elapsedCam > 1.0: 

                self.inBlackout = True 

                self.lastBlackoutLength = elapsedCam 

            else: 

                if (self.inBlackout): 

                    # Don't count huge time jumps due to init 

                    if (self.lastBlackoutLength < 100000): 

                        self.lastBlackoutLengths.append(self.lastBlackoutLength) 

                    if len(self.lastBlackoutLengths) > self.AVERAGE_N: 

                        self.lastBlackoutLengths.pop(0) 

                    if len(self.lastBlackoutLengths) > 0: 

                        self.averageBlackoutLength = sum(self.lastBlackoutLengths) / float(len(self.lastBlackoutLengths)) 

                    self.inBlackout = False