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import director.applogic as app 

from director import lcmUtils 

from director import transformUtils 

from director import visualization as vis 

from director import filterUtils 

from director import drcargs 

from director.shallowCopy import shallowCopy 

from director.timercallback import TimerCallback 

from director import vtkNumpy 

from director import objectmodel as om 

import director.vtkAll as vtk 

from director.debugVis import DebugData 

import PythonQt 

from PythonQt import QtCore, QtGui 

import bot_core as lcmbotcore 

import numpy as np 

from director.simpletimer import SimpleTimer 

from director import ioUtils 

import sys 

import drc as lcmdrc 

from director.consoleapp import ConsoleApp 

class PointCloudItem(om.ObjectModelItem): 

    def __init__(self, model): 

        om.ObjectModelItem.__init__(self, 'PointCloud', om.Icons.Eye) 

        self.model = model 

        self.scalarBarWidget = None 

        self.addProperty('Color By', 0, 

                         attributes=om.PropertyAttributes(enumNames=['Solid Color'])) 

        self.addProperty('Updates Enabled', True) 

        self.addProperty('Framerate', model.targetFps, 

                         attributes=om.PropertyAttributes(decimals=0, minimum=1.0, maximum=30.0, singleStep=1, hidden=False)) 

        self.addProperty('Visible', model.visible) 

    def _onPropertyChanged(self, propertySet, propertyName): 

        om.ObjectModelItem._onPropertyChanged(self, propertySet, propertyName) 

        if propertyName == 'Updates Enabled': 

            if self.getProperty('Updates Enabled'): 

                self.model.start() 

            else: 

                self.model.stop() 

        elif propertyName == 'Visible': 

            self.model.setVisible(self.getProperty(propertyName)) 

        elif propertyName == 'Framerate': 

            self.model.setFPS(self.getProperty('Framerate')) 

        elif propertyName == 'Color By': 

            self._updateColorBy() 

        self.model.polyDataObj._renderAllViews() 

    def _updateColorBy(self): 

        arrayMap = { 

          0 : 'Solid Color' 

          } 

        colorBy = self.getProperty('Color By') 

        arrayName = arrayMap.get(colorBy) 

        self.model.polyDataObj.setProperty('Color By', arrayName) 

class PointCloudSource(TimerCallback): 

    def __init__(self, view, _PointCloudQueue): 

        self.view = view 

        self.PointCloudQueue = _PointCloudQueue 

        self.visible = True 

        self.p = vtk.vtkPolyData() 

        utime = PointCloudQueue.getPointCloudFromPointCloud(self.p) 

        self.polyDataObj = vis.PolyDataItem('pointcloud source', shallowCopy(self.p), view) 

        self.polyDataObj.actor.SetPickable(1) 

        self.polyDataObj.initialized = False 

        om.addToObjectModel(self.polyDataObj) 

        self.queue = PythonQt.dd.ddBotImageQueue(lcmUtils.getGlobalLCMThread()) 

        self.queue.init(lcmUtils.getGlobalLCMThread(), drcargs.args().config_file) 

        self.targetFps = 30 

        self.timerCallback = TimerCallback(targetFps=self.targetFps) 

        self.timerCallback.callback = self._updateSource 

        #self.timerCallback.start() 

    def start(self): 

        self.timerCallback.start() 

    def stop(self): 

        self.timerCallback.stop() 

    def setFPS(self, framerate): 

        self.targetFps = framerate 

        self.timerCallback.stop() 

        self.timerCallback.targetFps = framerate 

        self.timerCallback.start() 

    def setVisible(self, visible): 

        self.polyDataObj.setProperty('Visible', visible) 

    def _updateSource(self): 

        p = vtk.vtkPolyData() 

        utime = self.PointCloudQueue.getPointCloudFromPointCloud(p) 

        if not p.GetNumberOfPoints(): 

            return 

        sensorToLocalFused = vtk.vtkTransform() 

        self.queue.getTransform('local', 'local', utime, sensorToLocalFused) 

        p = filterUtils.transformPolyData(p,sensorToLocalFused) 

        self.polyDataObj.setPolyData(p) 

        if not self.polyDataObj.initialized: 

            self.polyDataObj.initialized = True 

def init(view): 

    global PointCloudQueue, _pointcloudItem, _pointcloudSource 

    PointCloudQueue = PythonQt.dd.ddPointCloudLCM(lcmUtils.getGlobalLCMThread()) 

    PointCloudQueue.init(lcmUtils.getGlobalLCMThread(), drcargs.args().config_file) 

    _pointcloudSource = PointCloudSource(view, PointCloudQueue) 

    _pointcloudSource.start() 

    sensorsFolder = om.getOrCreateContainer('sensors') 

    _pointcloudItem = PointCloudItem(_pointcloudSource) 

    om.addToObjectModel(_pointcloudItem, sensorsFolder) 

def startButton(): 

    view = app.getCurrentRenderView() 

    init(view) 

    _pointcloudSource.start() 

try: 

    app.addToolbarMacro('start live pointcloud', startButton) 

except AttributeError: 

    pass