import ch.psi.pshell.device.Camera as Camera
import ch.psi.pshell.imaging.RendererMode as RendererMode
import ch.psi.pshell.imaging.Calibration as Calibration
from ch.psi.pshell.imaging.Overlays import *
SIMULATION = ch.psi.pshell.imaging.FileSource
"""
img.camera.setColorMode(Camera.ColorMode.Mono)
img.camera.setDataType(Camera.DataType.UInt8)
img.camera.setGrabMode(Camera.GrabMode.Continuous)
img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate)
img.camera.setExposure(50.00)
img.camera.setAcquirePeriod(200.00)
img.camera.setGain(0.0)
img.config.rotationCrop=True


"""

img.config.rotation=0
img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight =0,0,-1,-1
img.config.setCalibration(None)

p = show_panel(img)
p.setMode(RendererMode.Fit)
ov_text = Text(Pen(java.awt.Color.GREEN.darker()), "", java.awt.Font("Verdana", java.awt.Font.PLAIN, 24), java.awt.Point(20,20))
ov_text.setFixed(True)


CC4 = (-129.9, -150)
CD5 = (129.9, -150)
CA5 = (-129.9, 150)
CF4 = (129.9, 150)

DX = 259.8
DY = 300.0

ROI_X = 470.0
ROI_Y = 470.0

def rotate(x,y, degrees):
    rotation = math.radians(degrees)
    rw, rh = img.getImage().getWidth(), img.getImage().getHeight()
    ox, oy = x - (rw / 2), y - (rh / 2)
    x = ox * math.cos(rotation) - oy * math.sin(rotation) + rw / 2;
    y = oy * math.cos(rotation) + ox * math.sin(rotation) + rh / 2;
    return x,y

p.addOverlay(ov_text)
try:
    ov_text.update("Click on the center of C4 (19) position...")
    p.refresh()
    pc4 = p.waitClick(60000)
    print pc4
    ov_text.update("Click on the center of D5 (13) position...")
    p.refresh()
    pd5 = p.waitClick(60000)
    print pd5
    ov_text.update("Click on the center of A5 (28) position...")
    p.refresh()
    pa5 = p.waitClick(60000)
    print pa5
    ov_text.update("Click on the center of F4 (04) position...")
    p.refresh()
    pf4 = p.waitClick(60000)
    print pf4      
   
    
    vc1x, vc1y, vc2x, vc2y = (pc4.x + pd5.x )/2.0, (pc4.y + pd5.y )/2.0, (pa5.x + pf4.x )/2.0, (pa5.y + pf4.y )/2.0
    hc1x, hc1y, hc2x, hc2y = (pc4.x + pa5.x )/2.0, (pc4.y + pa5.y )/2.0, (pd5.x + pf4.x )/2.0, (pd5.y + pf4.y )/2.0
    cx, cy = (vc1x + vc2x)/2, (hc1y + hc2y)/2
    
    a1 = math.degrees(math.atan((cx-vc1x)/(vc1y-cy)))
    a2 = math.degrees(math.atan((cx-vc2x)/(vc2y-cy)))
    a = (a1+a2)/2


    dy = math.hypot(vc2y - vc1y, vc2x - vc1x)
    dx = math.hypot(hc2x - hc1x, hc2y - hc1y)
    print dy, dx, cx, cy
    sx, sy = DX/dx, DY/dy 


    #Rotating center of puck
    rcx, rcy =   rotate(cx, cy, -a)  
    

    
    roi_w, roi_h = int(ROI_X / sx), int(ROI_Y / sy)
    roi_x, roi_y = int(rcx-roi_w/2), int(rcy-roi_h/2)

    print a, sx, sy, roi_w, roi_h 
    
    img.config.rotation=-a
    img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = roi_x, roi_y, roi_w, roi_h
    img.config.setCalibration(Calibration(sx, sy, -roi_w/2, -roi_h/2))
    img.config.save()
    
finally: 
    p.removeOverlay(ov_text)
    img.refresh()