import cv2              # NOQA: E402
import numpy as np
import threading
import time


# # add python path of src to sys.path
# src_path = os.path.join(__file__, *(['..'] * 2))
# src_path = os.path.abspath(src_path)
# sys.path.insert(0, src_path)

from ..protos import aerial_pb2 as pb


class CaptureThread(threading.Thread):
    """
    camera capture thread
    """
    def __init__(self, cameras, msg_queue, interval, image_quality = 95):
        """init the thread"""
        threading.Thread.__init__(self)
        self.cameras = cameras
        self.msg_queue = msg_queue
        self.interval = interval
        self.image_quality = image_quality
        self.is_stop = False
    
    def stop(self):
        """stop the thread"""
        self.is_stop = True

    def run(self):
        print("CaptureThread started")
        self.next_time = time.time() + self.interval
        while not self.is_stop:
            this_time = time.time()
            if this_time > self.next_time:
                data1 = pb.ImagesMessage()
                for i in range(len(self.cameras)):
                    _, frame = self.cameras[i].read()
                    encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), self.image_quality]
                    _, encimg = cv2.imencode('.jpg', frame, encode_param)
                    if frame is not None:
                        np_array = np.asarray(encimg)  # frame 转换为numpy数组
                        byte_array = np_array.tobytes()  # numpy数组转换为byte数组
                        if i == 0:
                            data1.image1 = byte_array
                        elif i == 1:
                            data1.image2 = byte_array
                        elif i == 2:
                            data1.image3 = byte_array
                        elif i == 3:
                            data1.image4 = byte_array
                data1_str = data1.SerializeToString()

                # create protobuf message
                req = pb.RequestCommand()
                req.sys_command = pb.SysCommand.FIVE_G_COMMAND
                req.sub_command = pb.SubCommand.FIVE_G_SEND_IMAGE_SUB_COMMAND
                req.data1.length = len(data1_str)
                req.data1.data = data1_str
                # add message to queue
                self.msg_queue.put(req)
                self.next_time += self.interval
            time.sleep(0.1)
        for camera in self.cameras:
            camera.release()
        print("CaptureThread stopped")