# -- coding: utf-8 --
import time
import os
import paramiko
from scp import SCPClient
import threading
from os import abort 


HOST = "192.168.100.254"
PORT = 22
USERNAME = "root"
PASSWORD = "ebaina"

EXPTIME = 4500000
CLOUDPOINTS = 30 * 10000


def ssh_execute_command(host, port, username, password, command):
    ret = False
    # 创建SSH客户端
    client = paramiko.SSHClient()
    client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
    client.connect(host, port, username, password)
 
    # 执行命令
    stdin, stdout, stderr = client.exec_command(command)
    print(stdout.read().decode())
    print(stderr.read().decode())
 
    # 关闭连接
    client.close()
    return True
 

def scp_get_file(host, port, username, password, remote_path, local_path):
    ret = False
    # 创建SSH客户端
    client = paramiko.Transport((host, port))
    client.connect(username=username, password=password)
 
    # 创建SCP客户端
    scp_client = SCPClient(client)
 
    # 拉取文件
    try:
        scp_client.get(remote_path, local_path)
    except Exception as e:
        print(e)
        return False
 
    # 关闭连接
    scp_client.close()
    client.close()

    return True


def cameraCap():
    start_time = time.time() 
    ret = ssh_execute_command(
        host = HOST,
        port = PORT,
        username = USERNAME,
        password = PASSWORD,
        command = "cd /root/calibration_tools \n" +
                  "./camera_driver " + str(EXPTIME) + "\n"
    )
    end_time = time.time()  # 记录结束时间
    execution_time = end_time - start_time  # 计算执行时间
    print(f"ssh_execute_command 程序执行时间：{execution_time}秒")
    time.sleep(1) # 等待操作系统保存图像完毕
    ret = scp_get_file(
        host = HOST,
        port = PORT,
        username = USERNAME,
        password = PASSWORD,
        remote_path = "/root/calibration_tools/output.png",
        local_path = os.path.dirname(__file__) + "\\ssh_tmp\\output.png"
    )
    if not ret:
        return False
    ret = ssh_execute_command(
        host = HOST,
        port = PORT,
        username = USERNAME,
        password = PASSWORD,
        command = "cd /root/calibration_tools \n " +
                  "rm output.png \n" 
    )
    end_time = time.time()  # 记录结束时间
    execution_time = end_time - start_time  # 计算执行时间
    print(f"cameraCap 程序执行时间：{execution_time}秒")


def lidarCap():
    start_time = time.time() 
    ret = ssh_execute_command(
        host = HOST,
        port = PORT,
        username = USERNAME,
        password = PASSWORD,
        command = "cd /root/calibration_tools \n" +
                  "./lidar_driver " + str(CLOUDPOINTS) + "\n"
    )
    ret = scp_get_file(
        host = HOST,
        port = PORT,
        username = USERNAME,
        password = PASSWORD,
        remote_path = "/root/calibration_tools/output.ply",
        local_path = os.path.dirname(__file__) + ".\\ssh_tmp\\output.ply"
    )
    ret = ssh_execute_command(
        host = HOST,
        port = PORT,
        username = USERNAME,
        password = PASSWORD,
        command = "cd /root/calibration_tools \n " +
                  "rm output.ply \n" 
    )
    end_time = time.time()  # 记录结束时间
    execution_time = end_time - start_time  # 计算执行时间
    print(f"lidarCap 程序执行时间：{execution_time}秒")


def cap():

    directory = os.path.dirname(__file__) + ".\\ssh_tmp\\"
    files_and_directories = os.listdir(directory)
    for file in files_and_directories:
        file_path = os.path.join(directory, file)
        if os.path.isfile(file_path):
            os.unlink(file_path)

    t_lidar = threading.Thread(target=lidarCap)
    t_lidar.start()
    cameraCap()

    # t_camera.join()

    t_lidar.join()

if __name__ == '__main__':
    cap()