# -- coding: utf-8 --
import time
import os
import paramiko
from scp import SCPClient
import threading
from os import abort
from pathlib import Path
from  clog import logger

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

CLOUD_COUNTS = [400000, 500000, 600000]
DEFAULT_COUNT = 300000
EXPS = [200 * 1000, 300 * 1000, 400 * 1000]
DEFAULT_EXP = 100 * 1000
PARENT_DIR_NAME = "test_2"
SAVE_DIR_NAME = ""


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)
    # 读取输出结果
    output = stdout.read().decode()
    error = stderr.read().decode()

    if output:
        logger.info(f"{output}")
    if error:
        logger.error(f"{error}")

    # 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(exp):
    start_time = time.time()
    ret = ssh_execute_command(
        host=HOST,
        port=PORT,
        username=USERNAME,
        password=PASSWORD,
        command="cd /root/app/detect-gui/ \n" +
                f"/root/miniconda3/bin/python cap.py --exp={exp}\n"
    )
    if not ret:
        return False
    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/app/detect-gui/output.jpg",
        local_path=Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME
    )
    if not ret:
        return False
    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(cloud_count):
    start_time = time.time()
    print(f"./lidar_driver {cloud_count}\n")
    ret = ssh_execute_command(
        host=HOST,
        port=PORT,
        username=USERNAME,
        password=PASSWORD,
        command="cd /root/calibration_tools \n" +
                f"./lidar_driver {cloud_count}\n"
    )
    ret = scp_get_file(
        host=HOST,
        port=PORT,
        username=USERNAME,
        password=PASSWORD,
        remote_path="/root/calibration_tools/output.ply",
        local_path=Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME
    )
    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(exp=DEFAULT_EXP, cloud_count=DEFAULT_COUNT):
    global SAVE_DIR_NAME
    print(f"曝光时间{exp}")
    print(f"点云数量：{cloud_count}")
    SAVE_DIR_NAME = f"exp_{exp}_cn_{cloud_count}"
    # 如果文件夹不存在则创建
    if not os.path.exists(Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME):
        os.makedirs(Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME)
    # 雷达线程
    t_lidar = threading.Thread(target=lidarCap, args=(cloud_count,))
    t_lidar.start()
    # 相机
    cameraCap(exp)

    # 等待雷达线程结束
    t_lidar.join()


if __name__ == '__main__':
    # 加载驱动
    ssh_execute_command(
        host=HOST,
        port=PORT,
        username=USERNAME,
        password=PASSWORD,
        command="/opt/HuarayTech/MVviewer/module/loadAllDrv.sh \n"
    )
    for cloud_count in CLOUD_COUNTS:
        logger.info("开始采集")
        cap(cloud_count = cloud_count)
        logger.info("采集完毕===========")
    for exp in EXPS:
        logger.info("开始采集")
        cap(exp = exp)
        logger.info("采集完毕===========")