import cv2
import numpy as np
from flask import Flask, Response, request
import json
import time
import sys
import os


max_readings = int(sys.argv[1])
porta = sys.argv[2]
url = sys.argv[3]
arquivoSaida = sys.argv[4]

app = Flask(__name__)

def calculate_angle(reference_line, width):
    [vx, vy, _, _] = cv2.fitLine(reference_line, cv2.DIST_L2, 0, 0.01, 0.01)
    slope_reference = vy / vx

    vertical_line = np.array([[width // 2, 0], [width // 2, 100]], dtype=np.float32)
    [vx, vy, _, _] = cv2.fitLine(vertical_line, cv2.DIST_L2, 0, 0.01, 0.01)
    slope_vertical = vy / vx

    angle_radians = np.arctan((slope_reference - slope_vertical) / (1 + slope_reference * slope_vertical))
    angle_degrees = np.degrees(angle_radians)

    return angle_degrees


def detect_lines(_camera_index):
    cap = cv2.VideoCapture(_camera_index)

    readings = []
    output_folder = 'Python/Output/'

    while True:
        ret, frame = cap.read()
        if not ret:
            break

        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    
        # Defina o limite de intensidade desejado
        _, thresh = cv2.threshold(gray, 50, 255, cv2.THRESH_BINARY)  # Ajuste o valor do limite conforme necessário

        contours, _ = cv2.findContours(thresh, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)

        if contours:
            reference_line = max(contours, key=cv2.contourArea)
            angle = calculate_angle(reference_line.squeeze(), frame.shape[1])[0]

            #print(angle)

            # Adicionando o ângulo atual à lista de dados
            timestamp = time.time()
            readings.append({"timestamp": timestamp, "angle": float(angle)})

            # Mantendo apenas as últimas 10 leituras
            if len(readings) > max_readings:
                readings.pop(0)

            # Salvando os dados em formato JSON no arquivo
            if not os.path.exists(output_folder):
                os.makedirs(output_folder)

            if len(readings) == max_readings:
                try:
                    with open(output_folder + arquivoSaida, 'w') as file:
                        json.dump({'frames': readings}, file)
                except Exception as e:
                    print(f"Erro ao escrever no arquivo: {e}")

            cv2.drawContours(frame, [reference_line], -1, (0, 255, 0), 2)
            cv2.line(frame, (frame.shape[1] // 2, 0), (frame.shape[1] // 2, 100), (255, 0, 0), 2)

        cv2.imshow('Video', frame)
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break

        # Convertendo frame para JPEG e enviando via Flask
        ret, buffer = cv2.imencode('.jpg', frame)
        frame = buffer.tobytes()
        yield (b'--frame\r\n'
               b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')


@app.route('/' + url, methods=['GET'])
def video_feed():
    camera_index = int(request.args.get('camera_index'))
    return Response(detect_lines(camera_index), mimetype='multipart/x-mixed-replace; boundary=frame')

if __name__ == "__main__":
    app.run(host='0.0.0.0', port=porta)