text: # -*- coding: utf-8 -*-
  """
  bucketvision
  
  Many hands make light work!
  A multi-threaded vision pipeline example for Bit Buckets Robotics that
  looks like a bucket brigade
  
  Thanks to Igor Maculan for an mjpg streaming solution!
  https://gist.github.com/n3wtron/4624820
  
  Thanks to Tim Wilson for cleaning up some of my ugly code!
  https://github.com/timwilson235
  
  Copyright (c) 2017 - RocketRedNeck
  RocketRedNeck.com RocketRedNeck.net 
  
  RocketRedNeck and MIT Licenses 
  
  RocketRedNeck hereby grants license for others to copy and modify this source code for 
  whatever purpose other's deem worthy as long as RocketRedNeck is given credit where 
  where credit is due and you leave RocketRedNeck out of it for all other nefarious purposes. 
  
  Permission is hereby granted, free of charge, to any person obtaining a copy 
  of this software and associated documentation files (the "Software"), to deal 
  in the Software without restriction, including without limitation the rights 
  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 
  copies of the Software, and to permit persons to whom the Software is 
  furnished to do so, subject to the following conditions: 
  
  The above copyright notice and this permission notice shall be included in all 
  copies or substantial portions of the Software. 
  
  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 
  SOFTWARE. 
  **************************************************************************************************** 
  """
  
  import cv2
  import time
  import logging      # Needed if we want to see debug messages from NetworkTables
  import platform
  
  
  from networktables import NetworkTables
  
  from camera import Camera         # Camera capture 
  from processor import Processor   # Image processing 
  from server import Server         # Web server
  from framerate import FrameRate
  from bitrate import BitRate
  from cubbyhole import Cubbyhole
  
  # Instances of Manual or GRIP created pipelines (they usually require some manual manipulation
  # but basically we would pass one or more of these into one or more image processors (threads)
  # to have their respective process(frame) functions called.
  from nada import Nada
  from faces import Faces
  from gearlift import GearLift
  
  
  if (platform.system() == 'Windows'):
      roboRioAddress = '127.0.0.1'
  elif( platform.system() == 'Darwin'):
      roboRioAddress = '127.0.0.1'
  else:
      roboRioAddress = '10.41.83.2' # On competition field
  
  
  # And so it begins
  print("Starting VISION!")
  
  # To see messages from networktables, you must setup logging
  logging.basicConfig(level=logging.DEBUG)
  
  try:
      NetworkTables.setIPAddress(roboRioAddress)
      NetworkTables.setClientMode()
      NetworkTables.initialize()
      
  except ValueError as e:
      print(e)
      print("\n\n[WARNING]: BucketVision NetworkTable Not Connected!\n\n")
  
  bvTable = NetworkTables.getTable("BucketVision")
  bvTable.putString("BucketVisionState", "Starting")
  
  # Auto updating listeners from the network table
  currentCam = bvTable.getAutoUpdateValue('CurrentCam', 'frontCam') # 'frontCam' or 'rearCam'
  frontCamMode = bvTable.getAutoUpdateValue('FrontCamMode', 'faces') # 'gearLift' or 'Boiler'
  alliance = bvTable.getAutoUpdateValue('AllianceColor', 'red')   # default until chooser returns a value
  
  
  
  # NOTE: NOTE: NOTE:
  #
  # YOUR MILEAGE WILL VARY
  # The exposure values are cameras/driver dependent and have no well defined standard (i.e., non-portable)
  # Our implementation is forced to use v4l2-ctl (Linux) to make the exposure control work because our OpenCV
  # port does not seem to play well with the exposure settings (produces either no answer or causes errors depending
  # on the cameras used)
  FRONT_CAM_GEAR_EXPOSURE = 0
  FRONT_CAM_NORMAL_EXPOSURE = -1   # Camera default
  
  frontCam = Camera(name="FrontCam", src=0, width=320, height=240, 
                    exposure=FRONT_CAM_GEAR_EXPOSURE).start()
  
  while not frontCam.isRunning():
      time.sleep(0.001)
  
  print("Cameras are online!")
  
  
  # OpenCV pipelines for Front Processor
  frontPipes = {'faces'       : Faces('Faces'),
                'redBoiler'   : Nada('RedBoiler'),
                'blueBoiler'  : Nada('BlueBoiler'),
                'gearLift'    : GearLift('GearLift', bvTable)
                }
  
  frontProcessor = Processor("frontProcessor", frontCam, frontPipes['faces']).start()
  # This is just an example of a 2nd Processor
  # Note that it's OK to use the same Camera (frontCam in this case) to feed multiple Processors
  frontProc2 = Processor( "frontProc2", frontCam, frontPipes['gearLift']).start()
  
  while not frontProcessor.isRunning():
      time.sleep(0.001)
  while not frontProc2.isRunning():
      time.sleep(0.001)
      
  print("Processors are online!")
  
  
  
  # Redirect port 80 to 8080
  # keeping us legal on the field (i.e., requires 80)
  # AND eliminating the need to start this script as root
  #
  #cmd = ['sudo iptables -t nat -D PREROUTING 1']
  #call(cmd,shell=True)
  #cmd = ['sudo iptables -t nat -A PREROUTING -i eth0 -p tcp --dport 80 -j REDIRECT --to-port 8080']
  #call(cmd,shell=True)
  #cmd = ['sudo iptables -t nat -D PREROUTING 2']
  #call(cmd,shell=True)
  #cmd = ['sudo iptables -t nat -A PREROUTING -i wlan0 -p tcp --dport 80 -j REDIRECT --to-port 8080']
  #call(cmd,shell=True)
  
  # Dict maps network table entry "CurrentCam" to Processor instance
  processors = {'frontCam' : frontProcessor, 'front2' : frontProc2}
  
  
  # Final sink for processed video
  class ImgSink:
      def __init__(self):
          self.fps = FrameRate()
          self.bitrate = BitRate()
          self.cubby = Cubbyhole()
  
      # Gets frames from selected processor, 
      # displays vid in local window,
      # compresses frame to jpg buffer & hands buffer to web server.
      # Called from main thread - note, imshow can only be called from main thread or big crash!
      def show(self):
          
          theProcessor = processors[currentCam.value]                                   
          img = theProcessor.read()
              
          self.fps.start()
  
          # Write some useful info on the frame
          camFps, camUtil = theProcessor.camera.fps.get()
          procFps, procUtil = theProcessor.fps.get()
          srvFps, srvUtil = self.fps.get()
          srvBitrate = self.bitrate.get()
  
          cv2.putText(img, "{:.1f} : {:.0f}%".format(camFps, 100*camUtil), (0, 20), cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 0), 1)
          cv2.putText(img, "{:.1f} : {:.0f}%".format(procFps, 100*procUtil), (0, 40), cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 0), 1)
          cv2.putText(img, "{:.1f} : {:.0f}% : {:.2f}".format(srvFps, 100*srvUtil, srvBitrate), (0, 60), cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 0), 1)
          cv2.putText(img, currentCam.value, (0, 80), cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 0), 1)
          cv2.putText(img, theProcessor.pipeline.name, (0, 100), cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 0), 1)
          
          # Compress image to jpeg and stash in cubbyhole for webserver to grab
          _, jpg = cv2.imencode(".jpg", img, (cv2.IMWRITE_JPEG_QUALITY, 80))
          buf = bytearray(jpg)
          self.cubby.put(buf)
          
          self.bitrate.update(len(buf))      
          self.fps.stop()
  
          # Show the final image in local window and watch for keypresses.
          cv2.imshow( "Image", img)
          key = cv2.waitKey(1)
          return key
      
      # Web Server calls this to get jpeg to send
      def get(self):
          return self.cubby.get()
                  
          
  # Start web server
  imgSink = ImgSink()
  server = Server(imgSink).start()
  while not server.isRunning():
      time.sleep(0.001)
  print("Server appears online!")
  
  bvTable.putString("BucketVisionState","ONLINE")
  
  # Drop into final loop
  runTime = 0
  bvTable.putNumber("BucketVisionTime", runTime)
  nextTime = time.time() + 1.0
  
  while True:
      # Update uptime seconds
      if time.time() > nextTime :
          nextTime += 1.0
          runTime += 1.0
          bvTable.putNumber("BucketVisionTime", runTime)
  
      # Check for processor pipeline change
      if frontCamMode.value == 'gearLift' or frontCamMode.value == 'faces':
          frontCam.setExposure(FRONT_CAM_GEAR_EXPOSURE)
      elif frontCamMode.value == 'blueBoiler' or frontCamMode.value == 'redBoiler':
          frontCam.setExposure(FRONT_CAM_NORMAL_EXPOSURE)
  
      frontProcessor.setPipeline( frontPipes[frontCamMode.value])
      
      key = imgSink.show()
      
      if key == ord('x') :
          break    
      frontCam.processUserCommand(key)
          
  
  # do a bit of cleanup
  cv2.destroyAllWindows()
  
  print("Goodbye!")
  
  