import os
import time
import smbus
import numpy as np
import csv
import serial
import pynmea2
import warnings
import pytz
import datetime
import tkinter as tk
        
# from pynput import keyboard
from tkinter import ttk
from threading import Thread
from imusensor.MPU9250 import MPU9250
from imusensor.filters import kalman

from vpython import *

result = 0

root = tk.Tk()
root.geometry('300x200')
root.resizable(False,False)
root.title('Sarsıntı Butonu')

def btn(arg):
    global root
    
    def btnclck():
        global result
        if result == 0:
            result = 1
            btn1.state(['pressed'])
            btn1['text'] = 'Sarsıntı Var'
        else :
            result = 0
            btn1.state(['!pressed'])
            btn1['text'] = 'Sarsıntı Yok'
            
    btn1 = ttk.Button(
        root,
        text='Sarsıntı Yok',
        command=btnclck
    )
    
    btn1.pack(
        ipadx=50,
        ipady=50,
        expand=True
    )

# scene.x=0
# scene.y=0
# scene.witdh=600
# scene.height=600
# scene.title='MPU9250'
# 
# marrw = arrow(axis=vector(1,0,0), shaftwidth = 0.01, fixedwidth=1)
# mlbl = label(text='acc', pos=marrw.axis)
# xarrw = arrow(color=color.red, axis=vector(1,0,0), shaftwidth = 0.01, fixedwidth=1)
# label(text='x', pos=xarrw.axis)
# yarrw = arrow(color=color.green, axis=vector(0,1,0), shaftwidth = 0.01, fixedwidth=1)
# label(text='y', pos=yarrw.axis)
# zarrw = arrow(color=color.blue, axis=vector(0,0,1), shaftwidth = 0.01, fixedwidth=1)
# label(text='z', pos=zarrw.axis)

warnings.filterwarnings('ignore')
tz = pytz.timezone("Turkey")

# def on_press(key):
#     if key.char == ('d'):
#         global result
#         result = 1
#         
# def on_release(key):
#     if key.char == ('d'):
#         global result
#         result = 0
#         
# listener = keyboard.Listener(
#     on_press=on_press,
#     on_release=on_release)
# listener.start()

# def port_setup(port):
#     ser = serial.Serial(port, baudrate=9600, timeout=2)
#     return ser

# def parseGPSdata(ser):
#         keywords = ["$GPRMC","$GPGGA"]
#         gps_data = ser.readline()
#         gps_data = gps_data.decode("utf-8")
#         
#         if len(gps_data) > 5:
#             if gps_data[0:6] in keywords:
#                 gps_msg = pynmea2.parse(gps_data)
#                 lat = gps_msg.latitude
#                 lng = gps_msg.longitude
#                 today = datetime.datetime.now(tz=pytz.utc)
#                 if gps_msg.timestamp is not None:
#                     localT = datetime.datetime(today.year, today.month, today.day, gps_msg.timestamp.hour, gps_msg.timestamp.minute, gps_msg.timestamp.second, tzinfo=pytz.utc)
#                     date = localT.astimezone(tz).isoformat()
#                 else:
#                     date = today
#                 return (date,lat,lng)
#             else:
#                 return None
#         else:
#             return None

def myMainLoop():
    # gps_port = "/dev/serial0"
    # ser = port_setup(gps_port)
        
    address = 0x68
    bus = smbus.SMBus(1)
    imu = MPU9250.MPU9250(bus, address)
    imu.begin()

    imu.loadCalibDataFromFile("/home/pi/Desktop/sarsinti/calib.json")

    sensorfusion = kalman.Kalman()

    imu.readSensor()
    imu.computeOrientation()
    sensorfusion.roll = imu.roll
    sensorfusion.pitch = imu.pitch
    sensorfusion.yaw = imu.yaw

    count = 0
    currTime = time.time()

    #os.remove('/home/pi/Desktop/sarsinti/data.csv')
    f = open('/home/pi/Desktop/sarsinti/data.csv', 'w')
    writer = csv.writer(f)

    row = ['roll','pitch','date','lat','lon','result']
    writer.writerow(row)
    f.close()
    
    while True:
        try:
            imu.readSensor()
            imu.computeOrientation()
            newTime = time.time()
            dt = newTime - currTime
            currTime = newTime
            sensorfusion.computeAndUpdateRollPitchYaw(imu.AccelVals[0], imu.AccelVals[1], imu.AccelVals[2], imu.GyroVals[0], imu.GyroVals[1], imu.GyroVals[2],\
                                                      imu.MagVals[0], imu.MagVals[1], imu.MagVals[2], dt)
            
            # marrw.axis=vector(imu.AccelVals[1], imu.AccelVals[0], imu.AccelVals[2])
            # mlbl.text="{0} {1} {2}".format(imu.AccelVals[1], imu.AccelVals[0], imu.AccelVals[2])
            # mlbl.pos=marrw.axis
        
            # gps_coords = parseGPSdata(ser)
            
            row = [sensorfusion.roll, sensorfusion.pitch, result]
            f = open('/home/pi/Desktop/sarsinti/data.csv', 'a')
            writer = csv.writer(f)
            writer.writerow(row)
            f.close()
            ##print(imu.roll, imu.pitch, imu.yaw)
            print("KalmanRoll:{0} KalmanPitch:{1} KalmanYaw:{2} Result: {3}".format(sensorfusion.roll, sensorfusion.pitch, sensorfusion.yaw, result))
            
            # if gps_coords is not None:
                # row = [sensorfusion.roll, sensorfusion.pitch, gps_coords[0], gps_coords[1], gps_coords[2], result]
                # f = open('/home/pi/Desktop/sarsinti/data.csv', 'a')
                # writer = csv.writer(f)
                # writer.writerow(row)
                # f.close()
                ##print(imu.roll, imu.pitch, imu.yaw)
                # print("KalmanRoll:{0} KalmanPitch:{1} KalmanYaw:{2} DateUTC: {3} GPSLat: {4} GPSLon: {5} Result: {6}".format(sensorfusion.roll, sensorfusion.pitch, sensorfusion.yaw, gps_coords[0], gps_coords[1], gps_coords[2], result))
            
            time.sleep(0.01)
            
        except KeyboardInterrupt as e:
               f.close()
               break

if __name__ == "__main__":
    mthrd = Thread(target = myMainLoop)
    bthrd = Thread(target = btn, args=(12,))
    mthrd.start()
    bthrd.start()
    root.mainloop()