import base64
import re
import sys
from datetime import datetime, timedelta
from time import sleep
from typing import List
import os
import utils
from detector import Detector

# Add the proto directory to the Python path
proto_dir = os.path.join(os.path.dirname(__file__), 'message_queue', 'proto')
if proto_dir not in sys.path:
    sys.path.append(proto_dir)
# Debug: Print the updated Python path
# print("Updated Python Path:", sys.path)
from PyQt5.QtCore import QCoreApplication, Qt
import conection
from conection import ConnectionThread
import shared_manager
from utils import manager_callback, handle_camera_status, findUsbCams
from configs import ConfigManager
from core import Core
from tracker import Tracker
from message_queue.Bridge import Bridge
from message_queue.Manager import Manager
from message_queue.proto.ImageMessage_pb2 import ImageMessage, TrackMode
from message_queue.proto.Message_pb2 import Message
from message_queue.proto.enums_pb2 import MessageType
from video_streamer.gst_video_streamer import GstVideoStreamer

config_manager = ConfigManager('config.yaml')
rtsp_links = config_manager.configs['rtsp_links'].get()
debug = config_manager.configs['debug'].get()

if __name__ == '__main__':
    QCoreApplication.setAttribute(Qt.AA_EnableHighDpiScaling)
    app = QCoreApplication(sys.argv)

    videoStreamers = []
    for idx, rtsp_link in enumerate(rtsp_links):
        videoStreamer = GstVideoStreamer(rtsp_link, [1920, 1080, 3], str(idx), fps=15)
        videoStreamer.cameraStatus.connect(handle_camera_status)
        print(f'{videoStreamer.id} connected')
        videoStreamers.append(videoStreamer)

    tracker = Tracker()
    detector = Detector(classes=[0, 2, 5, 7])

    sources = findUsbCams()
    if len(sources) >= 2:
        core = Core(sources,tracker,detector)
    else:
        core = Core(videoStreamers, tracker, detector)

    utils.core = core

    cl_ip, _ = conection.start_discovery_service(12345)
    print(cl_ip)

    shared_manager.manager = Manager(f"tcp://{cl_ip}:5558", f"tcp://{cl_ip}:5557")
    shared_manager.manager.start(manager_callback)

    def gotNewFrame(bboxes, id_, isDetection, ctime):
        #print(f"Got new frame, bboxes : {bboxes} Id: {id} Is detection {isDetection}")
        m = Message()
        m.msgType = MessageType.MESSAGE_TYPE_IMAGE
        m.image.timestamp = int(ctime.value)
        for bbox in bboxes:
            # Skip if bbox is None, doesn't have exactly 4 elements, or contains None values
            if bbox is None or len(bbox) != 4 or not all(element is not None for element in bbox):
                continue


            # Add the bounding box to the image
            box = m.image.boxes.add()
            box.x, box.y, box.w, box.h = bbox

        m.image.camType = id_
        if isDetection:
            m.image.trackMode = TrackMode.TRACK_MODE_DETECT
        else:
            m.image.trackMode = TrackMode.TRACK_MODE_TRACK
        shared_manager.manager.send_message(m.SerializeToString())

    def gotCoords(id_, coord, successful):
        m = Message()
        m.msgType = MessageType.MESSAGE_TYPE_TRACK_COORD
        m.track_coords.camType = id_
        m.track_coords.center.x = coord[0]
        m.track_coords.center.y = coord[1]
        m.track_coords.isLost = not successful
        shared_manager.manager.send_message(m.SerializeToString())

    core.newFrame.connect(gotNewFrame)
    core.coordsUpdated.connect(gotCoords)

    # Start the connection thread
    connection_thread = ConnectionThread(debug,core)
    connection_thread.start()

    try:
        app.exec_()
    except KeyboardInterrupt:
        connection_thread.stop()
        connection_thread.join()
        sys.exit(0)