# Simple example Robot Raconteur webcam client
# This program will show a live streamed image from
# the webcams.  Because Python is a slow language
# the framerate is low...

from RobotRaconteur.Client import *

import time
import numpy
import cv2
import sys

# Function to take the data structure returned from the Webcam service
# and convert it to an OpenCV array


def webcam_image_to_mat(image):
    frame2 = image.data.reshape([image.height, image.width, 3], order='C')
    return frame2


current_frame = None


def main():

    url = 'rr+tcp://localhost:22355?service=webcam'
    if (len(sys.argv) >= 2):
        url = sys.argv[1]

    # Startup, connect, and pull out the camera from the objref
    c = RRN.ConnectService(url)

    # Connect the pipe FrameStream to get the PipeEndpoint p
    p = c.frame_stream.Connect(-1)

    # Set the callback for when a new pipe packet is received to the
    # new_frame function
    p.PacketReceivedEvent += new_frame
    # try:
    c.start_streaming()
    # except: pass

    cv2.namedWindow("Image")

    while True:
        # Just loop resetting the frame
        # This is not ideal but good enough for demonstration

        if (not current_frame is None):
            cv2.imshow("Image", current_frame)
        if cv2.waitKey(50) != -1:
            break
    cv2.destroyAllWindows()

    p.Close()
    c.stop_streaming()

# This function is called when a new pipe packet arrives


def new_frame(pipe_ep):
    global current_frame

    # Loop to get the newest frame
    while (pipe_ep.Available > 0):
        # Receive the packet
        image = pipe_ep.ReceivePacket()
        # Convert the packet to an image and set the global variable
        current_frame = webcam_image_to_mat(image)


if __name__ == '__main__':
    main()