from copy import deepcopy
import threading
import time
import numpy as np
import pandas as pd
import wx

from gui.config import *
# Tvoje wxFormBuilder a grafové komponenty
from gui.design_autogenerated import MainWindow
from gui.event_handlers.measuring_window import MeasuringDialogFinal
from gui.fig_components.imu_series import ImuSeries
from gui.fig_components.position_3d import Position3D

# Tvoje NBus importy
import traceback

from modules.parsers.nbus_frame_parser import NbusFrameParser


class MainFormFinal(MainWindow):

  def __init__(self, parent):
    super().__init__(parent)
    self._df = pd.DataFrame()

    # Inicializácia grafov
    self._figComponent_pos = Position3D(self.m_panel_pos)
    self._figComponent_imu = ImuSeries(self.m_panel_imu)

    # Predvolené/ukážkové dáta pri štarte (môžeš vymazať, ak nechceš)
    dev_x, dev_y, dev_z = (
        np.array([10.0, 12.0, 11.0]),
        np.array([20.0, 21.0, 18.2]),
        np.array([30.0, 29.8, 32.2]),
    )
    self._figComponent_pos.plot(dev_x, dev_y, dev_z)

    t = np.linspace(0, 10, 1000)
    a = np.sin(t)
    w = np.cos(t)
    self._figComponent_imu.plot_acc(t, a)
    self._figComponent_imu.plot_gyr(t, w)

    # Predpokladám, že v wxFormBuilderi máš tlačidlo napr. s ID self.m_button_start
    # Ak sa volá inak, uprav si názov tohto bindu:
    if hasattr(self, "m_button_start"):
      self.m_button_start.Bind(wx.EVT_BUTTON, self.on_start_streaming)

  def m_panel_posOnUpdateUI(self, event):
    self._figComponent_pos.on_resize_cb(event)
    self._figComponent_imu.on_resize_cb(event)

  def m_bpButton_newMeasurementOnButtonClick(self, event):

    self.m_bpButton_newMeasurement.Disable()

    dialog = MeasuringDialogFinal(self)
    dialog.ShowModal()
    self._df = dialog.GetDataFrame()

    parser = NbusFrameParser(self._df)

    ref_x, ref_y, ref_z = parser.get_pos_ref(1)
    pos1_x, pos1_y, pos1_z = parser.get_pos_end(1)
    acc_time, acc_x, acc_y, acc_z = parser.get_acc(1)
    gyr_time, gyr_x, gyr_y, gyr_z = parser.get_gyr(1)


    acc_time -= acc_time[0]
    gyr_time -= gyr_time[0]
    acc_mag_enmo = np.sqrt(acc_x**2 + acc_y**2 + acc_z**2)
    gyr_mag = np.sqrt(gyr_x**2 + gyr_y**2 + gyr_z**2)

    dev_x = np.mean(pos1_x - ref_x)
    dev_y = np.mean(pos1_y - ref_y)
    dev_z = np.mean(pos1_z - ref_z)


    self._figComponent_pos.clear()
    self._figComponent_pos.plot(dev_x, dev_y, dev_z)
    print(pos1_x - ref_x,  pos1_y - ref_y, pos1_z - ref_z)
    self._figComponent_pos.update()

    self._figComponent_imu.clear()
    self._figComponent_imu.plot_acc(acc_time, acc_mag_enmo)
    self._figComponent_imu.plot_gyr(gyr_time, gyr_mag)
    self._figComponent_imu.update()





    wx.CallAfter(self.m_bpButton_newMeasurement.Enable)