import rospy
from std_msgs.msg import Float32MultiArray
'''
from std_msgs.msg import int32
'''

from pykinect2 import PyKinectV2
from pykinect2.PyKinectV2 import *
from pykinect2 import PyKinectRuntime

import ctypes
import _ctypes
import pygame
import sys

import numpy as np

if sys.hexversion >= 0x03000000:
    import _thread as thread
else:
    import thread

# colors for drawing different bodies
SKELETON_COLORS = [pygame.color.THECOLORS["red"],
                  pygame.color.THECOLORS["blue"],
                  pygame.color.THECOLORS["green"],
                  pygame.color.THECOLORS["orange"],
                  pygame.color.THECOLORS["purple"],
                  pygame.color.THECOLORS["yellow"],
                  pygame.color.THECOLORS["violet"]]


class BodyGameRuntime(object):
    def __init__(self):
        pygame.init()

        # Used to manage how fast the screen updates
        self._clock = pygame.time.Clock()

        # Set the width and height of the screen [width, height]
        self._infoObject = pygame.display.Info()
        self._screen = pygame.display.set_mode((self._infoObject.current_w >> 1, self._infoObject.current_h >> 1),
                                               pygame.HWSURFACE|pygame.DOUBLEBUF|pygame.RESIZABLE, 32)

        pygame.display.set_caption("Kinect for Windows v2 Body Game")

        # Loop until the user clicks the close button.
        self._done = False

        # Used to manage how fast the screen updates
        self._clock = pygame.time.Clock()

        # Kinect runtime object, we want only color and body frames
        self._kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Color | PyKinectV2.FrameSourceTypes_Body)

        # back buffer surface for getting Kinect color frames, 32bit color, width and height equal to the Kinect color frame size
        self._frame_surface = pygame.Surface((self._kinect.color_frame_desc.Width, self._kinect.color_frame_desc.Height), 0, 32)

        # here we will store skeleton data
        self._bodies = None


    def draw_body_bone(self, joints, jointPoints, color, joint0, joint1):
        joint0State = joints[joint0].TrackingState;
        joint1State = joints[joint1].TrackingState;

        # both joints are not tracked
        if (joint0State == PyKinectV2.TrackingState_NotTracked) or (joint1State == PyKinectV2.TrackingState_NotTracked):
            return

        # both joints are not *really* tracked
        if (joint0State == PyKinectV2.TrackingState_Inferred) and (joint1State == PyKinectV2.TrackingState_Inferred):
            return

        # ok, at least one is good
        start = (jointPoints[joint0].x, jointPoints[joint0].y)
        end = (jointPoints[joint1].x, jointPoints[joint1].y)
        # print "{}, {}".format(start,end)
        try:
            pygame.draw.line(self._frame_surface, color, start, end, 8)
        except: # need to catch it due to possible invalid positions (with inf)
            pass

    def draw_body(self, joints, jointPoints, color):
        # Torso
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_Head, PyKinectV2.JointType_Neck);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_Neck, PyKinectV2.JointType_SpineShoulder);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineShoulder, PyKinectV2.JointType_SpineMid);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineMid, PyKinectV2.JointType_SpineBase);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineShoulder, PyKinectV2.JointType_ShoulderRight);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineShoulder, PyKinectV2.JointType_ShoulderLeft);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineBase, PyKinectV2.JointType_HipRight);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineBase, PyKinectV2.JointType_HipLeft);

        # Right Arm
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_ShoulderRight, PyKinectV2.JointType_ElbowRight);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_ElbowRight, PyKinectV2.JointType_WristRight);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_WristRight, PyKinectV2.JointType_HandRight);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_HandRight, PyKinectV2.JointType_HandTipRight);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_WristRight, PyKinectV2.JointType_ThumbRight);

        # Left Arm
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_ShoulderLeft, PyKinectV2.JointType_ElbowLeft);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_ElbowLeft, PyKinectV2.JointType_WristLeft);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_WristLeft, PyKinectV2.JointType_HandLeft);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_HandLeft, PyKinectV2.JointType_HandTipLeft);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_WristLeft, PyKinectV2.JointType_ThumbLeft);

        # Right Leg
        '''
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_HipRight, PyKinectV2.JointType_KneeRight);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_KneeRight, PyKinectV2.JointType_AnkleRight);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_AnkleRight, PyKinectV2.JointType_FootRight);
        '''
        # Left Leg
        '''
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_HipLeft, PyKinectV2.JointType_KneeLeft);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_KneeLeft, PyKinectV2.JointType_AnkleLeft);
        self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_AnkleLeft, PyKinectV2.JointType_FootLeft);
        '''

    def draw_color_frame(self, frame, target_surface):
        target_surface.lock()
        address = self._kinect.surface_as_array(target_surface.get_buffer())
        ctypes.memmove(address, frame.ctypes.data, frame.size)
        del address
        target_surface.unlock()

    def run(self):
        # -------- Main Program Loop -----------
        while not self._done:
            # --- Main event loop
            for event in pygame.event.get(): # User did something
                if event.type == pygame.QUIT: # If user clicked close
                    self._done = True # Flag that we are done so we exit this loop

                elif event.type == pygame.VIDEORESIZE: # window resized
                    self._screen = pygame.display.set_mode(event.dict['size'],
                                               pygame.HWSURFACE|pygame.DOUBLEBUF|pygame.RESIZABLE, 32)

            # --- Game logic should go here

            # --- Getting frames and drawing
            # --- Woohoo! We've got a color frame! Let's fill out back buffer surface with frame's data
            if self._kinect.has_new_color_frame():
                frame = self._kinect.get_last_color_frame()
                self.draw_color_frame(frame, self._frame_surface)
                frame = None

            # --- Cool! We have a body frame, so can get skeletons
            if self._kinect.has_new_body_frame():
                self._bodies = self._kinect.get_last_body_frame()

            # --- draw skeletons to _frame_surface
            if self._bodies is not None:
                for i in range(0, self._kinect.max_body_count):
                    body = self._bodies.bodies[i]
                    if not body.is_tracked:
                        continue

                    joints = body.joints
                    # print "{}/".format(body)
                    # print "X:{},\nY:{},\nZ:{}/".format(joints[PyKinectV2.JointType_WristLeft].Position.x,joints[PyKinectV2.JointType_WristLeft].Position.y,joints[PyKinectV2.JointType_WristLeft].Position.z)

                    # print "Y_SpineMid{}/".format(joints[PyKinectV2.JointType_SpineShoulder].Position.y)

                    RightVal = joints[PyKinectV2.JointType_WristRight].Position.y - joints[PyKinectV2.JointType_SpineShoulder].Position.y

                    LeftVal = joints[PyKinectV2.JointType_WristLeft].Position.y - joints[PyKinectV2.JointType_SpineShoulder].Position.y

                    #Both_armsUp : OK
                    if RightVal > 0.3 and LeftVal > 0.3 :
                        print('Process5')
                        state = 5

                    #RightarmUp : x inclease
                    if RightVal > 0.3 and LeftVal < 0.3:
                        print('Process1')
                        state = 1
                    #RightarmDown :x declease
                    if RightVal < -0.3 and LeftVal > -0.3:
                        print('Process4')
                        state = 4
                    #LeftarmUp : y inclease
                    if RightVal < 0.3 and LeftVal > 0.3:
                        print('Process2')
                        state = 2
                    #LeftarmDown :y declease
                    if RightVal > -0.3 and LeftVal < -0.3:
                        print('Process3')
                        state = 3


                    # convert joint coordinates to color space
                    joint_points = self._kinect.body_joints_to_color_space(joints)
                    joint_points2 = self._kinect.body_joints_to_depth_space(joints)
                    self._sensor = ctypes.POINTER(PyKinectV2.IKinectSensor)()
                    self.draw_body(joints, joint_points, SKELETON_COLORS[i])

            # --- copy back buffer surface pixels to the screen, resize it if needed and keep aspect ratio
            # --- (screen size may be different from Kinect's color frame size)
            h_to_w = float(self._frame_surface.get_height()) / self._frame_surface.get_width()
            target_height = int(h_to_w * self._screen.get_width())
            surface_to_draw = pygame.transform.scale(self._frame_surface, (self._screen.get_width(), target_height));
            self._screen.blit(surface_to_draw, (0,0))
            surface_to_draw = None
            pygame.display.update()

            # --- Go ahead and update the screen with what we've drawn.
            pygame.display.flip()

            # --- Limit to 60 frames per second
            self._clock.tick(60)

        # Close our Kinect sensor, close the window and quit.
        self._kinect.close()
        pygame.quit()

'''
 rospy.init_node('talker')
 pub = rospy.Publisher('chatter',int32, queue_size=10)
'''

__main__ = "Kinect v2 Body Game"
game = BodyGameRuntime();
game.run();
