import websockets
import asyncio
import numpy as np
from ultralytics import YOLO
import time
import cv2

classNames = ["person", "bicycle", "car", "motorbike", "aeroplane", "bus", "train", "truck", "boat",
              "traffic light", "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat",
              "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella",
              "handbag", "tie", "suitcase", "frisbee", "skis", "snowboard", "sports ball", "kite", "baseball bat",
              "baseball glove", "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup",
              "fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich", "orange", "broccoli",
              "carrot", "hot dog", "pizza", "donut", "cake", "chair", "sofa", "pottedplant", "bed",
              "diningtable", "toilet", "tvmonitor", "laptop", "mouse", "remote", "keyboard", "cell phone",
              "microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors",
              "teddy bear", "hair drier", "toothbrush"
              ]

model = YOLO('yolov8s.pt')  # Load an official Detect model

async def handle_connection(websocket, path):
    print(f"Connection from: {path}")
    try: 
        while True:
            raw_data = await websocket.recv()

            nparr = np.frombuffer(raw_data, np.uint8).reshape((480, 640, 3))

            # frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
            frame = cv2.cvtColor(nparr, cv2.COLOR_BGR2RGB)
            cv2.imshow("from_remote", frame)

            # Perform object detection
            results = model.track(frame, persist=True)

            for r in results:
                lines = ""
                boxes = r.boxes
                for box in boxes:
                    if box.cls[0].item() == 0 and not box.id is None:
                        # bounding box
                        id = box.id.int().cpu().tolist()
                        # x1, y1, x2, y2 = box.xyxy[0]
                        # #  2.08333 = 1/480 * 1000 or normalize, then save 4 sig-figures and cast to int
                        # #  1.5625 = 1/640 * 1000 or normalize, then save 4 sig-figures and cast to int

                        # x1, x2, y1, y2 = int(x1), int(x2), int(y1), int(y2)

                        # # put box in cam
                        # cv2.rectangle(frame, (x1, y1), (x2, y2), (255, 0, 255), 3)

                        # # class name
                        # cls = int(box.cls[0])

                        # # object details
                        # org = [x1, y1]
                        # org2 = [x1, y1+50]
                        # font = cv2.FONT_HERSHEY_SIMPLEX
                        # fontScale = 1
                        # color = (255, 0, 0)
                        # color_w = (255, 255, 255)
                        # thickness = 2

                        # cv2.putText(frame, classNames[cls], org, font, fontScale, color, thickness)
                        # cv2.putText(frame, str(id), org2, font, fontScale, color_w, thickness)

                        x1, y1, x2, y2 = box.xyxyn[0]
                        x1, y1, x2, y2 = int(x1 * 1000), int(y1 * 1000), int(x2 * 1000), int(y2 * 1000)
                        lines += f"{id} {x1}:{y1} {x2}:{y2}\n"

                # cv2.imshow('Webcam', frame)
                # if cv2.waitKey(1) == ord('q'):
                #     break

            ret = lines.encode('utf-8')

            cv2.waitKey(80)

            await websocket.send(ret)

    except websockets.exceptions.ConnectionClosed:
        print(f"Client disconnected: {path}")


if __name__ == "__main__":
    start_server = websockets.serve(handle_connection, "0.0.0.0", 6543)
    asyncio.get_event_loop().run_until_complete(start_server)

    asyncio.get_event_loop().run_forever()