from pickle import FALSE, TRUE
import sys
sys.path.append('../../../')

from API.VzenseDS_api import *
import time

camera = VzenseTofCam()


camera_count = camera.VZ_GetDeviceCount()
retry_count = 100
while camera_count==0 and retry_count > 0:
    retry_count = retry_count-1
    camera_count = camera.VZ_GetDeviceCount()
    time.sleep(1)
    print("scaning......   ",retry_count)

device_info=VzDeviceInfo()

if camera_count > 1:
    ret,device_infolist=camera.VZ_GetDeviceInfoList(camera_count)
    if ret==0:
        device_info = device_infolist[0]
        for info in device_infolist: 
            print('cam uri:  ' + str(info.uri))
    else:
        print(' failed:' + ret)  
        exit()  
elif camera_count == 1:
    ret,device_info=camera.VZ_GetDeviceInfo()
    if ret==0:
        print('cam uri:' + str(device_info.uri))
    else:
        print(' failed:' + ret)   
        exit() 
else: 
    print("there are no camera found")
    exit()

if  VzConnectStatus.Connected.value != device_info.status:
	print("connect statu:",device_info.status)  
	print("Call VZ_OpenDeviceByUri with connect status :",VzConnectStatus.Connected.value)
	exit()
else:
    print("uri: "+str(device_info.uri))
    print("alias: "+str(device_info.alias))
    print("connectStatus: "+str(device_info.status))

ret = camera.VZ_OpenDeviceByUri(device_info.uri)
if  ret == 0:
    print("open device successful")
else:
    print('VZ_OpenDeviceByUri failed: ' + str(ret))   

ret = camera.VZ_StartStream()
if  ret == 0:
    print("start stream successful")
else:
    print("VZ_StartStream failed:"+ str(ret))   

ret = camera.VZ_SetExposureControlMode()
if  ret == 0:
    print("set tofsensor to manual mode successful")
else:
    print("VZ_SetExposureControlMode failed:"+ str(ret))   

ret,frameRate = camera.VZ_GetFrameRate()
if  ret == 0:
    print("Get default frame rate:"+ str(frameRate))   
else:
    print("VZ_GetFrameRate failed:"+ str(ret))   

ret,MaxExposureTime = camera.VZ_GetManaulMaxExposureTime()
if  ret == 0:
    print("Recommended scope: 58 - "+ str(MaxExposureTime))   
else:
    print("VZ_GetManaulMaxExposureTime failed:"+ str(ret))   

ret = camera.VZ_SetExposureTime(VzSensorType.VzToFSensor,400)
if  ret == 0:
    print("Set exposure time 400 is ok")   
else:
    print("VZ_SetExposureTime failed:"+ str(ret))   

ret = camera.VZ_SetFrameRate(5)
if  ret == 0:
    print("Set frame rate 5 is ok")   
else:
    print("VZ_SetFrameRate failed:"+ str(ret))   

ret,MaxExposureTime = camera.VZ_GetManaulMaxExposureTime()
if  ret == 0:
    print("Recommended scope: 58 - "+ str(MaxExposureTime))   
else:
    print("VZ_GetManaulMaxExposureTime failed:"+ str(ret))   

ret = camera.VZ_SetExposureTime(VzSensorType.VzToFSensor,500)
if  ret == 0:
    print("Set exposure time 500 is ok")   
else:
    print("VZ_SetExposureTime failed:"+ str(ret))   
	
ret = camera.VZ_StopStream()       
if  ret == 0:
    print("stop stream successful")
else:
    print('VZ_StopStream failed: ' + str(ret))  

ret = camera.VZ_CloseDevice()     
if  ret == 0:
    print("close device successful")
else:
    print('VZ_CloseDevice failed: ' + str(ret))   

print('Test end, please reboot camera to restore the default settings')