#!/usr/bin/env python
from openflexure_microscope.camera.pi import StreamingCamera
from openflexure_stage import OpenFlexureStage
from openflexure_microscope import Microscope

import os
import io
import sys
import time
import numpy as np
import uuid

from PIL import Image

import unittest
from pprint import pprint

import logging, sys
logging.basicConfig(stream=sys.stderr, level=logging.INFO)

success_string = """
            /O
           | |
      _____) \\
     (__0)    \\______
    (____0)
    (____0)        EVERYTHING IS OK!
     (__o)___________
    """


class TestMicroscope(unittest.TestCase):

    def test_movement(self):
        move_distance = 500
        for axis in range(3):
            for direction in [1, -1]:
                pos_i = microscope.stage.position
                logging.debug(pos_i)

                logging.info("Moving axis {} by {}".format(axis, move_distance*direction))
                move = [0, 0, 0]
                move[axis] = move_distance*direction

                microscope.stage.move_rel(move)

                pos_f = microscope.stage.position
                diff = np.subtract(pos_f, pos_i)
                logging.debug("{} > {}".format(pos_i, pos_f))

                self.assertTrue(np.array_equal(diff, move))


if __name__ == '__main__':
    with StreamingCamera() as camera, OpenFlexureStage("/dev/ttyUSB0") as stage:

        microscope = Microscope(camera, stage)

        suites = [
            unittest.TestLoader().loadTestsFromTestCase(TestMicroscope),
        ]

        alltests = unittest.TestSuite(suites)

        result = unittest.TextTestRunner(verbosity=2).run(alltests)

        if result.wasSuccessful():
            print(success_string)

    microscope.close()