#!/usr/bin/python
import smbus
import math
from picamera import PiCamera
import datetime as dt
import time


# Register
power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c
#IL faut mettre AFS_SEL = 2 pour mesurer sur l amplitude +/- 8g
def read_byte(reg):
    return bus.read_byte_data(address, reg)

def read_word(reg):
    h = bus.read_byte_data(address, reg)
    l = bus.read_byte_data(address, reg+1)
    value = (h << 8) + l
    return value

def read_word_2c(reg):
    val = read_word(reg)
    if (val >= 0x8000):
        return -((65535 - val) + 1)
    else:
        return val

def dist(a,b):
    return math.sqrt((a*a)+(b*b))

def get_y_rotation(x,y,z):
    radians = math.atan2(x, dist(y,z))
    return -math.degrees(radians)

def get_x_rotation(x,y,z):
    radians = math.atan2(y, dist(x,z))
    return math.degrees(radians)



#*********Initialisation capteur et communication I2C*******#


bus = smbus.SMBus(1) # bus = smbus.SMBus(0)
address = 0x68       # via i2cdetect

bus.write_byte_data(address, power_mgmt_1, 0)
bus.write_byte_data(address, 0x1c, 0x10)        #Met AFS_SEL = 2 pour mesurer l amplitude a +/- 8g


#...................Reglage camera......................#


camera = PiCamera()
camera.rotation = 0

camera.resolution = (1920, 1080)

camera.framerate = 30

camera.annotate_text_size = 60

#...................Debut du code principal*********************#

camera.start_preview()  #Activation de l affichage de ce que voit actuellement la camera


camera.start_recording('dash_record.mjpeg') #Lacement de l enregistrement du fichier

start = dt.datetime.now()

gyroscope_xout = 0
gyroscope_yout = 0
gyroscope_zout = 0

acceleration_xout = 0
acceleration_yout = 0
acceleration_zout = 0

ax0=0
ax1=0
ax2=0
ax3=0
axAv=0

ay0=0
ay1=0
ay2=0
ay3=0
ayAv=0

az0=0
az1=0
az2=0
az3=0
azAv=0



while ((dt.datetime.now() - start).seconds <900) and (abs(axAv) <1.15) and (abs(ayAv) <1.15) and (abs(azAv) <1.15):   #Nous sortons de la boucle si le temps d enregistrement depasse 15min ou si la valeur absolue de acceleration moyenne $
        camera.annotate_text = dt.datetime.now().strftime('%d-%m-%Y    %H:%M:%S')       #Nous ecrivons la date et l heure sur le fichier video

        gyroscope_xout = read_word_2c(0x43)/131
        gyroscope_yout = read_word_2c(0x45)/131
        gyroscope_zout = read_word_2c(0x47)/131

        acceleration_xout = read_word_2c(0x3b)/4096.0   #Le 1/4096.0 est un coefficient correcteur a appliquer lorsque nous travaillons en +/-  8g
        acceleration_yout = read_word_2c(0x3d)/4096.0
        acceleration_zout = read_word_2c(0x3f)/4096.0

        axAv = (ax0+ax1+ax2+ax3+acceleration_xout)/5.0
        ayAv = (ay0+ay1+ay2+ay3+acceleration_yout)/5.0
        azAv = (az0+az1+az2+az3+acceleration_zout)/5.0

        ax0=ax1
        ax1=ax2
        ax2=ax3
        ax3=acceleration_xout

        ay0=ay1
        ay1=ay2
        ay2=ay3
        ay3=acceleration_yout


        az0=az1
        az1=az2
        az2=az3
        az3=acceleration_zout



camera.stop_recording()
camera.stop_preview()



if (abs(axAv) <5) or (abs(ayAv) <5) or (abs(azAv) <5):
        print "%s" %dt.datetime.now().strftime('%d-%m-%Y    %H:%M:%S')
        print "\n gyroscope_xout: ", ("%5d" % gyroscope_xout), " en_degrees_par_seconde: ", (gyroscope_xout)
        print "\n gyroscope_yout: ", ("%5d" % gyroscope_yout), " en_degrees_par_seconde: ", (gyroscope_yout)
        print "\n gyroscope_zout: ", ("%5d" % gyroscope_zout), " en_degrees_par_seconde: ", (gyroscope_zout)
        print "\n acceleration_xout: ", ("%6d" % acceleration_xout), " en_g: ", axAv
        print "\n acceleration_yout: ", ("%6d" % acceleration_yout), " en_g: ", ayAv
        print "\n acceleration_zout: ", ("%6d" % acceleration_zout), " en_g: ", azAv

#!/bin/bash
a=0
while ((a!=1))
do
        python IOT_Project.py > IOT_Project.txt
        sudo chmod 777 IOT_Project.txt
        sudo chmod 444 dash_record.mjpeg

        python IOT_Project1.py > IOT_Project1.txt
        sudo chmod 777 IOT_Project1.txt
        sudo chmod 444 dash_record1.mjpeg

        python IOT_Project2.py > IOT_Project2.txt
        sudo chmod 777 IOT_Project2.txt
        sudo chmod 444 dash_record2.mjpeg

        python IOT_Project3.py > IOT_Project3.txt
        sudo chmod 777 IOT_Project3.txt
        sudo chmod 444 dash_record3.mjpeg
done
exit 0