"""
WalkerGraphics
"""

import scipy
import math
import time
import tkinter
try:
    import Image
    import ImageTk
    import ImageDraw
except:
    try:
        from PIL import Image, ImageTk, ImageDraw
    except:
        raise ImportError(
            "Unable to import modules from Python Imaging Library (PIL)")


DefaultImageSize = (400, 400)

root = tkinter.Tk()
root.withdraw()


class WalkerDisplay (tkinter.Label):

    def __init__(self, walker, size=DefaultImageSize, mode='P'):
        top = tkinter.Toplevel()
        top.title('WalkerDisplay')
        tkinter.Label.__init__(self, top)
        self.size = size
        self.mode = mode
        self.walker = walker
        self.xMargin = 0.3
        self.yMargin = 0.3
        self.canvas = tkinter.Canvas(top,
                                     width=self.size[0], height=self.size[1])
        self.im = Image.new('RGB', self.size)
        self.blank = self.im.copy()
        self.draw = ImageDraw.Draw(self.im)
        if self.mode == '1':
            self.tkimage = \
                ImageTk.BitmapImage(self.im,
                                    foreground="white")
        else:
            self.tkimage = \
                ImageTk.PhotoImage(self.im)
        self.canvas.create_image(0, 0, anchor=tkinter.NW, image=self.tkimage)
        self.canvas.pack()

    def reset(self):
        self.im.paste(self.blank)

    def setTitle(self, title):
        self.master.title(title)

    def scale(self, x, y, xcenter=None):
        if xcenter:
            sx = (x - xcenter) / (self.walker.L) * (1. - 2. * self.xMargin) * self.size[0]\
                + self.size[0] / 2
        else:
            sx = x * (1. - 2. * self.xMargin) * self.size[0]
        sy = self.size[1] - \
            y * (1 - 2. * self.yMargin) * \
            self.size[1] - self.yMargin * self.size[1]
        return sx, sy

    def update(self, clear=True, sleep=0.0):
        if clear:
            self.reset()
        time.sleep(sleep)
        windowMargin = 0.1
        bodysize = 40
        footsize = 10
        windowSize = self.size[0]
        color = (255, 255, 255)
        center = windowSize / 2.
        x1, y1, z1 = self.walker.GetBodyPos()
        x2, y2, z2 = self.walker.GetStanceFootPos()
        x3, y3, z3 = self.walker.GetSwingFootPos()
        sx1, sy1 = self.scale(x1, y1, xcenter=x1)
        #sx1, sy1 = self.scale(x1, y1, xcenter=x2-0.25*self.walker.L)
        sx2, sy2 = self.scale(x2, y2, xcenter=x1)
        #sx2, sy2 = self.scale(x2, y2, xcenter=x2-0.25*self.walker.L)
        sx3, sy3 = self.scale(x3, y3, xcenter=x1)
        #sx3, sy3 = self.scale(x3, y3, xcenter=x2-0.25*self.walker.L)
        self.draw.line(((sx1, sy1),
                        (sx2, sy2)), fill='green', width=10)
        self.draw.rectangle(((sx2, sy2),
                             (sx2 + 3 * footsize, sy2 + footsize)),
                            fill='green')
        self.draw.line(((sx1, sy1),
                        (sx3, sy3)), fill='yellow', width=10)
        self.draw.rectangle(((sx3, sy3),
                             (sx3 + 3 * footsize, sy3 + footsize)),
                            fill='yellow')
        self.draw.ellipse(((sx1 - bodysize / 2, sy1 - bodysize / 2),
                           (sx1 + bodysize / 2, sy1 + bodysize / 2)), fill='blue')
        self.tkimage.paste(self.im)
        self.canvas.update()


# Copyright (C) Cornell University
# All rights reserved.
# Apache License, Version 2.0