"""
- This module saves images and a log file.
- Images are saved in a folder.
- Folder should be created manually with the name "DataCollected"
- The name of the image and the steering angle is logged
in the log file.
- Call the saveData function to start.
- Call the saveLog function to end.
- If runs independent, will save ten images as a demo.
"""

import pandas as pd
import os
import cv2
from datetime import datetime

global imgList, steeringList
countFolder = 0
count = 0
imgList = []
steeringList = []

#GET CURRENT DIRECTORY PATH
myDirectory = os.path.join(os.getcwd(), '/home/pi/robot/DataCollection/DataCollected')
print(myDirectory)

# CREATE A NEW FOLDER BASED ON THE PREVIOUS FOLDER COUNT
while os.path.exists(os.path.join(myDirectory,f'IMG{str(countFolder)}')):
        countFolder += 1
newPath = myDirectory +"/IMG"+str(countFolder)
os.makedirs(newPath)

# SAVE IMAGES IN THE FOLDER
def saveData(img,steering):
    global imgList, steeringList
    now = datetime.now()
    timestamp = str(datetime.timestamp(now)).replace('.', '')
    #print("timestamp =", timestamp)
    fileName = os.path.join(newPath,f'Image_{timestamp}.jpg')
    cv2.imwrite(fileName, img)
    imgList.append(fileName)
    steeringList.append(steering)

# SAVE LOG FILE WHEN THE SESSION ENDS
def saveLog():
    global imgList, steeringList
    rawData = {'Image': imgList,
                'Steering': steeringList}
    df = pd.DataFrame(rawData)
    df.to_csv(os.path.join(myDirectory,f'log_{str(countFolder)}.csv'), index=False, header=False)
    print('Log Saved')
    print('Total Images: ',len(imgList))

if __name__ == '__main__':
    cap = cv2.VideoCapture(1)
    for x in range(10):
        _, img = cap.read()
        saveData(img, 0.5)
        cv2.waitKey(1)
        cv2.imshow("Image", img)
    saveLog()