# -*- coding: utf-8 -*-
import dash
import numpy as np
from dash.dependencies import Output, Input
import dash_core_components as dcc
import dash_html_components as html
import plotly.graph_objs as go
from wiimote_py.setup_wiimote import setup_wiimote
from PnP_py.parametros_base_wii import parametros_base_wii
from PNP_wii_func import pts_wii
from PNP_wii_func import set_wii
f, d_ij, P_ref, cop = parametros_base_wii()
wm = setup_wiimote()
wii_set = set_wii(wm, f, d_ij, P_ref, cop)
Pts = pts_wii(wm, f, d_ij, P_ref, cop, wii_set["fator_escala"],
wii_set["origem"], wii_set["ang_origem"])
t = np.arange(0.0, 2 * np.pi, 0.1)
x = 60 * np.cos(t)
y = 10 * np.sin(t)
x_max = 60
x_min = -60
y_max = 25
y_min = -25
px = np.array(Pts["x"])
py = np.array(Pts["y"])
from PnP_py.posicao_absoluta_umeyama import posicao_absoluta_umeyama
from PnP_py.Ang_Euler import Ang_Euler
from ang_vetor import ang_vetor
###############################################################################
# Paramentros base para o wiimote
###############################################################################
f, d_ij, P_ref, cop = parametros_base_wii()
a = np.array([[1], [0], [0]])
###############################################################################
# Inicio da comunicação com os periféricos
###############################################################################
wm = setup_wiimote() # conexão bluetooth com o wiimote
###############################################################################
# Aquisição de dados dos dados do wiimote : fixação da orientação do sistema
# de coordenadas global
###############################################################################
pontos = 0
while type(pontos) is int:
pontos = pontos_wiimote(
wm, cop) # adquire a leitura dos dados da camera ir do wiimote
p_inter = inter_ret(
pontos[0], pontos[1], pontos[2], pontos[3]
) # determina o ponto de intersecção dos segmentos de reta formados pelos pontos do marcador