import tkinter as tk
import numpy as np
#import random
import time
import datetime
import threading
#import Adafruit_DHT
import serial
import string
import pynmea2
import RPi.GPIO as GPIO
import smbus
from time import sleep

# Setup GPIO pins
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
# Set the servo motor pin as output pin
GPIO.setup(4,GPIO.OUT)

pwm = GPIO.PWM(4,50)
pwm.start(0)

lat=0
newdata="0l"
#pin = 4
#sensor = Adafruit_DHT.DHT22


#some MPU6050 Registers and their Address
PWR_MGMT_1   = 0x6B
SMPLRT_DIV   = 0x19
CONFIG       = 0x1A
GYRO_CONFIG  = 0x1B
INT_ENABLE   = 0x38
ACCEL_XOUT = 0x3B
ACCEL_YOUT = 0x3D
ACCEL_ZOUT = 0x3F
GYRO_XOUT  = 0x43
GYRO_YOUT  = 0x45
GYRO_ZOUT  = 0x47


bus = smbus.SMBus(1) # or bus = smbus.SMBus(0) for older version boards
Device_Address = 0x68 # MPU6050 device address
#++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
def angle(Angle):
    duty = Angle / 18 + 2
    GPIO.output(4,True)
    pwm.ChangeDutyCycle(duty)
#     sleep(1)
    GPIO.output(4,False)
#     pwm.ChangeDutyCycle(0)

def setAngle():
    angle(90)

def MPU_Init():

    #write to sample rate register
    bus.write_byte_data(Device_Address, SMPLRT_DIV, 7)

    #Write to power management register
    bus.write_byte_data(Device_Address, PWR_MGMT_1, 1)

    #Write to Configuration register
    bus.write_byte_data(Device_Address, CONFIG, 0)

    #Write to Gyro configuration register
    bus.write_byte_data(Device_Address, GYRO_CONFIG, 24)

    #Write to interrupt enable register
    bus.write_byte_data(Device_Address, INT_ENABLE, 1)

def read_raw_data(addr):
    #Accelero and Gyro value are 16-bit
        high = bus.read_byte_data(Device_Address, addr)
        low = bus.read_byte_data(Device_Address, addr+1)

        #concatenate higher and lower value
        value = ((high << 8) | low)

        #to get signed value from mpu6050
        if(value > 32768):
                value = value - 65536
        return value

MPU_Init()

def tick():
    #lat=0
    #newdata="0l"
    time2=time.strftime('%H:%M:%S')
    clock.config(text=time2)
    clock.after(200,tick)
        #------------------------------------------------------
    #Read Accelerometer raw value
    acc_x = read_raw_data(ACCEL_XOUT)
    acc_y = read_raw_data(ACCEL_YOUT)
    acc_z = read_raw_data(ACCEL_ZOUT)

    #Read Gyroscope raw value
    gyro_x = read_raw_data(GYRO_XOUT)
    gyro_y = read_raw_data(GYRO_YOUT)
    gyro_z = read_raw_data(GYRO_ZOUT)

    Ax = acc_x/16384.0
    Ay = acc_y/16384.0
    Az = acc_z/16384.0

    Gx = gyro_x/131.0
    Gy = gyro_y/131.0
    Gz = gyro_z/131.0

# Uncomment below line to see the Accelerometer and Gyroscope values
#    print ("Gx=%.2f" %Gx, u'\u00b0'+ "/s", "\tGy=%.2f" %Gy, u'\u00b0'+ "/s", "\tGz=%.2f" %Gz, u'\u00b0'+ "/s", "\tAx=%.2f g" %Ax, "\tAy=%.2f g" %Ay, "\tAz=%.2f g" %Az)

    in_min = 1
    in_max = -1
    out_min = 0
    out_max = 180

    setAngle() # Use this function to set the servo motor point

    # Convert accelerometer Y axis values from 0 to 180
    value = (Ay - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
    value = int(value)
    print(value)
    l3_display.config(text = value)#value)
    #------------------------------------------------------
        #gps = "Latitude=" + str(lat) + "and Longitude=" + str(lng)
        #print(gps)

#++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
def get_data():

    threading.Timer(5, get_data).start()

    #------------------------------------------------------
    lat=0
    lng=0
    port="/dev/ttyAMA0"
    ser=serial.Serial(port, baudrate=9600, timeout=0.5)
    dataout = pynmea2.NMEAStreamReader()
    newdata=ser.readline()
    print(newdata)
    if newdata[0:6] == "$GPRMC":
        newmsg=pynmea2.parse(newdata)
        lat=newmsg.latitude
        lng=newmsg.longitude
    l1_display.config(text =lat)
    l2_display.config(text = lng)


    #humidity, temperature = Adafruit_DHT.read_retry(sensor, pin)
    #l_display.config(text = newdata)
    #if humidity is not None and temperature is not None:
    #    print('Temp={0:0.1f}*C  Humidity={1:0.1f}%'.format(temperature, humidity))
    #    l_display.config(text = temperature)
    #else:
    #    print('Failed to get reading. Try again!')


    #return temperature



mainwindow = tk.Tk()
mainwindow.geometry('640x340')
mainwindow.title("Sensor Data Live Feed ")

clock=tk.Label(mainwindow,font=("Arial",30), bg='green',fg="white")
clock.grid(row=0, column=0, padx=10, pady=10, sticky="nsew")

l_m=tk.Label(mainwindow,text="Sensor Data ",font=("Arial",30),fg="Black")
l_m.grid(row=0,column=1, padx=10, pady=10, sticky="nsew")

l1_t=tk.Label(mainwindow, text="Latitude: ",font=("Arial",25))
l1_t.grid(row=1,column=0, padx=10, pady=10, sticky="nsew")

l1_display=tk.Label(mainwindow,font=("Arial",25),fg="red")
l1_display.grid(row=1,column=1, padx=10, pady=10, sticky="nsew")

l2_t=tk.Label(mainwindow, text="Longitude:",font=("Arial",25))
l2_t.grid(row=2,column=0, padx=10, pady=10, sticky="nsew")

l2_display=tk.Label(mainwindow,font=("Arial",25),fg="red")
l2_display.grid(row=2,column=1, padx=10, pady=10, sticky="nsew")

l3_t=tk.Label(mainwindow, text="Angle:",font=("Arial",25))
l3_t.grid(row=3,column=0, padx=10, pady=10, sticky="nsew")

l3_display=tk.Label(mainwindow,font=("Arial",25),fg="red")
l3_display.grid(row=3,column=1, padx=10, pady=10, sticky="nsew")


tick()
get_data()

mainwindow.mainloop()