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#!/usr/bin/env python3

# -*- coding: utf-8 -*-

__date__ = '2018/01/22'

import cv2

import cv2.cv as cv

import numpy as np

import tool

import serial

#import binascill

import string

'''

This is a 'hello world' test for pantilt test.

Print circle_test.pdf and put the paper close to camera.

'''

def sent(t,x,y):

    if x>320:

        yaw_angle = int(3050 - ((x-320)/320 * 3050))

    else:

        yaw_angle = int(3050 + ((320-x)/320 * 2650))

    if y<240:

        pitch_angle = int(5000 - ((240-y)/240 * 5000))

    else:

        pitch_angle = int(5000 + ((y-240)/240 * 1000))

    #t.write(bytes.fromhex(yaw_angle))

    #t.write(bytes.fromhex(pitch_angle))

    mes = bytearray([0,0,0,0,0,0,0,0,0])

    mes[0] = 0xFA

    mes[1] = 0x04

    mes[2] = 0x00

    mes[3] = yaw_angle & 0xFF

    mes[4] = (yaw_angle>>8) & 0xFF

    mes[5] = pitch_angle & 0xFF

    mes[6] = (pitch_angle>>8) & 0xFF

    mes[7] = 0x00

    mes[8] = 0xFB

    print([yaw_angle,pitch_angle])

    t.write(mes)

def func_detect_circle(frame,t):

    result = [0,0,0]

#    frame = cv2.resize(frame, (480, 360))

    b,g,r = cv2.split(frame)

    sp = frame.shape

    #480 640

    r = cv2.pyrDown(r)

    circles1 = cv2.HoughCircles(r,cv.CV_HOUGH_GRADIENT,1.2,1200,param1=250,param2=80,minRadius=30,maxRadius=0)

    if np.any(circles1):

        circles = circles1[0,:,:]

        circles = np.uint16(np.around(circles))

        for i in circles[:]:

            cv2.circle(frame, (2*i[0], 2*i[1]), 2*i[2], (0, 0, 255), 5)

            #i[0] np.uint16

            x = 0.0+2*i[0]

            y = 0.0+2*i[1]

            sent(t,x,y)

            if i[2] > result[2]:

                result = list(i)

    cv2.imshow('frame', frame)

    cv2.waitKey(1)

    #return result if sum(result) else []

    return [2*i[0], 2*i[1]] if sum(result) else []

t = serial.Serial('/dev/ttyUSB0',115200)

tool.func_tool_set_quit()

cap = cv2.VideoCapture(0)

while(True):

    ret, frame = cap.read()

    func_detect_circle(frame,t)

    #print (func_detect_circle(frame,t))

 No newline at end of file

#!/usr/bin/env python3

# -*- coding: utf-8 -*-

__date__ = '2018/01/22'

import signal

import sys

import cv2

def func_tool_quit(signum, frame):

    print("TOOL : interupt " + str(signum) + " , program terminate")

    sys.exit()

def func_tool_set_quit():

    '''

    Set Ctrl-C signal to quit.

    '''

    signal.signal(signal.SIGINT, func_tool_quit)

def func_tool_folder(file_dir, file_type):

    '''

    Return a list of a type of files in a folder.

    Args:

        file_dir: A folder to find file list.

        file_type: A type of file.

    Rerturns:

        A list of string with absolute path.

    '''

    import os

    file_list = []

    for root, dirs, files in os.walk(file_dir):

        for file in files:

            if os.path.splitext(file)[1] == "." + file_type:

                file_list.append(os.path.join(root, file))

    return file_list

def func_tool_mouth_callback_show_pix(event, x, y, a, b):

    if event == cv2.EVENT_LBUTTONDOWN:

        print("x, y, b, g, r " + str(x) + " " + str(y) + " " + str(b[y, x]))

def func_tool_set_mouth_callback_show_pix(window, mat):

    '''

    Set mouth callback for a window and a mat. Left click a pixel and consol will print [x, y, b, g, r] 

    Args:

        window: A window to set mat callback

        mat: A mat to print pixel

    '''

    cv2.setMouseCallback(window, func_tool_mouth_callback_show_pix, mat)