import sensor, image, time, lcd
from pyb import UART,Timer,LED

sensor.reset()#初始化摄像头
sensor.set_pixformat(sensor.RGB565)#设置彩图
sensor.set_framesize(sensor.QVGA)#设置图像像素为QVGA
sensor.skip_frames(1)#里面如果是数字就是跳过几帧，如果是time=1000就是跳过1s的帧数  # 等待设置生效 "设置跳帧成功，如果卡摄像头将这句话注释"
sensor.set_auto_gain(False)#关闭自动增益
sensor.set_auto_whitebal(False)#关闭白平衡
clock = time.clock()#记录帧率
lcd.init()#初始化LCE屏幕
uart = UART(3,115200,8,None,1)#初始化串口
#============================================================
LEDR = LED(1)
LEDG = LED(2)
LEDB = LED(3)

data = []#一个列表
left_roi= [0,0,260,200]#设置了一个感兴趣区，如果框不住请调整 160宽度是最小的，但是不建议

'''
#交通灯的阈值（经过曝光处理）主要使用这个阈值
red_threshold_01 = (29, 100, 38, 96, 20, 63)
green_threshold_01 = (29, 91, -96, -18, 19, 67)
yellow_threshold_01 = (34, 100, -31, 42, 48, 84)
'''

FlagOK = 0
colorFlag = 0
yellow_threshold_01 = (34, 100, -31, 42, 48, 84)
green_threshold_01 = (29, 91, -96, -18, 19, 67)

#===================================================================================================
#UART发送函数
def USART_Send(src,length):
    for i in range(length):
        uart.writechar(src[i])
#===================================================================================================
#二维码识别函数#
def qrcode_check(srcbuf):
    global FlagOK
    if(FlagOK == 1):

        LEDB.on()
        time.sleep_ms(50)
        LEDB.off()

#        img.lens_corr(1.8)
        for qrcode in img.find_qrcodes():
            print(qrcode)
            FlagOK = 0
            qr_Tab = qrcode.payload()
            uart.writechar(0x55)
            uart.writechar(0x02)
            uart.writechar(0x92)
            uart.writechar(0x01)
            uart.writechar(len(qr_Tab))
            for qrdata in qr_Tab:
                uart.writechar(ord(qrdata))
            uart.writechar(0xBB)
    if(FlagOK == 2):
        FlagOK = 0
#===================================================================================================
#交通灯识别函数
def colorfind(srcbuf):
    global colorFlag

    if(colorFlag == 1):#==================

        LEDR.on()
        time.sleep_ms(50)
        LEDR.off()

        #看参数根据距离更改   ,x_stride =5,y_stride=5  增加识别的速度   软件复位：machine.reset()
        # pixels_threshold=30  最小的色块
        # area_threshold=30  最小边界框区域
        # merge=True 合并色块
        # margin=2 合并的时候边界距离

        yellow = img.find_blobs([yellow_threshold_01],roi=left_roi,x_stride =5,y_stride=5, pixels_threshold=30, area_threshold=30, merge=True, margin=2)
        green  = img.find_blobs([green_threshold_01] ,roi=left_roi,x_stride =5,y_stride=5, pixels_threshold=30, area_threshold=30, merge=True, margin=2)

        if yellow:
            LEDB.off()
            LEDR.on()
            LEDG.on()
            LEDR.off()
            LEDG.off()
            uart.writechar(0x55)
            uart.writechar(0x0E)
            uart.writechar(0x02)
            uart.writechar(0x03)
            uart.writechar(0x00)
            uart.writechar(0x00)
            uart.writechar(0x05)
            uart.writechar(0xBB)
            print("发送黄色")
            colorFlag = 0

        elif green:
            LEDB.off()
            LEDG.on()
            LEDG.off()
            uart.writechar(0x55)
            uart.writechar(0x0E)
            uart.writechar(0x02)
            uart.writechar(0x02)
            uart.writechar(0x00)
            uart.writechar(0x00)
            uart.writechar(0x04)
            uart.writechar(0xBB)
            print("发送绿色")
            colorFlag = 0

        else :
            LEDR.on()
            LEDG.off()
            LEDB.off()
            uart.writechar(0x55)
            uart.writechar(0x0E)
            uart.writechar(0x02)
            uart.writechar(0x01)
            uart.writechar(0x00)
            uart.writechar(0x00)
            uart.writechar(0x03)
            uart.writechar(0xBB)
            print("发送红色")
            colorFlag = 0

    if(colorFlag == 2):
        colorFlag = 0
#===================================================================================================
print("准备进入主循环")
#55 02 92 01 00 00 00 BB 二维码识别串口协议
#55 02 91 01 00 00 00 BB 交通灯识别串口协议
####################################################################################################
while(True):
#    LEDB.on()
    img = sensor.snapshot()# 拍一张照片并返回图像。
    #.lens_corr(1.8)       #如果二维码识别不到把注释去掉
    img.draw_rectangle( left_roi, color=(255,0,0))
    if(uart.any()):
        print("收到串口发送的数据")
        data = uart.read(8)
        print(data)
        if(len(data) >= 8):

            if((data[0] == 0x55)&(data[1] == 0x02)& (data[2] == 0x92) & (data[7] == 0xBB)):
                    if(data[3] == 0x01):
                        if(FlagOK == 0):
                            FlagOK = 1
                            print("开始识别二维码")
                            sensor.set_auto_exposure(True)#这里设置自动曝光

                    if(data[3] == 0x02):
                        print("停止QR识别")
                        FlagOK = 2
                                                                                         #主循环函数
####################################################################################################
            if((data[0] == 0x55)&(data[1] == 0x02)& (data[2] == 0x91) & (data[7] == 0xBB)):
                    if(data[3] == 0x01):
                        if(colorFlag == 0):
                            colorFlag = 1
                            print("开始识别颜色")
                            sensor.set_auto_exposure(False, 1000)#这里设置曝光时间

                    if(data[3] == 0x02):
                        print("停止颜色识别")
                        colorFlag = 2

                                                                                         #主循环函数
#===================================================================================================

    lcd.display(img)
    qrcode_check(data)
    colorfind(data)

                                                                                           #重点循环
#===================================================================================================