import numpy as np
import cv2
Lx2=80; Ly2=60; F=8; Lx=Lx2*F; Ly=Ly2*F
X1=int(Lx2/8); XL=X1*3; XR=X1*5;

def RED2(clr,img):
    ra=1.3
    img1=np.copy(img)
    img2 = cv2.resize(img1, (Lx2,Ly2), 
           interpolation=cv2.INTER_AREA)
    Y=Ly2-1; XM=int(Lx2/2); RED=[]
    for x in range(Lx2):
        I0=img2[Y][x][0]; 
        I1=img2[Y][x][1]; 
        I2=img2[Y][x][2];
        if(clr==0 and I2>255*0.2 and I2>ra*I1 and I2>ra*I0): #RED 
            RED.append(x)
        if(clr==1 and I0<100 and I1<100 and I2<100): #BLACK Lane
            RED.append(x)
    LRED=len(RED)
    if(LRED > 0): MIDL=int(np.median(RED))
    else: MIDL=0
    img2[:,XR,:]=[0,255,255]; 
    img1[:,F*XR-1:F*XR+2,:]=[0,255,255]
    img2[:,XL,:]=[0,255,255]; 
    img1[:,F*XL-1:F*XL+2,:]=[0,255,255]
    DR=100
    #DR=1=Forward; 3=Left turn; 7=Right turn; -2=STOP
    if(LRED < 1):
        DR=-2
    else:
        if(XL <= MIDL <= XR): DR=1
        elif(MIDL < XL): 
            DR=3
        elif(MIDL > XR): 
            DR=7
    return DR,LRED,MIDL,img1,img2