import numpy as np
import cv2
from  motorm import turn
from time import sleep
from bottclr import bottclr
from RED_BOTH import RED_BOTH
from targs import targs
from targx import targx

#-------------road or floor color-------
low_rd=np.array([0,  0,   50])
upp_rd=np.array([255,20,  255])
#-------------red target @ 180 ---------
low1=np.array([170, 100,   100])
upp1=np.array([180,255,  255])
low2=np.array([0, 100,   100])
upp2=np.array([10,255,  255])
MSK=2

#********************** MAIN ************************
cap = cv2.VideoCapture(0)
cap.set(cv2.CAP_PROP_FRAME_WIDTH,640)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT,480)
sleep(2)
ret,img=cap.read()

if(1==1):
    for j in range(10):
        ret,img=cap.read()
        #bottclr(img)

        dr,lred,midl,sh,img1=RED_BOTH(img)
        print('dr,lred,sh=',dr,lred,sh)
        cv2.imshow('img1',img1)

        #boxes,h2=targs(MSK,low1,upp1,low2,upp2,img)

        #boxes,h2=targx(MSK,low1,upp1,low2,upp2,img)

        #print(j,len(boxes),boxes)
        #cv2.imshow('h2',h2)

        #cv2.imwrite('targ_red_'+str(j)+'.png',h2)
        cv2.waitKey(0)

if(1==2):
    #botclr(img)
    for j in range(10):
        ret,img=cap.read()
        floor(img)