# KAM03.py  + Motor.py  
# 將馬達的部分抽出成為一個獨立的模組Motor.py

from Motor import MOTOR
import cv2
from pynput import keyboard
import time
from time import sleep
import os

motor= MOTOR(22,3,23,17,22,27)

input('test motor.forward() ')
#motor.testmotor()
#motor.TURN(0.4,0.4,2.0); motor.TURN(0.0,0.0,1.0) # stop motor
motor.forward() ; motor.forward() ; motor.forward() ; motor.forward()
input('test-2 motor.forward() done...')


t=0
KB=open('KB.txt','w')
break_program = True
def on_press(key):
    global break_program,t
    sp=str(key).strip("'")
    KS=str(t)+'  '+str(key).strip("'")
    print ('t=',t,'  key=',key,KS,'  sk=',str(key),break_program)
    KB.write(KS+'\n')
    if sp == 'w' and break_program:
        motor.forward()
    if sp == 's' and break_program:
        motor.backward()
    if sp == 'a' and break_program:
        motor.left()
    if sp == 'd' and break_program:
        motor.right()
    if key == keyboard.Key.f1 and break_program:
        print ('end pressed')
        break_program = False

cap = cv2.VideoCapture(0)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('KAM03.avi', fourcc, 20.0, (640, 480))
print("Press 'F1' key to stop the car.")
print("Press enter to start the car.")
listener =  keyboard.Listener(on_press=on_press)
listener.start()

input('into 1801...')
while(t < 1801 and cap.isOpened()):
    if(t%50 == 0): print(t)
    ret, frame = cap.read()
    t+=1
    if ret == True:
        out.write(frame)
        cv2.imshow('frame',frame)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break
cap.release()
out.release()
cv2.destroyAllWindows()
KB.close()