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from scipy.spatial import distance as dist
from imutils import perspective
from imutils import contours
import picamera
import RPi.GPIO as GPIO
import time  
import imutils
import cv2
import numpy as np
import argparse 


GPIO.setmode(GPIO.BCM)


GPIO.setup(26, GPIO.IN)
GPIO.input(26) 
GPIO.setup(20, GPIO.OUT) 
GPIO.setup(16, GPIO.OUT)
GPIO.setup(12, GPIO.OUT)
GPIO.setup(7, GPIO.OUT)



   
while True: 
    if GPIO.input(26) == 0: 
        #LOW - Pegel
        
        # Setup the camera such that it closes
        #when we are done with it.  

        print("About take a picture")
        with picamera.PiCamera() as camera:
            camera.resolution = (1280,720)
            camera.capture("/var/www/html/Projekt/Laiserbild.jpg")
            print("Picture taken.") 
    else: 
    	#HIGH - Pegel
        
        def midpoint(ptA, ptB):
            return ((ptA[0] + ptB[0]) * 0.5, (ptA[1] + ptB[1]) * 0.5)    
        gray = cv2.imread ("/var/www/html/Projekt/Laiserbild.jpg")
       
        edged = cv2.Canny(gray, 50,100)
        edged = cv2.dilate(edged, None, iterations=1)
        edged = cv2.erode(edged, None, iterations=1)
        
        cnts = cv2.findContours(edged.copy(), cv2.RETR_EXTERNAL, 
            cv2.CHAIN_APPROX_SIMPLE)
        cnts = imutils.grab_contours (cnts)
        
        (cnts, _) = contours.sort_contours(cnts)
        colors = ((0, 0, 255), (240, 0, 159), (0, 165, 255), (255, 255, 0), (255, 0, 255))
        refObj = None 
        
        for c in cnts:
        
            if cv2.contourArea(c) > 1:
                continue
        
        box = cv2. minAreaRect (c)
        box = cv2. boxPoints (box) if imutils.is_cv2() else  cv2.boxPoints (box)
        box = np.array(box, dtype="int")
        
        box = perspective.order_points(box)
        
        cX = np.average(box[:,0])
        cY = np.average(box[:, 1])
        
        if refObj is None: 
            (tl, tr, br, bl) = box
            (tlblX, tlblY) = midpoint(tl, bl)
            (trbrX, trbrY) = midpoint (tr, br)
            
            D = dist.euclidean ((tblX, tlblY), (trbrX, trbrY))
            refObj = (box, (cX, CY), D / 0.21)
            continue
        
        orig = image.copy()
        cv2.drawContrours(orig, [box.astype("int")],-1, (0,255, 0), 2)
        cv2.drawContours(orig, [refObj[0].astype("int")], -1, (0, 255, 0), 2)
        
        refCoords = np.vstack([refObj[0], refObj[1]])
        objCoords = np.vstack([box, (cX, cY)])
        
        for ((xA, yA), (xB, yB), color) in zip(refCoords, objCoords, colors):
        
            cv2.circle(orig, (int(xA), int(yA)), 5, color, -1)
            cv2.circle(orig, (int(xB), int(yB)), 5, color, -1)
            cv2.line(orig, (int(xA), int(yA)), (int(xB), int(yB)),
                color, 2)
            
            D = dist.euclidean((xA, yA), (xB, yB)) / refObj[2]
            (mX, mY) = midpoint((xA, yA), (xB, yB))
            cv2.putText(orig, "{:.1f}in".format(D), (int(mX), int(mY - 10)),
			cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 2)
            
            if D <= 0.3:
               GPIO.output(20, GPIO.HIGH)
               GPIO.output(16, GPIO.LOW)
               GPIO.output(12, GPIO.LOW)
               GPIO.output(7, GPIO.LOW)
               
               
            elif (D > 0.3) & (D <= 0.6): 
               GPIO.output(20, GPIO.LOW)
               GPIO.output(16, GPIO.HIGH)
               GPIO.output(12, GPIO.LOW)
               GPIO.output(7, GPIO.LOW)
               
            elif (D > 0.6) & (D <= 0.9): 
               GPIO.output(20, GPIO.LOW)
               GPIO.output(16, GPIO.LOW)
               GPIO.output(12, GPIO.HIGH)
               GPIO.output(7, GPIO.LOW)
               
            elif (D > 0.9 )& (D <= 1.2): 
               GPIO.output(20, GPIO.LOW)
               GPIO.output(16, GPIO.LOW)
               GPIO.output(12, GPIO.HIGH)
               GPIO.output(7, GPIO.LOW)
               
            elif D > 1.2:  
               GPIO.output(20, GPIO.LOW)
               GPIO.output(16, GPIO.LOW)
               GPIO.output(12, GPIO.LOW)
               GPIO.output(7, GPIO.HIGH)
            
        cv2.imshow("image", gray)
        cv2.imshow("Copy", orig)
    time.sleep(0.0001)
GPIO.cleanup()