#!

/usr/bin/env python
# coding: utf-8

# In[37]:

import numpy as np
import cv2
import time
import math
import imutils
from imutils.video import FileVideoStream, VideoStream
import keyboard
from pynput.keyboard import Key, Controller
#keyboard=Controller()
import numpy as np

# In[38]:

size_height = 600
size_width = 600
last = 0 #last extreme of steer
chng = 3 #change in last, to remove small changes fulucations
chngt = 3 #to restart change to 0, if moved towards centre by some value

COLOR_RED = (0, 0, 255)

COLOR_BLACK = (0, 0, 0)

THRESH_ACTION = 60 # t

def get_centroid(bbox): #center point of rectangle

x, y, w, h = bbox
centx = (2*x+w)//2
centy = (2*y+h)//2
return (centx, centy)

def draw_circle(frame, center, radius=THRESH_ACTION, color=COLOR_BLACK,

thickness=3):
cv2.circle(frame, center, radius, color, thickness)

def drawbox(ret, bbox, frame): #draws rectangle from bbox

global q
if ret:
#Tracking Success
p1 = (int(bbox[0]), int(bbox[1]))
p2 = (int(bbox[0] + bbox[2]), int(bbox[1] + bbox[3]))
cv2.rectangle(frame, p1, p2, (255,0,0), 2, 1)

if p1[0] < 10: #quits program if taken hand to left top corner
q = True # quit

# In[39]:
color = {"blue":(255,0,0), "red":(0,0,255), "green":(0,255,0), "white":
(255,255,255)}

def detect_center(img, hand):

# convert image to gray-scale

# drawing rectangle around the feature and labeling it
(x, y, w, h) = [int(v) for v in hand]
# cv2.rectangle(img, (x,y), (x+w, y+h), color['green'], 2) #uncomment if you
want to see face boundary
cv2.circle(img, ((2*x+w)//2,(2*y+h)//2), 2, color['green'], 2)
hand = ((2*x+w)//2,(2*y+h)//2)
return img, hand
#cord value will be decided by uh by assigning the cirle on screen
def draw_controller_left(img, cords):
size = 40
#x1 = cords[0] - size
y1 = cords[1] - size
#x2 = cords[0] + size
y2 = cords[1] + size
cv2.circle(img, cords, size, color['blue'],2)
return (y1,y2)

def draw_controller_right(img, cords):

size = 40
x1 = cords[0] - size
#y1 = cords[1] - size
x2 = cords[0] + size
#y2 = cords[1] + size
cv2.circle(img, cords, size, color['red'], 2)
return (x1,x2)

def keyboard_events_l(lcord,cord_left, cmd):

try:
#x1,x2 = cord_right
y1,y2 = cord_left
xl,yl=lcord
#xr,yr=rcord
except Exception as e:
print(e)
return
#if xr < x1:
# cmd = "left"
#elif(xr > x2):
# cmd = "right"
if(yl<y1):
cmd = "w"
elif(yl > y2):
cmd = "s"
if cmd:
print("Detected movement: ", cmd, "\n")
#if cmd=="left":
# keyboard.press(cmd)
#elif cmd=="right":
# keyboard.press(cmd)
keyboard.press(cmd)

#keyboard.press(cmd)
return cmd
def keyboard_events_r(rcord,cord_right, cmd2):
try:
x1,x2 = cord_right
#y1,y2 = cord_left
#xl,yl=lcord
xr,yr=rcord
except Exception as e:
print(e)
return
if xr < x1:
cmd2 = "a"
elif(xr > x2):
cmd2 = "d"
#elif(yl<y1):
# cmd = "up"
#elif(yl > y2):
# cmd = "down"
if cmd2:
print("Detected another movement: ", cmd2, "\n")
keyboard.press(cmd2)
#elif cmd=="up":
# keyboard.press(cmd2)
#elif cmd=="down":
# keyboard.press(cmd2)

#keyboard.press(cmd)
return cmd2

def reset_press_flag(lcord,rcord,cord_left,cord_right,cmd,cmd2):
try:
x1,x2 = cord_right
y1,y2 = cord_left
xl,yl=lcord
xr,yr=rcord
#xc, yc = nose_cords
except:
return True,cmd,cmd2
if x1<xr<x2 or y1<yl<y2:
if x1<xr<x2 and (cmd2!=None and cmd2!=""):
keyboard.release(cmd2)
if y1<yl<y2 and (cmd!=None and cmd!=""):
keyboard.release(cmd)
if x1<xr<x2 and y1<yl<y2:
#keyboard.release(cmd)
return True,None,None
elif x1<xr<x2:
return True,cmd,None
elif y1<yl<y2:
return True,None,cmd2
return False,cmd,cmd2

def get_frame(): # to get frame by reading fvs, init fvs first

res,frame = fvs.read()
if frame is None:
raise Exception("Frame Not Found")
return
frame = cv2.flip(frame, 1)
 frame = imutils.resize(frame, width=size_width, height=size_height)
return frame

# In[40]:

fvs = cv2.VideoCapture(0) #0 for web cam

time.sleep(2.0) #to allow web cam to open

TIMER_SETUP = 3 # timer for capturing base image

t = time.time()

while True:
frame = get_frame()
curr = (time.time() - t)
if curr > TIMER_SETUP:
break
cv2.putText(frame, str(int(TIMER_SETUP - curr)+1), (225,255),
cv2.FONT_HERSHEY_SIMPLEX, 1.5, COLOR_RED, 4)
cv2.imshow("Setup", frame)
cv2.waitKey(1)

FRAME = frame.copy()
cv2.destroyAllWindows()

#Make box around hand

frame = FRAME.copy()
cv2.putText(frame, 'Select Left Hand for steering', (30,30),
cv2.FONT_HERSHEY_SIMPLEX, 0.75, COLOR_RED, 2)
bboxleft = cv2.selectROI(frame, False) # bounding box for left hand

frame = FRAME.copy()
cv2.putText(frame, 'Select Right Hand for acceleration', (30,30),
cv2.FONT_HERSHEY_SIMPLEX, 0.75, COLOR_RED, 2)
bboxright = cv2.selectROI(frame, False) # bounding box for right hand

#centleft = get_centroid(bboxleft)
#centright = get_centroid(bboxright)

#draw_circle(frame, centleft) # circle, outside this movements will happend

#draw_circle(frame, centright)

BBL, BBR = bboxleft, bboxright # saving it for later

cv2.destroyAllWindows()
#fvs.release()

# In[41]:

#BBR
'''
cv2.destroyAllWindows()

'''
# In[ ]:

# In[42]:

#fvs = cv2.VideoCapture(0) #0 for web cam

#time.sleep(2.0)

bboxleft, bboxright = BBL, BBR

# Creating the CSRT Tracker

trackerleft = cv2.TrackerCSRT_create() # left hand for steering
trackerright = cv2.TrackerCSRT_create() # right hand for acceleration (acc)

# Initialize tracker with first frame and bounding box

trackerleft.init(FRAME, bboxleft)
trackerright.init(FRAME, bboxright)

#cv2.putText(frame.copy(), 'Put both your hands in Postion', (100,70), \

cv2.FONT_HERSHEY_SIMPLEX, 0.75, COLOR_BLACK, 2

press_flag = False
cmd = ""
cmd2= ""

while True:
frame = get_frame()
#if curr > TIMER_SETUP or frame is None:
# break
#cv2.putText(frame, str(int(TIMER_SETUP - curr)+1), (225,255),
cv2.FONT_HERSHEY_SIMPLEX, 1.5, COLOR_RED, 4)
if BBL is not None:
# grab the new bounding box coordinates of the object
(success, box) = trackerleft.update(frame)
(success1, box1) = trackerright.update(frame)
# check to see if the tracking was a success
if success:
(x, y, w, h) = [int(v) for v in box]
cv2.rectangle(frame, (x, y), (x + w, y + h),
(0, 255, 0), 2)
(a,b,c,d)= [int(f) for f in box1]
cv2.rectangle(frame, (a, b), (a + c, b + d),
(0, 255, 0), 2)

#cv2.putText(img, cmd, (10,50), cv2.FONT_HERSHEY_SIMPLEX, 1, color['red'],

1, cv2.LINE_AA)
frame,lcord=detect_center(frame,box)
frame,rcord=detect_center(frame,box1)
#print("detect_center func called...")
#draw boundary circle
cord_left = draw_controller_left(frame, (110,189) )
cord_right = draw_controller_right(frame, (479,189) )
#print("circle draw done")
 if press_flag and (cmd==None or cmd==""):
#print("calling keyboard event")
cmd = keyboard_events_l(lcord,cord_left, cmd)

if press_flag and (cmd2==None or cmd2==""):

cmd2= keyboard_events_r(rcord,cord_right, cmd2)

press_flag,cmd,cmd2 =
reset_press_flag(lcord,rcord,cord_left,cord_right,cmd,cmd2)
#print("press flag: ",press_flag)

# Writing processed image in a new window

cv2.imshow("Tracking", frame)
if cv2.waitKey(1)==13:
break

cv2.destroyAllWindows()
fvs.release()

# In[43]:

#fvs.release()

# In[44]:

#BBL