#import necessary packages 
import numpy as np
import cv2 
import serial
import time

#set constant variables
ball_detected = False
video = cv2.VideoCapture(1)
width = 960
height = 540
num = "3"
positionX = 0

#intialize microcontroller serial communication
arduino = serial.Serial(port='COM12',   baudrate=115200, timeout=.1)

#function defining serial communication
def write_read(x):
    arduino.write(bytes(x,   'utf-8'))
    time.sleep(0.05)
    data = arduino.readline()
    return   data

#program loop
while True:
    (grabbed, frame) = video.read()
    if not grabbed:
        break

    frame = cv2.resize(frame, (width, height))

#apply blur to average local values and use HSV for color detection [red]
    blur = cv2.GaussianBlur(frame, (21, 21), 0)
    hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)

    lower = [149, 163, 150]
    upper = [255, 255, 255]
    lower = np.array(lower, dtype="uint8")
    upper = np.array(upper, dtype="uint8")

    mask = cv2.inRange(hsv, lower, upper)

#outline detected color/object with circular contour
    contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)

    detections = []
    for cnt in contours:
        area = cv2.contourArea(cnt)
        if area > 100:
            (x, y), radius = cv2.minEnclosingCircle(cnt)
            center = (int(x), int(y))
            radius = int(radius)
            positionX = x
            cv2.circle(frame, center, radius, (0,255,0), 2)
            
#create visual mask and count number of pixels in mask
    output = cv2.bitwise_and(frame, hsv, mask=mask)

    no_red = cv2.countNonZero(mask)
    print(no_red)

#send serial messages based on number of pixels detected
    if int(no_red) > 1000:
        ball_detected =  True
    else:
        ball_detected = False

    cv2.imshow("output", output)

    if ball_detected:
        if positionX < (width/2)-40:
            num = "3"
        elif positionX > (width/2)+40:
            num = "4"
        else:
            if int(no_red) < 45250:
                num = "1"
            else:
                num = "2"
                write_read(num)
                time.sleep(1)
                num = "5"

        write_read(num)
    else:
        value   = write_read("3")

#close program
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

cv2.destroyAllWindows()
video.release()