MainAmpelerkennung.py

import cv2
import time
from TrafficLightDetection import *
from Serial import Serial

print('Start Capture')

# initialize serial connection
ser = Serial()

# start the video capture
camera = cv2.VideoCapture(0)

# initialize variables for traffic light detection
# loop: initial state TRUE to run the loop and FALSE to stop the loop
# traffic_light: initial state red = FALSE and green = TRUE
# emergency_counter: a counter to prevent the pink panzer form never starting
# even if no signal from the traffic light can be detected
loop = True
traffic_light = 'ps'
emergency_counter = 0

# looping while video capture is active
if (camera.isOpened()):
	while (loop):

		# if the counter reaches 500, the go siganl will be given
		# regardless of the traffic light
		if (emergency_counter < 500):

			print (traffic_light)
			
			# grab the current frame
			_, frame = camera.read()
			
			# prepare the frame for color detection
			prepped_frame = frame_prep(frame)

			# set the color for color detection and create
			# a mask by checking for red and green traffic lights
			mask = color_detection(prepped_frame, 'red')

			# find contours in the mask and initialize the current
			# (x, y) center of the ball
			contour = contour_detection(mask)
			
			# give the go-signal when a matching contour was found
			traffic_light = go_time(contour)          
			
			# stop the loop if it is go time
			if (traffic_light == 'pg'):
				print (traffic_light)
				print ('Green Light detected')
				loop = False
				
			# increase the emergency counter
			emergency_counter += 1

			cv2.imshow('frame', frame)
			cv2.imshow('prepped_frame', prepped_frame)
			cv2.imshow('mask', mask)
			if cv2.waitKey(1) & 0xFF == ord('q'):
				break

		else:
			# stop the loop if the emergency counter reaches 100
			# and set the traffic light variable accordingly                        
			traffic_light = 'pg'
			loop = False
			print (traffic_light)
			print ('Emergency Loop exeeded')

			cv2.imshow('frame', frame)
			cv2.imshow('prepped_frame', prepped_frame)
			cv2.imshow('mask', mask)
			if cv2.waitKey(1) & 0xFF == ord('q'):
				break
else:
	print('No Video Capture detected')

print ('Go Time')
camera.release()
cv2.destroyAllWindows()
ser.sendText(_, traffic_light)