# -*- coding:utf-8 -*-
# @Author len
# @Create 2023/11/30 11:08

import sensor, lcd, time
from machine import Timer, PWM, UART, Timer

lcd.init(freq=15000000)                 # 初始化LCD
sensor.reset()                          # 复位和初始化摄像头
sensor.set_vflip(1)                     # 将摄像头设置成后置方式（所见即所得）
sensor.set_pixformat(sensor.RGB565)     # 设置像素格式为彩色 RGB565
sensor.set_framesize(sensor.QVGA)       # 设置帧大小为 QVGA (320x240)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
sensor.set_auto_gain(0,0)
sensor.skip_frames(time = 200)          # 等待设置生效

def Servo(angle):
    '''
    说明：舵机控制函数
    功能：180度舵机：angle:-90至90 表示相应的角度
         360连续旋转度舵机：angle:-90至90 旋转方向和速度值。
        【duty】占空比值：0-100
    '''
    #PWM通过定时器配置，接到IO17引脚
    tim_pwm = Timer(Timer.TIMER0, Timer.CHANNEL0, mode=Timer.MODE_PWM)
    S1 = PWM(tim_pwm, freq=50, duty=0, pin=17)
    S1.duty((angle+90)/180*10+2.5)

Servo(25)

# 阈值和颜色标签
# thresholds = [(35, 100, 6, 127, 0, 127, "红色"),  # 红色阈值
#               (25, 100, -6, 127, 5, 43, "黄色"),  # 黄色阈值
#               (52, 100, -128, -5, 5, 127, "绿色")]  # 绿色阈值
# thresholds = [(51, 62, 33, 101, 14, 127, "红色"),  # 红色阈值
#               (39, 98, -17, 21, 17, 57, "黄色"),  # 黄色阈值
#               (44, 90, -61, -13, -3, 30, "绿色")]  # 绿色阈值
thresholds = [(43, 68, 7, 74, 1, 46, "红色"),  # 红色阈值
              (48, 100, -23, 19, 4, 55, "黄色"),  # 黄色阈值
              (40, 93, -57, -7, -8, 29, "绿色")]  # 绿色阈值
# thresholds = [(43, 68, 7, 74, 1, 46, "红色"),  # 红色阈值
#               (34, 98, -17, 50, 7, 67, "黄色"),  # 黄色阈值
#               (40, 93, -57, -7, -8, 29, "绿色")]  # 绿色阈值
# thresholds = [(43, 68, 7, 74, 1, 46, "红色"),  # 红色阈值
#                    (48, 100, -23, 19, 4, 55, "黄色"),  # 黄色阈值
#                    (40, 93, -57, -7, -8, 29, "绿色")]  # 绿色阈值

# thresholds = [
#     (193, 213, 140, 160, 119, 139, "红色"),  # 更强的红色区分
#     (40, 80, -10, 30, 20, 60, a"黄色"),  # 更强的黄色区分
#     (40, 90, -50, -10, -20, 30, "绿色")  # 保持绿色
# ]

# 初始化
results = []
start_time = time.time()

while time.time() - start_time < 3:  # 循环持续三秒
    img = sensor.snapshot()
    max_blob = None
    max_blob_size = 0
    max_blob_color = ""
    max_blob_color_index = 0

    # 找圆
    circles = img.find_circles(threshold=3500, x_margin=10, y_margin=10, r_margin=10,
                     r_min=2, r_max=100, r_step=2)

    rects = img.find_rects(threshold=3500, x_margin=10, y_margin=10, r_margin=10,
                     r_min=2, r_max=100, r_step=2)

    for index, threshold in enumerate(thresholds):
        # 查找每种颜色的色块
        blobs = img.find_blobs([threshold[:-1]], pixels_threshold=200, area_threshold=200, merge=True)
        if blobs:
            # 找到最大的色块
            blob = max(blobs, key=lambda b: b.pixels())
            if blob.pixels() > max_blob_size:
                max_blob = blob
                max_blob_size = blob.pixels()
                max_blob_color = threshold[-1]  # 颜色标签
                max_blob_color_index = index
    print("圆形：", circles)
    # 画圆
    for c in circles:
        area = (c.x() - c.r(), c.y() - c.r(), 2 * c.r(), 2 * c.r())
        img.draw_rectangle(area, color=(255, 255, 255))
    # 画矩形
    print("矩形：", rects)
    for c in rects:
        area = (c.x() - c.r(), c.y() - c.r(), 2 * c.r(), 2 * c.r())
        img.draw_rectangle(area, color=(0, 0, 0))


    # 绘制最大色块的矩形和中心十字，并输出颜色
    if max_blob:
        results.append((max_blob_color, max_blob_color_index))  # 存储识别结果
        img.draw_rectangle(max_blob[0:4])
        img.draw_cross(max_blob[5], max_blob[6])
        print("最大色块的颜色是:", max_blob_color, max_blob_color_index)
# 初始化计数字典
color_count = {}

for color, index in results:
    if (color, index) in color_count:
        color_count[(color, index)] += 1
    else:
        color_count[(color, index)] = 1

# 找出出现次数最多的颜色和下标
if color_count:
    most_common_color, most_common_index = max(color_count, key=color_count.get)
    print("出现最多的颜色:", most_common_color, "在下标位置:", most_common_index)
else:
    print("没有识别到有效的颜色块")
while True:
    pass