import detect
import sort
import timeit
import cv2
from imutils.video import FPS
calibration_width = 0.75
image = "img7.jpg"
images = ("img.jpg", "img2.jpg", "img3.jpg", "img4.jpg", "img5.jpg", "img6.jpg", "img7.jpg", "img8.jpg")
#images = ("img.jpg", "img2.jpg")
video = False
def go():
    for file in images:
        items,output = detect.detect(calibration_width, file, True, True)
        print(str(items))
        if "Penny" in items:
            items.remove("Penny")
            itema = items[0]
            valid = True
            for item in items:
                if item != itema:
                    print("Too many items!")
                    valid = False
                    break
            if valid:
                print("Found " + itema)
                bin = sort.sort(itema)

if not video:
	elapsed_time = timeit.timeit(go, number=1)/1
	print(elapsed_time)

else :
    #tcp capture = cv2.VideoCapture('udpsrc port=5001  ! gdpdepay !  rtph264depay ! avdec_h264 ! videoconvert ! videorate ! video/x-raw,framerate=5/1 ! appsink', cv2.CAP_GSTREAMER)
    capture = cv2.VideoCapture('udpsrc port=9000 caps="application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264" ! rtph264depay ! avdec_h264 ! videoconvert ! appsink sync=false', cv2.CAP_GSTREAMER)
    
    # server command for imx135 camera ./video2stdout | gst-launch-1.0 -v fdsrc ! h264parse !  rtph264pay config-interval=1 pt=96 ! gdppay ! tcpserversink host=192.168.43.152 port=5001
    # server command for udp: ./video2stdout | gst-launch-1.0 -v fdsrc !  h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.43.40 port=9000
    #ret,frame = capture.read()
    #detect.detect(calibration_width, "img7.jpg", True, False)
    #detect.detect(calibration_width, frame, True, True)
    x = 0
    while True:
        ret = capture.grab()
        x+=1
        if not ret:
            print('empty frame')
            break
        #print('frame')
        if x > 1:
            ret,frame = capture.retrieve()
            list,output = detect.detect(calibration_width, frame, True, True)
            cv2.imshow('Item Sorter', output)
            x = 0
        if cv2.waitKey(1)&0xFF == ord('q'):
            break