# Simple Camera test -2024.1.18-

import sys
import tkinter as tk
import cv2
import Adafruit_PCA9685

from tkinter import messagebox
from PIL import Image, ImageTk

# camera read wait time
DELAY = 100

# PCA9685 initialize
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(60)

# servo adjastment
adjX = -10
adjY = 30

# system end
def kill():
    root.destroy()
    sys.exit()

# system end select
def sys_end():
    ret = messagebox.askyesno('確認', '処理を中断してシステムを終了しますか？')
    if ret:
        kill()

# x-turn servo
def sbarX(sclX):
    angleX = int(sclX)
    labelX.config(text='角度 = %d' % angleX)
    pulseX = 0 - int(angleX * 125 / 45) + 400 - adjX
#    print('X=' + str(pulseX))
    pwm.set_pwm(0, 0, pulseX)

# y-turn servo
def sbarY(sclY):
    angleY = int(sclY)
    labelY.config(text='角度 = %d' % angleY)
    pulseY = 0 - int(angleY * 83 / 30) + 400 - adjY
#    print('Y=' + str(pulseY))
    pwm.set_pwm(1, 0, pulseY)

# camera preview
def camera_job():
    global videoOut
    
    check, frame = camera.read()
    frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
    img_rotate_180 = cv2.rotate(frame, cv2.ROTATE_180)
    pil_image = Image.fromarray(img_rotate_180)
#    pil_image = Image.fromarray(frame)
    videoOut = ImageTk.PhotoImage(image=pil_image)
    canvas.create_image(0, 20, image=videoOut, anchor='nw', tag='vc')
    
    root.after(DELAY, camera_job)

# create control panel
def control_panel():
    close_btn = tk.Button(root, text='システム終了')
    close_btn.place(x=550, y=530)
    close_btn.configure(command=sys_end)
    camera_job()

# servo position reset
def servo_reset():
    valX.set(0)
    sbarX(0)
    valY.set(0)
    sbarY(0)

camera = cv2.VideoCapture(0)

root = tk.Tk()
root.geometry('680x600+100+50')
root.title('CAMERA')
canvas = tk.Canvas(root, width=640, height=700)
canvas.pack()
control_panel()

valX = tk.IntVar()
angleX = 0
valX.set(angleX)
valY = tk.IntVar()
angleY = 0
valY.set(angleY)
labelX = tk.Label(root, text='角度 = %d' % valX.get())
labelX.place(x=75, y=560)
labelY = tk.Label(root, text='角度 = %d' % valY.get())
labelY.place(x=200, y=560)
resetBtn = tk.Button(root, text='RESET')
resetBtn.place(x=300, y=533)
resetBtn.configure(command=servo_reset)

# servo position initialize (center=400) count:150-650
sbarX(angleX)
sbarY(angleY)

sldX = tk.Scale(root, label=' 水平方向回転', orient='h', from_=-45, to=45, showvalue=False, variable=valX, command=sbarX)
sldX.place(x=50, y=520)
sldY = tk.Scale(root, label=' 垂直方向回転', orient='h', from_=-30, to=30, showvalue=False, variable=valY, command=sbarY)
sldY.place(x=175, y=520)
    
root.mainloop()