#!/usr/bin/env python
# coding: utf-8

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import math
import time
import __common
import wiringpi
from ultralytics import YOLO
import cv2
classall={
    'apple': 1, 
    'shiliu': 1, 
    'shizi': 1, 
    'orange': 1, 
    'lemon': 2, 
    'strawberry': 2, 
    'avocado': 2, 
    'mango': 3, 
    'pear': 3, 
    'banana': 4}

def main():
    #jstep_pos = [0, 0, 0, 0, 5 / 180.0 * math.pi, 0]
    #jstep_neg = [0, 0, 0, 0, -5 / 180.0 * math.pi, 0]
    initial_position=[0,0,math.pi/2,0,math.pi/2,math.pi/18]
    down_pose=[0,0,-66,0,0,0]
    down_pose1=[0,0,-160,0,0,0]#相对初始位置而言
    up_pose=[0,0,66,0,0,0]
    up_pose1=[0,0,94,0,0,0]
    turning_pose=[218,-169,0,0,0,0]
    #going_pose[0,-30,0,0,0,0]
    going_pose=[0,-30,0,0,0,0]
    rc = jkrc.RC("10.5.5.100")
    print(rc.login())
    print(rc.power_on())
    print(rc.enable_robot())
    #运动到初始位置
    print('joint_move {}'.format(rc.joint_move(initial_position, 0, True, 0.8)))
    ret=rc.linear_move(up_pose,1,True,50)
    print(ret[0])
    wiringpi.wiringPiSetup()
    wiringpi.softPwmCreate(0,9,20)
    wiringpi.softPwmWrite(0,9)
    #识别程序
    time.sleep(2)
    model = YOLO("fruit.pt")  # 加载训练好的 YOLO 模型
    # 调用摄像头
    cap = cv2.VideoCapture(0) 
    start_time=time.time()

    timeout=5
    if not cap.isOpened():
        print("摄像头打开失败")
        return

    print("开始物体识别...")
    result = None
    while True:
        ret, frame = cap.read()
        if not ret:
            print("摄像头读取失败")
            break

        # 使用 YOLO 模型进行预测
        results = model.predict(frame)  # YOLO 模型预测
        for result in results:
            classes = result.boxes.cls
            class_names = [model.names[int(cls)] for cls in classes]
            print(f"识别到物体: {class_names}")
            break
        # 显示摄像头画面
        cv2.imshow("Camera", frame)
        if time.time()-start_time>timeout:  # 超时关闭
            print("已关闭摄像头")
            break

    cap.release()
    cv2.destroyAllWindows()
    #识别以后:假设识别出来的结果变量名是result
    allocate=classall[class_names[0]]
    print("belong to"+str(allocate))
    #下去抓：
    ret=rc.linear_move(down_pose1,1,True,50)
    print(ret[0])
    front=[-50,0,0,0,0,0]
    ret=rc.linear_move(front,1,True,50)
    print(ret[0])
    
    wiringpi.softPwmWrite(0,13)
    ret=rc.linear_move(up_pose1,1,True,50)
    print(ret[0])
    ret=rc.linear_move(turning_pose,1,True,50)
    print(ret[0])
    for i in range(int(allocate)-1):
        ret=rc.linear_move(going_pose,1,True,50)
        print(ret[0])
    ret=rc.linear_move(down_pose,1,True,50)
    print(ret[0])
    wiringpi.softPwmWrite(0,8)
    print(rc.logout())
if __name__ == '__main__':
    __common.init_env()
    import jkrc

    main()


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