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cos13.py
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cos13.py
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import cv2 as cv
import numpy as np
import time
import socket
import sys
HOST, PORT = "localhost", 50007
sibu = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sibu.connect((HOST, PORT))
try:
import Queue as Q # ver. < 3.0
except ImportError:
import queue as Q
#import pymouse
img = np.zeros((720,990,3), np.uint8)
img[:] = (255,255,255)
cv.rectangle(img,(0,180),(990,270),(105,105,105),-1)
cv.rectangle(img,(0,450),(990,540),(105,105,105),-1)
cv.rectangle(img,(180,0),(270,720),(105,105,105),-1)
cv.rectangle(img,(450,0),(540,720),(105,105,105),-1)
cv.rectangle(img,(720,0),(810,720),(105,105,105),-1)
def nothing():
pass
def drawhorline(a):
i = a
while(i<180+a):
cv.line(img,(i+5,194),(i+15,194),(255,255,255),1)
cv.line(img,(i+5,208),(i+15,208),(255,255,255),1)
cv.line(img,(i+5,240),(i+15,240),(255,255,255),1)
cv.line(img,(i+5,254),(i+15,254),(255,255,255),1)
cv.line(img,(i+5,464),(i+15,464),(255,255,255),1)
cv.line(img,(i+5,478),(i+15,478),(255,255,255),1)
cv.line(img,(i+5,510),(i+15,510),(255,255,255),1)
cv.line(img,(i+5,524),(i+15,524),(255,255,255),1)
i = i+15;
def drawverline(a):
i = a
while(i<180+a):
cv.line(img,(194,i+5),(194,i+15),(255,255,255),1)
cv.line(img,(208,i+5),(208,i+15),(255,255,255),1)
cv.line(img,(240,i+5),(240,i+15),(255,255,255),1)
cv.line(img,(254,i+5),(254,i+15),(255,255,255),1)
cv.line(img,(464,i+5),(464,i+15),(255,255,255),1)
cv.line(img,(478,i+5),(478,i+15),(255,255,255),1)
cv.line(img,(510,i+5),(510,i+15),(255,255,255),1)
cv.line(img,(524,i+5),(524,i+15),(255,255,255),1)
cv.line(img,(734,i+5),(734,i+15),(255,255,255),1)
cv.line(img,(748,i+5),(748,i+15),(255,255,255),1)
cv.line(img,(780,i+5),(780,i+15),(255,255,255),1)
cv.line(img,(794,i+5),(794,i+15),(255,255,255),1)
i = i+15;
drawhorline(0)
drawhorline(270)
drawhorline(540)
drawhorline(810)
drawverline(0)
drawverline(270)
drawverline(540)
def drawmotaline():
cv.line(img,(0,224),(180,224),(220,220,220),2)
cv.line(img,(270,224),(450,224),(220,220,220),2)
cv.line(img,(540,224),(720,224),(220,220,220),2)
cv.line(img,(810,224),(990,224),(220,220,220),2)
cv.line(img,(0,494),(180,494),(220,220,220),2)
cv.line(img,(270,494),(450,494),(220,220,220),2)
cv.line(img,(540,494),(720,494),(220,220,220),2)
cv.line(img,(810,494),(990,494),(220,220,220),2)
cv.line(img,(224,0),(224,180),(220,220,220),2)
cv.line(img,(224,270),(224,450),(220,220,220),2)
cv.line(img,(224,540),(224,720),(220,220,220),2)
cv.line(img,(494,0),(494,180),(220,220,220),2)
cv.line(img,(494,270),(494,450),(220,220,220),2)
cv.line(img,(494,540),(494,720),(220,220,220),2)
cv.line(img,(766,0),(766,180),(220,220,220),2)
cv.line(img,(766,270),(766,450),(220,220,220),2)
cv.line(img,(766,540),(766,720),(220,220,220),2)
car_exists = 0
"""startpoints =
[1,0] = lane - 3 = [0,187] dirn = 2
[1,0] = lane - 2 = [0,202] dirn = 2
[1,0] = lane - 1 = [0,217] dirn = 2
[2,0] = lane - 3 = [0,457] dirn = 2
[2,0] = lane - 2 = [0,472] dirn = 2
[2,0] = lane - 1 = [0,487] dirn = 2
[0,1] = lane - 1 = [233,0] dirn = 3
[0,1] = lane - 2 = [248,0] dirn = 3
[0,1] = lane - 3 = [263,0] dirn = 3
[0,2] = lane - 1 = [503,0] dirn = 3
[0,2] = lane - 2 = [518,0] dirn = 3
[0,2] = lane - 3 = [533,0] dirn = 3
[0,3] = lane - 1 = [773,0] dirn = 3
[0,3] = lane - 2 = [788,0] dirn = 3
[0,3] = lane - 3 = [803,0] dirn = 3
[1,4] = lane - 1 = [990,233] dirn = 4
[1,4] = lane - 2 = [990,248] dirn = 4
[1,4] = lane - 3 = [990,263] dirn = 4
[2,4] = lane - 1 = [990,503] dirn = 4
[2,4] = lane - 2 = [990,518] dirn = 4
[2,4] = lane - 3 = [990,533] dirn = 4
[3,1] = lane - 3 = [187,720] dirn = 1
[3,1] = lane - 2 = [202,720] dirn = 1
[3,1] = lane - 1 = [217,720] dirn = 1
[3,2] = lane - 3 = [457,720] dirn = 1
[3,2] = lane - 2 = [472,720] dirn = 1
[3,2] = lane - 1 = [487,720] dirn = 1
[3,3] = lane - 3 = [727,720] dirn = 1
[3,3] = lane - 2 = [742,720] dirn = 1
[3,3] = lane - 1 = [757,720] dirn = 1
endpoints
[1,0] = lane - 1 = [0,233]
[1,0] = lane - 2 = [0,248]
[1,0] = lane - 3 = [0,263]
[2,0] = lane - 1 = [0,503]
[2,0] = lane - 2 = [0,518]
[2,0] = lane - 3 = [0,533]
[0,1] = lane - 3 = [187,0]
[0,1] = lane - 2 = [202,0]
[0,1] = lane - 1 = [217,0]
[0,2] = lane - 3 = [457,0]
[0,2] = lane - 2 = [472,0]
[0,2] = lane - 1 = [487,0]
[0,3] = lane - 3 = [727,0]
[0,3] = lane - 2 = [742,0]
[0,3] = lane - 1 = [757,0]
[1,4] = lane - 3 = [990,187]
[1,4] = lane - 2 = [990,202]
[1,4] = lane - 1 = [990,217]
[2,4] = lane - 3 = [990,457]
[2,4] = lane - 2 = [990,472]
[2,4] = lane - 1 = [990,487]
[3,1] = lane - 1 = [233,720]
[3,1] = lane - 2 = [248,720]
[3,1] = lane - 3 = [263,720]
[3,2] = lane - 1 = [503,720]
[3,2] = lane - 2 = [518,720]
[3,2] = lane - 3 = [533,720]
[3,3] = lane - 1 = [773,720]
[3,3] = lane - 2 = [788,720]
[3,3] = lane - 3 = [803,720]
"""
"""
state =
forward = 1
left = 2
right = 3
laneleft = 4
laneright = 5
"""
#car_original mat = [startx,starty,endx,endy,curx,cury,state,dirn,pathmatrix,startangle,lane,lanestate]
car_mat = [[742,0,0,457,1,2,[[200,200,200,0,200],[200,3,2,1,200],[200,4,3,2,200],[200,200,200,200,200]],0,3,0,0]]
weight_hor_lr_mat = [[0,0,0,0],[0,0,0,0]]
weight_hor_rl_mat = [[0,0,0,0],[0,0,0,0]]
weight_ver_ud_mat = [[0,0,0],[0,0,0],[0,0,0]]
weight_ver_du_mat = [[0,0,0],[0,0,0],[0,0,0]]
flag = 0
def drawlights(a,b,c,d,e,f):
cv.rectangle(img,(175,180),(180,270),(105,105,105),-1)
cv.rectangle(img,(180,175),(270,180),(105,105,105),-1)
cv.rectangle(img,(270,180),(275,270),(105,105,105),-1)
cv.rectangle(img,(180,270),(270,275),(105,105,105),-1)
cv.rectangle(img,(445,180),(450,270),(105,105,105),-1)
cv.rectangle(img,(450,175),(540,180),(105,105,105),-1)
cv.rectangle(img,(540,180),(545,270),(105,105,105),-1)
cv.rectangle(img,(450,270),(540,275),(105,105,105),-1)
cv.rectangle(img,(715,180),(720,270),(105,105,105),-1)
cv.rectangle(img,(720,175),(810,180),(105,105,105),-1)
cv.rectangle(img,(810,180),(815,270),(105,105,105),-1)
cv.rectangle(img,(720,270),(810,275),(105,105,105),-1)
cv.rectangle(img,(175,450),(180,540),(105,105,105),-1)
cv.rectangle(img,(180,445),(270,450),(105,105,105),-1)
cv.rectangle(img,(270,450),(275,540),(105,105,105),-1)
cv.rectangle(img,(180,540),(270,545),(105,105,105),-1)
cv.rectangle(img,(445,450),(450,540),(105,105,105),-1)
cv.rectangle(img,(450,445),(540,450),(105,105,105),-1)
cv.rectangle(img,(540,450),(545,540),(105,105,105),-1)
cv.rectangle(img,(450,540),(540,545),(105,105,105),-1)
cv.rectangle(img,(715,450),(720,540),(105,105,105),-1)
cv.rectangle(img,(720,445),(810,450),(105,105,105),-1)
cv.rectangle(img,(810,450),(815,540),(105,105,105),-1)
cv.rectangle(img,(720,540),(810,545),(105,105,105),-1)
cv.rectangle(img,(180,180),(270,270),(105,105,105),-1)
cv.rectangle(img,(450,180),(540,270),(105,105,105),-1)
cv.rectangle(img,(720,450),(810,540),(105,105,105),-1)
cv.rectangle(img,(180,450),(270,540),(105,105,105),-1)
cv.rectangle(img,(450,450),(540,540),(105,105,105),-1)
cv.rectangle(img,(720,450),(810,540),(105,105,105),-1)
if(a == 1):
cv.rectangle(img,(233-3,175),(233+3,180),(0,0,255),-1)
cv.rectangle(img,(248-3,175),(248+3,180),(0,0,255),-1)
cv.rectangle(img,(270,233-3),(275,233+3),(0,0,255),-1)
cv.rectangle(img,(270,248-3),(275,248+3),(0,0,255),-1)
cv.rectangle(img,(202-3,270),(202+3,275),(0,0,255),-1)
cv.rectangle(img,(217-3,270),(217+3,275),(0,0,255),-1)
elif(a == 2):
cv.rectangle(img,(175,202-3),(180,202+3),(0,0,255),-1)
cv.rectangle(img,(175,217-3),(180,217+3),(0,0,255),-1)
cv.rectangle(img,(270,233-3),(275,233+3),(0,0,255),-1)
cv.rectangle(img,(270,248-3),(275,248+3),(0,0,255),-1)
cv.rectangle(img,(202-3,270),(202+3,275),(0,0,255),-1)
cv.rectangle(img,(217-3,270),(217+3,275),(0,0,255),-1)
elif(a == 3):
cv.rectangle(img,(233-3,175),(233+3,180),(0,0,255),-1)
cv.rectangle(img,(248-3,175),(248+3,180),(0,0,255),-1)
cv.rectangle(img,(175,202-3),(180,202+3),(0,0,255),-1)
cv.rectangle(img,(175,217-3),(180,217+3),(0,0,255),-1)
cv.rectangle(img,(202-3,270),(202+3,275),(0,0,255),-1)
cv.rectangle(img,(217-3,270),(217+3,275),(0,0,255),-1)
elif(a == 4):
cv.rectangle(img,(233-3,175),(233+3,180),(0,0,255),-1)
cv.rectangle(img,(248-3,175),(248+3,180),(0,0,255),-1)
cv.rectangle(img,(270,233-3),(275,233+3),(0,0,255),-1)
cv.rectangle(img,(270,248-3),(275,248+3),(0,0,255),-1)
cv.rectangle(img,(175,202-3),(180,202+3),(0,0,255),-1)
cv.rectangle(img,(175,217-3),(180,217+3),(0,0,255),-1)
if(b == 1):
cv.rectangle(img,(503-3,175),(503+3,180),(0,0,255),-1)
cv.rectangle(img,(518-3,175),(518+3,180),(0,0,255),-1)
cv.rectangle(img,(540,233-3),(545,233+3),(0,0,255),-1)
cv.rectangle(img,(540,248-3),(545,248+3),(0,0,255),-1)
cv.rectangle(img,(472-3,270),(472+3,275),(0,0,255),-1)
cv.rectangle(img,(487-3,270),(487+3,275),(0,0,255),-1)
elif(b == 2):
cv.rectangle(img,(445,202-3),(450,202+3),(0,0,255),-1)
cv.rectangle(img,(445,217-3),(450,217+3),(0,0,255),-1)
cv.rectangle(img,(540,233-3),(545,233+3),(0,0,255),-1)
cv.rectangle(img,(540,248-3),(545,248+3),(0,0,255),-1)
cv.rectangle(img,(472-3,270),(472+3,275),(0,0,255),-1)
cv.rectangle(img,(487-3,270),(487+3,275),(0,0,255),-1)
elif(b == 3):
cv.rectangle(img,(503-3,175),(503+3,180),(0,0,255),-1)
cv.rectangle(img,(518-3,175),(518+3,180),(0,0,255),-1)
cv.rectangle(img,(445,202-3),(450,202+3),(0,0,255),-1)
cv.rectangle(img,(445,217-3),(450,217+3),(0,0,255),-1)
cv.rectangle(img,(472-3,270),(472+3,275),(0,0,255),-1)
cv.rectangle(img,(487-3,270),(487+3,275),(0,0,255),-1)
elif(b == 4):
cv.rectangle(img,(503-3,175),(503+3,180),(0,0,255),-1)
cv.rectangle(img,(518-3,175),(518+3,180),(0,0,255),-1)
cv.rectangle(img,(540,233-3),(545,233+3),(0,0,255),-1)
cv.rectangle(img,(540,248-3),(545,248+3),(0,0,255),-1)
cv.rectangle(img,(445,202-3),(450,202+3),(0,0,255),-1)
cv.rectangle(img,(445,217-3),(450,217+3),(0,0,255),-1)
if(c == 1):
cv.rectangle(img,(773-3,175),(773+3,180),(0,0,255),-1)
cv.rectangle(img,(788-3,175),(788+3,180),(0,0,255),-1)
cv.rectangle(img,(810,233-3),(815,233+3),(0,0,255),-1)
cv.rectangle(img,(810,248-3),(815,248+3),(0,0,255),-1)
cv.rectangle(img,(742-3,270),(742+3,275),(0,0,255),-1)
cv.rectangle(img,(757-3,270),(757+3,275),(0,0,255),-1)
elif(c == 2):
cv.rectangle(img,(715,202-3),(720,202+3),(0,0,255),-1)
cv.rectangle(img,(715,217-3),(720,217+3),(0,0,255),-1)
cv.rectangle(img,(810,233-3),(815,233+3),(0,0,255),-1)
cv.rectangle(img,(810,248-3),(815,248+3),(0,0,255),-1)
cv.rectangle(img,(742-3,270),(742+3,275),(0,0,255),-1)
cv.rectangle(img,(757-3,270),(757+3,275),(0,0,255),-1)
elif(c == 3):
cv.rectangle(img,(773-3,175),(773+3,180),(0,0,255),-1)
cv.rectangle(img,(788-3,175),(788+3,180),(0,0,255),-1)
cv.rectangle(img,(715,202-3),(720,202+3),(0,0,255),-1)
cv.rectangle(img,(715,217-3),(720,217+3),(0,0,255),-1)
cv.rectangle(img,(742-3,270),(742+3,275),(0,0,255),-1)
cv.rectangle(img,(757-3,270),(757+3,275),(0,0,255),-1)
elif(c == 4):
cv.rectangle(img,(773-3,175),(773+3,180),(0,0,255),-1)
cv.rectangle(img,(788-3,175),(788+3,180),(0,0,255),-1)
cv.rectangle(img,(810,233-3),(815,233+3),(0,0,255),-1)
cv.rectangle(img,(810,248-3),(815,248+3),(0,0,255),-1)
cv.rectangle(img,(715,202-3),(720,202+3),(0,0,255),-1)
cv.rectangle(img,(715,217-3),(720,217+3),(0,0,255),-1)
if(d == 1):
cv.rectangle(img,(233-3,445),(233+3,450),(0,0,255),-1)
cv.rectangle(img,(248-3,445),(248+3,450),(0,0,255),-1)
cv.rectangle(img,(270,503-3),(275,503+3),(0,0,255),-1)
cv.rectangle(img,(270,518-3),(275,518+3),(0,0,255),-1)
cv.rectangle(img,(202-3,540),(202+3,545),(0,0,255),-1)
cv.rectangle(img,(217-3,540),(217+3,545),(0,0,255),-1)
elif(d == 2):
cv.rectangle(img,(175,472-3),(180,472+3),(0,0,255),-1)
cv.rectangle(img,(175,488-3),(180,488+3),(0,0,255),-1)
cv.rectangle(img,(270,503-3),(275,503+3),(0,0,255),-1)
cv.rectangle(img,(270,518-3),(275,518+3),(0,0,255),-1)
cv.rectangle(img,(202-3,540),(202+3,545),(0,0,255),-1)
cv.rectangle(img,(217-3,540),(217+3,545),(0,0,255),-1)
elif(d == 3):
cv.rectangle(img,(233-3,445),(233+3,450),(0,0,255),-1)
cv.rectangle(img,(248-3,445),(248+3,450),(0,0,255),-1)
cv.rectangle(img,(175,472-3),(180,472+3),(0,0,255),-1)
cv.rectangle(img,(175,488-3),(180,488+3),(0,0,255),-1)
cv.rectangle(img,(202-3,540),(202+3,545),(0,0,255),-1)
cv.rectangle(img,(217-3,540),(217+3,545),(0,0,255),-1)
elif(d == 4):
cv.rectangle(img,(233-3,445),(233+3,450),(0,0,255),-1)
cv.rectangle(img,(248-3,445),(248+3,450),(0,0,255),-1)
cv.rectangle(img,(270,503-3),(275,503+3),(0,0,255),-1)
cv.rectangle(img,(270,518-3),(275,518+3),(0,0,255),-1)
cv.rectangle(img,(175,472-3),(180,472+3),(0,0,255),-1)
cv.rectangle(img,(175,488-3),(180,488+3),(0,0,255),-1)
if(e == 1):
cv.rectangle(img,(503-3,445),(503+3,450),(0,0,255),-1)
cv.rectangle(img,(518-3,445),(518+3,450),(0,0,255),-1)
cv.rectangle(img,(540,503-3),(545,503+3),(0,0,255),-1)
cv.rectangle(img,(540,518-3),(545,518+3),(0,0,255),-1)
cv.rectangle(img,(472-3,540),(472+3,545),(0,0,255),-1)
cv.rectangle(img,(487-3,540),(487+3,545),(0,0,255),-1)
elif(e == 2):
cv.rectangle(img,(445,472-3),(450,472+3),(0,0,255),-1)
cv.rectangle(img,(445,488-3),(450,488+3),(0,0,255),-1)
cv.rectangle(img,(540,503-3),(545,503+3),(0,0,255),-1)
cv.rectangle(img,(540,518-3),(545,518+3),(0,0,255),-1)
cv.rectangle(img,(472-3,540),(472+3,545),(0,0,255),-1)
cv.rectangle(img,(487-3,540),(487+3,545),(0,0,255),-1)
elif(e == 3):
cv.rectangle(img,(503-3,445),(503+3,450),(0,0,255),-1)
cv.rectangle(img,(518-3,445),(518+3,450),(0,0,255),-1)
cv.rectangle(img,(445,472-3),(450,472+3),(0,0,255),-1)
cv.rectangle(img,(445,488-3),(450,488+3),(0,0,255),-1)
cv.rectangle(img,(472-3,540),(472+3,545),(0,0,255),-1)
cv.rectangle(img,(487-3,540),(487+3,545),(0,0,255),-1)
elif(e == 4):
cv.rectangle(img,(503-3,445),(503+3,450),(0,0,255),-1)
cv.rectangle(img,(518-3,445),(518+3,450),(0,0,255),-1)
cv.rectangle(img,(540,503-3),(545,503+3),(0,0,255),-1)
cv.rectangle(img,(540,518-3),(545,518+3),(0,0,255),-1)
cv.rectangle(img,(445,472-3),(450,472+3),(0,0,255),-1)
cv.rectangle(img,(445,488-3),(450,488+3),(0,0,255),-1)
if(f == 1):
cv.rectangle(img,(773-3,445),(773+3,450),(0,0,255),-1)
cv.rectangle(img,(788-3,445),(788+3,450),(0,0,255),-1)
cv.rectangle(img,(810,503-3),(815,503+3),(0,0,255),-1)
cv.rectangle(img,(810,518-3),(815,518+3),(0,0,255),-1)
cv.rectangle(img,(742-3,540),(742+3,545),(0,0,255),-1)
cv.rectangle(img,(757-3,540),(757+3,545),(0,0,255),-1)
elif(f == 2):
cv.rectangle(img,(715,472-3),(720,472+3),(0,0,255),-1)
cv.rectangle(img,(715,488-3),(720,488+3),(0,0,255),-1)
cv.rectangle(img,(810,503-3),(815,503+3),(0,0,255),-1)
cv.rectangle(img,(810,518-3),(815,518+3),(0,0,255),-1)
cv.rectangle(img,(742-3,540),(742+3,545),(0,0,255),-1)
cv.rectangle(img,(757-3,540),(757+3,545),(0,0,255),-1)
elif(f == 3):
cv.rectangle(img,(773-3,445),(773+3,450),(0,0,255),-1)
cv.rectangle(img,(788-3,445),(788+3,450),(0,0,255),-1)
cv.rectangle(img,(715,472-3),(720,472+3),(0,0,255),-1)
cv.rectangle(img,(715,488-3),(720,488+3),(0,0,255),-1)
cv.rectangle(img,(742-3,540),(742+3,545),(0,0,255),-1)
cv.rectangle(img,(757-3,540),(757+3,545),(0,0,255),-1)
elif(f == 4):
cv.rectangle(img,(773-3,445),(773+3,450),(0,0,255),-1)
cv.rectangle(img,(788-3,445),(788+3,450),(0,0,255),-1)
cv.rectangle(img,(810,503-3),(815,503+3),(0,0,255),-1)
cv.rectangle(img,(810,518-3),(815,518+3),(0,0,255),-1)
cv.rectangle(img,(715,472-3),(720,472+3),(0,0,255),-1)
cv.rectangle(img,(715,488-3),(720,488+3),(0,0,255),-1)
global p,q,r,s,t,u
global speed,window
speed = 'Speed'
window = 'Window'
class junc(object):
def __init__(self,noc,rno):
self.noc = noc
self.rno = rno
return
def __cmp__(self, other):
return cmp(self.noc, other.noc)
def movcar():
ite = 0
p =1
q =1
r =1
s =1
t =1
u =1
q1 = Q.PriorityQueue()
q2 = Q.PriorityQueue()
q3 = Q.PriorityQueue()
q4 = Q.PriorityQueue()
q5 = Q.PriorityQueue()
q6 = Q.PriorityQueue()
count = [[1,1,1,1],[1,1,1,1],[1,1,1,1],[1,1,1,1],[1,1,1,1],[1,1,1,1],[1,1,1,1]]
while(True):
#junction1
if (cv.waitKey(1)== 32):
while(True):
if (cv.waitKey(1)== 32):
break
if(cv.waitKey(1)== 27):
break
#dalai code
sibu.send('Hello')
goku = str(sibu.recv(150))
l=list(goku)
a=[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
#print len(a)
#[990, 472, 788, 0, 1, 3, 0, 2, 0, 0,[[200, 200, 200, 200, 200], [200, 4, 3, 2, 200], [200, 3, 2, 1, 0], [200, 200, 200, 200, 200]]]
c=0
for i in range(len(l)):
l[i]=ord(l[i])- 48
if (l[i]==-1 or l[i]==-6):
c=c+1
else :
a[c]=a[c]*10+l[i]
#print a
rows=4
columns=5
new_a = [[0 for x in range(columns)] for x in range(rows)]
c=10
for j in range(rows):
for i in range(columns):
new_a[j][i]=a[c]
c=c+1
for i in range(10,30):
a.pop(10)
a.append(new_a)
#print a
if(a[0]!=0 and a[1] !=0):
car_mat.append(a)
if((ite-1)%50 ==0):
#junction1
q1.put(junc(-float(weight_hor_lr_mat[0][0])/count[0][0],1))
q1.put(junc(-float(weight_ver_ud_mat[0][0])/count[0][1],2))
q1.put(junc(-float(weight_hor_rl_mat[0][1])/count[0][2],3))
q1.put(junc(-float(weight_ver_du_mat[1][0])/count[0][3],4))
#junction2
q2.put(junc(-float(weight_hor_lr_mat[0][1])/count[1][0],1))
q2.put(junc(-float(weight_ver_ud_mat[0][1])/count[1][1],2))
q2.put(junc(-float(weight_hor_rl_mat[0][2])/count[1][2],3))
q2.put(junc(-float(weight_ver_du_mat[1][1])/count[1][3],4))
#junction3
q3.put(junc(-float(weight_hor_lr_mat[0][2])/count[2][0],1))
q3.put(junc(-float(weight_ver_ud_mat[0][2])/count[2][1],2))
q3.put(junc(-float(weight_hor_rl_mat[0][3])/count[2][2],3))
q3.put(junc(-float(weight_ver_du_mat[1][2])/count[2][3],4))
#junction4
q4.put(junc(-float(weight_hor_lr_mat[1][0])/count[3][0],1))
q4.put(junc(-float(weight_ver_ud_mat[1][0])/count[3][1],2))
q4.put(junc(-float(weight_hor_rl_mat[1][1])/count[3][2],3))
q4.put(junc(-float(weight_ver_du_mat[2][0])/count[3][3],4))
#junction5
q5.put(junc(-float(weight_hor_lr_mat[1][1])/count[4][0],1))
q5.put(junc(-float(weight_ver_ud_mat[1][1])/count[4][1],2))
q5.put(junc(-float(weight_hor_rl_mat[1][2])/count[4][2],3))
q5.put(junc(-float(weight_ver_du_mat[2][1])/count[4][3],4))
#junction6
q6.put(junc(-float(weight_hor_lr_mat[1][2])/count[5][0],1))
q6.put(junc(-float(weight_ver_ud_mat[1][2])/count[5][1],2))
q6.put(junc(-float(weight_hor_rl_mat[1][3])/count[5][2],3))
q6.put(junc(-float(weight_ver_du_mat[2][2])/count[5][3],4))
#if(q1.empty()!=1 and q2.empty()!=1 and q3.empty()!=1 and q4.empty()!=1 and q5.empty()!=1 and q6.empty()!=1):
p = q1.get().rno
while not q1.empty():
q1.get()
q = q2.get().rno
while not q2.empty():
q2.get()
r = q3.get().rno
while not q3.empty():
q3.get()
s = q4.get().rno
while not q4.empty():
q4.get()
t = q5.get().rno
while not q5.empty():
q5.get()
u = q6.get().rno
while not q6.empty():
q6.get()
count[0][p-1] = ite
count[1][q-1] = ite
count[2][r-1] = ite
count[3][s-1] = ite
count[4][t-1] = ite
count[5][u-1] = ite
#print p,q,r,s,t,u
drawlights(p,q,r,s,t,u)
if(ite>=((ite/50)*50+1) and ite<=((ite/50)*50+15)):
if(p == 1):
cv.rectangle(img,(175,202-3),(180,202+3),(0,255,255),-1)
cv.rectangle(img,(175,217-3),(180,217+3),(0,255,255),-1)
elif(p == 2):
cv.rectangle(img,(233-3,175),(233+3,180),(0,255,255),-1)
cv.rectangle(img,(248-3,175),(248+3,180),(0,255,255),-1)
elif(p == 3):
cv.rectangle(img,(270,233-3),(275,233+3),(0,255,255),-1)
cv.rectangle(img,(270,248-3),(275,248+3),(0,255,255),-1)
elif(p == 4):
cv.rectangle(img,(202-3,270),(202+3,275),(0,255,255),-1)
cv.rectangle(img,(217-3,270),(217+3,275),(0,255,255),-1)
if(q == 1):
cv.rectangle(img,(445,202-3),(450,202+3),(0,255,255),-1)
cv.rectangle(img,(445,217-3),(450,217+3),(0,255,255),-1)
elif(q == 2):
cv.rectangle(img,(503-3,175),(503+3,180),(0,255,255),-1)
cv.rectangle(img,(518-3,175),(518+3,180),(0,255,255),-1)
elif(q == 3):
cv.rectangle(img,(540,233-3),(545,233+3),(0,255,255),-1)
cv.rectangle(img,(540,248-3),(545,248+3),(0,255,255),-1)
elif(q == 4):
cv.rectangle(img,(472-3,270),(472+3,275),(0,255,255),-1)
cv.rectangle(img,(487-3,270),(487+3,275),(0,255,255),-1)
if(r == 1):
cv.rectangle(img,(715,202-3),(720,202+3),(0,255,255),-1)
cv.rectangle(img,(715,217-3),(720,217+3),(0,255,255),-1)
elif(r == 2):
cv.rectangle(img,(773-3,175),(773+3,180),(0,255,255),-1)
cv.rectangle(img,(788-3,175),(788+3,180),(0,255,255),-1)
elif(r == 3):
cv.rectangle(img,(810,233-3),(815,233+3),(0,255,255),-1)
cv.rectangle(img,(810,248-3),(815,248+3),(0,255,255),-1)
elif(r == 4):
cv.rectangle(img,(742-3,270),(742+3,275),(0,255,255),-1)
cv.rectangle(img,(757-3,270),(757+3,275),(0,255,255),-1)
if(s == 1):
cv.rectangle(img,(175,472-3),(180,472+3),(0,255,255),-1)
cv.rectangle(img,(175,488-3),(180,488+3),(0,255,255),-1)
elif(s == 2):
cv.rectangle(img,(233-3,445),(233+3,450),(0,255,255),-1)
cv.rectangle(img,(248-3,445),(248+3,450),(0,255,255),-1)
elif(s == 3):
cv.rectangle(img,(270,503-3),(275,503+3),(0,255,255),-1)
cv.rectangle(img,(270,518-3),(275,518+3),(0,255,255),-1)
elif(s == 4):
cv.rectangle(img,(202-3,540),(202+3,545),(0,255,255),-1)
cv.rectangle(img,(217-3,540),(217+3,545),(0,255,255),-1)
if(t == 1):
cv.rectangle(img,(445,472-3),(450,472+3),(0,255,255),-1)
cv.rectangle(img,(445,488-3),(450,488+3),(0,255,255),-1)
elif(t == 2):
cv.rectangle(img,(503-3,445),(503+3,450),(0,255,255),-1)
cv.rectangle(img,(518-3,445),(518+3,450),(0,255,255),-1)
elif(t == 3):
cv.rectangle(img,(540,503-3),(545,503+3),(0,255,255),-1)
cv.rectangle(img,(540,518-3),(545,518+3),(0,255,255),-1)
elif(t == 4):
cv.rectangle(img,(472-3,540),(472+3,545),(0,255,255),-1)
cv.rectangle(img,(487-3,540),(487+3,545),(0,255,255),-1)
if(u == 1):
cv.rectangle(img,(715,472-3),(720,472+3),(0,255,255),-1)
cv.rectangle(img,(715,488-3),(720,488+3),(0,255,255),-1)
elif(u == 2):
cv.rectangle(img,(773-3,445),(773+3,450),(0,255,255),-1)
cv.rectangle(img,(788-3,445),(788+3,450),(0,255,255),-1)
elif(u == 3):
cv.rectangle(img,(810,503-3),(815,503+3),(0,255,255),-1)
cv.rectangle(img,(810,518-3),(815,518+3),(0,255,255),-1)
elif(u == 4):
cv.rectangle(img,(742-3,540),(742+3,545),(0,255,255),-1)
cv.rectangle(img,(757-3,540),(757+3,545),(0,255,255),-1)
#print 1
"""print weight_ver_ud_mat
print 2
print weight_hor_rl_mat
print 3
print weight_ver_du_mat
print 4"""
cv.namedWindow(window)
cv.createTrackbar(speed,window,1,50,nothing)
spd = cv.getTrackbarPos(speed,window)
cv.waitKey(spd)
for i in range(len(car_mat)):
drawmotaline()
drawhorline(0)
drawhorline(270)
drawhorline(540)
drawhorline(810)
drawverline(0)
drawverline(270)
drawverline(540)
endx = car_mat[i][0]
endy = car_mat[i][1]
curx = car_mat[i][2]
cury = car_mat[i][3]
state = car_mat[i][4]
dirn = car_mat[i][5]
pathmatrix = car_mat[i][10]
#print pathmatrix
startangle = car_mat[i][6]
lane = car_mat[i][7]
lanestate = car_mat[i][8]
sf = car_mat[i][9]
if(state == 1):
if(dirn == 2 and (curx == 180-15 or curx == 450-15 or curx == 720-15)):
gridx = (curx+90+15)/270
gridy = (cury+90)/270
if(pathmatrix !=0):
if(pathmatrix[gridy-1][gridx]<pathmatrix[gridy][gridx]):
if(img[cury][curx+15+5][0] == 105 and img[cury-3][curx+15+5][0] == 105 and img[cury+3][curx+15+5][0] == 105):
wx = curx/270
wy = cury/270
weight_hor_lr_mat[wy][wx] -= 1
state = 2
startangle = 90
cv.rectangle(img,(curx,cury-3),(curx+15,cury+3),(105,105,105),-1)
elif(pathmatrix[gridy][gridx+1]<pathmatrix[gridy][gridx]):
""""""
if(img[cury][curx+15+5][0] == 105 and img[cury-3][curx+15+5][0] == 105 and img[cury+3][curx+15+5][0] == 105):
state = 1
wx = curx/270
wy = cury/270
weight_hor_lr_mat[wy][wx] -= 1
cv.rectangle(img,(curx,cury-3),(curx+15,cury+3),(105,105,105),-1)
curx = curx+5
cv.rectangle(img,(curx,cury-3),(curx+15,cury+3),(255,0,0),-1)
elif(pathmatrix[gridy+1][gridx]<pathmatrix[gridy][gridx]):
""""""
if(img[cury][curx+15+5][0] == 105 and img[cury-3][curx+15+5][0] == 105 and img[cury+3][curx+15+5][0] == 105):
wx = curx/270
wy = cury/270
weight_hor_lr_mat[wy][wx] -= 1
state = 3
startangle = 270
cv.rectangle(img,(curx,cury-3),(curx+15,cury+3),(105,105,105),-1)
elif(dirn == 3 and (cury == 180-15 or cury == 450-15)):
gridx = (curx+90)/270
gridy = (cury+90+15)/270
if(pathmatrix[gridy][gridx+1]<pathmatrix[gridy][gridx]):
if(img[cury+15+5][curx][0] == 105 and img[cury+15+5][curx-3][0] == 105 and img[cury+15+5][curx+3][0] == 105):
wx = curx/270
wy = cury/270
weight_ver_ud_mat[wy][wx] -= 1
state = 2
startangle = 180
cv.rectangle(img,(curx-3,cury),(curx+3,cury+15),(105,105,105),-1)
elif(pathmatrix[gridy+1][gridx]<pathmatrix[gridy][gridx]):
if(img[cury+15+5][curx][0] == 105 and img[cury+15+5][curx-3][0] == 105 and img[cury+15+5][curx+3][0] == 105):
wx = curx/270
wy = cury/270
weight_ver_ud_mat[wy][wx] -= 1
state = 1
cv.rectangle(img,(curx-3,cury),(curx+3,cury+15),(105,105,105),-1)
cury = cury+5
cv.rectangle(img,(curx-3,cury),(curx+3,cury+15),(255,0,0),-1)
elif(pathmatrix[gridy][gridx-1]<pathmatrix[gridy][gridx]):
if(img[cury+15+5][curx][0] == 105 and img[cury+15+5][curx-3][0] == 105 and img[cury+15+5][curx+3][0] == 105):
wx = curx/270
wy = cury/270
weight_ver_ud_mat[wy][wx] -= 1
state = 3
startangle = 0
cv.rectangle(img,(curx-3,cury),(curx+3,cury+15),(105,105,105),-1)
elif(dirn == 4 and (curx == 270+15 or curx== 540+15 or curx == 810+15)):
gridx = curx/270
gridy = (cury+90)/270
if(pathmatrix[gridy+1][gridx]<pathmatrix[gridy][gridx]):
if(img[cury][curx-15-5][0] == 105 and img[cury-3][curx-15-5][0] == 105 and img[cury+3][curx-15-5][0] == 105):
wx = curx/270
wy = cury/270
weight_hor_rl_mat[wy][wx] -= 1
state = 2
startangle = 270
cv.rectangle(img,(curx-15,cury-3),(curx,cury+3),(105,105,105),-1)
elif(pathmatrix[gridy][gridx-1]<pathmatrix[gridy][gridx]):
if(img[cury][curx-15-5][0] == 105 and img[cury-3][curx-15-5][0] == 105 and img[cury+3][curx-15-5][0] == 105):
wx = curx/270
wy = cury/270
weight_hor_rl_mat[wy][wx] -= 1
state = 1
cv.rectangle(img,(curx-15,cury-3),(curx,cury+3),(105,105,105),-1)
curx = curx-5
cv.rectangle(img,(curx-15,cury-3),(curx,cury+3),(255,0,0),-1)
elif(pathmatrix[gridy-1][gridx]<pathmatrix[gridy][gridx]):
if(img[cury][curx-15-5][0] == 105 and img[cury-3][curx-15-5][0] == 105 and img[cury+3][curx-15-5][0] == 105):
wx = curx/270
wy = cury/270
weight_hor_rl_mat[wy][wx] -= 1
state = 3
startangle =90
cv.rectangle(img,(curx-15,cury-3),(curx,cury+3),(105,105,105),-1)
elif(dirn == 1 and (cury == 270+15 or cury== 540+15)):
gridx = (curx+90)/270
gridy = cury/270
if(pathmatrix[gridy][gridx-1]<pathmatrix[gridy][gridx]):
if(img[cury-15-5][curx][0] == 105 and img[cury-15-5][curx-3][0] == 105 and img[cury-15-5][curx+3][0] == 105):
wx = curx/270
wy = cury/270
weight_ver_du_mat[wy][wx] -= 1
state = 2
startangle = 360
cv.rectangle(img,(curx-3,cury-15),(curx+3,cury),(105,105,105),-1)
elif(pathmatrix[gridy-1][gridx]<pathmatrix[gridy][gridx]):
if(img[cury-15-5][curx][0] == 105 and img[cury-15-5][curx-3][0] == 105 and img[cury-15-5][curx+3][0] == 105):
wx = curx/270
wy = cury/270
weight_ver_du_mat[wy][wx] -= 1
state = 1
cv.rectangle(img,(curx-3,cury-15),(curx+3,cury),(105,105,105),-1)
cury = cury-5
cv.rectangle(img,(curx-3,cury-15),(curx+3,cury),(255,0,0),-1)
elif(pathmatrix[gridy][gridx+1]<pathmatrix[gridy][gridx]):
if(img[cury-15-5][curx][0] == 105 and img[cury-15-5][curx-3][0] == 105 and img[cury-15-5][curx+3][0] == 105):
wx = curx/270
wy = cury/270
weight_ver_du_mat[wy][wx] -= 1
state = 3
startangle = 180
cv.rectangle(img,(curx-3,cury-15),(curx+3,cury),(105,105,105),-1)
elif(dirn == 2):
if(curx ==0 and sf ==0):
wx = curx/270;
wy = cury/270;
weight_hor_lr_mat[wy][wx] += 1
sf =1
if((curx == 270 or curx == 540 or curx == 810)):
wx = curx/270;
wy = cury/270;
weight_hor_lr_mat[wy][wx] += 1
if(curx+15+5 == 990):
cv.rectangle(img,(curx,cury-3),(curx+15,cury+3),(105,105,105),-1)
state = 6
elif(img[cury][curx+15+5][0] == 105 and img[cury-3][curx+15+5][0] == 105 and img[cury+3][curx+15+5][0] == 105):
if(endy>cury+45 and lane!=1 and img[cury+15][curx-5][0] == 105 and img[cury+15][curx+5][0]==105 and img[cury+15][curx+20][0]==105 and img[cury+15][curx+35][0]==105 and img[cury+15][curx+50][0]==105 and img[cury+15][curx+60][0]==105 and curx <= ((curx/270)*270)+120):
state = 5
lanestate = 1
elif(endy<cury-45 and lane!=3 and img[cury-15][curx-5][0] == 105 and img[cury-15][curx+5][0]==105 and img[cury-15][curx+20][0]==105 and img[cury-15][curx+35][0]==105 and img[cury-15][curx+50][0]==105 and img[cury-15][curx+60][0]==105 and curx <= ((curx/270)*270)+120):
state = 4
lanestate = 1
else:
cv.rectangle(img,(curx,cury-3),(curx+15,cury+3),(105,105,105),-1)
curx = curx+5
cv.rectangle(img,(curx,cury-3),(curx+15,cury+3),(255,0,0),-1)
else:
if(endy>cury+45 and lane!=1 and img[cury+15][curx-5][0] == 105 and img[cury+15][curx+5][0]==105 and img[cury+15][curx+20][0]==105 and img[cury+15][curx+35][0]==105 and img[cury+15][curx+50][0]==105 and img[cury+15][curx+60][0]==105 and curx <= ((curx/270)*270)+120):
state = 5
lanestate = 1
elif(endy<cury-45 and lane!=3 and img[cury-15][curx-5][0] == 105 and img[cury-15][curx+5][0]==105 and img[cury-15][curx+20][0]==105 and img[cury-15][curx+35][0]==105 and img[cury-15][curx+50][0]==105 and img[cury-15][curx+60][0]==105 and curx <= ((curx/270)*270)+120):
state = 4
lanestate = 1
elif(dirn == 3):
if(cury == 0 and sf == 0):
wx = curx/270;
wy = cury/270;
weight_ver_ud_mat[wy][wx] += 1
sf =1
if((cury == 270 or cury == 540)):
wx = curx/270;
wy = cury/270;
weight_ver_ud_mat[wy][wx] += 1
if((cury == 5 or cury == 275 or cury == 545) and sf == 1):
sf = 0
if(cury+15 == 705):
cv.rectangle(img,(curx-3,cury),(curx+3,cury+15),(105,105,105),-1)
state = 6
elif(img[cury+15+5][curx][0] == 105 and img[cury+15+5][curx-3][0] == 105 and img[cury+15+5][curx+3][0] == 105):
if(endx>curx+45 and lane!=3 and img[cury-5][curx+15][0] == 105 and img[cury+5][curx+15][0]==105 and img[cury+20][curx+15][0]==105 and img[cury+35][curx+15][0]==105 and img[cury+50][curx+15][0]==105 and img[cury+60][curx+15][0]==105 and cury <= ((cury/270)*270)+120):
state = 4
lanestate = 1
elif(endx<curx-45 and lane!=1 and img[cury-5][curx-15][0] == 105 and img[cury+5][curx-15][0]==105 and img[cury+20][curx-15][0]==105 and img[cury+35][curx-15][0]==105 and img[cury+50][curx-15][0]==105 and img[cury+60][curx-15][0]==105 and cury <= ((cury/270)*270)+120):
state = 5
lanestate = 1
else:
cv.rectangle(img,(curx-3,cury),(curx+3,cury+15),(105,105,105),-1)
cury = cury+5
cv.rectangle(img,(curx-3,cury),(curx+3,cury+15),(255,0,0),-1)
else:
if(endx>curx+45 and lane!=3 and img[cury-5][curx+15][0] == 105 and img[cury+5][curx+15][0]==105 and img[cury+20][curx+15][0]==105 and img[cury+35][curx+15][0]==105 and img[cury+50][curx+15][0]==105 and img[cury+60][curx+15][0]==105 and cury <= ((cury/270)*270)+120):
state = 4
lanestate = 1
elif(endx<curx-45 and lane!=1 and img[cury-5][curx-15][0] == 105 and img[cury+5][curx-15][0]==105 and img[cury+20][curx-15][0]==105 and img[cury+35][curx-15][0]==105 and img[cury+50][curx-15][0]==105 and img[cury+60][curx-15][0]==105 and cury <= ((cury/270)*270)+120):
state = 5
lanestate = 1
elif(dirn == 4):
if(curx == 990 and sf ==0):
wx = curx/270;
wy = cury/270;
weight_hor_rl_mat[wy][wx] += 1
sf =1
if((curx == 720 or curx == 450 or curx == 180)):
wx = curx/270;
wy = cury/270;
weight_hor_rl_mat[wy][wx] += 1
if((curx == 985 or curx == 715 or curx == 445 or curx == 175) and sf ==1):
sf = 0
if(curx-15 == 0):
cv.rectangle(img,(curx-15,cury-3),(curx,cury+3),(105,105,105),-1)
state = 6
elif(curx == 990):
cv.rectangle(img,(curx-15,cury-3),(curx,cury+3),(105,105,105),-1)
curx = curx-5
cv.rectangle(img,(curx-15,cury-3),(curx,cury+3),(255,0,0),-1)
elif(img[cury][curx-15-5][0] == 105 and img[cury-3][curx-15-5][0] == 105 and img[cury+3][curx-15-5][0] == 105):
if(endy<cury-45 and lane!=1 and img[cury+15][curx][0] == 105 and img[cury+15][curx-5][0]==105 and img[cury+15][curx-20][0]==105 and img[cury+15][curx-35][0]==105 and img[cury+15][curx-50][0]==105 and img[cury+15][curx-60][0]==105 and curx >= ((curx/270)*270)+60):
state = 5
lanestate = 1
elif(endy>cury+45 and lane!=3 and img[cury-15][curx][0] == 105 and img[cury-15][curx-5][0]==105 and img[cury-15][curx-20][0]==105 and img[cury-15][curx-35][0]==105 and img[cury-15][curx-50][0]==105 and img[cury-15][curx-60][0]==105 and curx >= ((curx/270)*270)+60):
state = 4
lanestate = 1
else:
cv.rectangle(img,(curx-15,cury-3),(curx,cury+3),(105,105,105),-1)
curx = curx-5
cv.rectangle(img,(curx-15,cury-3),(curx,cury+3),(255,0,0),-1)
else:
if(endy<cury-45 and lane!=1 and img[cury+15][curx][0] == 105 and img[cury+15][curx-5][0]==105 and img[cury+15][curx-20][0]==105 and img[cury+15][curx-35][0]==105 and img[cury+15][curx-50][0]==105 and img[cury+15][curx-60][0]==105 and curx >= ((curx/270)*270)+60):
state = 5
lanestate = 1
elif(endy>cury+45 and lane!=3 and img[cury-15][curx][0] == 105 and img[cury-15][curx-5][0]==105 and img[cury-15][curx-20][0]==105 and img[cury-15][curx-35][0]==105 and img[cury-15][curx-50][0]==105 and img[cury-15][curx-60][0]==105 and curx >= ((curx/270)*270)+60):
state = 4
lanestate = 1
elif(dirn == 1):
if(cury == 720 and sf == 0):
wx = curx/270;
wy = cury/270;
weight_ver_du_mat[wy][wx] += 1
sf = 1
if((cury == 450 or cury == 180)):
wx = curx/270;
wy = cury/270;
weight_ver_du_mat[wy][wx] += 1
if(cury-15 == 0):
cv.rectangle(img,(curx-3,cury-15),(curx+3,cury),(105,105,105),-1)
state = 6
elif(cury==720):
cv.rectangle(img,(curx-3,cury-15),(curx+3,cury),(105,105,105),-1)
cury = cury-5
cv.rectangle(img,(curx-3,cury-15),(curx+3,cury),(255,0,0),-1)
elif(img[cury-15-5][curx][0] == 105 and img[cury-15-5][curx-3][0] == 105 and img[cury-15-5][curx+3][0] == 105):
if(endx<curx-45 and lane!=3 and img[cury][curx-15][0] == 105 and img[cury-5][curx-15][0]==105 and img[cury-20][curx-15][0]==105 and img[cury-35][curx-15][0]==105 and img[cury-50][curx-15][0]==105 and img[cury-60][curx-15][0]==105 and cury >= ((cury/270)*270)+60):
state = 4
lanestate = 1
elif(endx>curx+45 and lane!=1 and img[cury][curx+15][0] == 105 and img[cury-5][curx+15][0]==105 and img[cury-20][curx+15][0]==105 and img[cury-35][curx+15][0]==105 and img[cury-50][curx+15][0]==105 and img[cury-60][curx+15][0]==105 and curx >= ((curx/270)*270)+60):
state = 5
lanestate = 1
else:
cv.rectangle(img,(curx-3,cury-15),(curx+3,cury),(105,105,105),-1)
cury = cury-5
cv.rectangle(img,(curx-3,cury-15),(curx+3,cury),(255,0,0),-1)
else:
if(endx<curx-45 and lane!=3 and img[cury][curx-15][0] == 105 and img[cury-5][curx-15][0]==105 and img[cury-20][curx-15][0]==105 and img[cury-35][curx-15][0]==105 and img[cury-50][curx-15][0]==105 and img[cury-60][curx-15][0]==105 and curx >= ((curx/270)*270)+60):
state = 4
lanestate = 1
elif(endx>curx+45 and lane!=1 and img[cury][curx+15][0] == 105 and img[cury-5][curx+15][0]==105 and img[cury-20][curx+15][0]==105 and img[cury-35][curx+15][0]==105 and img[cury-50][curx+15][0]==105 and img[cury-60][curx+15][0]==105 and curx >= ((curx/270)*270)+60):
state = 5
lanestate = 1
elif(state == 3):
if(dirn == 2):
if(lane == 1):
if(startangle == 270):
cv.ellipse(img,(curx+15,cury+46+7),(53,53),0, startangle,startangle+15,(105,105,105), 6)
startangle = startangle+5
cv.ellipse(img,(curx+15,cury+46+7),(53,53),0, startangle,startangle+15,(255,0,0), 6)
elif(startangle+15 == 360):
cv.ellipse(img,(curx+15,cury+46+7),(53,53),0, startangle,startangle+15,(105,105,105), 6)
curx = curx+15+46+7
cury = cury+7+46
cv.rectangle(img,(curx-3,cury),(curx+3,cury+15),(255,0,0),-1)
state = 1
dirn = 3
lane = 1
elif(startangle>270 and startangle+15<360):
cv.ellipse(img,(curx+15,cury+46+7),(53,53),0, startangle,startangle+15,(105,105,105), 6)
startangle = startangle+5
cv.ellipse(img,(curx+15,cury+46+7),(53,53),0, startangle,startangle+15,(255,0,0), 6)
elif(lane == 2):
if(startangle == 270):
cv.ellipse(img,(curx+15,cury+46+22),(68,68),0, startangle,startangle+10,(105,105,105), 6)
startangle = startangle+5
cv.ellipse(img,(curx+15,cury+46+22),(68,68),0, startangle,startangle+10,(255,0,0), 6)
elif(startangle+10 == 360):
cv.ellipse(img,(curx+15,cury+46+22),(68,68),0, startangle,startangle+10,(105,105,105), 6)
curx = curx+15+46+22
cury = cury+22+46
cv.rectangle(img,(curx-3,cury),(curx+3,cury+15),(255,0,0),-1)
state = 1
dirn = 3
lane = 2
elif(startangle>270 and startangle+10<360):
cv.ellipse(img,(curx+15,cury+46+22),(68,68),0, startangle,startangle+10,(105,105,105), 6)
startangle = startangle+5
cv.ellipse(img,(curx+15,cury+46+22),(68,68),0, startangle,startangle+10,(255,0,0), 6)
elif(lane == 3):
if(startangle == 270):
cv.ellipse(img,(curx+15,cury+46+37),(83,83),0, startangle,startangle+5,(105,105,105), 6)
startangle = startangle+5
cv.ellipse(img,(curx+15,cury+46+37),(83,83),0, startangle,startangle+5,(255,0,0), 6)
elif(startangle+5 == 360):
cv.ellipse(img,(curx+15,cury+46+37),(83,83),0, startangle,startangle+5,(105,105,105), 6)
curx = curx+15+46+37
cury = cury+37+46
cv.rectangle(img,(curx-3,cury),(curx+3,cury+15),(255,0,0),-1)
state = 1
dirn = 3
lane = 3
elif(startangle>270 and startangle+5<360):
cv.ellipse(img,(curx+15,cury+46+37),(83,83),0, startangle,startangle+5,(105,105,105), 6)
startangle = startangle+5
cv.ellipse(img,(curx+15,cury+46+37),(83,83),0, startangle,startangle+5,(255,0,0), 6)
elif(dirn == 3):
if(lane == 1):
if(startangle == 0):
cv.ellipse(img,(curx-46-7,cury+15),(53,53),0, startangle,startangle+15,(105,105,105), 6)
startangle = startangle+5
cv.ellipse(img,(curx-46-7,cury+15),(53,53),0, startangle,startangle+15,(255,0,0), 6)
elif(startangle+15 == 90):
cv.ellipse(img,(curx-46-7,cury+15),(53,53),0, startangle,startangle+15,(105,105,105), 6)
curx = curx-7-46
cury = cury+7+46+15
cv.rectangle(img,(curx-15,cury-3),(curx,cury+3),(255,0,0),-1)
state = 1
dirn = 4
lane = 1
elif(startangle>0 and startangle+15<90):
cv.ellipse(img,(curx-46-7,cury+15),(53,53),0, startangle,startangle+15,(105,105,105), 6)
startangle = startangle+5
cv.ellipse(img,(curx-46-7,cury+15),(53,53),0, startangle,startangle+15,(255,0,0), 6)
elif(lane == 2):
if(startangle == 0):
cv.ellipse(img,(curx-46-22,cury+15),(68,68),0, startangle,startangle+10,(105,105,105), 6)
startangle = startangle+5