#FORMAT python

from pyrobot.brain.behaviors import * 
from pyrobot.brain.behaviors.core import * 
from time import * 
 
from phissioncamera import * 
 
camera      = phissioncamera() 
 
class MotionCatch(State): 
    def onActivate(self): 
        print "Activating MotionCatch State" 
         
        self.motion_thresh   = 1000 
        camera.motion_Filter() 
        sleep(1)         
                 
    def update(self): 
        max_blob = camera.getMaxBlob() 
        if(max_blob.mass > self.motion_thresh): 
            camera.SpotColorTrackHSV_Filter(max_blob.cx, max_blob.cy, 15, (12, 60, 200) ) 
            self.goto('ColorTrack') 
 
             
class ColorTrack(State): 
    def onActivate(self): 
        print "Activating ColorTrack State" 
        sleep(1) 
        self.track_thresh   = 1000 
         
    def update(self): 
        max_blob = camera.getMaxBlob() 
 
        print "-------------------" 
        print "mass =", max_blob.mass 
        print "(x,y) = ", max_blob.cx, max_blob.cy 
         
        if(max_blob.mass < self.track_thresh): 
            self.goto('MotionCatch') 
 
class state1(State): 
    def update(self): 
        self.goto('MotionCatch') 
 
def INIT(engine):  
    brain = FSMBrain(engine) 
     
    brain.add(state1(1)) 
    brain.add(MotionCatch()) 
    brain.add(ColorTrack()) 
    brain.camera = camera 
    camera.setup(1,320,240)     
    return brain