#FORMAT python

from pyrobot.brain import Brain
from time import *
from random import *
from phissioncamera import *

class SimpleBrain(Brain):
    def setup(self):
        self.counter = 0            # initialize counter to 0
    def step(self):
        self.counter += 1           # increment counter
        if ((self.counter % 50) == 0):   # run randomFilter() every 50 iterations
            self.randomFilter()
            
    def randomFilter(self):
        x = randrange(0,7,1)        # get a random number
        if(x == 0):
            self.camera.canny_Filter()
            print "canny_Filter()"
        if(x == 1):
            self.camera.sobel_Filter()
            print "sobel_Filter()"
        if(x == 2):
            self.camera.gaussianBlur_Filter()
            print "gaussianBlur_Filter()"
        if(x == 3):
            self.camera.medianBlur_Filter()
            print "medianBlur_Filter()"
        if(x == 4):
            self.camera.motion_Filter()
            print "motion_Filter()"
        if(x == 5):
            self.camera.SpotColorTrackHSV_Filter(160,120,12, (12,60,120) )
            print "SpotColorTrackHSV_Filter(160,120,12, (12,60,120) )"
        if(x == 6):
            self.camera.SpotColorTrackRGB_Filter(160,120,12, (30,30,30)  )
            print "SpotColorTrackRGB_Filter(160,120,12, (30,30,30)  )"

def INIT(engine):
    camera = phissioncamera()     # create a new phission camera
    camera.setup(1,320,240)       # set up the phission camera -- change first param to 0 if not on robot
    brain = SimpleBrain('SimpleBrain', engine)  # create the brain
    brain.camera = camera         # set the brain's camera variable
    return brain