#FORMAT python

from pyrobot.brain import Brain

def process(camera):
   camera.apply('match', 158, 71, 48, )
   match = camera.apply('match', 225 , 129 , 89 , )
   if match > 50:
       camera.apply('match', 188, 109, 68, )
   else:
       camera.apply('match', 40, 200, 56, )
   camera.apply("superColor", 1, -1, -1, 0) # rgb weights, 0 = red channel
   camera.apply("threshold", 0, 50) # red channel, 50 > 0
   return camera.apply("blobify", 0) # red channel
   # filters return values are stored in robot.camera[0].filterResults
   # the process() filter only has one return value, that returned from the blobify

class VisionBrain(Brain):
   def setup(self):
      # get a camera that is already running and
      # add a function to the filter list:
      self.robot.camera[0].addFilter( process ) # process is the name of a method that takes a camera
      
   def step(self):
      # do something with the camera processed data:
      print self.robot.camera[0].filterResults
            
def INIT(engine):
   return VisionBrain('SimpleBrain', engine)