def __init__(self, side, js, wsh, wsh2, c2, cam_mode, c):

self.cam_mode=cam_mode

self.c2=c2

self.js = js

self.wsh = wsh

self.wsh2 = wsh2

self.l = side

self.x = 12

self.y = -12

self.w = 0

self.p = 1

c2=self.c2

l = self.l

x = -1

y = -1

self.countdownA = int(self.l)

self.countdownB = 1

self.countdownC = 0

self.left = 0

self.right = 1

self.up = 0

self.down=0

i = 0

brightpixels=0

darkpixels =0

blobs = 0

def histo(self): ## this def is the "light meter" part---

cam_mode = self.cam_mode ## the pic gets cataloged if true ---

js = self.js

w = self.w

cent = 0

rgb1 = 0

c2 = self.c2

wsh = self.wsh

wsh2 = self.wsh2

i=0

brightpixels=0

darkpixels=0

blobs = 0

if cam_mode == 3: ## sort out the confusing cam modes

img1 = c2.getImage()

time.sleep(.25)

if cam_mode==1:

with picamera.PiCamera() as camera:

camera.resolution = (544, 288)

camera.capture('imagesmall.jpg')

img1 = Image('imagesmall.jpg')

if cam_mode==2:

with picamera.PiCamera() as camera:

camera.resolution = (544, 288)

camera.capture('imagesmall.jpg')

img1 = Image('imagesmall.jpg')

blobs = img1.findBlobs()

time.sleep(0.5)

if blobs:

##find the blob centroid and cut it out 20x20

crop1 = blobs[-1].x

crop2 = blobs[-1].y

crop3 = crop1 - 10

crop4 = crop2 - 10

thumbnail = img1.crop(crop3,crop4,20,20)

img2 = thumbnail

hist = img2.histogram(20)

## split the thumb into 20 levels of darkness

brightpixels = hist[10]

## 10 is where the darkest of the light pixels accumulate

print brightpixels

##while i < 20:

##old code for if you want to split the histogram in two

##if (i < 10):

##darkpixels = darkpixels + hist[i]

##self.darkpixels = darkpixels

##print hist[i]

##else:

##brightpixels = brightpixels + hist[i]

##self.brightpixels = brightpixels

##print hist[i]

##i = i + 1

if (brightpixels<400): ## heres where it decides to catalog the pic or not...

wsh.write_message(wsh2, "histo_" + str(darkpixels) + "_" + str(brightpixels))

print "blob"

x = self.x

y = self.y

p = self.p

p = p + 1

thumb1 = "/var/www/html/images/thumbs/thumb"

thumb3 = ".png"

thumbpath = thumb1 + str(p) + thumb3

print thumbpath

thumbnail.save(thumbpath)

img1.drawText("blob = True", 10, 35, color=(255,255,255),fontsize=30)

img1.drawText("search_mode", 10, 5, color=(0,0,255),fontsize=40)

img1.drawText("blob centroid", blobs[-1].x,blobs[-1].y, color=(255,255,255),fontsize=20)

img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,0))

img1.drawCircle((blobs[0].centroid()),10,color=(255,255,255))

print blobs[-1].meanColor()

rgb1 = blobs[-1].meanColor()

cent = blobs[-1].centroid()

pth1 = "/var/www/html/images/image"

pth3 = ".png"

pth = pth1 + str(p) + pth3

print pth

img1.save(pth)

time.sleep(0.5)

self.p = p

mySet.add((p,x,y,w,cent,rgb1))

self.mySet = mySet

wshx = str(self.x)

wshy = str(self.y)

centroidx = int(cent[0])

centroidy=int(cent[1])

rcolor=rgb1[0]

gcolor=rgb1[1]

bcolor=rgb1[2]

rcolor=int(rcolor)

gcolor=int(gcolor)

bcolor=int(bcolor)

wsh.write_message(wsh2, "rgb_" + str(rcolor)+"_"+str(gcolor)+"_"+str(bcolor))

wsh.write_message(wsh2, "x_" + str(centroidx)+"_"+str(centroidy))

img1.save(js.framebuffer)

time.sleep(0.5)

wsh.write_message(wsh2, "d_" + wshx + "_" + wshy + "_" + str(p) )

else:

print "senosor dark"

print darkpixels,'_', brightpixels

blobs = 0

wsh.write_message(wsh2, "histo_" + str(darkpixels) + "_" + str(brightpixels))

else:

wshx = str(self.x)

wshy = str(self.y)

wsh.write_message(wsh2, wshx + " " + wshy + "dark")

img1.save(js.framebuffer)

print "no blob"

def run(self): ## this def is the movement iterator

wsh = self.wsh

wsh2 = self.wsh2

countdownA = self.countdownA

countdownB = self.countdownB

countdownC = self.countdownC

left = self.left

right = self.right

up = self.up

down = self.down

x = self.x

y = self.y

wsh2 = self.wsh2

if (countdownB < countdownA):

print "ctb",countdownB

print right

if (right > 0):

print "right- 0"

print right

s.write('p')

time.sleep(1)

x = x + 1

self.x = x

elf = self.histo()

wsh.write_message(wsh2, "m" )

right = right - 1

self.right = right

if (right == 0):

down = countdownB

self.down = down

if (down>0):

print "ctb",countdownB

print "down"

print down

s.write('l')

time.sleep(1)

y = y - 1

self.y = y

elf = self.histo()

wsh.write_message(wsh2, "m" )

down = down - 1

self.down = down

if (down == 0):

countdownB += 1

self.countdownB = countdownB

left = countdownB

self.left = left

print "ctb", countdownB

if (left>0):

print "left"

print left

print "ctb",countdownB

s.write('k')

time.sleep(1)

x = x - 1

self.x = x

elf = self.histo()

wsh.write_message(wsh2, "m" )

left = left - 1

self.left = left

if (left == 0):

print "ctb",countdownB

up = countdownB

self.up = up

if (up>0):

print "up"

print "ctb",countdownB

print up

s.write('o')

time.sleep(1)

y = y + 1

self.y = y

elf = self.histo()

wsh.write_message(wsh2, "m" )

up = up - 1

self.up = up

if (up == 0):

countdownB += 1

self.countdownB = countdownB

right = countdownB

self.right = right

print "ctb",countdownB

else:

wsh = self.wsh

wsh2 = self.wsh2

wsh.write_message(wsh2, "map complete" )