# import the necessary packages
import time
from picamera import PiCamera
from piCameraPipeline import PiCameraPipeline
from piCameraPipeline.PiCameraPipeline import RgbProcess
from piCameraPipeline.PiCameraPipeline import RgbProcessorAdapter

if ("__main__" == __name__):
	import cv2

	# Unit test with to threaded processors
	class MyRgbProcess1(RgbProcess):
		def __init__(self, name, res=(320, 240, 3), numEntries=2, next=None):
			super(MyRgbProcess1, self).__init__(name, res, numEntries, next)

		def onProcess(self):
			data = self.read(1.0)
			if data is not None:
				gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)
				gray_blurred = cv2.medianBlur(gray,5)

				cv2.imshow('displayThread1', gray_blurred)
				cv2.waitKey(1)

				if self.next is not None:
					self.next.write(cv2.cvtColor(gray_blurred,cv2.COLOR_GRAY2BGR))

	class MyRgbProcess2(RgbProcess):
		def __init__(self, name, res=(320, 240, 3), numEntries=2, next=None):
			super(MyRgbProcess2, self).__init__(name, res, numEntries, next)

		def onProcess(self):
			data = self.read(1.0)
			if data is not None:
				gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)

				# Canny edge detection
				canny = cv2.Canny(gray, 100, 50)
				cv2.imshow('displayThread2', canny)
				cv2.waitKey(1)

	# initialize the camera and stream
	camera = PiCamera()
	camera.resolution = (320, 240)
	camera.framerate = 60
	frameDim = (camera.resolution[0], camera.resolution[1], 3)
	myProcessor2 = MyRgbProcess2('Process 2', (320, 240, 3), 4)
	myProcessor1 = MyRgbProcess1('Process 1', (320, 240, 3), 4, myProcessor2)
	myRgbProcessorAdapter = RgbProcessorAdapter(frameDim)
	myRgbProcessorAdapter.processorAdd(myProcessor1)
	camera.start_recording(myRgbProcessorAdapter, format="bgr")

	# allow the camera to warmup and start the FPS counter
	print("[INFO] sampling frames from `picamera` module...")
	time.sleep(10.0)
	camera.stop_recording()
	myProcessor1.stop()

	# do a bit of cleanup
	cv2.destroyAllWindows()
	camera.close()