3
Íº¡\Ï  ã               @   s   d dl T G dd„ deƒZdS )é    )Ú*c               @   s,   e Zd Zdd„ ZG dd„ deƒZdd„ ZdS )ÚSnapshotc             C   s   || j _d S )N)ÚrobotÚmyimage)ÚselfÚimageÚgray© r	   ú./Snapshot.pyÚ
user_image   s    zSnapshot.user_imagec                   s   e Zd Z‡ fdd„Z‡  ZS )zSnapshot.SaveImagec                s(   t ƒ j|ƒ tjd| jjƒ tdƒ d S )Nzsnapshot.pngzWrote snapshot.png)ÚsuperÚstartÚcv2Úimwriter   r   Úprint)r   Úevent)Ú	__class__r	   r
   r      s    zSnapshot.SaveImage.start)Ú__name__Ú
__module__Ú__qualname__r   Ú__classcell__r	   r	   )r   r
   Ú	SaveImage   s   r   c             C   sb   t ƒ jdƒj| ƒ}| jƒ jdƒj| ƒ}tƒ jdƒ}|j|ƒj|ƒ tƒ jdƒ}|j|ƒj|ƒ | S )zH
            loop: StateNode() =TM=> self.SaveImage() =N=> loop
        ÚloopÚ
saveimage1Útextmsgtrans1Ú
nulltrans1)Ú	StateNodeÚset_nameÚ
set_parentr   ÚTextMsgTransÚadd_sourcesÚadd_destinationsÚ	NullTrans)r   r   r   r   r   r	   r	   r
   Úsetup   s    zSnapshot.setupN)r   r   r   r   r   r   r#   r	   r	   r	   r
   r      s   r   N)Ú	cozmo_fsmÚStateMachineProgramr   r	   r	   r	   r
   Ú<module>   s   