Moved CvSink/CvSource to Camera class

Main/src/main/java/com/chameleonvision/Main.java

@@ -1,13 +1,9 @@
 package com.chameleonvision;
 
 import com.chameleonvision.settings.SettingsManager;
-import com.chameleonvision.vision.camera.Camera;
 import com.chameleonvision.vision.camera.CameraManager;
 import com.chameleonvision.vision.process.CameraProcess;
 import com.chameleonvision.web.Server;
-import edu.wpi.cscore.UsbCamera;
-
-import java.util.Map;
 
 public class Main {
     public static void main(String[] args) {

Main/src/main/java/com/chameleonvision/settings/SettingsManager.java

@@ -1,23 +1,17 @@
 package com.chameleonvision.settings;
 
 import com.chameleonvision.FileHelper;
-import com.chameleonvision.CameraException;
-
-import java.io.*;
-import java.nio.file.*;
-
-import com.chameleonvision.vision.camera.Camera;
 import com.chameleonvision.vision.GeneralSettings;
-import com.chameleonvision.vision.Pipeline;
 import com.chameleonvision.vision.camera.CameraManager;
 import com.google.gson.Gson;
+import com.google.gson.GsonBuilder;
 
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-
-import edu.wpi.cscore.*;
+import java.io.FileNotFoundException;
+import java.io.FileReader;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.nio.file.Path;
+import java.nio.file.Paths;
 
 public class SettingsManager {
     private static SettingsManager instance;
@@ -25,10 +19,11 @@ public class SettingsManager {
     private SettingsManager() {
         InitiateGeneralSettings();
 
-        if (!Cameras.containsKey(GeneralSettings.curr_camera) && Cameras.size() > 0) {
-            String camName = Cameras.keySet().stream().findFirst().get();
-            GeneralSettings.curr_camera = camName;
-            GeneralSettings.curr_pipeline = CameraManager.getCamera(camName).getCurrentPipelineIndex();
+        var allCameras = CameraManager.getAllCamerasByName();
+        if (!allCameras.containsKey(GeneralSettings.curr_camera) && allCameras.size() > 0) {
+            var cam = allCameras.entrySet().stream().findFirst().get().getValue();
+            GeneralSettings.curr_camera = cam.name;
+            GeneralSettings.curr_pipeline = cam.getCurrentPipelineIndex();
         }
     }
 
@@ -43,10 +38,7 @@ public class SettingsManager {
         return instance;
     }
 
-    public static HashMap<String, Camera> Cameras = new HashMap<>();
-    public static HashMap<String, UsbCamera> UsbCameras = new HashMap<>();
     public static com.chameleonvision.vision.GeneralSettings GeneralSettings;
-    public static HashMap<String, String> CamerasCurrentPipeline = new HashMap<>();
     //    public static HashMap<String, String> CameraPorts = new HashMap<>();//TODO Implement ports
     public static final Path SettingsPath = Paths.get(System.getProperty("user.dir"), "Settings");
 
@@ -60,20 +52,7 @@ public class SettingsManager {
         }
     }
 
-
     //Access Methods
-    public List<String> GetResolutionList() throws CameraException {
-        if (!GeneralSettings.curr_camera.equals("")) {
-            List<String> list = new ArrayList<>();
-            var cam = CameraManager.getCamera(GeneralSettings.curr_camera).UsbCam;
-            for (var res : cam.enumerateVideoModes()) {
-                list.add(String.format("%s X %s at %s fps", res.width, res.height, res.fps));
-            }
-            return list;
-        }
-        throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
-    }
-
     public void updateCameraSetting(String cameraName, int pipelineNumber) {
         GeneralSettings.curr_camera = cameraName;
         GeneralSettings.curr_pipeline = pipelineNumber;
@@ -83,31 +62,17 @@ public class SettingsManager {
         GeneralSettings.curr_pipeline = pipelineNumber;
     }
 
-
     //Savers
     public void SaveSettings() {
         CameraManager.saveCameras();
         SaveGeneralSettings();
     }
 
-    private void SaveCameras() {
-        for (Map.Entry<String, Camera> entry : Cameras.entrySet()) {
-            try {
-                Gson gson = new Gson();
-                FileWriter writer = new FileWriter(Paths.get(CameraManager.CamConfigPath.toString(), String.format("%s.json", entry.getKey())).toString());
-                gson.toJson(entry.getValue(), writer);
-                writer.flush();
-                writer.close();
-            } catch (IOException e) {
-                e.printStackTrace();
-            }
-        }
-    }
-
     private void SaveGeneralSettings() {
         try {
-            FileWriter writer = new FileWriter(Paths.get(SettingsPath.toString(), "Settings.json").toString());
-            new Gson().toJson(GeneralSettings, writer);
+            Gson gson = new GsonBuilder().setPrettyPrinting().create();
+            FileWriter writer = new FileWriter(Paths.get(SettingsPath.toString(), "settings.json").toString());
+            gson.toJson(GeneralSettings, writer);
             writer.flush();
             writer.close();
         } catch (IOException e) {

Main/src/main/java/com/chameleonvision/vision/camera/Camera.java

@@ -1,132 +1,148 @@
 package com.chameleonvision.vision.camera;
 
 import com.chameleonvision.vision.Pipeline;
-import edu.wpi.cscore.UsbCamera;
-import edu.wpi.cscore.UsbCameraInfo;
-import edu.wpi.cscore.VideoMode;
+import edu.wpi.cscore.*;
+import edu.wpi.first.cameraserver.CameraServer;
+import org.opencv.core.Mat;
 
 import java.util.HashMap;
 import java.util.stream.IntStream;
 
 public class Camera {
 
-    private static double defaultFOV = 60.8;
+	private static double defaultFOV = 60.8;
 
-    public final String name;
-    public final String path;
+	public final String name;
+	public final String path;
 
-    public final UsbCamera UsbCam;
-    private final UsbCameraInfo UsbCamInfo;
-    private final VideoMode[] availableVideoModes;
+	public final UsbCamera UsbCam;
+	private final UsbCameraInfo UsbCamInfo;
+	private final VideoMode[] availableVideoModes;
+	private final CvSink cvSink;
+	private final CvSource cvSource;
 
-    private double FOV;
+	private double FOV;
 
-    private CameraValues camVals;
-    private CamVideoMode camVideoMode;
+	private CameraValues camVals;
+	private CamVideoMode camVideoMode;
 
-    private int currentPipelineIndex;
-    private HashMap<Integer, Pipeline> pipelines = new HashMap<>();
+	private int currentPipelineIndex;
+	private HashMap<Integer, Pipeline> pipelines = new HashMap<>();
 
-    public Camera(String cameraName) {
-        this(cameraName, defaultFOV);
+	public Camera(String cameraName) {
+		this(cameraName, defaultFOV);
+	}
+
+	public Camera(UsbCameraInfo usbCamInfo) {
+		this(usbCamInfo, defaultFOV);
+	}
+
+	public Camera(String cameraName, double fov) {
+		this(CameraManager.AllUsbCameraInfosByName.get(cameraName), fov);
+	}
+
+	public Camera(UsbCameraInfo usbCamInfo, double fov) {
+		UsbCamInfo = usbCamInfo;
+		FOV = fov;
+		name = usbCamInfo.name;
+		path = usbCamInfo.path;
+
+		UsbCam = new UsbCamera(name, path);
+
+		// set up video mode
+		availableVideoModes = UsbCam.enumerateVideoModes();
+		setCamVideoMode(new CamVideoMode(availableVideoModes[0]));
+
+		CameraServer cs = CameraServer.getInstance();
+		cvSink = cs.getVideo(UsbCam);
+		cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight);
+	}
+
+	public void setCamVideoMode(int videoMode) {
+		setCamVideoMode(UsbCam.enumerateVideoModes()[videoMode]);
+	}
+
+	private void setCamVideoMode(VideoMode videoMode) {
+		setCamVideoMode(new CamVideoMode(videoMode));
+	}
+
+	private void setCamVideoMode(CamVideoMode camVideoMode) {
+		this.camVideoMode = camVideoMode;
+		UsbCam.setPixelFormat(camVideoMode.getActualPixelFormat());
+		UsbCam.setFPS(camVideoMode.fps);
+		UsbCam.setResolution(camVideoMode.width, camVideoMode.height);
+		camVals = new CameraValues(this);
+		// TODO: Automatically restart CameraProcess when resolution changes (not FPS)
+	}
+
+	public void addPipeline() {
+		addPipeline(pipelines.size());
+	}
+
+	private void addPipeline(int pipelineNumber) {
+		if (pipelines.containsKey(pipelineNumber)) return;
+		pipelines.put(pipelineNumber, new Pipeline());
+	}
+
+	public Pipeline getCurrentPipeline() {
+		return pipelines.get(currentPipelineIndex);
+	}
+
+	public int getCurrentPipelineIndex() {
+		return currentPipelineIndex;
+	}
+
+	public void setCurrentPipelineIndex(int pipelineNumber) {
+		if (pipelineNumber - 1 > pipelines.size()) return;
+		currentPipelineIndex = pipelineNumber;
+	}
+	public HashMap<Integer, Pipeline> getPipelines() {
+		return pipelines;
+	}
+
+	public CamVideoMode getVideoMode() {
+		return camVideoMode;
+	}
+
+	public int getVideoModeIndex() {
+		return IntStream.range(0, availableVideoModes.length)
+				.filter(i -> camVideoMode.isEqualToVideoMode(availableVideoModes[i]))
+				.findFirst()
+				.orElse(-1);
+	}
+
+	public double getFOV() {
+		return FOV;
+	}
+
+	public void setFOV(double fov) {
+		FOV = fov;
+		camVals = new CameraValues(this);
+	}
+
+	public int getBrightness() {
+		return getCurrentPipeline().brightness;
+	}
+
+	public void setBrightness(int brightness) {
+		getCurrentPipeline().brightness = brightness;
+		UsbCam.setBrightness(brightness);
+	}
+
+	public void setExposure(int exposure) {
+		getCurrentPipeline().exposure = exposure;
+		UsbCam.setExposureManual(exposure);
+	}
+
+	public long grabFrame(Mat image) {
+	    return cvSink.grabFrame(image);
     }
 
-    public Camera(UsbCameraInfo usbCamInfo) {
-        this(usbCamInfo, defaultFOV);
+    public long grabFrame(Mat image, double timeout) {
+	    return cvSink.grabFrame(image, timeout);
     }
 
-    public Camera(String cameraName, double fov) {
-        this(CameraManager.AllUsbCameraInfosByName.get(cameraName), fov);
+    public void putFrame(Mat image) {
+	    cvSource.putFrame(image);
     }
-
-    public Camera(UsbCameraInfo usbCamInfo, double fov) {
-        UsbCamInfo = usbCamInfo;
-        FOV = fov;
-        name = usbCamInfo.name;
-        path = usbCamInfo.path;
-
-        UsbCam = new UsbCamera(name, path);
-
-        // set up video mode
-        availableVideoModes = UsbCam.enumerateVideoModes();
-        setCamVideoMode(new CamVideoMode(availableVideoModes[0]));
-    }
-
-    public void setCamVideoMode(int videoMode) {
-        setCamVideoMode(UsbCam.enumerateVideoModes()[videoMode]);
-    }
-
-    private void setCamVideoMode(VideoMode videoMode) {
-        setCamVideoMode(new CamVideoMode(videoMode));
-    }
-
-    private void setCamVideoMode(CamVideoMode camVideoMode) {
-        this.camVideoMode = camVideoMode;
-        UsbCam.setPixelFormat(camVideoMode.getActualPixelFormat());
-        UsbCam.setFPS(camVideoMode.fps);
-        UsbCam.setResolution(camVideoMode.width, camVideoMode.height);
-        camVals = new CameraValues(this);
-        // TODO: Automatically restart CameraProcess when resolution changes (not FPS)
-    }
-
-    public void addPipeline() {
-        addPipeline(pipelines.size());
-    }
-
-    private void addPipeline(int pipelineNumber) {
-        if (pipelines.containsKey(pipelineNumber)) return;
-        pipelines.put(pipelineNumber, new Pipeline());
-    }
-
-    public void setCurrentPipelineIndex(int pipelineNumber) {
-        if (pipelineNumber - 1 > pipelines.size()) return;
-        currentPipelineIndex = pipelineNumber;
-    }
-
-    public Pipeline getCurrentPipeline() {
-        return pipelines.get(currentPipelineIndex);
-    }
-
-    public int getCurrentPipelineIndex() {
-        return currentPipelineIndex;
-    }
-
-    public HashMap<Integer, Pipeline> getPipelines() {
-        return pipelines;
-    }
-
-    public CamVideoMode getVideoMode() {
-        return camVideoMode;
-    }
-
-    public int getVideoModeIndex() {
-        return IntStream.range(0, availableVideoModes.length)
-                .filter(i -> camVideoMode.isEqualToVideoMode(availableVideoModes[i]))
-                .findFirst()
-                .orElse(-1);
-    }
-
-    public void setFOV(double fov) {
-        FOV = fov;
-        camVals = new CameraValues(this);
-    }
-
-    public double getFOV() {
-        return FOV;
-    }
-
-    public void setBrightness(int brightness) {
-        getCurrentPipeline().brightness = brightness;
-        UsbCam.setBrightness(brightness);
-    }
-
-    public int getBrightness() {
-        return getCurrentPipeline().brightness;
-    }
-
-    public void setExposure(int exposure) {
-        getCurrentPipeline().exposure = exposure;
-        UsbCam.setExposureManual(exposure);
-    }
-
 }

Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java

@@ -23,20 +23,23 @@ import java.util.List;
 
 public class CameraManager {
 
-    public static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "Cams");
+    private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "Cams");
 
     // TODO: Fix suffix for camera
-    // TODO: throw a camera Exeption if no camera is connected
+    // TODO: throw a camera Exception if no camera is connected
     static HashMap<String, UsbCameraInfo> AllUsbCameraInfosByName = new HashMap<>() {{
         var suffix = 0;
         for (var info : UsbCamera.enumerateUsbCameras()) {
             var cap = new VideoCapture(info.name);
             if (cap.isOpened()) {
                 cap.release();
-                var name = String.format("%s(%s)", info.name, suffix);
-                put(name, info);
+            }
+            var name = info.name;
+            while (this.containsKey(name)) {
                 suffix++;
-            }            
+                name = String.format("%s(%s)", info.name, suffix);
+            }
+            put(name, info);
         }
     }};
 
@@ -78,7 +81,7 @@ public class CameraManager {
         return true;
     }
 
-    public static Camera getCamera(String cameraName) {
+    private static Camera getCamera(String cameraName) {
         return AllCamerasByName.get(cameraName);
     }
 

Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java

@@ -1,17 +1,15 @@
 package com.chameleonvision.vision.process;
 
-import com.chameleonvision.CameraException;
 import com.chameleonvision.MemoryManager;
 import com.chameleonvision.settings.SettingsManager;
-import com.chameleonvision.vision.camera.Camera;
-import com.chameleonvision.vision.camera.CameraManager;
-import com.chameleonvision.vision.camera.CameraValues;
 import com.chameleonvision.vision.Pipeline;
+import com.chameleonvision.vision.camera.Camera;
+import com.chameleonvision.vision.camera.CameraValues;
 import com.chameleonvision.web.Server;
 import edu.wpi.cscore.CvSink;
 import edu.wpi.cscore.CvSource;
-import edu.wpi.first.networktables.*;
 import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.networktables.*;
 import org.opencv.core.*;
 import org.opencv.imgproc.Imgproc;
 
@@ -40,10 +38,6 @@ public class CameraProcess implements Runnable {
     private VisionProcess visionProcess;
     private CameraValues camVals;
 
-    // cscore
-    private CvSink cvSink;
-    private CvSource cvPublish;
-
     // pipeline process items
     private List<MatOfPoint> FoundContours = new ArrayList<>();
     private List<MatOfPoint> FilteredContours = new ArrayList<>();
@@ -103,11 +97,6 @@ public class CameraProcess implements Runnable {
         // camera settings
         camVals = new CameraValues(camera);
         visionProcess = new VisionProcess(camVals);
-
-        // cscore setup
-        CameraServer cs = CameraServer.getInstance();
-        cvSink = cs.getVideo(camera.UsbCam);
-        cvPublish = cs.putVideo(cameraName, camVals.ImageWidth, camVals.ImageHeight);
     }
 
     private void drawContour(Mat inputMat, RotatedRect contourRect) {
@@ -192,7 +181,7 @@ public class CameraProcess implements Runnable {
             currentPipeline = camera.getCurrentPipeline();
             // start fps counter right before grabbing input frame
             startTime = System.nanoTime();
-            TimeStamp = cvSink.grabFrame(cameraInputMat);
+            TimeStamp = camera.grabFrame(cameraInputMat);
             if (cameraInputMat.cols() == 0 && cameraInputMat.rows() == 0) {
                 continue;
             }
@@ -210,10 +199,10 @@ public class CameraProcess implements Runnable {
                 point.put("yaw", pipelineResult.Yaw);
                 point.put("fps", fps);
                 WebSend.put("point", point);
-                WebSend.put("raw_point",center);
+                WebSend.put("raw_point", center);
                 Server.broadcastMessage(WebSend);
             }
-            cvPublish.putFrame(streamOutputMat);
+            camera.putFrame(streamOutputMat);
             // calculate FPS after publishing output frame
             processTimeMs = (System.nanoTime() - startTime) * 1e-6;
             fps = 1000 / processTimeMs;

Main/target/classes/web/index.html

@@ -1 +1 @@
-<!DOCTYPE html><html lang=en><head><meta charset=utf-8><meta http-equiv=X-UA-Compatible content="IE=edge"><meta name=viewport content="width=device-width,initial-scale=1"><link rel=icon href=/favicon.png><title>Chameleon Vision</title><link href=/css/app.8be123c7.css rel=preload as=style><link href=/js/app.fd9292a1.js rel=preload as=script><link href=/js/chunk-vendors.a3ecb371.js rel=preload as=script><link href=/css/app.8be123c7.css rel=stylesheet></head><body><noscript><strong>We're sorry but Chameleon Vision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id=app></div><script src=/js/chunk-vendors.a3ecb371.js></script><script src=/js/app.fd9292a1.js></script></body></html>
+<!DOCTYPE html><html lang=en><head><meta charset=utf-8><meta http-equiv=X-UA-Compatible content="IE=edge"><meta name=viewport content="width=device-width,initial-scale=1"><link rel=icon href=/favicon.png><title>Chameleon Vision</title><link href=/css/app.ac4ea4d9.css rel=preload as=style><link href=/js/app.38c2f8d8.js rel=preload as=script><link href=/js/chunk-vendors.60cc7e7e.js rel=preload as=script><link href=/css/app.ac4ea4d9.css rel=stylesheet></head><body><noscript><strong>We're sorry but Chameleon Vision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id=app></div><script src=/js/chunk-vendors.60cc7e7e.js></script><script src=/js/app.38c2f8d8.js></script></body></html>