From 07c21aca1dfdb9e9aa76b1597c5a288e94cba70e Mon Sep 17 00:00:00 2001
From: Banks Troutman <bankst@roswellrobotics.com>
Date: Fri, 20 Sep 2019 02:30:19 -0400
Subject: [PATCH] Allow resolution change to take effect without restarting
 CameraProcess

---
 .../chameleonvision/vision/camera/Camera.java | 22 ++++++++++++-------
 .../vision/process/CameraProcess.java         |  4 ----
 2 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java b/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
index 195eca97b..3abfb359a 100644
--- a/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
@@ -18,8 +18,10 @@ public class Camera {
 	public final UsbCamera UsbCam;
 	private final UsbCameraInfo UsbCamInfo;
 	private final VideoMode[] availableVideoModes;
+
+	private final CameraServer cs = CameraServer.getInstance();
 	private final CvSink cvSink;
-	private final CvSource cvSource;
+	private CvSource cvSource;
 
 	private double FOV;
 
@@ -53,7 +55,6 @@ public class Camera {
 		availableVideoModes = UsbCam.enumerateVideoModes();
 		setCamVideoMode(new CamVideoMode(availableVideoModes[0]));
 
-		CameraServer cs = CameraServer.getInstance();
 		cvSink = cs.getVideo(UsbCam);
 		cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight);
 	}
@@ -66,13 +67,18 @@ public class Camera {
 		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);
+	private void setCamVideoMode(CamVideoMode newVideoMode) {
+		var prevVideoMode = this.camVideoMode;
+		this.camVideoMode = newVideoMode;
+		UsbCam.setPixelFormat(newVideoMode.getActualPixelFormat());
+		UsbCam.setFPS(newVideoMode.fps);
+		UsbCam.setResolution(newVideoMode.width, newVideoMode.height);
+
+		// update camera values
 		camVals = new CameraValues(this);
-		// TODO: Automatically restart CameraProcess when resolution changes (not FPS)
+		if ( prevVideoMode != null && prevVideoMode.width != newVideoMode.width && prevVideoMode.height != newVideoMode.height) { //  if resolution changed
+			cvSource = cs.putVideo(name, newVideoMode.width, newVideoMode.height);
+		}
 	}
 
 	public void addPipeline() {
diff --git a/Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java b/Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
index a553406e6..2460d223b 100644
--- a/Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
@@ -48,10 +48,6 @@ public class CameraProcess implements Runnable {
     private Scalar contourRectColor = new Scalar(255, 0, 0);
     private long TimeStamp = 0;
 
-    public void restartProcess() {
-        // TODO: Restart process and re-create cvPublish for new resolution
-    }
-
     private void DriverModeListener(EntryNotification entryNotification) {
         if (entryNotification.value.getBoolean()) {
             camera.setExposure(25);