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Move LoopingRunnable, begin work on main and VisionManager

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This commit is contained in:
Banks Troutman
2019-11-16 14:30:44 -05:00
parent 58c1924c7e
commit 164a02159e
9 changed files with 115 additions and 89 deletions
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48
Main/src/main/java/com/chameleonvision/Main.java
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@@ -1,5 +1,6 @@
package com.chameleonvision;
import com.chameleonvision.classabstraction.VisionManager;
import com.chameleonvision.network.NetworkManager;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
@@ -133,28 +134,47 @@ public class Main {
if (testMode) {
// todo: boot in to the new classabstraction stuff
boolean visionSourcesOk = VisionManager.initializeSources();
if (!visionSourcesOk) {
System.out.println("No cameras connected!");
return;
}
NetworkManager.initialize(manageNetwork);
boolean visionProcessesOk = VisionManager.initializeProcesses();
if (!visionProcessesOk) {
System.err.println("shit");
return;
}
runServer();
} else {
if (CameraManager.initializeCameras()) {
SettingsManager.initialize();
NetworkManager.initialize(manageNetwork);
CameraManager.initializeThreads();
if (ntServerMode) {
System.out.println("Starting NT Server");
NetworkTableInstance.getDefault().startServer();
} else {
NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
if (ntClientModeServer != null) {
NetworkTableInstance.getDefault().startClient(ntClientModeServer);
} else {
NetworkTableInstance.getDefault().startClientTeam(SettingsManager.generalSettings.teamNumber);
}
}
System.out.printf("Starting Webserver at port %d\n", DEFAULT_PORT);
Server.main(DEFAULT_PORT);
runServer();
} else {
System.err.println("No cameras connected!");
}
}
}
private static void runServer() {
if (ntServerMode) {
System.out.println("Starting NT Server");
NetworkTableInstance.getDefault().startServer();
} else {
NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
if (ntClientModeServer != null) {
NetworkTableInstance.getDefault().startClient(ntClientModeServer);
} else {
NetworkTableInstance.getDefault().startClientTeam(SettingsManager.generalSettings.teamNumber);
}
}
System.out.printf("Starting Webserver at port %d\n", DEFAULT_PORT);
Server.main(DEFAULT_PORT);
}
}