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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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55
Main/src/main/java/com/chameleonvision/classabstraction/VisionProcess.java
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@@ -6,6 +6,7 @@ import com.chameleonvision.classabstraction.pipeline.CVPipeline;
import com.chameleonvision.classabstraction.pipeline.CVPipelineResult;
import com.chameleonvision.classabstraction.pipeline.CVPipelineSettings;
import com.chameleonvision.classabstraction.pipeline.DriverVisionPipeline;
import com.chameleonvision.classabstraction.util.LoopingRunnable;
import edu.wpi.cscore.VideoMode;
import org.opencv.core.Mat;
@@ -17,7 +18,7 @@ public class VisionProcess {
private final CameraProcess cameraProcess;
private final List<CVPipeline> pipelines = new ArrayList<>();
private final CameraFrameRunnable cameraRunnable;
private final CameraStramerRunnable streamRunnable;
private final CameraStreamerRunnable streamRunnable;
private final VisionProcessRunnable visionRunnable;
private final CameraStreamer cameraStreamer;
private CVPipeline currentPipeline;
@@ -31,7 +32,8 @@ public class VisionProcess {
setPipeline(pipelines.get(0));
// Thread to grab frames from the camera
this.cameraRunnable = new CameraFrameRunnable(cameraUpdateTimeMs) ;
// TODO: fix video modes!!!
this.cameraRunnable = new CameraFrameRunnable(cameraProcess.getProperties().videoModes.get(0).fps);
new Thread(cameraRunnable).start();
// Thread to put frames on the dashboard
@@ -78,11 +80,13 @@ public class VisionProcess {
/**
* CameraFrameRunnable grabs images from the cameraProcess
* at a specified loopTime
* @param loopTimeMs how often to grab frames at in ms
* at a specified framerate
* @param cameraFPS FPS of camera
*/
CameraFrameRunnable(Long loopTimeMs) {
super(loopTimeMs);
CameraFrameRunnable(int cameraFPS) {
// add 2 FPS to allow for a bit of overhead
// TODO: test the affect of this
super(1000L/(cameraFPS + 2));
}
@Override
@@ -127,52 +131,19 @@ public class VisionProcess {
}
}
private class CameraStramerRunnable extends LoopingRunnable {
private class CameraStreamerRunnable extends LoopingRunnable {
private final CameraStreamer streamer;
private Mat streamBuffer = new Mat();
private CameraStramerRunnable(Long loopTimeMs, CameraStreamer streamer) {
private CameraStreamerRunnable(Long loopTimeMs, CameraStreamer streamer) {
super(loopTimeMs);
this.streamer = streamer;
}
@Override
void process() {
protected void process() {
streamer.runStream(cameraRunnable.getFrame(streamBuffer));
}
}
/**
* A thread that tries to run at a specified loop time
*/
private static abstract class LoopingRunnable implements Runnable {
private final Long loopTimeMs;
abstract void process();
private LoopingRunnable(Long loopTimeMs) {
this.loopTimeMs = loopTimeMs;
}
@Override
public void run() {
while(!Thread.interrupted()) {
var now = System.currentTimeMillis();
// Do the thing
process();
// sleep for the remaining time
var timeElapsed = System.currentTimeMillis() - now;
var delta = loopTimeMs - timeElapsed;
if(delta > 0.0) {
try {
Thread.sleep(delta, 0);
} catch (Exception ignored) {}
}
}
}
}
}