From 1bf5ff9ee27d7bc06a36b478081e75335aaf85d8 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Sun, 1 Dec 2019 20:04:17 -0800
Subject: [PATCH] Unit test vision (and implement networktable sending)

---
 .../chameleonvision/config/StaticCaptureTest.java | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java b/chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java
index 267a93220..93ead0087 100644
--- a/chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java
+++ b/chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java
@@ -1,10 +1,12 @@
 package com.chameleonvision.config;
 
 import com.chameleonvision.util.ProgramDirectoryUtilities;
+import com.chameleonvision.vision.camera.CameraStreamer;
 import com.chameleonvision.vision.image.StaticImageCapture;
 import com.chameleonvision.vision.pipeline.CVPipeline2d;
 import edu.wpi.cscore.CameraServerCvJNI;
 import edu.wpi.cscore.CameraServerJNI;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
@@ -55,12 +57,23 @@ class StaticCaptureTest {
     }
 
     @Test
-    void ImageProcessTest() {
+    void ImageProcessTest() throws InterruptedException {
         ImageLoadTest();
         CVPipeline2d testPipeline = new CVPipeline2d();
         String testImage1 = "CargoSideStraightDark36in";
         StaticImageCapture testCapture1 = loadedImages.get(testImage1);
 
         testPipeline.initPipeline(testCapture1);
+
+        var streamer = new CameraStreamer(testCapture1, "CargoSideStraightDark36in");
+
+        NetworkTableInstance.getDefault().startClient("localhost");
+
+        while(true) {
+            var result = testPipeline.runPipeline(testCapture1.getFrame().getKey());
+            streamer.runStream(result.outputMat);
+            Thread.sleep(20);
+        }
+
     }
 }
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