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Added Runnables for VisionProcess threads

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This commit is contained in:
Banks Troutman
2019-11-15 16:01:50 -05:00
parent cd21186bf7
commit 1e613ee342
9 changed files with 108 additions and 62 deletions
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71
Main/src/main/java/com/chameleonvision/Main.java
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@@ -16,18 +16,19 @@ import java.util.function.Consumer;
public class Main {
private static final String PORT_KEY = "--port"; // expects integer
private static final String NT_SERVERMODE_KEY = "--nt-servermode"; // no args for this setting
private static final String NT_CLIENTMODESERVER_KEY = "--nt-client-server"; // expects String representing an IP address (hostnames will be rejected!)
private static final String NETWORK_MANAGE_KEY = "--unmanage-network"; // no args for this setting
private static final String IGNORE_ROOT = "--ignore-root"; // no args for this setting
private static final String IGNORE_ROOT_KEY = "--ignore-root"; // no args for this setting
private static final String TEST_MODE_KEY = "--cv-development";
private static final int DEFAULT_PORT = 8888;
private static final int DEFAULT_PORT = 5800;
private static boolean ntServerMode = false;
private static boolean manageNetwork = true;
private static boolean ignoreRoot = false;
private static String ntClientModeServer = null;
private static boolean testMode = false;
private static class NTLogger implements Consumer<LogMessage> {
@@ -51,7 +52,6 @@ public class Main {
// this switch handles arguments with a value. Add any settings with a value here.
switch (key) {
case PORT_KEY:
case NT_CLIENTMODESERVER_KEY:
var potentialValue = args[i + 1];
// ensures this "value" isnt null, blank, nor another argument
@@ -62,21 +62,14 @@ public class Main {
break;
case NT_SERVERMODE_KEY:
case NETWORK_MANAGE_KEY:
case IGNORE_ROOT:
case IGNORE_ROOT_KEY:
case TEST_MODE_KEY:
// nothing
break;
}
// this switch actually handles the arguments.
switch (key) {
case PORT_KEY:
System.out.println("INFO - The \"--port\" argument is currently disabled.");
// try {
// if (value == null) throw new Exception("Bad or No argument value");
// webserverPort = Integer.parseInt(value);
// } catch (Exception ex) {
// System.err.printf("Argument for port was invalid, starting server at port %d\n", DEFAULT_PORT);
// }
break;
case NT_SERVERMODE_KEY:
ntServerMode = true;
break;
@@ -97,8 +90,12 @@ public class Main {
case NETWORK_MANAGE_KEY:
manageNetwork = false;
break;
case IGNORE_ROOT:
case IGNORE_ROOT_KEY:
ignoreRoot = true;
break;
case TEST_MODE_KEY:
testMode = true;
break;
}
}
}
@@ -130,30 +127,34 @@ public class Main {
CameraServerCvJNI.forceLoad();
} catch (UnsatisfiedLinkError | IOException e) {
if(Platform.getCurrentPlatform().isWindows())
System.err.println("Try to download the VC++ Redistributable, see announcements in discord");
System.err.println("Try to download the VC++ Redistributable, https://aka.ms/vs/16/release/vc_redist.x64.exe");
throw new RuntimeException("Failed to load JNI Libraries!");
}
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);
}
}
int webserverPort = DEFAULT_PORT;
System.out.printf("Starting Webserver at port %d\n", webserverPort);
Server.main(webserverPort);
if (testMode) {
// todo: boot in to the new classabstraction stuff
} else {
System.err.println("No cameras connected!");
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);
} else {
System.err.println("No cameras connected!");
}
}
}
}

29
Main/src/main/java/com/chameleonvision/classabstraction/VisionManager.java
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@@ -16,7 +16,6 @@ import java.io.File;
import java.io.IOException;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.LinkedHashMap;
import java.util.List;
@@ -28,7 +27,6 @@ public class VisionManager {
public static final LinkedHashMap<String, UsbCameraInfo> UsbCameraInfosByCameraName = new LinkedHashMap<>();
public static final LinkedHashMap<String, VisionProcess> VisionProcessesByCameraName = new LinkedHashMap<>();
public static boolean initializeSources() {
int suffix = 0;
for (UsbCameraInfo info : UsbCamera.enumerateUsbCameras()) {
@@ -48,19 +46,26 @@ public class VisionManager {
return false;
}
FileHelper.CheckPath(CamConfigPath);
UsbCameraInfosByCameraName.forEach((cameraName, cameraInfo) -> {
Path cameraConfigPath = Paths.get(CamConfigPath.toString(), String.format("%s.json", cameraName));
File cameraConfigFile = new File(cameraConfigPath.toString());
if (cameraConfigFile.exists() && cameraConfigFile.length() != 0) {
// try {
// Gson gson = new GsonBuilder().registerTypeAdapter(USBCameraProcess.class, new CameraDeserializer());
// }
}
});
// FileHelper.CheckPath(CamConfigPath);
// UsbCameraInfosByCameraName.forEach((cameraName, cameraInfo) -> {
// Path cameraConfigPath = Paths.get(CamConfigPath.toString(), String.format("%s.json", cameraName));
// File cameraConfigFile = new File(cameraConfigPath.toString());
// if (cameraConfigFile.exists() && cameraConfigFile.length() != 0) {
//// try {
//// Gson gson = new GsonBuilder().registerTypeAdapter(USBCameraProcess.class, new CameraDeserializer());
//// }
// }
// })
// TODO: implement new camera JSON loads
return true;
}
public void PipelineSerializer(List<CVPipelineSettings> list, Path path) throws IOException {
File pipelineFile = new File(path.toString());
ObjectMapper objectMapper = new ObjectMapper().enableDefaultTyping();
objectMapper.writeValue(pipelineFile,list);
}
public static void initializeProcesses() {

44
Main/src/main/java/com/chameleonvision/classabstraction/VisionProcess.java
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@@ -2,8 +2,10 @@ package com.chameleonvision.classabstraction;
import com.chameleonvision.classabstraction.camera.CameraProcess;
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 org.opencv.core.Mat;
import java.util.ArrayList;
import java.util.List;
@@ -14,6 +16,8 @@ public class VisionProcess {
private final List<CVPipeline> pipelines = new ArrayList<>();
private CVPipeline currentPipeline;
private final CameraFrameRunnable cameraFrameRunnable;
private final CVPipelineSettings driverVisionSettings = new CVPipelineSettings();
public VisionProcess(CameraProcess cameraProcess) {
@@ -21,6 +25,8 @@ public class VisionProcess {
pipelines.add(new DriverVisionPipeline(() -> driverVisionSettings));
setPipeline(pipelines.get(0));
cameraFrameRunnable = new CameraFrameRunnable();
}
public void setPipeline(int pipelineIndex) {
@@ -38,4 +44,42 @@ public class VisionProcess {
public CVPipeline getCurrentPipeline() {
return currentPipeline;
}
protected class CameraFrameRunnable implements Runnable {
private Mat cameraFrame = new Mat();
private long timestampMicros;
private final Object frameLock = new Object();
@Override
public void run() {
while(Thread.interrupted()) {
var camData = cameraProcess.getFrame();
synchronized (frameLock) {
cameraFrame = camData.getLeft();
}
timestampMicros = camData.getRight();
}
}
public Mat getFrame() {
return cameraFrame;
}
public long getTimestampMicros() {
return timestampMicros;
}
}
private class VisionThread implements Runnable {
private CVPipelineResult result;
@Override
public void run() {
while(!Thread.interrupted()) {
result = currentPipeline.runPipeline(cameraFrameRunnable.getFrame());
}
}
}
}

3
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraProcess.java
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@@ -8,10 +8,9 @@ public interface CameraProcess {
/**
* Get the next camera frame
* @param frame the frame to copy the image into
* @return a Pair of the captured image and how long it took to grab the frame (in uS)
*/
Pair<Mat, Long> getFrame(Mat frame);
Pair<Mat, Long> getFrame();
/**
* Set the exposure of the camera

7
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraStreamer.java
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@@ -1,6 +1,5 @@
package com.chameleonvision.classabstraction.camera;
import com.chameleonvision.vision.camera.CameraManager;
import com.chameleonvision.vision.camera.StreamDivisor;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.CvSource;
@@ -11,7 +10,6 @@ import org.opencv.core.Size;
import org.opencv.imgproc.Imgproc;
public class CameraStreamer {
private final CameraProcess cameraProcess;
private final String name;
private StreamDivisor divisor = StreamDivisor.NONE;
@@ -27,7 +25,6 @@ public class CameraStreamer {
cameraProcess.getProperties().staticProperties.imageHeight / divisor.value);
}
public void setDivisor(StreamDivisor newDivisor) {
this.divisor = newDivisor;
var camValues = cameraProcess.getProperties();
@@ -42,9 +39,7 @@ public class CameraStreamer {
ServerHandler.sendFullSettings();
}
public void runStream() {
var newFrame = cameraProcess.getFrame(streamBuffer);
var image = newFrame.getLeft();
public void runStream(Mat image) {
if (divisor.value != 1) {
var camVal = cameraProcess.getProperties().staticProperties;
var newWidth = camVal.imageWidth / divisor.value;

5
Main/src/main/java/com/chameleonvision/classabstraction/camera/USBCameraProcess.java
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@@ -28,13 +28,12 @@ public class USBCameraProcess implements CameraProcess {
}
@Override
public Pair<Mat, Long> getFrame(Mat frame) {
public Pair<Mat, Long> getFrame() {
Long deltaTime;
synchronized (cvSink) {
deltaTime = cvSink.grabFrame(imageBuffer) * 1000L;
imageBuffer.copyTo(frame);
}
return Pair.of(frame, deltaTime);
return Pair.of(imageBuffer, deltaTime);
}
@Override

4
Main/src/main/java/com/chameleonvision/classabstraction/pipeline/CVPipelineResult.java
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@@ -8,10 +8,12 @@ public abstract class CVPipelineResult<T> {
public final List<T> targets;
public final boolean hasTarget;
public final Mat outputMat = new Mat();
public final long processTime;
public CVPipelineResult(List<T> targets, Mat outputMat) {
public CVPipelineResult(List<T> targets, Mat outputMat, long processTime) {
this.targets = targets;
hasTarget = targets != null && !targets.isEmpty();
outputMat.copyTo(this.outputMat);
this.processTime = processTime;
}
}

1
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -1,6 +1,7 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.classabstraction.pipeline.CVPipeline2d;
import com.chameleonvision.classabstraction.pipeline.CVPipeline2dSettings;
import com.chameleonvision.classabstraction.pipeline.DriverVisionPipeline;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Orientation;