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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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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;
}
}