Added Runnables for VisionProcess threads

Main/src/main/java/com/chameleonvision/classabstraction/VisionProcess.java

@@ -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());
+            }
+        }
+    }
 }