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Rename Camera and CamProcess to USBCamera and USBCameraProcess

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Further changes:
- Add CameraProcess interface
- Change VisionProcess to pass the interface as parameter
This commit is contained in:
Matt
2019-11-02 10:10:02 -07:00
parent 570a042e35
commit 24313ba45b
12 changed files with 290 additions and 201 deletions
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13
Main/src/main/java/com/chameleonvision/vision/camera/CameraDeserializer.java
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@@ -4,19 +4,16 @@ import com.chameleonvision.vision.Pipeline;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.JavaType;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.fasterxml.jackson.databind.type.MapType;
import com.fasterxml.jackson.databind.type.ArrayType;
import com.fasterxml.jackson.databind.type.TypeFactory;
import com.google.gson.*;
import java.lang.reflect.Type;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
public class CameraDeserializer implements JsonDeserializer<Camera> {
public class CameraDeserializer implements JsonDeserializer<USBCamera> {
@Override
public Camera deserialize(JsonElement jsonElement, Type type, JsonDeserializationContext context) throws JsonParseException {
public USBCamera deserialize(JsonElement jsonElement, Type type, JsonDeserializationContext context) throws JsonParseException {
try {
var jsonObj = jsonElement.getAsJsonObject();
var camFOV = jsonObj.get("FOV").getAsDouble();
@@ -32,8 +29,8 @@ public class CameraDeserializer implements JsonDeserializer<Camera> {
// always null-check new features
boolean isDriver = isDriverObj != null && isDriverObj.getAsBoolean();
int driverExposure = driverExposureObj == null ? Camera.DEFAULT_EXPOSURE : driverExposureObj.getAsInt();
int driverBrightness = driverBrightnessObj == null ? Camera.DEFAULT_BRIGHTNESS : driverBrightnessObj.getAsInt();
int driverExposure = driverExposureObj == null ? USBCamera.DEFAULT_EXPOSURE : driverExposureObj.getAsInt();
int driverBrightness = driverBrightnessObj == null ? USBCamera.DEFAULT_BRIGHTNESS : driverBrightnessObj.getAsInt();
StreamDivisor divisor = divisorObj == null ? StreamDivisor.none : StreamDivisor.values()[divisorObj.getAsInt()];
var pipelines = jsonObj.get("pipelines");
@@ -47,7 +44,7 @@ public class CameraDeserializer implements JsonDeserializer<Camera> {
e.printStackTrace();
}
var newCamera = actualPipelines != null ? new Camera(camName, camFOV, actualPipelines, videoModeIndex, divisor, isDriver) : new Camera(camName, camFOV, videoModeIndex, divisor, isDriver);
var newCamera = actualPipelines != null ? new USBCamera(camName, camFOV, actualPipelines, videoModeIndex, divisor, isDriver) : new USBCamera(camName, camFOV, videoModeIndex, divisor, isDriver);
newCamera.setNickname(camNickname != null ? camNickname : "");
newCamera.setDriverExposure(driverExposure);
newCamera.setDriverBrightness(driverBrightness);

78
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -1,9 +1,9 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.settings.GeneralSettings;
import com.chameleonvision.util.FileHelper;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.process.USBCameraProcess;
import com.chameleonvision.vision.process.VisionProcess;
import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
@@ -21,10 +21,10 @@ public class CameraManager {
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "cameras");
private static LinkedHashMap<String, Camera> AllCamerasByName = new LinkedHashMap<>();
public static HashMap<String, VisionProcess> AllVisionProcessesByName = new HashMap<>();
private static LinkedHashMap<String, USBCamera> allCamerasByName = new LinkedHashMap<>();
public static HashMap<String, VisionProcess> allVisionProcessesByName = new HashMap<>();
static HashMap<String, UsbCameraInfo> AllUsbCameraInfosByName = new HashMap<>() {{
static HashMap<String, UsbCameraInfo> allUsbCameraInfosByName = new HashMap<>() {{
var suffix = 0;
for (var info : UsbCamera.enumerateUsbCameras()) {
var cap = new VideoCapture(info.dev);
@@ -40,31 +40,31 @@ public class CameraManager {
}
}};
public static HashMap<String, Camera> getAllCamerasByName() {
return AllCamerasByName;
public static HashMap<String, USBCamera> getAllCamerasByName() {
return allCamerasByName;
}
public static List<String> getAllCameraByNickname(){
var cameras = getAllCamerasByName();
return cameras.values().stream().map(Camera::getNickname).collect(Collectors.toList());
return cameras.values().stream().map(USBCamera::getNickname).collect(Collectors.toList());
}
public static boolean initializeCameras() {
if (AllUsbCameraInfosByName.size() == 0) return false;
if (allUsbCameraInfosByName.size() == 0) return false;
FileHelper.CheckPath(CamConfigPath);
AllUsbCameraInfosByName.forEach((key, value) -> {
allUsbCameraInfosByName.forEach((key, value) -> {
var camPath = Paths.get(CamConfigPath.toString(), String.format("%s.json", key));
File camJsonFile = new File(camPath.toString());
if (camJsonFile.exists() && camJsonFile.length() != 0) {
try {
Gson gson = new GsonBuilder().registerTypeAdapter(Camera.class, new CameraDeserializer()).create();
Gson gson = new GsonBuilder().registerTypeAdapter(USBCamera.class, new CameraDeserializer()).create();
var camJsonFileReader = new FileReader(camPath.toString());
var gsonRead = gson.fromJson(camJsonFileReader, Camera.class);
AllCamerasByName.put(key, gsonRead);
var gsonRead = gson.fromJson(camJsonFileReader, USBCamera.class);
allCamerasByName.put(key, gsonRead);
} catch (FileNotFoundException ex) {
ex.printStackTrace();
}
} else {
if (!addCamera(new Camera(key), key)) {
if (!addCamera(new USBCamera(key), key)) {
System.err.println("Failed to add camera! Already exists!");
}
}
@@ -73,39 +73,39 @@ public class CameraManager {
}
public static void initializeThreads(){
AllCamerasByName.forEach((key, value) -> {
VisionProcess visionProcess = new VisionProcess(value);
AllVisionProcessesByName.put(key, visionProcess);
allCamerasByName.forEach((name, camera) -> {
VisionProcess visionProcess = new VisionProcess(new USBCameraProcess(camera));
allVisionProcessesByName.put(name, visionProcess);
new Thread(visionProcess).start();
});
}
private static boolean addCamera(Camera camera, String cameraName) {
if (AllCamerasByName.containsKey(cameraName)) return false;
camera.addPipeline();
AllCamerasByName.put(cameraName, camera);
private static boolean addCamera(USBCamera USBCamera, String cameraName) {
if (allCamerasByName.containsKey(cameraName)) return false;
USBCamera.addPipeline();
allCamerasByName.put(cameraName, USBCamera);
return true;
}
private static Camera getCamera(String cameraName) {
return AllCamerasByName.get(cameraName);
private static USBCamera getCamera(String cameraName) {
return allCamerasByName.get(cameraName);
}
public static Camera getCameraByIndex(int index) {
return AllCamerasByName.get( (AllCamerasByName.keySet().toArray())[ index ] );
public static USBCamera getCameraByIndex(int index) {
return allCamerasByName.get( (allCamerasByName.keySet().toArray())[ index ] );
}
public static Camera getCurrentCamera() throws CameraException {
if (AllCamerasByName.size() == 0) throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
var curCam = AllCamerasByName.get(SettingsManager.GeneralSettings.currentCamera);
public static USBCamera getCurrentCamera() throws CameraException {
if (allCamerasByName.size() == 0) throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
var curCam = allCamerasByName.get(SettingsManager.generalSettings.currentCamera);
if (curCam == null) throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
return curCam;
}
public static Integer getCurrentCameraIndex() throws CameraException {
if (AllCamerasByName.size() == 0) throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
List<String> arr = new ArrayList<>(AllCamerasByName.keySet());
for (var i = 0; i < AllCamerasByName.size(); i++){
if (SettingsManager.GeneralSettings.currentCamera.equals(arr.get(i))){
if (allCamerasByName.size() == 0) throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
List<String> arr = new ArrayList<>(allCamerasByName.keySet());
for (var i = 0; i < allCamerasByName.size(); i++){
if (SettingsManager.generalSettings.currentCamera.equals(arr.get(i))){
return i;
}
}
@@ -113,13 +113,13 @@ public class CameraManager {
}
public static void setCurrentCamera(String cameraName) throws CameraException {
if (!AllCamerasByName.containsKey(cameraName))
if (!allCamerasByName.containsKey(cameraName))
throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
SettingsManager.GeneralSettings.currentCamera = cameraName;
SettingsManager.generalSettings.currentCamera = cameraName;
SettingsManager.updateCameraSetting(cameraName, getCurrentCamera().getCurrentPipelineIndex());
}
public static void setCurrentCamera(int cameraIndex) throws CameraException {
List<String> s = new ArrayList<String>(AllCamerasByName.keySet());
List<String> s = new ArrayList<String>(allCamerasByName.keySet());
setCurrentCamera(s.get(cameraIndex));
}
@@ -136,20 +136,20 @@ public class CameraManager {
}
public static VisionProcess getVisionProcessByCameraName(String cameraName) {
return AllVisionProcessesByName.get(cameraName);
return allVisionProcessesByName.get(cameraName);
}
public static VisionProcess getCurrentVisionProcess() throws CameraException {
if (!SettingsManager.GeneralSettings.currentCamera.equals("")){
return AllVisionProcessesByName.get(SettingsManager.GeneralSettings.currentCamera);
if (!SettingsManager.generalSettings.currentCamera.equals("")){
return allVisionProcessesByName.get(SettingsManager.generalSettings.currentCamera);
}
throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
}
public static void saveCameras() {
for (var entry : AllCamerasByName.entrySet()) {
for (var entry : allCamerasByName.entrySet()) {
try {
Gson gson = new GsonBuilder().setPrettyPrinting().registerTypeAdapter(Camera.class, new CameraSerializer()).create();
Gson gson = new GsonBuilder().setPrettyPrinting().registerTypeAdapter(USBCamera.class, new CameraSerializer()).create();
FileWriter writer = new FileWriter(Paths.get(CamConfigPath.toString(), String.format("%s.json", entry.getKey())).toString());
gson.toJson(entry.getValue(), writer);
writer.flush();

26
Main/src/main/java/com/chameleonvision/vision/camera/CameraSerializer.java
View File

@@ -3,22 +3,22 @@ import com.google.gson.*;
import java.lang.reflect.Type;
public class CameraSerializer implements JsonSerializer<Camera> {
public class CameraSerializer implements JsonSerializer<USBCamera> {
@Override
public JsonElement serialize(Camera camera, Type type, JsonSerializationContext context) {
public JsonElement serialize(USBCamera USBCamera, Type type, JsonSerializationContext context) {
JsonObject obj = new JsonObject();
obj.addProperty("FOV", camera.getFOV());
obj.addProperty("path", camera.path);
obj.addProperty("name", camera.name);
obj.addProperty("nickname", camera.getNickname());
obj.addProperty("streamDivisor", camera.getStreamDivisor().ordinal());
var pipelines = context.serialize(camera.getPipelines());
obj.addProperty("FOV", USBCamera.getFOV());
obj.addProperty("path", USBCamera.path);
obj.addProperty("name", USBCamera.name);
obj.addProperty("nickname", USBCamera.getNickname());
obj.addProperty("streamDivisor", USBCamera.getStreamDivisor().ordinal());
var pipelines = context.serialize(USBCamera.getPipelines());
obj.add("pipelines", pipelines);
obj.addProperty("resolution", camera.getVideoModeIndex());
obj.add("camVideoMode", context.serialize(camera.getVideoMode()));
obj.add("isDriver",context.serialize(camera.getDriverMode()));
obj.add("driverExposure",context.serialize(camera.getDriverExposure()));
obj.add("driverBrightness",context.serialize(camera.getDriverBrightness()));
obj.addProperty("resolution", USBCamera.getVideoModeIndex());
obj.add("camVideoMode", context.serialize(USBCamera.getVideoMode()));
obj.add("isDriver",context.serialize(USBCamera.getDriverMode()));
obj.add("driverExposure",context.serialize(USBCamera.getDriverExposure()));
obj.add("driverBrightness",context.serialize(USBCamera.getDriverBrightness()));
return obj;
}
}

4
Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
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@@ -21,8 +21,8 @@ public class CameraValues {
public final double HorizontalFocalLength;
public final double VerticalFocalLength;
public CameraValues(Camera camera) {
this(camera.getVideoMode().width, camera.getVideoMode().height, camera.getFOV());
public CameraValues(USBCamera USBCamera) {
this(USBCamera.getVideoMode().width, USBCamera.getVideoMode().height, USBCamera.getFOV());
}
public CameraValues(int imageWidth, int imageHeight, double fov) {

30
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java → Main/src/main/java/com/chameleonvision/vision/camera/USBCamera.java
View File

@@ -13,7 +13,7 @@ import java.util.*;
import java.util.stream.Collectors;
import java.util.stream.IntStream;
public class Camera {
public class USBCamera {
private static final double DEFAULT_FOV = 60.8;
private static final StreamDivisor DEFAULT_STREAMDIVISOR = StreamDivisor.none;
@@ -49,31 +49,31 @@ public class Camera {
private int driverBrightness;
private boolean isDriver;
public Camera(String cameraName) {
public USBCamera(String cameraName) {
this(cameraName, DEFAULT_FOV);
}
public Camera(String cameraName, double fov) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov);
public USBCamera(String cameraName, double fov) {
this(cameraName, CameraManager.allUsbCameraInfosByName.get(cameraName), fov);
}
public Camera(String cameraName, UsbCameraInfo usbCameraInfo, double fov) {
public USBCamera(String cameraName, UsbCameraInfo usbCameraInfo, double fov) {
this(cameraName, usbCameraInfo, fov, DEFAULT_STREAMDIVISOR);
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, StreamDivisor divisor) {
public USBCamera(String cameraName, UsbCameraInfo usbCamInfo, double fov, StreamDivisor divisor) {
this(cameraName, usbCamInfo, fov, new ArrayList<>(), 0, divisor, false);
}
public Camera(String cameraName, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex, divisor, isDriver);
public USBCamera(String cameraName, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
this(cameraName, CameraManager.allUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex, divisor, isDriver);
}
public Camera(String cameraName, double fov, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
public USBCamera(String cameraName, double fov, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
this(cameraName, fov, new ArrayList<>(), videoModeIndex, divisor, isDriver);
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
public USBCamera(String cameraName, UsbCameraInfo usbCamInfo, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
FOV = fov;
name = cameraName;
@@ -99,13 +99,13 @@ public class Camera {
}
}
var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
System.out.printf("Camera initialized in %.2fms\n", initTimeMs);
System.out.printf("USBCamera initialized in %.2fms\n", initTimeMs);
}
var trueVideoModes = UsbCam.enumerateVideoModes();
availableVideoModes = Arrays.stream(trueVideoModes).filter(v ->
v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT && ALLOWED_PIXEL_FORMATS.contains(v.pixelFormat)).toArray(VideoMode[]::new);
if (availableVideoModes.length == 0) {
System.err.println("Camera not supported!");
System.err.println("USBCamera not supported!");
throw new RuntimeException(new CameraException(CameraException.CameraExceptionType.BAD_CAMERA));
}
if (videoModeIndex <= availableVideoModes.length - 1) {
@@ -283,7 +283,7 @@ public class Camera {
try {
UsbCam.setExposureManual(exposure);
} catch (VideoException e) {
System.err.println("Camera Does not support exposure change");
System.err.println("USBCamera Does not support exposure change");
}
}
@@ -311,9 +311,9 @@ public class Camera {
//Deletes old camera nt table
NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + this.nickname).getInstance().deleteAllEntries();
nickname = newNickname;
if (CameraManager.AllVisionProcessesByName.containsKey(this.name)) {
if (CameraManager.allVisionProcessesByName.containsKey(this.name)) {
NetworkTable newNT = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + this.nickname);
CameraManager.AllVisionProcessesByName.get(this.name).resetNT(newNT);
CameraManager.allVisionProcessesByName.get(this.name).resetNT(newNT);
}
}