Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-20 00:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Continued work on loading from configs

Browse Source
This commit is contained in:
Banks Troutman
2019-11-20 17:06:18 -05:00
parent 0ed2697565
commit 35509c0162
6 changed files with 41 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

37
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraProperties.java
View File

@@ -1,7 +1,9 @@
package com.chameleonvision.classabstraction.camera;
import com.chameleonvision.Main;
import com.chameleonvision.classabstraction.config.CameraConfig;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.vision.camera.USBCamera;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.UsbCameraInfo;
import edu.wpi.cscore.VideoMode;
@@ -33,23 +35,36 @@ public class CameraProperties {
public final double FOV;
public final List<VideoMode> videoModes;
private final UsbCamera baseCamera;
private String nickname;
public CameraProperties(UsbCamera baseCamera, double fov) {
FOV = fov;
videoModes = filterVideoModes(baseCamera.enumerateVideoModes());
name = baseCamera.getName();
public final boolean hasGain;
UsbCameraInfo baseCamInfo = baseCamera.getInfo();
public CameraProperties(UsbCamera baseCamera, CameraConfig config) {
FOV = config.fov;
name = config.name;
path = config.path;
nickname = config.nickname;
this.baseCamera = baseCamera;
if (Platform.CurrentPlatform.isWindows()) {
path = baseCamInfo.path;
} else {
var truePath = Arrays.stream(baseCamInfo.otherPaths).filter(x -> x.contains("/dev/v4l/by-path")).findFirst();
path = truePath.orElse(baseCamInfo.path);
// wait for camera USB init on Windows, Windows USB is slow...
if (Platform.CurrentPlatform == Platform.WINDOWS_64 && !baseCamera.isConnected()) {
System.out.print("Waiting on camera... ");
long initTimeout = System.nanoTime();
while (!baseCamera.isConnected()) {
if (((System.nanoTime() - initTimeout) / 1e6) >= MAX_INIT_MS) {
break;
}
}
var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
System.out.printf("USBCameraProcess initialized in %.2fms\n", initTimeMs);
}
nickname = name;
hasGain = false;
var props = baseCamera.enumerateProperties();
videoModes = filterVideoModes(baseCamera.enumerateVideoModes());
}
public void setNickname(String nickname) {