Move Java backend to properly named folder

2026-06-21 01:01:41 +00:00 · 2019-12-01 01:44:19 -05:00
parent 368484ca9b
commit 386d195d2d
165 changed files with 9 additions and 21 deletions
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java
@@ -0,0 +1,89 @@
+package com.chameleonvision.vision.camera;
+
+import com.chameleonvision.config.CameraJsonConfig;
+import edu.wpi.cscore.CvSink;
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.cscore.VideoException;
+import edu.wpi.cscore.VideoMode;
+import edu.wpi.first.cameraserver.CameraServer;
+import org.apache.commons.lang3.tuple.Pair;
+import org.opencv.core.Mat;
+
+public class USBCameraCapture implements CameraCapture {
+    private final UsbCamera baseCamera;
+    private final CvSink cvSink;
+    private Mat imageBuffer = new Mat();
+    private USBCameraProperties properties;
+
+    public USBCameraCapture(CameraJsonConfig config) {
+        baseCamera = new UsbCamera(config.name, config.path);
+        cvSink = CameraServer.getInstance().getVideo(baseCamera);
+        properties = new USBCameraProperties(baseCamera, config);
+
+        int videoMode = properties.videoModes.size() - 1 <= config.videomode ? config.videomode : 0;
+        setVideoMode(videoMode);
+    }
+
+    @Override
+    public USBCameraProperties getProperties() {
+        return properties;
+    }
+
+    @Override
+    public VideoMode getCurrentVideoMode() {
+        return baseCamera.getVideoMode();
+    }
+
+    @Override
+    public Pair<Mat, Long> getFrame() {
+        Long deltaTime;
+        // TODO: Why multiply by 1000 here?
+        deltaTime = cvSink.grabFrame(imageBuffer) * 1000L;
+        return Pair.of(imageBuffer, deltaTime);
+    }
+
+    @Override
+    public void setExposure(int exposure) {
+        try {
+            baseCamera.setExposureManual(exposure);
+        } catch (VideoException e) {
+            System.err.println("Failed to change camera exposure!");
+        }
+    }
+
+    @Override
+    public void setBrightness(int brightness) {
+        try {
+            baseCamera.setBrightness(brightness);
+        } catch (VideoException e) {
+            System.err.println("Failed to change camera brightness!");
+        }
+    }
+
+    @Override
+    public void setVideoMode(VideoMode mode) {
+        try {
+            baseCamera.setVideoMode(mode);
+            properties.updateVideoMode(mode);
+        } catch (VideoException e) {
+            System.err.println("Failed to change camera video mode!");
+        }
+    }
+
+    public void setVideoMode(int index){
+        VideoMode mode = properties.getVideoModes().get(index);
+        setVideoMode(mode);
+    }
+
+    @Override
+    public void setGain(int gain) {
+        if (properties.isPS3Eye) {
+            try {
+                baseCamera.getProperty("gain_automatic").set(0);
+                baseCamera.getProperty("gain").set(gain);
+            } catch (Exception e) {
+                System.err.println("Failed to change camera gain!");
+            }
+        }
+    }
+}