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running in to bug in CameraStreamer with native exceptions
This commit is contained in:
Banks Troutman
2019-11-21 05:32:19 -05:00
parent 35509c0162
commit 48da9f5dfd
21 changed files with 678 additions and 211 deletions
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81
Main/src/main/java/com/chameleonvision/classabstraction/VisionManager.java
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@@ -3,6 +3,7 @@ package com.chameleonvision.classabstraction;
import com.chameleonvision.classabstraction.camera.USBCameraProcess;
import com.chameleonvision.classabstraction.config.CameraConfig;
import com.chameleonvision.classabstraction.config.ConfigManager;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.util.FileHelper;
import edu.wpi.cscore.UsbCamera;
@@ -11,9 +12,7 @@ import org.opencv.videoio.VideoCapture;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.LinkedHashMap;
import java.util.List;
import java.util.*;
public class VisionManager {
@@ -22,6 +21,7 @@ public class VisionManager {
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "cameras");
public static final LinkedHashMap<String, UsbCameraInfo> UsbCameraInfosByCameraName = new LinkedHashMap<>();
private static final LinkedList<CameraConfig> LoadedCameraConfigs = new LinkedList<>();
public static final LinkedHashMap<String, VisionProcess> VisionProcessesByCameraName = new LinkedHashMap<>();
public static boolean initializeSources() {
@@ -46,70 +46,41 @@ public class VisionManager {
FileHelper.CheckPath(CamConfigPath);
// load the config
List<CameraConfig> loadedConfigs = ConfigManager.initializeCameraConfig(new ArrayList<>(UsbCameraInfosByCameraName.keySet()));
loadedConfigs.forEach(config -> {
var camera = new USBCameraProcess(
new edu.wpi.cscore.UsbCamera(config.name, config.path),
config
);
VisionProcessesByCameraName.put(config.name, new VisionProcess(camera, config.name));
List<CameraConfig> preliminaryConfigs = new ArrayList<>();
UsbCameraInfosByCameraName.values().forEach((cameraInfo) -> {
String truePath;
if (Platform.CurrentPlatform.isWindows()) {
truePath = cameraInfo.path;
} else {
truePath = Arrays.stream(cameraInfo.otherPaths).filter(x -> x.contains("/dev/v4l/by-path")).findFirst().orElse(cameraInfo.path);
}
preliminaryConfigs.add(new CameraConfig(truePath, cameraInfo.name));
});
LoadedCameraConfigs.addAll(ConfigManager.initializeCameraConfig(preliminaryConfigs));
// UsbCameraInfosByCameraName.forEach((cameraName, cameraInfo) -> {
// Path cameraConfigFolder = Paths.get(CamConfigPath.toString(), String.format("%s\\", cameraName));
// Path cameraConfigPath = Paths.get(cameraConfigFolder.toString(), String.format("%s.json", cameraName));
// Path cameraPipelinesPath = Paths.get(cameraConfigFolder.toString(), "pipelines.json");
// Path cameraDrivermodePath = Paths.get(cameraConfigFolder.toString(), "drivermode.json");
//
// try {
//
// boolean cameraFolderExists = Files.exists(cameraConfigFolder);
//
// if (!cameraFolderExists) {
// Files.createDirectory(cameraConfigFolder);
// }
// boolean cameraConfigExists = cameraFolderExists && Files.exists(cameraConfigPath);
//
// if (Files.exists(cameraConfigFolder)) {
// if (Files.exists(cameraConfigPath)) {
// File cameraConfigFile = new File(cameraConfigPath.toString());
// if (cameraConfigFile.length() != 0) {
// try {
// Gson gson = new GsonBuilder().create();
// } catch (Exception e) {
// e.printStackTrace();
// }
// }
// } else {
// Files.createFile(cameraConfigPath);
// }
// } else {
// Files.createDirectory(cameraConfigFolder);
// }
// } catch (IOException ex) {
//
// }
//
//
// });
// 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 static boolean initializeProcesses() {
LoadedCameraConfigs.forEach(config -> {
var camera = new USBCameraProcess(config);
VisionProcessesByCameraName.put(config.name, new VisionProcess(camera, config.name));
});
return true;
}
public static void startProcesses() {
VisionProcessesByCameraName.forEach((name, process) -> {
process.start();
});
}
}