Replace classes with new classabstraction classes

2026-06-20 00:51:41 +00:00 · 2019-11-23 11:55:20 -05:00
parent 4bcae6590f
commit 4dc86c6f25
64 changed files with 396 additions and 2066 deletions
--- a/Main/src/main/java/com/chameleonvision/vision/VisionManager.java
+++ b/Main/src/main/java/com/chameleonvision/vision/VisionManager.java
@@ -0,0 +1,123 @@
+package com.chameleonvision.vision;
+
+import com.chameleonvision.config.CameraConfig;
+import com.chameleonvision.config.ConfigManager;
+import com.chameleonvision.util.Platform;
+import com.chameleonvision.vision.camera.CameraProcess;
+import com.chameleonvision.vision.camera.USBCameraProcess;
+import com.chameleonvision.vision.pipeline.CVPipelineSettings;
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.cscore.UsbCameraInfo;
+import org.apache.commons.lang3.tuple.Pair;
+import org.opencv.videoio.VideoCapture;
+
+import java.util.*;
+import java.util.stream.Collectors;
+
+public class VisionManager {
+    private VisionManager() {
+    }
+
+    private static final LinkedHashMap<String, UsbCameraInfo> UsbCameraInfosByCameraName = new LinkedHashMap<>();
+    private static final LinkedList<CameraConfig> LoadedCameraConfigs = new LinkedList<>();
+    private static final LinkedHashMap<Integer, Pair<VisionProcess, String>> VisionProcessesByIndex = new LinkedHashMap<>();
+
+    private static VisionProcess currentUIVisionProcess;
+
+    public static boolean initializeSources() {
+        int suffix = 0;
+        for (UsbCameraInfo info : UsbCamera.enumerateUsbCameras()) {
+            VideoCapture cap = new VideoCapture(info.dev);
+            if (cap.isOpened()) {
+                cap.release();
+                String name = info.name;
+                while (UsbCameraInfosByCameraName.containsKey(name)) {
+                    suffix++;
+                    name = String.format("%s (%d)", name, suffix);
+                }
+                UsbCameraInfosByCameraName.put(name, info);
+            }
+        }
+
+        if (UsbCameraInfosByCameraName.isEmpty()) {
+            return false;
+        }
+
+        // load the config
+        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));
+
+        // TODO: (HIGH) Load pipelines from json
+//        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");
+
+        return true;
+    }
+
+    public static boolean initializeProcesses() {
+        for (int i = 0; i < LoadedCameraConfigs.size(); i++) {
+            CameraConfig config = LoadedCameraConfigs.get(i);
+            CameraProcess camera = new USBCameraProcess(config);
+            VisionProcess process = new VisionProcess(camera, config.name);
+            VisionProcessesByIndex.put(i, Pair.of(process, config.name));
+        }
+        currentUIVisionProcess = VisionProcessesByIndex.get(0).getLeft();
+        return true;
+    }
+
+    public static void startProcesses() {
+        VisionProcessesByIndex.forEach((index, processNamePair) -> {
+            processNamePair.getLeft().start();
+        });
+    }
+
+    public static VisionProcess getCurrentUIVisionProcess() {
+        return currentUIVisionProcess;
+    }
+
+    public static void setCurrentProcessByIndex(int processIndex) {
+        if (processIndex > VisionProcessesByIndex.size() - 1) {
+            return;
+        }
+
+        currentUIVisionProcess = VisionProcessesByIndex.get(processIndex).getLeft();
+    }
+
+    public static VisionProcess getVisionProcessByIndex(int processIndex) {
+        if (processIndex > VisionProcessesByIndex.size() - 1) {
+            return null;
+        }
+
+        return VisionProcessesByIndex.get(0).getLeft();
+    }
+
+    public static List<String> getAllCameraNicknames() {
+        return VisionProcessesByIndex.values().stream().map(processNamePair -> processNamePair.getLeft().getCamera().getProperties().getNickname()).collect(Collectors.toList());
+    }
+
+    public static void saveCameras() {
+        VisionProcessesByIndex.forEach((index, process) -> {
+            VisionProcess p = process.getLeft();
+            String name = process.getRight();
+            List<CVPipelineSettings> pipelines = p.getPipelines().stream().map(cvPipeline -> cvPipeline.settings).collect(Collectors.toList());
+            CVPipelineSettings driverMode = p.getDriverModeSettings();
+            //TODO: get camera config and serialize into folder with camera name 
+        });
+    }
+}