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Changed all pipeline sets to integer

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This commit is contained in:
Banks Troutman
2019-10-01 02:18:55 -04:00
parent 030a089d6b
commit 507592735c
5 changed files with 66 additions and 48 deletions
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29
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -16,8 +16,10 @@ import java.io.*;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.stream.Collectors;
public class CameraManager {
@@ -49,38 +51,38 @@ public class CameraManager {
public static boolean initializeCameras() {
if (AllUsbCameraInfosByName.size() == 0) return false;
FileHelper.CheckPath(CamConfigPath);
for (var entry : AllUsbCameraInfosByName.entrySet()) {
var camPath = Paths.get(CamConfigPath.toString(), String.format("%s.json", entry.getKey()));
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();
var camJsonFileReader = new FileReader(camPath.toString());
var gsonRead = gson.fromJson(camJsonFileReader, Camera.class);
AllCamerasByName.put(entry.getKey(), gsonRead);
AllCamerasByName.put(key, gsonRead);
} catch (FileNotFoundException ex) {
ex.printStackTrace();
}
} else {
if (!addCamera(new Camera(entry.getKey()), entry.getKey())) {
if (!addCamera(new Camera(key), key)) {
System.err.println("Failed to add camera! Already exists!");
}
}
}
});
return true;
}
public static void initializeThreads(){
for (var camSet : AllCamerasByName.entrySet()) {
VisionProcess visionProcess = new VisionProcess(camSet.getValue());
AllVisionProcessesByName.put(camSet.getKey(),visionProcess);
AllCamerasByName.forEach((key, value) -> {
VisionProcess visionProcess = new VisionProcess(value);
AllVisionProcessesByName.put(key, visionProcess);
new Thread(visionProcess).start();
}
});
}
private static boolean addCamera(Camera camera, String cameraName) {
if (AllCamerasByName.containsKey(cameraName)) return false;
for (int i = 0; i < 10;i++){
for (int i = 0; i < 10; i++){
camera.addPipeline(); // simple fix to create more pipelines for now
}
AllCamerasByName.put(cameraName, camera);
@@ -118,11 +120,8 @@ public class CameraManager {
public static List<String> getResolutionList() throws CameraException {
if (!SettingsManager.GeneralSettings.curr_camera.equals("")) {
List<String> list = new ArrayList<>();
for (var res : CameraManager.getCamera(SettingsManager.GeneralSettings.curr_camera).getAvailableVideoModes()) {
list.add(String.format("%s X %s at %s fps", res.width, res.height, res.fps));
}
return list;
return Arrays.stream(CameraManager.getCamera(SettingsManager.GeneralSettings.curr_camera).getAvailableVideoModes())
.map(res -> String.format("%s X %s at %s fps", res.width, res.height, res.fps)).collect(Collectors.toList());
}
throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
}

1
Main/src/main/java/com/chameleonvision/vision/process/PipelineResult.java
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@@ -8,5 +8,6 @@ public class PipelineResult {
public double CalibratedY = 0.0;
public double Pitch = 0.0;
public double Yaw = 0.0;
public double Area = 0.0;
RotatedRect RawPoint;
}

23
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -46,17 +46,17 @@ public class VisionProcess implements Runnable {
// NetworkTables
NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
ntPipelineEntry = ntTable.getEntry("Pipeline");
ntDriverModeEntry = ntTable.getEntry("Driver_Mode");
ntPitchEntry = ntTable.getEntry("Pitch");
ntYawEntry = ntTable.getEntry("Yaw");
ntDistanceEntry = ntTable.getEntry("Distance");
ntTimeStampEntry = ntTable.getEntry("TimeStamp");
ntValidEntry = ntTable.getEntry("Valid");
ntPipelineEntry = ntTable.getEntry("pipeline");
ntDriverModeEntry = ntTable.getEntry("driver_mode");
ntPitchEntry = ntTable.getEntry("pitch");
ntYawEntry = ntTable.getEntry("yaw");
ntDistanceEntry = ntTable.getEntry("distance");
ntTimeStampEntry = ntTable.getEntry("timestamp");
ntValidEntry = ntTable.getEntry("is_valid");
ntDriverModeEntry.addListener(this::DriverModeListener, EntryListenerFlags.kUpdate);
ntPipelineEntry.addListener(this::PipelineListener, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setString("pipeline" + camera.getCurrentPipelineIndex());
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
// camera settings
cvProcess = new CVProcess(camera.getCamVals());
@@ -75,7 +75,7 @@ public class VisionProcess implements Runnable {
}
private void PipelineListener(EntryNotification entryNotification) {
var ntPipelineIndex = Integer.parseInt(entryNotification.value.getString().replace("pipeline", ""));
var ntPipelineIndex = (int) entryNotification.value.getDouble();
if (camera.getPipelines().containsKey(ntPipelineIndex)) {
// camera.setEntryNotification.value.getString());
var pipeline = camera.getCurrentPipeline();
@@ -93,10 +93,9 @@ public class VisionProcess implements Runnable {
pipeChange.put("curr_pipeline", ntPipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
ServerHandler.sendFullSettings();
}
} else {
ntPipelineEntry.setString("pipeline" + camera.getCurrentPipelineIndex());
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
}
}
@@ -115,6 +114,7 @@ public class VisionProcess implements Runnable {
if (pipelineResult.IsValid) {
ntYawEntry.setNumber(pipelineResult.Yaw);
ntPitchEntry.setNumber(pipelineResult.Pitch);
ntDistanceEntry.setNumber(pipelineResult.Area);
}
ntTimeStampEntry.setNumber(TimeStamp);
}
@@ -161,6 +161,7 @@ public class VisionProcess implements Runnable {
}
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
pipelineResult.Area = finalRect.size.area();
drawContour(outputImage, finalRect);
}
}

8
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -99,12 +99,10 @@ public class ServerHandler {
sendFullSettings();
break;
case "curr_pipeline":
String newPipeline = value.toString();
var pipelineNumber = Integer.parseInt(newPipeline.replace("pipeline", ""));
int newPipeline = (int) value;
System.out.printf("Changing pipeline to %s\n", newPipeline);
CameraManager.setCurrentPipeline(pipelineNumber);
var Proccess = CameraManager.getCurrentCameraProcess();
Proccess.ntPipelineEntry.setString("pipeline"+pipelineNumber);
CameraManager.setCurrentPipeline(newPipeline);
CameraManager.getCurrentCameraProcess().ntPipelineEntry.setNumber(newPipeline);
broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
break;