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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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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);
}
}