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network tables listener and cam values functiuon

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ori
2019-04-28 13:30:01 -07:00
parent 17381a37bf
commit 560c619db7
2 changed files with 25 additions and 15 deletions
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8
backend/Main.py
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@@ -7,10 +7,10 @@ from app.handlers.CamerasHandler import CamerasHandler
from app.handlers.VisionHandler import VisionHandler
if __name__ == "__main__":
mng = SettingsManager()
# a = CamerasHandler.get_cameras_info()
# b = CamerasHandler.get_or_start_cameras(a)
# VisionHandler().run()
# mng = SettingsManager()
a = CamerasHandler.get_cameras_info()
b = CamerasHandler.get_or_start_cameras(a)
VisionHandler().run()
tornado.options.parse_command_line()
app = ChameleonApplication()

32
backend/app/handlers/VisionHandler.py
View File

@@ -1,5 +1,6 @@
import cscore
from networktables import NetworkTables
import networktables
import cv2
import numpy
from cscore import CameraServer
@@ -76,25 +77,34 @@ class VisionHandler:
self.camera_process(CamerasHandler.get_usb_camera_by_name("USB Camera-B4.09.24.1"), None)
def camera_process(self, camera, stream):
def table_listener(table, key, value, is_new):
# TODO: call actions based on key ----> i.e. change_pipeline
def change_camera_values():
camera.setBrightness(0)
camera.setExposureManual(0)
def pipeline_listener(table, key, value, is_new):
change_camera_values()
def mode_listener(table, key, value, is_new):
pass
image = numpy.zeros(shape=(0, 0, 3), dtype=numpy.uint8)
table = NetworkTables.getTable("/Chameleon-Vision/" + camera.getInfo().name)
table.addEntryListener(table_listener)
table.addEntryListenerEx(pipeline_listener, key="Pipeline",
flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
table.addEntryListenerEx(mode_listener, key="Driver_Mode",
flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
change_camera_values()
cv_sink = CameraServer.getInstance().getVideo(camera=camera)
while True:
_, image = cv_sink.grabFrame(image)
hsv_image = self._hsv_threshold()
# hsv_image = self._hsv_threshold()
filtered_contours = None
if table.getBoolean("Driver_Mode", False):
contours = self.find_contours(hsv_image)
filtered_contours = self.filter_contours(contours)
image = self.draw_image(input_image=hsv_image, is_binary=False, rectangles=filtered_contours)
stream.putFrame(image)
#contours = self.find_contours(hsv_image)
# filtered_contours = self.filter_contours(contours)
pass
# image = self.draw_image(input_image=hsv_image, is_binary=False, rectangles=[])
# stream.putFrame(image)