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Merge branch 'networkmanager' into dev

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# Conflicts:
#	Main/src/main/java/com/chameleonvision/util/MathHandler.java
#	Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
#	Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
#	Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
This commit is contained in:
Banks Troutman
2019-10-07 14:08:01 -04:00
parent 285125cc22 53585be088
commit 61b09f2bf3
24 changed files with 746 additions and 123 deletions
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12
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -1,13 +1,11 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.CameraException;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
import org.opencv.core.Mat;
import org.springframework.core.env.Environment;
import java.util.Arrays;
import java.util.HashMap;
@@ -18,7 +16,7 @@ public class Camera {
private static final double DEFAULT_FOV = 60.8;
private static final int MINIMUM_FPS = 30;
private static final int MINIMUM_WIDTH = 320;
private static final int MINIMUM_HEIGHT = 240;
private static final int MINIMUM_HEIGHT = 200;
private static final int MAX_INIT_MS = 1500;
public final String name;
@@ -67,12 +65,11 @@ public class Camera {
this.pipelines = pipelines;
// set up video modes according to minimums
if (SettingsManager.getCurrentPlatform() == SettingsManager.Platform.WINDOWS_64 && !UsbCam.isConnected()) {
if (Platform.getCurrentPlatform() == Platform.WINDOWS_64 && !UsbCam.isConnected()) {
System.out.print("Waiting on camera... ");
long initTimeout = System.nanoTime();
while(!UsbCam.isConnected())
{
//TODO add a time sleep, can wait only so long before giving up
if (((System.nanoTime() - initTimeout) / 1e6 ) >= MAX_INIT_MS) {
break;
}
@@ -80,7 +77,8 @@ public class Camera {
var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
System.out.printf("Camera initialized in %.2fms\n", initTimeMs);
}
availableVideoModes = UsbCam.enumerateVideoModes();
var trueVideoModes = UsbCam.enumerateVideoModes();
availableVideoModes = Arrays.stream(trueVideoModes).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT).toArray(VideoMode[]::new);
if (availableVideoModes.length == 0) {
System.err.println("Camera not supported!");
throw new RuntimeException(new CameraException(CameraException.CameraExceptionType.BAD_CAMERA));

25
Main/src/main/java/com/chameleonvision/vision/camera/CameraException.java Normal file
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@@ -0,0 +1,25 @@
package com.chameleonvision.vision.camera;
public class CameraException extends Exception {
public enum CameraExceptionType {
NO_CAMERA,
BAD_CAMERA,
BAD_PIPELINE,
BAD_SETTING;
@Override
public String toString() {
switch (this) {
case NO_CAMERA: return "No camera connected!";
case BAD_CAMERA: return "Invalid camera!";
case BAD_PIPELINE: return "Invalid pipeline!";
case BAD_SETTING: return "Invalid camera/pipeline setting!";
default: return "Unknown camera exception!";
}
}
}
CameraException(CameraExceptionType camExceptionType) {
super(camExceptionType.toString());
}
}

5
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -1,9 +1,7 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.CameraException;
import com.chameleonvision.FileHelper;
import com.chameleonvision.util.FileHelper;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.GeneralSettings;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.process.VisionProcess;
import com.google.gson.Gson;
@@ -15,7 +13,6 @@ import org.opencv.videoio.VideoCapture;
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;