diff --git a/Main/pom.xml b/Main/pom.xml index 14fd310b4..0449c7f57 100644 --- a/Main/pom.xml +++ b/Main/pom.xml @@ -5,7 +5,7 @@ 4.0.0 org.chameleon-vision.main chameleon-vision - 1.1.0-BETA + 1.1.2-BETA @@ -154,39 +154,39 @@ edu.wpi.first.cameraserver cameraserver-java - 2019.4.1-176-ga5650b9 + 2019.4.1-200-g2271570 edu.wpi.first.ntcore ntcore-java - 2019.4.1-176-ga5650b9 + 2019.4.1-200-g2271570 edu.wpi.first.ntcore ntcore-jni - 2019.4.1-176-ga5650b9 + 2019.4.1-200-g2271570 osxx86-64 edu.wpi.first.ntcore ntcore-jni - 2019.4.1-176-ga5650b9 + 2019.4.1-200-g2271570 linuxraspbian edu.wpi.first.ntcore ntcore-jni - 2019.4.1-176-ga5650b9 + 2019.4.1-200-g2271570 linuxx86-64 edu.wpi.first.ntcore ntcore-jni - 2019.4.1-176-ga5650b9 + 2019.4.1-200-g2271570 windowsx86-64 @@ -194,7 +194,7 @@ edu.wpi.first.wpiutil wpiutil-java - 2019.4.1-176-ga5650b9 + 2019.4.1-200-g2271570 diff --git a/Main/src/main/java/com/chameleonvision/Main.java b/Main/src/main/java/com/chameleonvision/Main.java index 3b2674dba..e380eec0a 100644 --- a/Main/src/main/java/com/chameleonvision/Main.java +++ b/Main/src/main/java/com/chameleonvision/Main.java @@ -1,9 +1,10 @@ package com.chameleonvision; +import com.chameleonvision.settings.Platform; import com.chameleonvision.settings.SettingsManager; +import com.chameleonvision.settings.network.NetworkManager; import com.chameleonvision.util.Utilities; import com.chameleonvision.vision.camera.CameraManager; -import com.chameleonvision.vision.process.VisionProcess; import com.chameleonvision.web.Server; import edu.wpi.cscore.CameraServerCvJNI; import edu.wpi.cscore.CameraServerJNI; @@ -83,12 +84,13 @@ public class Main { public static void main(String[] args) { handleArgs(args); + // Attempt to load the JNI Libraries try { CameraServerJNI.forceLoad(); CameraServerCvJNI.forceLoad(); } catch (IOException e) { - var errorStr = SettingsManager.getCurrentPlatform().equals(SettingsManager.Platform.UNSUPPORTED) ? "Unsupported platform!" : "Failed to load JNI Libraries!"; + var errorStr = Platform.getCurrentPlatform().equals(Platform.UNSUPPORTED) ? "Unsupported platform!" : "Failed to load JNI Libraries!"; throw new RuntimeException(errorStr); } diff --git a/Main/src/main/java/com/chameleonvision/vision/GeneralSettings.java b/Main/src/main/java/com/chameleonvision/settings/GeneralSettings.java similarity index 88% rename from Main/src/main/java/com/chameleonvision/vision/GeneralSettings.java rename to Main/src/main/java/com/chameleonvision/settings/GeneralSettings.java index 4ef6ab20b..f921af331 100644 --- a/Main/src/main/java/com/chameleonvision/vision/GeneralSettings.java +++ b/Main/src/main/java/com/chameleonvision/settings/GeneralSettings.java @@ -1,4 +1,4 @@ -package com.chameleonvision.vision; +package com.chameleonvision.settings; public class GeneralSettings { public int team_number = 1577; diff --git a/Main/src/main/java/com/chameleonvision/settings/NetworkSettings.java b/Main/src/main/java/com/chameleonvision/settings/NetworkSettings.java index 75e289e87..78c28e017 100644 --- a/Main/src/main/java/com/chameleonvision/settings/NetworkSettings.java +++ b/Main/src/main/java/com/chameleonvision/settings/NetworkSettings.java @@ -1,9 +1,12 @@ package com.chameleonvision.settings; import java.net.*; +import java.util.ArrayList; import java.util.Collections; import java.util.Enumeration; +import com.chameleonvision.util.Utilities; +import org.apache.commons.lang3.StringUtils; import org.apache.commons.lang3.SystemUtils; public class NetworkSettings { @@ -51,20 +54,26 @@ public class NetworkSettings { } } + public static byte[] GetTeamNumberIPBytes(int teamNumber) { + return new byte[]{(byte) (teamNumber / 100), (byte) (teamNumber % 100)}; + } + public static String getAdapter() { try {//TODO fix windows get adapter Enumeration nets = NetworkInterface.getNetworkInterfaces(); for (NetworkInterface netint : Collections.list(nets)) { Enumeration ee = netint.getInetAddresses(); for (InetAddress addr : Collections.list(ee)) - if (addr instanceof Inet4Address) - if ((addr.getAddress()[0] & 0xFF) == 192 && (addr.getAddress()[1] & 0xFF) == 168) { + if (addr instanceof Inet4Address) { + var addrString = addr.toString(); + if ((addr.getAddress()[0] & 0xFF) == 10 && (addr.getAddress()[1] & 0xFF) == 168) { System.out.println("found robot network interface at " + netint.getName() + " ip: " + addr.getHostAddress()); return netint.getName(); } + } } } catch (SocketException e) { - System.err.println("Socket exception while trying to find current ip"); + System.err.println("Socket exception while trying to find current IP"); } return ""; } diff --git a/Main/src/main/java/com/chameleonvision/settings/Platform.java b/Main/src/main/java/com/chameleonvision/settings/Platform.java new file mode 100644 index 000000000..12acdd962 --- /dev/null +++ b/Main/src/main/java/com/chameleonvision/settings/Platform.java @@ -0,0 +1,52 @@ +package com.chameleonvision.settings; + +public enum Platform { + WINDOWS_64("Windows x64"), + LINUX_64("Linux x64"), + LINUX_RASPBIAN("Linux Raspbian"), + LINUX_AARCH64("Linux ARM 64bit"), + MACOS_64("Mac OS x64"), + UNSUPPORTED("Unsupported Platform"); + + public final String value; + + Platform(String value) { + this.value = value; + } + + public boolean isWindows() { + return this == WINDOWS_64; + } + + public boolean isLinux() { + return this == LINUX_64 || this == LINUX_RASPBIAN || this == LINUX_AARCH64; + } + + public boolean isMac() { + return this == MACOS_64; + } + + public static Platform getCurrentPlatform() { + var osName = System.getProperty("os.name"); + var osArch = System.getProperty("os.arch"); + + if (osName.contains("Windows")) { + if (osArch.equals("amd64")) return Platform.WINDOWS_64; + return Platform.UNSUPPORTED; + } + + if (osName.contains("Linux")) { + if (osArch.equals("amd64")) return Platform.LINUX_64; + if (osArch.contains("rasp")) return Platform.LINUX_RASPBIAN; + if (osArch.contains("aarch")) return Platform.LINUX_64; + return Platform.UNSUPPORTED; + } + + if (osName.contains("Mac")) { + if (osArch.equals("amd64")) return Platform.MACOS_64; + return Platform.UNSUPPORTED; + } + + return Platform.UNSUPPORTED; + } +} diff --git a/Main/src/main/java/com/chameleonvision/settings/SettingsManager.java b/Main/src/main/java/com/chameleonvision/settings/SettingsManager.java index 221b2974e..1fbaf09d9 100644 --- a/Main/src/main/java/com/chameleonvision/settings/SettingsManager.java +++ b/Main/src/main/java/com/chameleonvision/settings/SettingsManager.java @@ -1,7 +1,7 @@ package com.chameleonvision.settings; -import com.chameleonvision.FileHelper; -import com.chameleonvision.vision.GeneralSettings; +import com.chameleonvision.settings.network.NetworkManager; +import com.chameleonvision.util.FileHelper; import com.chameleonvision.vision.camera.CameraManager; import com.google.gson.Gson; import com.google.gson.GsonBuilder; @@ -15,20 +15,21 @@ import java.nio.file.Paths; public class SettingsManager { public static final Path SettingsPath = Paths.get(System.getProperty("user.dir"), "settings"); - public static com.chameleonvision.vision.GeneralSettings GeneralSettings; + public static com.chameleonvision.settings.GeneralSettings GeneralSettings; private SettingsManager() {} public static void initialize(boolean manageNetwork) { initGeneralSettings(); if (manageNetwork) { - NetworkSettings netSettings = new NetworkSettings(); - netSettings.hostname = GeneralSettings.hostname; - netSettings.gateway = GeneralSettings.gateway; - netSettings.netmask = GeneralSettings.netmask; - netSettings.connectionType = GeneralSettings.connection_type; - netSettings.ip = GeneralSettings.ip; - netSettings.run(); + NetworkManager.init(); +// NetworkSettings netSettings = new NetworkSettings(); +// netSettings.hostname = GeneralSettings.hostname; +// netSettings.gateway = GeneralSettings.gateway; +// netSettings.netmask = GeneralSettings.netmask; +// netSettings.connectionType = GeneralSettings.connection_type; +// netSettings.ip = GeneralSettings.ip; +// netSettings.run(); } var allCameras = CameraManager.getAllCamerasByName(); if (!allCameras.containsKey(GeneralSettings.curr_camera) && allCameras.size() > 0) { @@ -38,49 +39,10 @@ public class SettingsManager { } } - public enum Platform { - WINDOWS_64("Windows x64"), - LINUX_64("Linux x64"), - LINUX_RASPBIAN("Linux Raspbian"), - LINUX_AARCH64("Linux ARM 64bit"), - MACOS_64("Mac OS x64"), - UNSUPPORTED("Unsupported Platform"); - - public final String value; - - Platform(String value) { - this.value = value; - } - } - - public static Platform getCurrentPlatform() { - var osName = System.getProperty("os.name"); - var osArch = System.getProperty("os.arch"); - - if (osName.contains("Windows")) { - if (osArch.equals("amd64")) return Platform.WINDOWS_64; - return Platform.UNSUPPORTED; - } - - if (osName.contains("Linux")) { - if (osArch.equals("amd64")) return Platform.LINUX_64; - if (osArch.contains("rasp")) return Platform.LINUX_RASPBIAN; - if (osArch.contains("aarch")) return Platform.LINUX_64; - return Platform.UNSUPPORTED; - } - - if (osName.contains("Mac")) { - if (osArch.equals("amd64")) return Platform.MACOS_64; - return Platform.UNSUPPORTED; - } - - return Platform.UNSUPPORTED; - } - private static void initGeneralSettings() { FileHelper.CheckPath(SettingsPath); try { - GeneralSettings = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(), "settings.json").toString()), com.chameleonvision.vision.GeneralSettings.class); + GeneralSettings = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(), "settings.json").toString()), com.chameleonvision.settings.GeneralSettings.class); } catch (FileNotFoundException e) { GeneralSettings = new GeneralSettings(); } diff --git a/Main/src/main/java/com/chameleonvision/settings/network/INetworking.java b/Main/src/main/java/com/chameleonvision/settings/network/INetworking.java new file mode 100644 index 000000000..e34e736d3 --- /dev/null +++ b/Main/src/main/java/com/chameleonvision/settings/network/INetworking.java @@ -0,0 +1,14 @@ +package com.chameleonvision.settings.network; + +import java.net.SocketException; +import java.util.List; + +public interface INetworking { + String getHostname(); + NetworkIPMode getIPMode(); + boolean setDHCP(); + boolean setHostname(String hostname); + boolean setStatic(String ipAddress, String netmask, String gateway); + List getNetworkInterfaces() throws SocketException; + +} diff --git a/Main/src/main/java/com/chameleonvision/settings/network/LinuxNetworking.java b/Main/src/main/java/com/chameleonvision/settings/network/LinuxNetworking.java new file mode 100644 index 000000000..9b664826b --- /dev/null +++ b/Main/src/main/java/com/chameleonvision/settings/network/LinuxNetworking.java @@ -0,0 +1,37 @@ +package com.chameleonvision.settings.network; + +import java.net.SocketException; +import java.util.List; + +public class LinuxNetworking implements INetworking { + + @Override + public String getHostname() { + return null; + } + + @Override + public NetworkIPMode getIPMode() { + return null; + } + + @Override + public boolean setDHCP() { + return false; + } + + @Override + public boolean setHostname(String hostname) { + return false; + } + + @Override + public boolean setStatic(String ipAddress, String netmask, String gateway) { + return false; + } + + @Override + public List getNetworkInterfaces() throws SocketException { + return null; + } +} diff --git a/Main/src/main/java/com/chameleonvision/settings/network/NetworkIPMode.java b/Main/src/main/java/com/chameleonvision/settings/network/NetworkIPMode.java new file mode 100644 index 000000000..b3e28ee36 --- /dev/null +++ b/Main/src/main/java/com/chameleonvision/settings/network/NetworkIPMode.java @@ -0,0 +1,7 @@ +package com.chameleonvision.settings.network; + +public enum NetworkIPMode { + DHCP, + STATIC, + UNKNOWN +} diff --git a/Main/src/main/java/com/chameleonvision/settings/network/NetworkInterface.java b/Main/src/main/java/com/chameleonvision/settings/network/NetworkInterface.java new file mode 100644 index 000000000..57e7adbbe --- /dev/null +++ b/Main/src/main/java/com/chameleonvision/settings/network/NetworkInterface.java @@ -0,0 +1,23 @@ +package com.chameleonvision.settings.network; + +import com.chameleonvision.settings.NetworkSettings; +import com.chameleonvision.settings.SettingsManager; + +import java.net.InetAddress; +import java.util.Collections; + +public class NetworkInterface { + public final String name; + public final String displayName; +// public NetworkIPMode IPMode; +// public String IPAddress; +// public String Netmask; +// public String Gateway; + + public NetworkInterface(java.net.NetworkInterface inetface) { + + name = inetface.getName(); + displayName = inetface.getDisplayName(); + + } +} diff --git a/Main/src/main/java/com/chameleonvision/settings/network/NetworkManager.java b/Main/src/main/java/com/chameleonvision/settings/network/NetworkManager.java new file mode 100644 index 000000000..08bea3db9 --- /dev/null +++ b/Main/src/main/java/com/chameleonvision/settings/network/NetworkManager.java @@ -0,0 +1,40 @@ +package com.chameleonvision.settings.network; + + +import com.chameleonvision.settings.Platform; + +import java.net.SocketException; +import java.util.ArrayList; +import java.util.List; + +public class NetworkManager { + private NetworkManager() {} + + private static INetworking networking; + + public static void init() { + Platform platform = Platform.getCurrentPlatform(); + + if (platform.isLinux()) { + networking = new LinuxNetworking(); + } else if (platform.isWindows()) { + networking = new WindowsNetworking(); + } + + List interfaces = new ArrayList<>(); + + try { + interfaces = networking.getNetworkInterfaces(); + } catch (SocketException e) { + e.printStackTrace(); + } + + if (interfaces != null) { + for (var inetface : interfaces) { + if (inetface.displayName.toLowerCase().contains("asus")) { +// networking.setHostname("BIGRIG"); + } + } + } + } +} diff --git a/Main/src/main/java/com/chameleonvision/settings/network/WindowsNetworking.java b/Main/src/main/java/com/chameleonvision/settings/network/WindowsNetworking.java new file mode 100644 index 000000000..9dfd9df2c --- /dev/null +++ b/Main/src/main/java/com/chameleonvision/settings/network/WindowsNetworking.java @@ -0,0 +1,83 @@ +package com.chameleonvision.settings.network; + +import com.chameleonvision.settings.NetworkSettings; +import com.chameleonvision.settings.SettingsManager; + +import java.io.BufferedReader; +import java.io.InputStreamReader; +import java.net.InetAddress; +import java.net.SocketException; +import java.net.UnknownHostException; +import java.util.ArrayList; +import java.util.Collections; +import java.util.List; + +public class WindowsNetworking implements INetworking { + + @Override + public String getHostname() { + try { + InetAddress localhost = InetAddress.getLocalHost(); + return localhost.getHostName().split("/")[0]; + } catch (UnknownHostException e) { + return null; + } + } + + @Override + public NetworkIPMode getIPMode() { + return NetworkIPMode.UNKNOWN; + } + + @Override + public boolean setDHCP() { + return false; + } + + @Override + public boolean setHostname(String newHostname) { + var currentHostname = getHostname(); + + if (getHostname() == null) { + return false; + } + + String command = String.format("wmic computersystem where name=\"%s\" call rename name=\"%s\"", currentHostname, newHostname); + + try { + var process = Runtime.getRuntime().exec(command); + var returnCode = process.waitFor(); + return returnCode == 0; + } catch(Exception e) { + return false; + } + } + + @Override + public boolean setStatic(String ipAddress, String netmask, String gateway) { + return false; + } + + @Override + public List getNetworkInterfaces() throws SocketException { + var netInterfaces = Collections.list(java.net.NetworkInterface.getNetworkInterfaces()); + + List goodInterfaces = new ArrayList<>(); + + var teamBytes = NetworkSettings.GetTeamNumberIPBytes(SettingsManager.GeneralSettings.team_number); + + for (var inetface : netInterfaces) { + if (inetface.getDisplayName().toLowerCase().contains("bluetooth")) continue; + if (inetface.getDisplayName().toLowerCase().contains("virtual")) continue; + if (inetface.getDisplayName().toLowerCase().contains("loopback")) continue; + if (!inetface.isUp()) continue; + for (var inetAddr : Collections.list(inetface.getInetAddresses())) { + var rawAddr = inetAddr.getAddress(); + if (rawAddr[1] == teamBytes[0] && rawAddr[2] == teamBytes[1]) { + goodInterfaces.add(new NetworkInterface(inetface)); + } + } + } + return goodInterfaces; + } +} diff --git a/Main/src/main/java/com/chameleonvision/FileHelper.java b/Main/src/main/java/com/chameleonvision/util/FileHelper.java similarity index 94% rename from Main/src/main/java/com/chameleonvision/FileHelper.java rename to Main/src/main/java/com/chameleonvision/util/FileHelper.java index 8ddb39b05..8f4628cbe 100644 --- a/Main/src/main/java/com/chameleonvision/FileHelper.java +++ b/Main/src/main/java/com/chameleonvision/util/FileHelper.java @@ -1,4 +1,4 @@ -package com.chameleonvision; +package com.chameleonvision.util; import java.io.IOException; import java.nio.file.Files; diff --git a/Main/src/main/java/com/chameleonvision/MemoryManager.java b/Main/src/main/java/com/chameleonvision/util/MemoryManager.java similarity index 96% rename from Main/src/main/java/com/chameleonvision/MemoryManager.java rename to Main/src/main/java/com/chameleonvision/util/MemoryManager.java index ef6736e42..20bfd0425 100644 --- a/Main/src/main/java/com/chameleonvision/MemoryManager.java +++ b/Main/src/main/java/com/chameleonvision/util/MemoryManager.java @@ -1,4 +1,4 @@ -package com.chameleonvision; +package com.chameleonvision.util; public class MemoryManager { diff --git a/Main/src/main/java/com/chameleonvision/util/Utilities.java b/Main/src/main/java/com/chameleonvision/util/Utilities.java index 358559643..800a80330 100644 --- a/Main/src/main/java/com/chameleonvision/util/Utilities.java +++ b/Main/src/main/java/com/chameleonvision/util/Utilities.java @@ -1,5 +1,8 @@ package com.chameleonvision.util; +import java.util.ArrayList; +import java.util.List; + public class Utilities { private Utilities() {} @@ -8,4 +11,30 @@ public class Utilities { return ip.matches(PATTERN); } + + public static List getDigitBytes(int num) { + List digits = new ArrayList<>(); + collectDigitBytes(num, digits); + return digits; + } + + private static void collectDigitBytes(int num, List digits) { + if (num / 10 > 0) { + collectDigitBytes( num / 10, digits); + } + digits.add((byte) (num % 10)); + } + + public static List getDigits(int num) { + List digits = new ArrayList(); + collectDigits(num, digits); + return digits; + } + + private static void collectDigits(int num, List digits) { + if(num / 10 > 0) { + collectDigits(num / 10, digits); + } + digits.add(num % 10); + } } diff --git a/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java b/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java index fd9fd3105..ca6f7420c 100644 --- a/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java +++ b/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java @@ -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; @@ -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; } diff --git a/Main/src/main/java/com/chameleonvision/CameraException.java b/Main/src/main/java/com/chameleonvision/vision/camera/CameraException.java similarity index 86% rename from Main/src/main/java/com/chameleonvision/CameraException.java rename to Main/src/main/java/com/chameleonvision/vision/camera/CameraException.java index 6be5ec7a9..f4c5671e3 100644 --- a/Main/src/main/java/com/chameleonvision/CameraException.java +++ b/Main/src/main/java/com/chameleonvision/vision/camera/CameraException.java @@ -1,4 +1,4 @@ -package com.chameleonvision; +package com.chameleonvision.vision.camera; public class CameraException extends Exception { public enum CameraExceptionType { @@ -19,7 +19,7 @@ public class CameraException extends Exception { } } - public CameraException(CameraExceptionType camExceptionType) { + CameraException(CameraExceptionType camExceptionType) { super(camExceptionType.toString()); } } diff --git a/Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java b/Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java index ebbb08bef..d8ba5e03d 100644 --- a/Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java +++ b/Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java @@ -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; diff --git a/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java b/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java index 96c95fcf0..858ce6f86 100644 --- a/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java +++ b/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java @@ -110,14 +110,20 @@ public class VisionProcess implements Runnable { } private void updateNetworkTables(PipelineResult pipelineResult) { - ntValidEntry.setBoolean(pipelineResult.IsValid); if (pipelineResult.IsValid) { + ntValidEntry.setBoolean(true); ntYawEntry.setNumber(pipelineResult.Yaw); ntPitchEntry.setNumber(pipelineResult.Pitch); ntDistanceEntry.setNumber(pipelineResult.Area); + ntTimeStampEntry.setNumber(TimeStamp); NetworkTableInstance.getDefault().flush(); + } else { + ntYawEntry.setNumber(0.0); + ntPitchEntry.setNumber(0.0); + ntDistanceEntry.setNumber(0.0); + ntTimeStampEntry.setNumber(TimeStamp); + ntValidEntry.setBoolean(false); } - ntTimeStampEntry.setNumber(TimeStamp); } private PipelineResult runVisionProcess(Mat inputImage, Mat outputImage) { diff --git a/Main/src/main/java/com/chameleonvision/web/ServerHandler.java b/Main/src/main/java/com/chameleonvision/web/ServerHandler.java index 698f5bb45..89a52c1dc 100644 --- a/Main/src/main/java/com/chameleonvision/web/ServerHandler.java +++ b/Main/src/main/java/com/chameleonvision/web/ServerHandler.java @@ -1,11 +1,8 @@ package com.chameleonvision.web; -import com.chameleonvision.CameraException; +import com.chameleonvision.vision.camera.CameraException; import com.chameleonvision.settings.SettingsManager; -import com.chameleonvision.vision.Pipeline; -import com.chameleonvision.vision.camera.Camera; import com.chameleonvision.vision.camera.CameraManager; -import com.google.gson.JsonArray; import edu.wpi.cscore.VideoException; import io.javalin.websocket.WsCloseContext; import io.javalin.websocket.WsConnectContext;