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Begin network rewrite

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This commit is contained in:
Banks Troutman
2019-10-04 15:55:45 -04:00
parent 2d32fa21ce
commit 7699766091
20 changed files with 338 additions and 83 deletions
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12
Main/src/main/java/com/chameleonvision/vision/GeneralSettings.java
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@@ -1,12 +0,0 @@
package com.chameleonvision.vision;
public class GeneralSettings {
public int team_number = 1577;
public String connection_type = "DHCP";
public String ip = "";
public String gateway = "";
public String netmask = "";
public String hostname = "Chameleon-vision";
public String curr_camera = "";
public Integer curr_pipeline = null;
}

7
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;
@@ -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;
}

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;

10
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -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) {