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Continue plumbing ServerHandler

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This commit is contained in:
Banks Troutman
2019-11-23 04:05:37 -05:00
parent b19ae1f43b
commit 9b3e611eaa
21 changed files with 362 additions and 280 deletions
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64
Main/src/main/java/com/chameleonvision/classabstraction/VisionManager.java
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@@ -1,29 +1,27 @@
package com.chameleonvision.classabstraction;
import com.chameleonvision.classabstraction.camera.CameraProcess;
import com.chameleonvision.classabstraction.camera.USBCameraProcess;
import com.chameleonvision.classabstraction.config.CameraConfig;
import com.chameleonvision.classabstraction.config.ConfigManager;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.util.FileHelper;
import com.chameleonvision.vision.camera.CameraException;
import com.chameleonvision.vision.camera.USBCamera;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.UsbCameraInfo;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.videoio.VideoCapture;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.*;
import java.util.stream.Collectors;
public class VisionManager {
private VisionManager() {}
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "cameras");
public static final LinkedHashMap<String, UsbCameraInfo> UsbCameraInfosByCameraName = new LinkedHashMap<>();
private static final LinkedHashMap<String, UsbCameraInfo> UsbCameraInfosByCameraName = new LinkedHashMap<>();
private static final LinkedList<CameraConfig> LoadedCameraConfigs = new LinkedList<>();
public static final LinkedHashMap<String, VisionProcess> VisionProcessesByCameraName = new LinkedHashMap<>();
private static final LinkedHashMap<Integer, Pair<VisionProcess, String>> VisionProcessesByIndex = new LinkedHashMap<>();
private static VisionProcess currentUIVisionProcess;
public static boolean initializeSources() {
int suffix = 0;
@@ -44,8 +42,6 @@ public class VisionManager {
return false;
}
FileHelper.CheckPath(CamConfigPath);
// load the config
List<CameraConfig> preliminaryConfigs = new ArrayList<>();
@@ -62,6 +58,8 @@ public class VisionManager {
});
LoadedCameraConfigs.addAll(ConfigManager.initializeCameraConfig(preliminaryConfigs));
// TODO: (HIGH) Load pipelines from json
// UsbCameraInfosByCameraName.forEach((cameraName, cameraInfo) -> {
// Path cameraConfigFolder = Paths.get(CamConfigPath.toString(), String.format("%s\\", cameraName));
// Path cameraConfigPath = Paths.get(cameraConfigFolder.toString(), String.format("%s.json", cameraName));
@@ -72,23 +70,43 @@ public class VisionManager {
}
public static boolean initializeProcesses() {
LoadedCameraConfigs.forEach(config -> {
var camera = new USBCameraProcess(config);
VisionProcessesByCameraName.put(config.name, new VisionProcess(camera, config.name));
});
for (int i = 0; i < LoadedCameraConfigs.size(); i++) {
CameraConfig config = LoadedCameraConfigs.get(i);
CameraProcess camera = new USBCameraProcess(config);
VisionProcess process = new VisionProcess(camera, config.name);
VisionProcessesByIndex.put(i, Pair.of(process, config.name));
}
currentUIVisionProcess = VisionProcessesByIndex.get(0).getLeft();
return true;
}
public static void startProcesses() {
VisionProcessesByCameraName.forEach((name, process) -> {
process.start();
VisionProcessesByIndex.forEach((index, processNamePair) -> {
processNamePair.getLeft().start();
});
}
public static VisionProcess getCurrentCamera() throws CameraException {
if (VisionProcessesByCameraName.size() == 0) throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
var curCam = VisionProcessesByCameraName.get(SettingsManager.generalSettings.currentCamera);
if (curCam == null) throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
return curCam;
public static VisionProcess getCurrentUIVisionProcess() {
return currentUIVisionProcess;
}
public static void setCurrentProcessByIndex(int processIndex) {
if (processIndex > VisionProcessesByIndex.size() - 1) {
return;
}
currentUIVisionProcess = VisionProcessesByIndex.get(processIndex).getLeft();
}
public static VisionProcess getVisionProcessByIndex(int processIndex) {
if (processIndex > VisionProcessesByIndex.size() - 1) {
return null;
}
return VisionProcessesByIndex.get(0).getLeft();
}
public static List<String> getAllCameraNicknames() {
return VisionProcessesByIndex.values().stream().map(processNamePair -> processNamePair.getLeft().getCamera().getProperties().getNickname()).collect(Collectors.toList());
}
}