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Fix drivermode NPE and rename visionprocess method

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This commit is contained in:
Matt
2019-11-27 20:41:29 -08:00
parent 0cb8960005
commit 9e068ea0f0
4 changed files with 25 additions and 18 deletions
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11
Main/src/main/java/com/chameleonvision/Main.java
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@@ -139,11 +139,12 @@ public class Main {
NetworkTableInstance.getDefault().startServer();
} else {
NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
if (ntClientModeServer != null) {
NetworkTableInstance.getDefault().startClient(ntClientModeServer);
} else {
NetworkTableInstance.getDefault().startClientTeam(ConfigManager.settings.teamNumber);
}
// if (ntClientModeServer != null) {
// NetworkTableInstance.getDefault().startClient(ntClientModeServer);
// } else {
// NetworkTableInstance.getDefault().startClientTeam(ConfigManager.settings.teamNumber);
// }
NetworkTableInstance.getDefault().startClient("localhost");
}
boolean visionSourcesOk = VisionManager.initializeSources();

6
Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -249,9 +249,9 @@ public class VisionProcess {
return currentPipelineIndex;
}
public void addPipeline() {
public void addBlankPipeline() {
// TODO: (2.1) add to UI option between 2d and 3d pipeline
pipelines.add(new CVPipeline2d());
addPipeline(new CVPipeline2d());
}
public void addPipeline(CVPipeline pipeline) {
@@ -260,7 +260,7 @@ public class VisionProcess {
public void addPipeline(CVPipelineSettings settings) {
if (settings instanceof CVPipeline2dSettings) {
pipelines.add(new CVPipeline2d((CVPipeline2dSettings) settings));
addPipeline(new CVPipeline2d((CVPipeline2dSettings) settings));
}
}

21
Main/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
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@@ -3,6 +3,7 @@ package com.chameleonvision.vision.pipeline;
import com.chameleonvision.vision.pipeline.pipes.Draw2dContoursPipe;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.core.RotatedRect;
import java.util.List;
@@ -10,24 +11,30 @@ import static com.chameleonvision.vision.pipeline.DriverVisionPipeline.DriverPip
public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPipelineSettings> {
private Draw2dContoursPipe draw2dContoursPipe = null;
private Draw2dContoursPipe.Draw2dContoursSettings draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
private final List<RotatedRect> blankList = List.of();
public DriverVisionPipeline(CVPipelineSettings settings) {
super(settings);
draw2dContoursSettings.showCrosshair = true;
}
@Override
public DriverPipelineResult runPipeline(Mat inputMat) {
outputMat = inputMat;
inputMat.copyTo(outputMat);
var camProps = cameraCapture.getProperties().getStaticProperties();
if(draw2dContoursPipe == null) {
draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
} else {
draw2dContoursPipe.setConfig(camProps);
}
Draw2dContoursPipe.Draw2dContoursSettings draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
draw2dContoursSettings.showCrosshair = true;
Draw2dContoursPipe draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
draw2dContoursPipe.run(Pair.of(outputMat, blankList)).getLeft().copyTo(outputMat);
outputMat = draw2dContoursPipe.run(Pair.of(outputMat, null)).getLeft();
return new DriverPipelineResult(null, inputMat, 0);
return new DriverPipelineResult(null, outputMat, 0);
}
public static class DriverPipelineResult extends CVPipelineResult<Void> {

5
Main/src/main/java/com/chameleonvision/web/SocketHandler.java
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@@ -4,7 +4,6 @@ import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.vision.VisionProcess;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.enums.StreamDivisor;
import com.chameleonvision.vision.pipeline.CVPipeline;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.fasterxml.jackson.core.JsonProcessingException;
@@ -76,7 +75,7 @@ public class SocketHandler {
VisionManager.saveCurrentCameraPipelines();
break;
}
case "duplicatePipeline": {
case "duplicatePipeline": { // TODO doesn't work (HIGH)
HashMap pipelineVals = (HashMap) entry.getValue();
int pipelineIndex = (int) pipelineVals.get("pipeline");
int cameraIndex = (int) pipelineVals.get("camera");
@@ -97,7 +96,7 @@ public class SocketHandler {
case "command": {
switch ((String) entry.getValue()) {
case "addNewPipeline":
currentProcess.addPipeline();
currentProcess.addBlankPipeline();
sendFullSettings();
VisionManager.saveCurrentCameraPipelines();
break;