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Merge branch 'dev' of https://gitlab.com/chameleon-vision/Chameleon-Vision into dev

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# Conflicts:
#	Main/src/main/java/com/chameleonvision/Main.java
This commit is contained in:
Banks Troutman
2019-09-25 13:37:17 -04:00
parent 2d76152dda 4b760a9e8a
commit abeda8e531
7 changed files with 62 additions and 137 deletions
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5
Main/src/main/java/com/chameleonvision/Main.java
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@@ -13,9 +13,8 @@ public class Main {
for (var camSet : CameraManager.getAllCamerasByName().entrySet()) {
new Thread(new VisionProcess(camSet.getValue())).start();
}
NetworkTableInstance.getDefault().startClient("localhost");
// NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
// NetworkTableInstance.getDefault().startClient("localhost");
Server.main(8888);
} else {
System.err.println("No cameras connected!");

2
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -140,7 +140,7 @@ public class Camera {
return currentPipelineIndex;
}
void setCurrentPipelineIndex(int pipelineNumber) {
public void setCurrentPipelineIndex(int pipelineNumber) {
if (pipelineNumber - 1 > pipelines.size()) return;
currentPipelineIndex = pipelineNumber;
}

4
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -70,7 +70,9 @@ public class CameraManager {
private static boolean addCamera(Camera camera, String cameraName) {
if (AllCamerasByName.containsKey(cameraName)) return false;
camera.addPipeline();
for (int i = 0; i < 10;i++){
camera.addPipeline(); // simple fix to create more pipelines for now
}
AllCamerasByName.put(cameraName, camera);
return true;
}

12
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -3,7 +3,9 @@ package com.chameleonvision.vision.process;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.web.Server;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.VideoException;
import edu.wpi.first.networktables.*;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
@@ -77,12 +79,18 @@ public class VisionProcess implements Runnable {
if (camera.getPipelines().containsKey(ntPipelineIndex)) {
// camera.setEntryNotification.value.getString());
var pipeline = camera.getCurrentPipeline();
camera.setExposure(pipeline.exposure);
camera.setCurrentPipelineIndex(ntPipelineIndex);
try{
camera.setExposure(pipeline.exposure);
}
catch (VideoException e){
System.err.println(e.toString());
}
camera.setBrightness(pipeline.brightness);
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("curr_pipeline", ntPipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
ServerHandler.sendFullSettings();
} else {
ntPipelineEntry.setString("pipeline" + camera.getCurrentPipelineIndex());

3
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -99,12 +99,13 @@ public class ServerHandler {
sendFullSettings();
break;
case "curr_pipeline":
String newPipeline = (String) value;
String newPipeline = value.toString();
var pipelineNumber = Integer.parseInt(newPipeline.replace("pipeline", ""));
System.out.printf("Changing pipeline to %s\n", newPipeline);
CameraManager.setCurrentPipeline(pipelineNumber);
// broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
break;
case "resolution":
int newVideoMode = (int) value;