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Updated Maven Deps to the new WPILib Artifactory, added AARCH64-Bionic support (Jetson)

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This commit is contained in:
Banks Troutman
2019-09-26 14:19:30 -04:00
parent c46ec3066d
commit c5de2f8f5e
4 changed files with 41 additions and 58 deletions
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14
Main/src/main/java/com/chameleonvision/Main.java
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@@ -4,15 +4,29 @@ import com.chameleonvision.settings.SettingsManager;
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;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.io.IOException;
public class Main {
public static void main(String[] 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!";
throw new RuntimeException(errorStr);
}
if (CameraManager.initializeCameras()) {
SettingsManager.initialize();
for (var camSet : CameraManager.getAllCamerasByName().entrySet()) {
new Thread(new VisionProcess(camSet.getValue())).start();
}
NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
// NetworkTableInstance.getDefault().startClient("localhost");
Server.main(8888);

6
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -36,8 +36,6 @@ public class Camera {
private CamVideoMode camVideoMode;
private int currentPipelineIndex;
private HashMap<Integer, Pipeline> pipelines;
private long initTimeout;
public Camera(String cameraName) {
this(cameraName, DEFAULT_FOV);
@@ -71,7 +69,7 @@ public class Camera {
// set up video modes according to minimums
if (SettingsManager.getCurrentPlatform() == SettingsManager.Platform.WINDOWS_64 && !UsbCam.isConnected()) {
System.out.print("Waiting on camera... ");
initTimeout = System.nanoTime();
long initTimeout = System.nanoTime();
while(!UsbCam.isConnected())
{
//TODO add a time sleep, can wait only so long before giving up
@@ -96,8 +94,6 @@ public class Camera {
cvSink = cs.getVideo(UsbCam);
cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight);
var s = (MjpegServer) cs.getServer("serve_" + name);
CameraManager.CameraPorts.put(name, s.getPort());
}
VideoMode[] getAvailableVideoModes() {

1
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -20,7 +20,6 @@ import java.util.List;
public class CameraManager {
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "Cams");
public static HashMap<String, Integer> CameraPorts = new HashMap<>();
private static HashMap<String, Camera> AllCamerasByName = new HashMap<>();