Rename USBCamera to USBCameraProcess & abstractify

- Most classes now take a CameraProcess instead of a USBCameraProcess

Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraProcess.java

@@ -4,6 +4,8 @@ import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
 
 public interface CameraProcess {
+    CameraProperties getProperties();
+
     Pair<Mat, Long> getFrame(Mat frame);
 
     void setExposure(int exposure);

Main/src/main/java/com/chameleonvision/classabstraction/camera/USBCameraProcess.java

@@ -8,19 +8,24 @@ import edu.wpi.first.cameraserver.CameraServer;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
 
-public class USBCamera implements CameraProcess {
+public class USBCameraProcess implements CameraProcess {
     private final UsbCamera baseCamera;
-    public final CameraProperties properties;
     private final CvSink cvSink;
     private Mat imageBuffer = new Mat();
+    public final CameraProperties properties;
 
-    public USBCamera(UsbCamera camera, double fov) {
+    public USBCameraProcess(UsbCamera camera, double fov) {
         baseCamera = camera;
         cvSink = CameraServer.getInstance().getVideo(baseCamera);
         VideoMode vidMode = new VideoMode(VideoMode.PixelFormat.kYUYV, 640, 480, 60);
         properties = new CameraProperties(baseCamera, fov);
     }
 
+    @Override
+    public CameraProperties getProperties() {
+        return properties;
+    }
+
     @Override
     public Pair<Mat, Long> getFrame(Mat frame) {
         var timestamp = System.nanoTime();
@@ -34,7 +39,7 @@ public class USBCamera implements CameraProcess {
         try {
             baseCamera.setExposureManual(exposure);
         } catch (VideoException e) {
-            System.err.println("USBCamera Does not support exposure change");
+            System.err.println("USBCameraProcess Does not support exposure change");
         }
     }
 
@@ -43,7 +48,7 @@ public class USBCamera implements CameraProcess {
         try {
             baseCamera.setBrightness(brightness);
         } catch (VideoException e) {
-            System.err.println("USBCamera Does not support brightness change");
+            System.err.println("USBCameraProcess Does not support brightness change");
         }
     }
 }

Main/src/main/java/com/chameleonvision/classabstraction/pipeline/CVPipeline.java

@@ -1,6 +1,6 @@
 package com.chameleonvision.classabstraction.pipeline;
 
-import com.chameleonvision.classabstraction.camera.USBCamera;
+import com.chameleonvision.classabstraction.camera.CameraProcess;
 import org.opencv.core.Mat;
 
 /**
@@ -16,6 +16,6 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
         this.settings = settings;
     }
 
-    abstract void initPipeline(USBCamera camera);
+    abstract void initPipeline(CameraProcess camera);
     abstract R runPipeline(Mat inputMat);
 }

Main/src/main/java/com/chameleonvision/classabstraction/pipeline/CVPipeline2d.java

@@ -1,7 +1,7 @@
 package com.chameleonvision.classabstraction.pipeline;
 
+import com.chameleonvision.classabstraction.camera.CameraProcess;
 import com.chameleonvision.classabstraction.camera.CameraStaticProperties;
-import com.chameleonvision.classabstraction.camera.USBCamera;
 import com.chameleonvision.classabstraction.pipeline.pipes.*;
 import com.chameleonvision.vision.ImageRotation;
 import org.apache.commons.lang3.tuple.Pair;
@@ -13,7 +13,7 @@ import java.util.List;
 @SuppressWarnings("WeakerAccess")
 public class CVPipeline2d extends CVPipeline<CVPipeline2d.CVPipeline2dResult, CVPipeline2d.CVPipeline2dSettings> {
 
-    private USBCamera camera;
+    private CameraProcess cameraProcess;
 
     private Mat rawCameraMat = new Mat();
     private Mat hsvOutputMat = new Mat();
@@ -23,8 +23,8 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2d.CVPipeline2dResult, CV
     }
 
     @Override
-    void initPipeline(USBCamera cam) {
-        camera = cam;
+    void initPipeline(CameraProcess cam) {
+        cameraProcess = cam;
     }
 
     @Override
@@ -32,7 +32,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2d.CVPipeline2dResult, CV
         long totalProcessTimeNanos = 0;
         StringBuilder procTimeStringBuilder = new StringBuilder();
 
-        CameraStaticProperties camProps = camera.properties.staticProperties;
+        CameraStaticProperties camProps = cameraProcess.getProperties().staticProperties;
 
         inputMat.copyTo(rawCameraMat);
 

Main/src/main/java/com/chameleonvision/classabstraction/pipeline/DriverVisionPipeline.java

@@ -1,7 +1,6 @@
 package com.chameleonvision.classabstraction.pipeline;
 
-import com.chameleonvision.classabstraction.camera.USBCamera;
-import com.chameleonvision.vision.process.PipelineResult;
+import com.chameleonvision.classabstraction.camera.CameraProcess;
 import org.opencv.core.Mat;
 
 public class DriverVisionPipeline extends CVPipeline<DriverVisionPipeline.DriverPipelineResult, CVPipelineSettings> {
@@ -10,7 +9,7 @@ public class DriverVisionPipeline extends CVPipeline<DriverVisionPipeline.Driver
     }
 
     @Override
-    void initPipeline(USBCamera camera) {
+    void initPipeline(CameraProcess camera) {
         // TODO: set camera to driver mode
     }
 

Main/src/main/java/com/chameleonvision/vision/camera/USBCamera.java

@@ -99,13 +99,13 @@ public class USBCamera {
                 }
             }
             var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
-            System.out.printf("USBCamera initialized in %.2fms\n", initTimeMs);
+            System.out.printf("USBCameraProcess initialized in %.2fms\n", initTimeMs);
         }
         var trueVideoModes = UsbCam.enumerateVideoModes();
         availableVideoModes = Arrays.stream(trueVideoModes).filter(v ->
                 v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT && ALLOWED_PIXEL_FORMATS.contains(v.pixelFormat)).toArray(VideoMode[]::new);
         if (availableVideoModes.length == 0) {
-            System.err.println("USBCamera not supported!");
+            System.err.println("USBCameraProcess not supported!");
             throw new RuntimeException(new CameraException(CameraException.CameraExceptionType.BAD_CAMERA));
         }
         if (videoModeIndex <= availableVideoModes.length - 1) {
@@ -283,7 +283,7 @@ public class USBCamera {
         try {
             UsbCam.setExposureManual(exposure);
         } catch (VideoException e) {
-            System.err.println("USBCamera Does not support exposure change");
+            System.err.println("USBCameraProcess Does not support exposure change");
         }
     }
 

Main/src/main/java/com/chameleonvision/vision/process/StandardCVProcess.java

@@ -122,7 +122,7 @@ public class StandardCVProcess implements CVProcess {
         pipelineResult.IsValid = true;
         switch (currentPipeline.calibrationMode) {
             case None:
-                ///use the center of the USBCamera to find the pitch and yaw difference
+                ///use the center of the USBCameraProcess to find the pitch and yaw difference
                 pipelineResult.CalibratedX = cameraValues.CenterX;
                 pipelineResult.CalibratedY = cameraValues.CenterY;
                 break;

Main/src/main/java/com/chameleonvision/vision/process/USBCameraProcess.java

@@ -80,7 +80,7 @@ public class USBCameraProcess implements CameraProcess {
         }
     }
 
-    // USBCamera stuff
+    // USBCameraProcess stuff
 
     @Override
     public String getCamName() {

Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java

@@ -41,7 +41,7 @@ public class VisionProcess implements Runnable {
 
     public VisionProcess(CameraProcess cameraProcess) {
 
-        // USBCamera settings
+        // USBCameraProcess settings
         cvProcess = new StandardCVProcess(cameraProcess.getCamVals());
         this.cameraProcess = cameraProcess; // new USBCameraProcess(cameraProcess);