Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-22 01:11:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add PipelineManager

Browse Source
This commit is contained in:
Banks Troutman
2019-11-29 23:13:57 -05:00
parent 1674feae73
commit d01e70b1ec
9 changed files with 237 additions and 125 deletions
Download Patch File Download Diff File Expand all files Collapse all files

105
Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
View File

@@ -29,6 +29,7 @@ public class VisionProcess {
private final CameraStreamerRunnable streamRunnable;
private final VisionProcessRunnable visionRunnable;
public final CameraStreamer cameraStreamer;
public final PipelineManager pipelineManager;
private CVPipeline currentPipeline;
private int currentPipelineIndex = 0;
@@ -56,15 +57,7 @@ public class VisionProcess {
VisionProcess(CameraCapture cameraCapture, String name, List<CVPipelineSettings> loadedPipelineSettings) {
this.cameraCapture = cameraCapture;
if (loadedPipelineSettings == null || loadedPipelineSettings.size() == 0) {
pipelines.add(new CVPipeline2d("New Pipeline"));
} else {
for (CVPipelineSettings setting : loadedPipelineSettings) {
addPipeline(setting);
}
setPipeline(0, false);
}
pipelineManager = new PipelineManager(this, loadedPipelineSettings);
// Thread to put frames on the dashboard
this.cameraStreamer = new CameraStreamer(cameraCapture, name);
@@ -80,10 +73,16 @@ public class VisionProcess {
public void start() {
System.out.println("Starting NetworkTables.");
initNT(defaultTable);
System.out.println("Starting vision thread.");
new Thread(visionRunnable).start();
var visionThread = new Thread(visionRunnable);
visionThread.setName(getCamera().getProperties().name + " - Vision Thread");
visionThread.start();
System.out.println("Starting stream thread.");
new Thread(streamRunnable).start();
var streamThread = new Thread(streamRunnable);
streamThread.setName(getCamera().getProperties().name + " - Stream Thread");
streamThread.start();
}
/**
@@ -110,7 +109,7 @@ public class VisionProcess {
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::setDriverMode, EntryListenerFlags.kUpdate);
ntPipelineListenerID = ntPipelineEntry.addListener(this::setPipeline, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setNumber(0);
ntPipelineEntry.setNumber(pipelineManager.getCurrentPipelineIndex());
}
private void setDriverMode(EntryNotification driverModeEntryNotification) {
@@ -118,11 +117,7 @@ public class VisionProcess {
}
public void setDriverMode(boolean driverMode) {
if (driverMode) {
setPipelineInternal(driverModePipeline);
} else {
setPipeline(currentPipelineIndex, true);
}
pipelineManager.setDriverMode(driverMode);
}
/**
@@ -133,38 +128,12 @@ public class VisionProcess {
var wantedPipelineIndex = (int) notification.value.getDouble();
if (wantedPipelineIndex >= pipelines.size()) {
ntPipelineEntry.setNumber(currentPipelineIndex);
ntPipelineEntry.setNumber(pipelineManager.getCurrentPipelineIndex());
} else {
currentPipelineIndex = wantedPipelineIndex;
setPipeline(wantedPipelineIndex, true);
pipelineManager.setCurrentPipeline(wantedPipelineIndex);
}
}
public void setPipeline(int pipelineIndex, boolean updateUI) {
CVPipeline newPipeline = pipelines.get(pipelineIndex);
if (newPipeline != null) {
setPipelineInternal(newPipeline);
currentPipelineIndex = pipelineIndex;
// update the configManager
if(ConfigManager.settings.currentCamera.equals(cameraCapture.getProperties().name)) {
ConfigManager.settings.currentPipeline = pipelineIndex;
if (updateUI) {
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("currentPipeline", pipelineIndex);
SocketHandler.broadcastMessage(pipeChange);
SocketHandler.sendFullSettings();
}
}
}
}
private void setPipelineInternal(CVPipeline pipeline) {
currentPipeline = pipeline;
currentPipeline.initPipeline(cameraCapture);
}
private void updateUI(CVPipelineResult data) {
if(cameraCapture.getProperties().name.equals(ConfigManager.settings.currentCamera)) {
HashMap<String, Object> WebSend = new HashMap<>();
@@ -243,56 +212,16 @@ public class VisionProcess {
return cameraCapture.getProperties().videoModes;
}
public List<CVPipeline> getPipelines() {
return pipelines;
}
public CVPipeline getCurrentPipeline() {
return currentPipeline;
}
public int getCurrentPipelineIndex() {
return currentPipelineIndex;
}
public void addBlankPipeline() {
// TODO: (2.1) add to UI option between 2d and 3d pipeline
var newPipeline = new CVPipeline2d();
// if (pipelines.stream().filter(x -> x.settings.nickname.equals(newPipeline.settings.nickname));
addPipeline(new CVPipeline2d());
}
public void addPipeline(CVPipeline pipeline) {
pipelines.add(pipeline);
}
public void addPipeline(CVPipelineSettings settings) {
if (settings instanceof CVPipeline2dSettings) {
addPipeline(new CVPipeline2d((CVPipeline2dSettings) settings));
}
}
public void deletePipeline(int index) {
pipelines.remove(index);
}
public CameraCapture getCamera() {
return cameraCapture;
}
public boolean getDriverMode() {
return (currentPipeline == driverModePipeline);
}
public void setDriverModeSettings(CVPipelineSettings settings) {
driverModePipeline.settings = settings;
pipelineManager.driverModePipeline.settings = settings;
}
public CVPipelineSettings getDriverModeSettings() {
return driverModePipeline.settings;
}
public CVPipeline getPipelineByIndex(int pipelineIndex) {
return pipelines.get(pipelineIndex);
return pipelineManager.driverModePipeline.settings;
}
/**
@@ -313,7 +242,7 @@ public class VisionProcess {
Mat camFrame = camData.getLeft();
if (camFrame.cols() > 0 && camFrame.rows() > 0) {
CVPipelineResult result = currentPipeline.runPipeline(camFrame);
CVPipelineResult result = pipelineManager.getCurrentPipeline().runPipeline(camFrame);
if (result != null) {
result.setTimestamp(camData.getRight());