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Camera configuration rewrite, begin on CameraStreamer threading fix

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This commit is contained in:
Banks Troutman
2019-11-26 17:57:51 -05:00
parent 6506281ddf
commit d588b1a69e
11 changed files with 293 additions and 173 deletions
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36
Main/src/main/java/com/chameleonvision/vision/VisionManager.java
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@@ -1,7 +1,8 @@
package com.chameleonvision.vision;
import com.chameleonvision.config.CameraConfig;
import com.chameleonvision.config.CameraJsonConfig;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.config.FullCameraConfiguration;
import com.chameleonvision.util.Helpers;
import com.chameleonvision.util.Platform;
import com.chameleonvision.vision.camera.CameraCapture;
@@ -20,7 +21,7 @@ public class VisionManager {
}
private static final LinkedHashMap<String, UsbCameraInfo> usbCameraInfosByCameraName = new LinkedHashMap<>();
private static final LinkedList<CameraConfig> loadedCameraConfigs = new LinkedList<>();
private static final LinkedList<FullCameraConfiguration> loadedCameraConfigs = new LinkedList<>();
private static final LinkedList<VisionProcessManageable> visionProcesses = new LinkedList<>();
private static class VisionProcessManageable {
@@ -57,7 +58,7 @@ public class VisionManager {
}
// load the config
List<CameraConfig> preliminaryConfigs = new ArrayList<>();
List<CameraJsonConfig> preliminaryConfigs = new ArrayList<>();
usbCameraInfosByCameraName.values().forEach((cameraInfo) -> {
String truePath;
@@ -68,10 +69,10 @@ public class VisionManager {
truePath = Arrays.stream(cameraInfo.otherPaths).filter(x -> x.contains("/dev/v4l/by-path")).findFirst().orElse(cameraInfo.path);
}
preliminaryConfigs.add(new CameraConfig(truePath, cameraInfo.name));
preliminaryConfigs.add(new CameraJsonConfig(truePath, cameraInfo.name));
});
loadedCameraConfigs.addAll(ConfigManager.initializeCameraConfig(preliminaryConfigs));
loadedCameraConfigs.addAll(ConfigManager.initializeCameras(preliminaryConfigs));
// TODO: (HIGH) Load pipelines from json
// UsbCameraInfosByCameraName.forEach((cameraName, cameraInfo) -> {
@@ -85,10 +86,15 @@ public class VisionManager {
public static boolean initializeProcesses() {
for (int i = 0; i < loadedCameraConfigs.size(); i++) {
CameraConfig config = loadedCameraConfigs.get(i);
CameraCapture camera = new USBCameraCapture(config);
VisionProcess process = new VisionProcess(camera, config.name);
visionProcesses.add(new VisionProcessManageable(i, config.name, process));
FullCameraConfiguration config = loadedCameraConfigs.get(i);
CameraJsonConfig cameraJsonConfig = config.cameraConfig;
CameraCapture camera = new USBCameraCapture(cameraJsonConfig);
VisionProcess process = new VisionProcess(camera, cameraJsonConfig.name);
config.pipelines.forEach(process::addPipeline);
process.setDriverModeSettings(config.drivermode);
visionProcesses.add(new VisionProcessManageable(i, cameraJsonConfig.name, process));
}
currentUIVisionProcess = getVisionProcessByIndex(0);
return true;
@@ -136,14 +142,10 @@ public class VisionManager {
String cameraName = process.getCamera().getProperties().name;
List<CVPipelineSettings> pipelines = process.getPipelines().stream().map(cvPipeline -> cvPipeline.settings).collect(Collectors.toList());
CVPipelineSettings driverMode = process.getDriverModeSettings();
CameraConfig config = CameraConfig.fromUSBCameraProcess((USBCameraCapture) process.getCamera());
try {
ConfigManager.saveCameraPipelines(cameraName, pipelines);
ConfigManager.saveCameraDriverMode(cameraName, driverMode);
ConfigManager.saveCameraConfig(cameraName, config);
} catch (IOException e) {
e.printStackTrace();
}
CameraJsonConfig config = CameraJsonConfig.fromUSBCameraProcess((USBCameraCapture) process.getCamera());
ConfigManager.saveCameraPipelines(cameraName, pipelines);
ConfigManager.saveCameraDriverMode(cameraName, driverMode);
ConfigManager.saveCameraConfig(cameraName, config);
});
}