From dbe22417ae2199f7b06cb32a2ee3f814a46df76e Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Sat, 23 Nov 2019 09:09:31 -0800
Subject: [PATCH] Update cameraRunnable fps with video mode change

---
 .../java/com/chameleonvision/util/LoopingRunnable.java    | 2 +-
 .../java/com/chameleonvision/vision/VisionProcess.java    | 8 ++++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/Main/src/main/java/com/chameleonvision/util/LoopingRunnable.java b/Main/src/main/java/com/chameleonvision/util/LoopingRunnable.java
index 1df278996..555063956 100644
--- a/Main/src/main/java/com/chameleonvision/util/LoopingRunnable.java
+++ b/Main/src/main/java/com/chameleonvision/util/LoopingRunnable.java
@@ -4,7 +4,7 @@ package com.chameleonvision.util;
  * A thread that tries to run at a specified loop time
  */
 public abstract class LoopingRunnable implements Runnable {
-    private final Long loopTimeMs;
+    protected volatile Long loopTimeMs;
 
     protected abstract void process();
 
diff --git a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
index 25aff9ce0..453e750af 100644
--- a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
@@ -61,8 +61,7 @@ public class VisionProcess {
 
         // Thread to grab frames from the camera
         // TODO: (HIGH) fix video modes!!!
-        // TODO: (HIGH) FIX FPS!!!!!!!
-        this.cameraRunnable = new CameraFrameRunnable(cameraProcess.getProperties().videoModes.get(0).fps);
+        this.cameraRunnable = new CameraFrameRunnable(cameraProcess.getProperties().videoModes.get(0).f ps);
 
         lastPipelineResult = new DriverVisionPipeline.DriverPipelineResult(
                 null, cameraRunnable.getFrame(new Mat()), 0
@@ -229,6 +228,7 @@ public class VisionProcess {
 
     public void setVideoMode(VideoMode newMode) {
         cameraProcess.setVideoMode(newMode);
+        cameraRunnable.updateCameraFPS(newMode.fps);
         cameraStreamer.setNewVideoMode(newMode);
     }
 
@@ -290,6 +290,10 @@ public class VisionProcess {
             super(1000L/(cameraFPS + 2));
         }
 
+        void updateCameraFPS(int newFPS) {
+            super.loopTimeMs = 1000L / (newFPS + 2);
+        }
+
         @Override
         public void process() {
             System.out.println("running camera grabber process");