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bug fixes and added nt pipline change

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ori agranat
2019-09-25 10:32:22 -07:00
parent 3af2f3c686
commit f611b857a4
4 changed files with 14 additions and 5 deletions
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2
Main/src/main/java/com/chameleonvision/Main.java
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@@ -14,7 +14,7 @@ public class Main {
new Thread(new VisionProcess(camSet.getValue())).start();
}
NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
//NetworkTableInstance.getDefault().startClient("localhost");
// NetworkTableInstance.getDefault().startClient("localhost");
Server.main(8888);
} else {
System.err.println("No cameras connected!");

2
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -140,7 +140,7 @@ public class Camera {
return currentPipelineIndex;
}
void setCurrentPipelineIndex(int pipelineNumber) {
public void setCurrentPipelineIndex(int pipelineNumber) {
if (pipelineNumber - 1 > pipelines.size()) return;
currentPipelineIndex = pipelineNumber;
}

12
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -3,7 +3,9 @@ package com.chameleonvision.vision.process;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.web.Server;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.VideoException;
import edu.wpi.first.networktables.*;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
@@ -77,12 +79,18 @@ public class VisionProcess implements Runnable {
if (camera.getPipelines().containsKey(ntPipelineIndex)) {
// camera.setEntryNotification.value.getString());
var pipeline = camera.getCurrentPipeline();
camera.setExposure(pipeline.exposure);
camera.setCurrentPipelineIndex(ntPipelineIndex);
try{
camera.setExposure(pipeline.exposure);
}
catch (VideoException e){
System.err.println(e.toString());
}
camera.setBrightness(pipeline.brightness);
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("curr_pipeline", ntPipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
ServerHandler.sendFullSettings();
} else {
ntPipelineEntry.setString("pipeline" + camera.getCurrentPipelineIndex());

3
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -99,12 +99,13 @@ public class ServerHandler {
sendFullSettings();
break;
case "curr_pipeline":
String newPipeline = (String) value;
String newPipeline = value.toString();
var pipelineNumber = Integer.parseInt(newPipeline.replace("pipeline", ""));
System.out.printf("Changing pipeline to %s\n", newPipeline);
CameraManager.setCurrentPipeline(pipelineNumber);
// broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
break;
case "resolution":
int newVideoMode = (int) value;