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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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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());