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Driver Mode fixes

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This commit is contained in:
Banks Troutman
2019-11-30 20:31:55 -05:00
parent 92974c0cf1
commit fcafd9d6e2
5 changed files with 17 additions and 22 deletions
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4
Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -91,10 +91,10 @@ public class VisionProcess {
initNT(newTable);
}
public void setCameraName(String newName) {
public void setCameraNickname(String newName) {
getCamera().getProperties().setNickname(newName);
var newTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + newName);
resetNT(newTable);
pipelineManager.ntIndexEntry = ntPipelineEntry;
}
private void initNT(NetworkTable newTable) {

9
Main/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
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@@ -18,6 +18,7 @@ public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPip
public DriverVisionPipeline(CVPipelineSettings settings) {
super(settings);
draw2dContoursSettings.showCrosshair = true;
draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, cameraCapture.getProperties().getStaticProperties());
}
@Override
@@ -25,13 +26,7 @@ public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPip
inputMat.copyTo(outputMat);
var camProps = cameraCapture.getProperties().getStaticProperties();
if(draw2dContoursPipe == null) {
draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
} else {
draw2dContoursPipe.setConfig(false,camProps);
}
draw2dContoursPipe.setConfig(false, cameraCapture.getProperties().getStaticProperties());
draw2dContoursPipe.run(Pair.of(outputMat, blankList)).getLeft().copyTo(outputMat);
return new DriverPipelineResult(null, outputMat, 0);

6
Main/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
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@@ -98,7 +98,11 @@ public class PipelineManager {
}
public CVPipeline getCurrentPipeline() {
return pipelines.get(currentPipelineIndex);
if (currentPipelineIndex <= DRIVERMODE_INDEX) {
return driverModePipeline;
} else {
return pipelines.get(currentPipelineIndex);
}
}
public void setCurrentPipeline(int index) {

1
Main/src/main/java/com/chameleonvision/web/RequestHandler.java
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@@ -5,7 +5,6 @@ import com.chameleonvision.network.NetworkIPMode;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.vision.VisionProcess;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.enums.StreamDivisor;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import io.javalin.http.Context;

19
Main/src/main/java/com/chameleonvision/web/SocketHandler.java
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@@ -10,7 +10,6 @@ import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.first.networktables.NetworkTable;
import io.javalin.websocket.WsBinaryMessageContext;
import io.javalin.websocket.WsCloseContext;
import io.javalin.websocket.WsConnectContext;
@@ -66,8 +65,7 @@ public class SocketHandler {
break;
}
case "changeCameraName": {
currentCamera.getProperties().setNickname((String) entry.getValue());
currentProcess.setCameraName((String) entry.getValue());
currentProcess.setCameraNickname((String) entry.getValue());
sendFullSettings();
VisionManager.saveCurrentCameraSettings();
break;
@@ -87,15 +85,12 @@ public class SocketHandler {
String val = mapper.writeValueAsString(origPipeline);
CVPipelineSettings newPipeline = mapper.readValue(val, origPipeline.getClass());
// TODO: move to PipelineManager
newPipeline.nickname += "(Copy)";
if (cameraIndex != -1) {
VisionProcess newProcess = VisionManager.getVisionProcessByIndex(cameraIndex);
if (newProcess != null) {
currentProcess.pipelineManager.duplicatePipeline(newPipeline, newProcess);
} else {
System.err.println("Failed to get new camera for pipeline duplication!");
System.err.println("Failed to get destination camera for pipeline duplication!");
}
} else {
currentProcess.pipelineManager.duplicatePipeline(newPipeline);
@@ -141,9 +136,12 @@ public class SocketHandler {
default: {
// only change settings when we aren't in driver mode
if(currentProcess.pipelineManager.getDriverMode()) break;
if(currentProcess.pipelineManager.getDriverMode()) {
setField(currentProcess.pipelineManager.driverModePipeline.settings, entry.getKey(), entry.getValue());
} else {
setField(currentPipeline.settings, entry.getKey(), entry.getValue());
}
setField(currentPipeline.settings, entry.getKey(), entry.getValue());
switch (entry.getKey()) {
case "exposure": {
currentCamera.setExposure((Integer) entry.getValue());
@@ -158,8 +156,7 @@ public class SocketHandler {
break;
}
case "streamDivisor":{
VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
currentVisionProcess.cameraStreamer.setDivisor(StreamDivisor.values()[(Integer) entry.getValue()], true);
currentProcess.cameraStreamer.setDivisor(StreamDivisor.values()[(Integer) entry.getValue()], true);
break;
}
}