| 1 | package org.usfirst.frc.team3501.robot; |
| 2 | |
| 3 | import com.ni.vision.NIVision; |
| 4 | import com.ni.vision.NIVision.Image; |
| 5 | |
| 6 | import edu.wpi.cscore.AxisCamera; |
| 7 | import edu.wpi.cscore.UsbCamera; |
| 8 | import edu.wpi.cscore.VideoSource; |
| 9 | import edu.wpi.first.wpilibj.CameraServer; |
| 10 | |
| 11 | public class CameraFeeds { |
| 12 | // private final int intakeCam; |
| 13 | // private final int climberCam; |
| 14 | private Image frame; |
| 15 | private String curCam = "intake"; |
| 16 | private CameraServer server; |
| 17 | private static UsbCamera intakeCam; |
| 18 | private static AxisCamera climberCam; |
| 19 | |
| 20 | @SuppressWarnings("deprecation") |
| 21 | public CameraFeeds(/* Joystick Button */) { |
| 22 | // Get camera ids by supplying camera name ex 'cam0', found on roborio web |
| 23 | // interface |
| 24 | /* |
| 25 | * intakeCam = |
| 26 | * NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter, |
| 27 | * NIVision.IMAQdxCameraControlMode.CameraControlModeController); climberCam |
| 28 | * = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight, |
| 29 | * NIVision.IMAQdxCameraControlMode.CameraControlModeController); curCam = |
| 30 | * intakeCam; // Img that will contain camera img frame = |
| 31 | * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that |
| 32 | * we'll give the img to server = CameraServer.getInstance(); |
| 33 | * server.setSize(Constants.CameraFeeds.imgQuality); |
| 34 | */ |
| 35 | intakeCam = CameraServer.getInstance().startAutomaticCapture(); |
| 36 | CameraServer.getInstance().startAutomaticCapture(); |
| 37 | server = CameraServer.getInstance(); |
| 38 | climberCam = server.addAxisCamera("axisCamera", "10.35.1.11"); |
| 39 | |
| 40 | // server = CameraServer.getInstance(); |
| 41 | // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11"); |
| 42 | // cameraFeeds = new CameraFeeds(); |
| 43 | } |
| 44 | |
| 45 | public void init() { |
| 46 | changeCam(intakeCam); |
| 47 | } |
| 48 | |
| 49 | public void run() |
| 50 | { |
| 51 | if(/*add test for toggle*/) |
| 52 | changeCam(intakeCam); |
| 53 | |
| 54 | if(/*add test for toggle*/) |
| 55 | changeCam(climberCam); |
| 56 | |
| 57 | updateCam(); |
| 58 | } |
| 59 | |
| 60 | /** |
| 61 | * Stop aka close camera stream |
| 62 | */ |
| 63 | public void end() { |
| 64 | // NIVision.IMAQdxStopAcquisition(curCam); |
| 65 | } |
| 66 | |
| 67 | /** |
| 68 | * |
| 69 | * Change the camera to get imgs from to a different one |
| 70 | * |
| 71 | * @param newId |
| 72 | * for camera |
| 73 | */ |
| 74 | public void changeCam(/* int newId */) { |
| 75 | if (curCam == "climber") { |
| 76 | server.removeCamera(/* Axis Camera name */); |
| 77 | server.addCamera(intakeCam); |
| 78 | curCam = "intake"; |
| 79 | } else if (curCam == "intake") { |
| 80 | server.removeCamera(/* Usb Camera name */); |
| 81 | server.addCamera(climberCam); |
| 82 | curCam = "climber"; |
| 83 | } |
| 84 | // NIVision.IMAQdxStopAcquisition(curCam); |
| 85 | // NIVision.IMAQdxConfigureGrab(newId); |
| 86 | // NIVision.IMAQdxStartAcquisition(newId); |
| 87 | // curCam = newId; |
| 88 | } |
| 89 | |
| 90 | /** |
| 91 | * Get the img from current camera and give it to the server |
| 92 | */ |
| 93 | public void updateCam() { |
| 94 | // NIVision.IMAQdxGrab(curCam, frame, 1); |
| 95 | // server.setImage(frame); |
| 96 | } |
| 97 | } |