package org.usfirst.frc.team3501.robot;
-import com.ni.vision.NIVision;
-import com.ni.vision.NIVision.Image;
+import edu.wpi.cscore.AxisCamera;
+import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.wpilibj.CameraServer;
public class CameraFeeds {
- private final int intakeCam;
- private final int climberCam;
- private int curCam;
- private Image frame;
+ // private final int intakeCam;
+ // private final int climberCam;
+ private String curCam;
private CameraServer server;
+ private static UsbCamera intakeCam;
+ private static AxisCamera climberCam;
+ private static String usbCamName;
+ private static String axisCamName;
+ private static CameraFeeds cameraFeeds = null;
@SuppressWarnings("deprecation")
- public CameraFeeds() {
- // Get camera ids by supplying camera name ex 'cam0', found on roborio web
- // interface
- intakeCam = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter,
- NIVision.IMAQdxCameraControlMode.CameraControlModeController);
- climberCam = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
- NIVision.IMAQdxCameraControlMode.CameraControlModeController);
- curCam = intakeCam;
- // Img that will contain camera img
- frame = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
- // Server that we'll give the img to
+ private CameraFeeds(/* Joystick Button */) {
+ System.out.println("Enter CameraFeeds constructor");
server = CameraServer.getInstance();
- server.setSize(Constants.CameraFeeds.imgQuality);
+ climberCam = server.addAxisCamera("ClimberCam", "10.35.1.11");
+ intakeCam = server.startAutomaticCapture();
+ usbCamName = intakeCam.getName();
+ axisCamName = climberCam.getName();
+ curCam = "intakeCam";
+ changeCam();
+ System.out.println("Leaving CameraFeeds constructor");
}
- public void init() {
- changeCam(intakeCam);
+ public static CameraFeeds getCameraFeeds() {
+ System.out.println("Enter CameraFeeds.getCameraFeeds");
+ if (cameraFeeds == null) {
+ cameraFeeds = new CameraFeeds();
+ }
+ System.out.println("Leaving CameraFeeds.getCameraFeeds");
+ return cameraFeeds;
}
- public void run()
- {
- if(/*add test for toggle*/)
- changeCam(intakeCam);
-
- if(/*add test for toggle*/)
- changeCam(climberCam);
-
- updateCam();
+ public void init() {
+ System.out.println("Initializing...");
}
- /**
- * Stop aka close camera stream
- */
- public void end() {
- NIVision.IMAQdxStopAcquisition(curCam);
+ public void toggleCamera() {
+ changeCam();
}
/**
- * Change the camera to get imgs from to a different one
*
- * @param newId
- * for camera
- */
- public void changeCam(int newId) {
- NIVision.IMAQdxStopAcquisition(curCam);
- NIVision.IMAQdxConfigureGrab(newId);
- NIVision.IMAQdxStartAcquisition(newId);
- curCam = newId;
- }
-
- /**
- * Get the img from current camera and give it to the server
+ * Change the camera to get image from to a different one
+ *
+ * newId for camera
*/
- public void updateCam() {
- NIVision.IMAQdxGrab(curCam, frame, 1);
- server.setImage(frame);
+ public void changeCam() {
+ System.out.println("enter toggleCamera");
+ if (curCam == "intakeCam") {
+ server.getVideo(axisCamName);
+ curCam = "climberCam";
+ System.out.println("Switching to climber camera, curCam = " + curCam);
+ } else if (curCam == "climberCam") {
+ server.getVideo(usbCamName);
+ curCam = "intakeCam";
+ System.out.println("Switching to intake camera, curCam = " + curCam);
+ }
}
}