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.cscore.VideoSource;
import edu.wpi.first.wpilibj.CameraServer;
public class CameraFeeds {
// private final int intakeCam;
// private final int climberCam;
- private Image frame;
- private int curCam;
+ private VideoSource 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(/* Joystick Button */) {
- // Get camera ids by supplying camera name ex 'cam0', found on roborio web
+ // Get camera id by supplying camera name example 'cam0', found on roborio web
// interface
/*
* intakeCam =
* NIVision.IMAQdxCameraControlMode.CameraControlModeController); climberCam
* = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
* NIVision.IMAQdxCameraControlMode.CameraControlModeController); curCam =
- * intakeCam; // Img that will contain camera img frame =
+ * intakeCam; // Image that will contain camera image frame =
* NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that
- * we'll give the img to server = CameraServer.getInstance();
+ * we'll give the image to server = CameraServer.getInstance();
* server.setSize(Constants.CameraFeeds.imgQuality);
*/
- intakeCam = CameraServer.getInstance().startAutomaticCapture();
- CameraServer.getInstance().startAutomaticCapture();
+
server = CameraServer.getInstance();
climberCam = server.addAxisCamera("axisCamera", "10.35.1.11");
+ intakeCam = server.startAutomaticCapture();
+ curCam = intakeCam;
+ usbCamName = intakeCam.getName();
+ axisCamName = climberCam.getName();
// server = CameraServer.getInstance();
// axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
// cameraFeeds = new CameraFeeds();
}
+
+ public static CameraFeeds getCameraFeeds() {
+ if (cameraFeeds == null) {
+ cameraFeeds = new CameraFeeds();
+ }
+ return cameraFeeds;
+
+
+ }
public void init() {
changeCam(intakeCam);
}
- public void run()
- {
- if(/*add test for toggle*/)
- changeCam(intakeCam);
-
- if(/*add test for toggle*/)
+ public void toggleCamera() {
+ if (curCam.equals(intakeCam)) {
changeCam(climberCam);
+ curCam = climberCam;
+ }
- updateCam();
- }
-
- /**
- * Stop aka close camera stream
- */
- public void end() {
- NIVision.IMAQdxStopAcquisition(curCam);
+ if (curCam.equals(climberCam)) {
+ changeCam(intakeCam);
+ curCam = intakeCam;
+ }
}
/**
*
- * Change the camera to get imgs from to a different one
+ * Change the camera to get image from to a different one
*
- * @param newId
+ * 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
- */
- public void updateCam() {
- NIVision.IMAQdxGrab(curCam, frame, 1);
- server.setImage(frame);
+ public void changeCam(VideoSource cam) {
+ server.removeCamera(axisCamName);
+ server.removeCamera(usbCamName);
+ server.addCamera(cam);
}
}