X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FCameraFeeds.java;h=94501567cbac31e47e2ef70a9da5ae4815b3763b;hb=93d8373fe56e8036848f7d092855cb0819702b50;hp=c354594529961f38b6b252a003885bc4f740c830;hpb=a1a9bb70a6a25abccae66ebfb315ca05391eae69;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
index c354594..9450156 100755
--- a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
+++ b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
@@ -1,71 +1,87 @@
 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 int curCam;
-  private Image frame;
+  // private final int intakeCam;
+  // private final int climberCam;
+  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;
 
-  public CameraFeeds() {
-    // Get camera ids by supplying camera name ex 'cam0', found on roborio web
-    // interface
-    intakeCam = NIVision.IMAQdxOpenCamera(Config.CameraFeeds.camNameCenter,
-        NIVision.IMAQdxCameraControlMode.CameraControlModeController);
-    climberCam = NIVision.IMAQdxOpenCamera(Config.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
-    server = CameraServer.getInstance();
-    server.setQuality(Config.CameraFeeds.imgQuality);
-  }
+  @SuppressWarnings("deprecation")
+  private CameraFeeds(/* Joystick Button */) {
 
-  public void init() {
-    changeCam(intakeCam);
+    usbCamName = intakeCam.getName();
+    axisCamName = climberCam.getName();
+    server = CameraServer.getInstance();
+    climberCam = server.addAxisCamera(axisCamName, "10.35.1.11");
+    intakeCam = server.startAutomaticCapture();
+    curCam = intakeCam;
+    curCam = climberCam;
+    usbCamName = intakeCam.getName();
+    axisCamName = climberCam.getName();
   }
 
-  public void run()
-  {
-    if(/*add test for toggle*/)
-      changeCam(intakeCam);
+  public static CameraFeeds getCameraFeeds() {
+    if (cameraFeeds == null) {
+      cameraFeeds = new CameraFeeds();
+    }
+    return cameraFeeds;
 
-    if(/*add test for toggle*/)
-      changeCam(climberCam);
+  }
 
-    updateCam();
+  public void init() {
+    changeCam(intakeCam);
   }
 
-  /**
-   * Stop aka close camera stream
-   */
-  public void end() {
-    NIVision.IMAQdxStopAcquisition(curCam);
+  public void toggleCamera() {
+    System.out.println("enter toggleCamer");
+    if (curCam.equals(intakeCam)) {
+      // changeCam(climberCam);
+      curCam = climberCam;
+      // System.out.println("Switching to climber camera.");
+    } else if (curCam.equals(climberCam)) {
+      // changeCam(intakeCam);
+      curCam = intakeCam;
+      // System.out.println("Switching to intake camera.");
+    }
+    changeCam(curCam);
   }
 
   /**
-   * Change the camera to get imgs from to a different one
    *
-   * @param newId
-   *          for camera
+   * Change the camera to get image from to a different one
+   *
+   * newId for camera
    */
-  public void changeCam(int newId) {
-    NIVision.IMAQdxStopAcquisition(curCam);
-    NIVision.IMAQdxConfigureGrab(newId);
-    NIVision.IMAQdxStartAcquisition(newId);
-    curCam = newId;
+  public void changeCam(VideoSource cam) {
+    server.removeCamera(curCam.getName());
+    if (curCam.equals(intakeCam)) {
+      server.addCamera(intakeCam);
+      System.out.println("Switching to climber camera.");
+      return;
+    }
+
+    if (curCam.equals(climberCam)) {
+      server.addAxisCamera(axisCamName, "10.35.1.11");
+      // server.addCamera(climberCam);
+      System.out.println("Switching to intake camera.");
+      return;
+    }
+    System.out.println("change camera");
+    server.removeCamera(curCam.getName());
+    server.addCamera(cam);
   }
 
-  /**
-   * Get the img from current camera and give it to the server
-   */
-  public void updateCam() {
-    NIVision.IMAQdxGrab(curCam, frame, 1);
-    server.setImage(frame);
+  public String getCurrentCamName() {
+    return curCam.getName();
   }
 }