[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / CameraFeeds.java

package org.usfirst.frc.team3501.robot;

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 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")
  private CameraFeeds(/* Joystick Button */) {
    System.out.println("Enter CameraFeeds constructor");
    server = CameraServer.getInstance();
    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 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 init() {
    System.out.println("Initializing...");
  }

  public void toggleCamera() {
    changeCam();
  }

  /**
   *
   * Change the camera to get image from to a different one
   *
   * newId for camera
   */
  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);
    }
  }
}