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Updated ftclib.

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Fixed CameraStreamProcessor bug to prevent adding RectInfo if the processor is not enabled.
Made the CameraStreamProcessor easier to use.
This commit is contained in:
Titan Robotics Club
2024-10-13 13:10:01 -07:00
parent 54de20bce1
commit 02dc2b49c5
4 changed files with 29 additions and 4 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: 2af0213e99...97820d65a6

2
TeamCode/src/main/java/teamcode/FtcTest.java
View File

@ -223,6 +223,7 @@ public class FtcTest extends FtcTeleOp
case VISION_TEST:
if (robot.vision != null)
{
robot.vision.setCameraStreamEnabled(true);
if (robot.vision.vision != null)
{
exposure = robot.vision.vision.getCurrentExposure();
@ -258,6 +259,7 @@ public class FtcTest extends FtcTeleOp
if (robot.vision != null && robot.vision.rawColorBlobVision != null)
{
robot.globalTracer.traceInfo(moduleName, "Enabling FtcRawEocvVision.");
robot.vision.setCameraStreamEnabled(true);
robot.vision.setRawColorBlobVisionEnabled(true);
colorThresholds = robot.vision.getRawColorBlobThresholds();
colorThresholdIndex = 0;

1
TeamCode/src/main/java/teamcode/Robot.java
View File

@ -195,6 +195,7 @@ public class Robot
//
if (vision != null)
{
vision.setCameraStreamEnabled(false);
if (vision.rawColorBlobVision != null)
{
globalTracer.traceInfo(moduleName, "Disabling RawColorBlobVision.");

28
TeamCode/src/main/java/teamcode/vision/Vision.java
View File

@ -239,7 +239,7 @@ public class Vision
{
if (vision != null)
{
vision.getVisionPortal().close();
vision.close();
}
} //close
@ -375,6 +375,12 @@ public class Vision
TrcVisionTargetInfo<TrcOpenCvDetector.DetectedObject<?>> colorBlobInfo =
rawColorBlobVision != null? rawColorBlobVision.getBestDetectedTargetInfo(null, null, 0.0, 0.0): null;
if (cameraStreamProcessor != null && colorBlobInfo != null)
{
cameraStreamProcessor.addRectInfo(
colorBlobInfo.detectedObj.label, colorBlobInfo.detectedObj.getRotatedRectVertices());
}
if (lineNum != -1)
{
robot.dashboard.displayPrintf(
@ -481,7 +487,10 @@ public class Vision
*/
public void setCameraStreamEnabled(boolean enabled)
{
setVisionProcessorEnabled(cameraStreamProcessor, enabled);
if (vision != null && cameraStreamProcessor != null)
{
cameraStreamProcessor.setCameraStreamEnabled(vision, enabled);
}
} //setCameraStreamEnabled
/**
@ -491,7 +500,7 @@ public class Vision
*/
public boolean isCameraStreamEnabled()
{
return isVisionProcessorEnabled(cameraStreamProcessor);
return cameraStreamProcessor != null && cameraStreamProcessor.isCameraStreamEnabled();
} //isAprilTagVisionEnabled
/**
@ -526,6 +535,13 @@ public class Vision
TrcVisionTargetInfo<FtcVisionAprilTag.DetectedObject> aprilTagInfo =
aprilTagVision.getBestDetectedTargetInfo(id, null);
if (cameraStreamProcessor != null && aprilTagInfo != null)
{
cameraStreamProcessor.addRectInfo(
Integer.toString(aprilTagInfo.detectedObj.aprilTagDetection.id),
aprilTagInfo.detectedObj.getRotatedRectVertices());
}
if (aprilTagInfo != null && robot.blinkin != null)
{
robot.blinkin.setDetectedPattern(BlinkinLEDs.APRIL_TAG);
@ -704,6 +720,12 @@ public class Vision
break;
}
if (cameraStreamProcessor != null && colorBlobInfo != null)
{
cameraStreamProcessor.addRectInfo(
colorBlobInfo.detectedObj.label, colorBlobInfo.detectedObj.getRotatedRectVertices());
}
if (colorBlobInfo != null && robot.blinkin != null)
{
robot.blinkin.setDetectedPattern(colorBlobName);