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Added CameraStreamProcess enable/disable methods and minor cleanup.

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Titan Robotics Club
2024-10-11 01:15:00 -07:00
parent 2924c9fe8c
commit 8786067bc0
1 changed files with 120 additions and 91 deletions
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211
TeamCode/src/main/java/teamcode/vision/Vision.java
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@ -221,6 +221,7 @@ public class Vision
robot.robotInfo.webCam1.camImageWidth, robot.robotInfo.webCam1.camImageHeight,
RobotParams.Preferences.showVisionView, RobotParams.Preferences.showVisionStat, visionProcessors);
}
// Disable all vision until they are needed.
for (VisionProcessor processor: visionProcessors)
{
@ -382,6 +383,116 @@ public class Vision
return colorBlobInfo;
} //getDetectedRawColorBlob
/**
* This method enables/disables Limelight vision for the specified pipeline.
*
* @param pipelineIndex specifies the limelight pipeline index to be selected, ignore if disabled.
* @param enabled specifies true to enable, false to disable.
*/
public void setLimelightVisionEnabled(int pipelineIndex, boolean enabled)
{
if (limelightVision != null)
{
if (enabled)
{
limelightVision.setPipeline(pipelineIndex);
}
limelightVision.setVisionEnabled(enabled);
}
} //setLimelightVisionEnabled
/**
* This method checks if Limelight vision is enabled.
*
* @return true if enabled, false if disabled.
*/
public boolean isLimelightVisionEnabled()
{
return limelightVision != null && limelightVision.isVisionEnabled();
} //isLimelightVisionEnabled
/**
* This method calls Limelight vision to detect the object.
*
* @param resultType specifies the result type to look for.
* @param label specifies the detected object label, can be null to match any label.
* @param lineNum specifies the dashboard line number to display the detected object info, -1 to disable printing.
* @return detected Limelight object info.
*/
public TrcVisionTargetInfo<FtcLimelightVision.DetectedObject> getLimelightDetectedObject(
FtcLimelightVision.ResultType resultType, String label, int lineNum)
{
TrcVisionTargetInfo<FtcLimelightVision.DetectedObject> limelightInfo = null;
String objectName = null;
if (limelightVision != null)
{
limelightInfo = limelightVision.getBestDetectedTargetInfo(resultType, label, null);
if (limelightInfo != null)
{
objectName = limelightInfo.detectedObj.label;
}
}
if (objectName != null && robot.blinkin != null)
{
robot.blinkin.setDetectedPattern(objectName);
}
if (lineNum != -1)
{
robot.dashboard.displayPrintf(
lineNum, "%s: %s", objectName, limelightInfo != null? limelightInfo: "Not found.");
}
return limelightInfo;
} //getLimelightDetectedObject
/**
* This method enables/disables the Vision Processor.
*
* @param processor specifies the vision processor to enable/disable.
* @param enabled specifies true to enable, false to disable.
*/
public void setVisionProcessorEnabled(VisionProcessor processor, boolean enabled)
{
if (processor != null)
{
vision.setProcessorEnabled(processor, enabled);
}
} //setVisionProcessorEnabled
/**
* This method checks if the Vision Processor is enabled.
*
* @param processor specifies the vision processor to enable/disable.
* @return true if enabled, false if disabled.
*/
public boolean isVisionProcessorEnabled(VisionProcessor processor)
{
return processor != null && vision.isVisionProcessorEnabled(processor);
} //isVisionProcessorEnabled
/**
* This method enables/disables the CameraStream processor.
*
* @param enabled specifies true to enable, false to disable.
*/
public void setCameraStreamEnabled(boolean enabled)
{
setVisionProcessorEnabled(cameraStreamProcessor, enabled);
} //setCameraStreamEnabled
/**
* This method checks if the CameraStream processor is enabled.
*
* @return true if enabled, false if disabled.
*/
public boolean isCameraStreamEnabled()
{
return isVisionProcessorEnabled(cameraStreamProcessor);
} //isAprilTagVisionEnabled
/**
* This method enables/disables AprilTag vision.
*
@ -389,10 +500,7 @@ public class Vision
*/
public void setAprilTagVisionEnabled(boolean enabled)
{
if (aprilTagProcessor != null)
{
vision.setProcessorEnabled(aprilTagProcessor, enabled);
}
setVisionProcessorEnabled(aprilTagProcessor, enabled);
} //setAprilTagVisionEnabled
/**
@ -402,7 +510,7 @@ public class Vision
*/
public boolean isAprilTagVisionEnabled()
{
return aprilTagProcessor != null && vision.isVisionProcessorEnabled(aprilTagProcessor);
return isVisionProcessorEnabled(aprilTagProcessor);
} //isAprilTagVisionEnabled
/**
@ -496,28 +604,16 @@ public class Vision
switch (colorBlobType)
{
case RedBlob:
if (redBlobProcessor != null)
{
vision.setProcessorEnabled(redBlobProcessor, enabled);
}
setVisionProcessorEnabled(redBlobProcessor, enabled);
break;
case BlueBlob:
if (blueBlobProcessor != null)
{
vision.setProcessorEnabled(blueBlobProcessor, enabled);
}
setVisionProcessorEnabled(blueBlobProcessor, enabled);
break;
case AnyColorBlob:
if (redBlobProcessor != null)
{
vision.setProcessorEnabled(redBlobProcessor, enabled);
}
if (blueBlobProcessor != null)
{
vision.setProcessorEnabled(blueBlobProcessor, enabled);
}
setVisionProcessorEnabled(redBlobProcessor, enabled);
setVisionProcessorEnabled(blueBlobProcessor, enabled);
break;
}
} //setColorBlobVisionEnabled
@ -535,17 +631,15 @@ public class Vision
switch (colorBlobType)
{
case RedBlob:
enabled = redBlobProcessor != null && vision.isVisionProcessorEnabled(redBlobProcessor);
enabled = isVisionProcessorEnabled(redBlobProcessor);
break;
case BlueBlob:
enabled = blueBlobProcessor != null && vision.isVisionProcessorEnabled(blueBlobProcessor);
enabled = isVisionProcessorEnabled(blueBlobProcessor);
break;
case AnyColorBlob:
enabled =
redBlobProcessor != null && vision.isVisionProcessorEnabled(redBlobProcessor) ||
blueBlobProcessor != null && vision.isVisionProcessorEnabled(blueBlobProcessor);
enabled = isVisionProcessorEnabled(redBlobProcessor) || isVisionProcessorEnabled(blueBlobProcessor);
break;
}
@ -623,71 +717,6 @@ public class Vision
return colorBlobInfo;
} //getDetectedColorBlob
/**
* This method enables/disables Limelight vision for the specified pipeline.
*
* @param pipelineIndex specifies the limelight pipeline index to be selected, ignore if disabled.
* @param enabled specifies true to enable, false to disable.
*/
public void setLimelightVisionEnabled(int pipelineIndex, boolean enabled)
{
if (limelightVision != null)
{
if (enabled)
{
limelightVision.setPipeline(pipelineIndex);
}
limelightVision.setVisionEnabled(enabled);
}
} //setLimelightVisionEnabled
/**
* This method checks if Limelight vision is enabled.
*
* @return true if enabled, false if disabled.
*/
public boolean isLimelightVisionEnabled()
{
return limelightVision != null && limelightVision.isVisionEnabled();
} //isLimelightVisionEnabled
/**
* This method calls Limelight vision to detect the object.
*
* @param resultType specifies the result type to look for.
* @param label specifies the detected object label, can be null to match any label.
* @param lineNum specifies the dashboard line number to display the detected object info, -1 to disable printing.
* @return detected Limelight object info.
*/
public TrcVisionTargetInfo<FtcLimelightVision.DetectedObject> getLimelightDetectedObject(
FtcLimelightVision.ResultType resultType, String label, int lineNum)
{
TrcVisionTargetInfo<FtcLimelightVision.DetectedObject> limelightInfo = null;
String objectName = null;
if (limelightVision != null)
{
limelightInfo = limelightVision.getBestDetectedTargetInfo(resultType, label, null);
if (limelightInfo != null)
{
objectName = limelightInfo.detectedObj.label;
}
}
if (objectName != null && robot.blinkin != null)
{
robot.blinkin.setDetectedPattern(objectName);
}
if (lineNum != -1)
{
robot.dashboard.displayPrintf(
lineNum, "%s: %s", objectName, limelightInfo != null? limelightInfo: "Not found.");
}
return limelightInfo;
} //getLimelightDetectedObject
/**
* This method returns the target Z offset from ground.
*