Camera server

pi_scripts/installVisionProcessOnPi.sh

@@ -25,11 +25,5 @@ fi
 # TODO Explain-y comments
 
 scp ${PI_USER}@${PI_ADDR} pi_scripts/vision.service ${PI_USER}@${PI_ADDR}:/tmp
-ssh ${PI_USER}@${PI_ADDR} "sudo cp /tmp/vision.service /etc/systemd/system"
-ssh ${PI_USER}@${PI_ADDR} "sudo systemctl stop vision.service"
-ssh ${PI_USER}@${PI_ADDR} "sudo systemctl disable vision.service"
-ssh ${PI_USER}@${PI_ADDR} "sudo systemctl daemon-reload"
-ssh ${PI_USER}@${PI_ADDR} "sudo systemctl enable vision.service"
-ssh ${PI_USER}@${PI_ADDR} "sudo systemctl start vision.service"
-
+ssh ${PI_USER}@${PI_ADDR} "sudo cp /tmp/vision.service /etc/systemd/system && sudo systemctl stop vision.service && sudo systemctl disable vision.service && sudo systemctl daemon-reload && sudo systemctl enable vision.service && sudo systemctl start vision.service"
 

pi_scripts/restartVisionProcessOnPi.sh

@@ -24,6 +24,4 @@ fi
 
 # SSH to the pi and restart the vision process
 echo "Restarting vision process on ${PI_USER}@${PI_ADDR}"
-ssh ${PI_USER}@${PI_ADDR} "sudo systemctl stop vision.service"
-ssh ${PI_USER}@${PI_ADDR} "sudo systemctl daemon-reload"
-ssh ${PI_USER}@${PI_ADDR} "sudo systemctl start vision.service"
+ssh ${PI_USER}@${PI_ADDR} "sudo systemctl stop vision.service && sudo systemctl daemon-reload && sudo systemctl start vision.service"

pi_scripts/uninstallVisionProcessOnPi.sh

@@ -13,6 +13,4 @@ if [[ $1 != "" ]]; then
   PI_ADDR=$1
 fi
 
-ssh ${PI_USER}@${PI_ADDR} "sudo systemctl stop vision.service"
-ssh ${PI_USER}@${PI_ADDR} "sudo systemctl disable vision.service"
-ssh ${PI_USER}@${PI_ADDR} "sudo rm /etc/systemd/system/vision.service"
+ssh ${PI_USER}@${PI_ADDR} "sudo systemctl stop vision.service && sudo systemctl disable vision.service && sudo rm /etc/systemd/system/vision.service"

pi_scripts/windows/pushCodeToPi.sh

@@ -23,7 +23,7 @@ fi
 echo "Make sure you've done a \"git pull\" so that you're deploying the latest code!"
 echo
 
-./gradlew build -PbuildType=arm-raspbian -PtestType=windows
+gradlew build -PbuildType=arm-raspbian -PtestType=windows
 
 # ERROR HANDLING: check that the build succeeded
 if [ $? -ne 0 ]; then

src/main/java/ca/team2706/vision/trackerboxreloaded/Bundle.java

@@ -2,15 +2,19 @@
 
 import java.awt.image.BufferedImage;
 
+import ca.team2706.vision.trackerboxreloaded.Main.VisionParams;
+
 public class Bundle {
 	private BufferedImage raw,binMask,output;
 	private int timestamp;
+	private VisionParams params;
 
-	public Bundle(BufferedImage raw, BufferedImage binMask, BufferedImage output, int timestamp) {
+	public Bundle(BufferedImage raw, BufferedImage binMask, BufferedImage output, int timestamp, VisionParams params) {
 		this.raw = raw;
 		this.binMask = binMask;
 		this.output = output;
 		this.timestamp = timestamp;
+		this.params = params;
 	}
 
 	public BufferedImage getBinMask() {
@@ -28,4 +32,9 @@ public BufferedImage getRaw() {
 	public int getTimeStamp(){
 		return timestamp;
 	}
+
+	public VisionParams getParams() {
+		return params;
+	}
+
 }

src/main/java/ca/team2706/vision/trackerboxreloaded/CameraServer.java

@@ -0,0 +1,65 @@
+package ca.team2706.vision.trackerboxreloaded;
+
+import java.util.HashMap;
+import java.util.Map;
+import org.opencv.core.Mat;
+import org.opencv.videoio.VideoCapture;
+
+public class CameraServer extends Thread {
+
+	public static Map<Integer, VideoCapture> cameras = new HashMap<Integer, VideoCapture>();
+
+	public static void startServer() {
+		new CameraServer().start();
+	}
+
+	public static void initCamera(int id) throws Exception {
+
+		if (cameras.keySet().contains(id)) {
+			return;
+		}
+
+		VideoCapture capture = new VideoCapture(id);
+
+		cameras.put(id, capture);
+		capture.read(frame1);
+		frames.put(id, frame1);
+
+	}
+
+	private static Mat frame1;
+	private static Map<Integer, Mat> frames = new HashMap<Integer, Mat>();
+
+	public static Mat getFrame(int camera) {
+
+		return frames.get(camera);
+
+	}
+
+	private Mat frame;
+
+	@Override
+	public void run() {
+
+		while (true) {
+
+			for (int i : cameras.keySet()) {
+
+				VideoCapture capture = cameras.get(i);
+
+				capture.read(frame);
+
+				frames.put(i, frame);
+
+			}
+
+			try {
+				Thread.sleep(1);
+			} catch (InterruptedException e) {
+				e.printStackTrace();
+			}
+		}
+
+	}
+
+}

src/main/java/ca/team2706/vision/trackerboxreloaded/ConfigParser.java

@@ -0,0 +1,196 @@
+package ca.team2706.vision.trackerboxreloaded;
+
+import java.io.File;
+import java.io.FileWriter;
+import java.io.PrintWriter;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Scanner;
+
+public class ConfigParser {
+
+	public static Map<String, String> getProperties(File f, String name) throws Exception {
+
+		List<String> lines = new ArrayList<String>();
+
+		Scanner in = new Scanner(f);
+
+		while (in.hasNextLine()) {
+			lines.add(in.nextLine());
+		}
+
+		in.close();
+
+		int startLine = 0, endLine = 0;
+
+		boolean foundStart = false;
+
+		for (int i = 0; i < lines.size(); i++) {
+
+			String s = lines.get(i);
+
+			if(s.equals("")) {
+				continue;
+			}
+
+			if (!foundStart) {
+				if (s.trim().equals(name + ":")) {
+					startLine = i;
+					foundStart = true;
+				}
+
+			} else {
+
+				if (!s.startsWith("  ")) {
+					endLine = i;
+					break;
+				}
+
+			}
+
+		}
+		if(endLine == 0) {
+			endLine = lines.size();
+		}
+
+		Map<String, String> properties = new HashMap<String, String>();
+
+		for (int i = startLine + 1; i < endLine; i++) {
+
+			// Get the line and remove the spaces
+			String s = lines.get(i).substring(2);
+
+			if (s.split("=").length >= 2) {
+
+				String key = s.split("=")[0];
+				String value = s.split("=")[1];
+
+				properties.put(key, value);
+			}
+
+		}
+
+		return properties;
+
+	}
+
+	public static List<String> listLists(File f) throws Exception {
+
+		Scanner in = new Scanner(f);
+		List<String> lines = new ArrayList<String>();
+
+		while (in.hasNextLine()) {
+			lines.add(in.nextLine());
+		}
+
+		in.close();
+
+		List<String> lists = new ArrayList<String>();
+
+		for (String s : lines) {
+
+			if(s.equals("")) {
+				continue;
+			}
+
+			if (!s.startsWith("  ")) {
+
+				String name = s.trim().substring(0, s.trim().length() - 1);
+
+				lists.add(name);
+
+			}
+
+		}
+
+		return lists;
+
+	}
+
+	public static void saveList(File f, String name, Map<String, String> data) throws Exception {
+
+		Scanner in = new Scanner(f);
+
+		List<String> lines = new ArrayList<String>();
+
+		while (in.hasNextLine()) {
+
+			lines.add(in.nextLine());
+
+		}
+
+		in.close();
+
+		int startLine = 0, endLine = 0;
+
+		boolean foundStart = false;
+
+		for (int i = 0; i < lines.size(); i++) {
+
+			String s = lines.get(i);
+
+			if(s.equals("")) {
+				continue;
+			}
+
+			if (!foundStart) {
+
+				if (s.equals(name + ":")) {
+					startLine = i;
+					foundStart = true;
+				}
+
+			} else {
+
+				if (!s.startsWith("  ")) {
+					endLine = i;
+					break;
+				}
+
+			}
+
+		}
+
+		if(endLine == 0) {
+			endLine = lines.size();
+		}
+
+		List<String> newLines = new ArrayList<String>();
+
+		for(int i = 0; i < lines.size(); i++) {
+
+			if(!(i >= startLine) && !(i < endLine)) {
+				newLines.add(lines.get(i));
+			}
+
+		}
+
+		//We have the fjson file minus the list we want to save
+
+		newLines.add(name+":");
+
+		for(String key : data.keySet()) {
+
+			String value = data.get(key);
+
+			newLines.add("  "+key+"="+value);
+		}
+
+		//Now we need to save it
+
+		f.delete();
+		f.createNewFile();
+
+		PrintWriter out = new PrintWriter(new FileWriter(f,true));
+
+		for(String s : newLines) {
+			out.println(s);
+		}
+
+		out.close();
+
+	}
+
+}

src/main/java/ca/team2706/vision/trackerboxreloaded/DisplayGui.java

@@ -100,10 +100,6 @@ public void updateImage(BufferedImage image) {
 			return;
 		}
 		this.image = image;
-		Graphics g = this.image.createGraphics();
-		g.setColor(Color.WHITE);
-		g.drawString(Main.filename, 50, 50);
-		g.dispose();
 
 		// If the image width or height is more or less than the last image change the
 		// size

src/main/java/ca/team2706/vision/trackerboxreloaded/ImageDumpScheduler.java

@@ -22,9 +22,9 @@ public void run() {
 				}
 
 				try {
-					Main.imgDump(b.getRaw(), "raw",b.getTimeStamp());
-					Main.imgDump(b.getBinMask(), "binMask", b.getTimeStamp());
-					Main.imgDump(b.getOutput(), "output", b.getTimeStamp());
+					Main.imgDump(b.getRaw(), "raw",b.getTimeStamp(),b.getParams());
+					Main.imgDump(b.getBinMask(), "binMask", b.getTimeStamp(),b.getParams());
+					Main.imgDump(b.getOutput(), "output", b.getTimeStamp(),b.getParams());
 				} catch (Exception e) {
 					//Non fatal error
 				}