Package edu.wpi.grip.core.sources

Class CameraSource

java.lang.Object

edu.wpi.grip.core.Source

edu.wpi.grip.core.sources.CameraSource

All Implemented Interfaces:

com.google.common.util.concurrent.Service, RestartableService

public class CameraSource
extends Source
implements RestartableService

Provides a way to generate a constantly updated opencv_core.Mat from a camera.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	CameraSource.Factory
static interface	CameraSource.FrameGrabberFactory	Allows for the creation of a frame grabber using either a device number or URL string address.
static class	CameraSource.FrameGrabberFactoryImpl

Nested classes/interfaces inherited from class edu.wpi.grip.core.Source

Source.SourceFactory, Source.SourceFactoryImpl

Nested classes/interfaces inherited from interface com.google.common.util.concurrent.Service

com.google.common.util.concurrent.Service.Listener, com.google.common.util.concurrent.Service.State

Field Summary

Fields

Modifier and Type	Field	Description
static java.lang.String	DEFAULT_IP_CAMERA_PATH	The path that Axis cameras stream MJPEG videos from.

Fields inherited from interface edu.wpi.grip.core.util.service.RestartableService

VALID_START_STATES

Method Summary

Modifier and Type	Method	Description
void	addListener(com.google.common.util.concurrent.Service.Listener listener, java.util.concurrent.Executor executor)
void	awaitRunning()
void	awaitRunning(long timeout, java.util.concurrent.TimeUnit unit)
void	awaitTerminated()
void	awaitTerminated(long timeout, java.util.concurrent.TimeUnit unit)
java.util.List<OutputSocket>	createOutputSockets()
java.lang.Throwable	failureCause()
java.lang.String	getName()	This is used by the GUI to distinguish different sources.
java.util.Properties	getProperties()	This is used for serialization/deserialization.
void	initialize()	Initializes the source.
boolean	isRunning()
void	onSourceRemovedEvent(SourceRemovedEvent event)
CameraSource	startAsync()	Starts the service that runs the camera source.
com.google.common.util.concurrent.Service.State	state()
void	stopAndAwait()
void	stopAndAwait(long timeout, java.util.concurrent.TimeUnit unit)
CameraSource	stopAsync()	Stops the service that is running camera source.
protected boolean	updateOutputSockets()	This method will check if there are any pending updates to output sockets.

Methods inherited from class edu.wpi.grip.core.Source

getExceptionWitness, getOutputSockets, initializeSafely, toString

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

DEFAULT_IP_CAMERA_PATH

public static final java.lang.String DEFAULT_IP_CAMERA_PATH

The path that Axis cameras stream MJPEG videos from. Although any URL can be supplied CameraSource.Factory.create(String), allowing this to work with basically any network video stream, this default path allows the Axis M1011 cameras used in FRC to work when only an IP address is supplied.

See Also:

Constant Field Values

Method Detail

getName

public java.lang.String getName()

Description copied from class: Source

This is used by the GUI to distinguish different sources. For example, ImageFileSource returns the filename of the image.

Specified by:

getName in class Source

Returns:

The name of this source.

createOutputSockets

public java.util.List<OutputSocket> createOutputSockets()

Specified by:

createOutputSockets in class Source

updateOutputSockets

protected boolean updateOutputSockets()

Description copied from class: Source

This method will check if there are any pending updates to output sockets. If there are any, update the sockets and then return true. If there are no updates this function should return false.

Specified by:

updateOutputSockets in class Source

Returns:

true if there are updates ready to be moved into the socket.

getProperties

public java.util.Properties getProperties()

Description copied from class: Source

This is used for serialization/deserialization.

Specified by:

getProperties in class Source

Returns:

A Properties containing data that can be used to re-create this source.

initialize

public void initialize()

Description copied from class: Source

Initializes the source. This should not try to handle initialization exceptions. Instead, the Source.initializeSafely() should report the problem with initializing to the exception witness.

Specified by:

initialize in class Source

startAsync

public CameraSource startAsync()

Starts the service that runs the camera source.

Specified by:

startAsync in interface RestartableService

Specified by:

startAsync in interface com.google.common.util.concurrent.Service

Returns:

this

isRunning

public boolean isRunning()

Specified by:

isRunning in interface com.google.common.util.concurrent.Service

stopAsync

public CameraSource stopAsync()

Stops the service that is running camera source.

Specified by:

stopAsync in interface RestartableService

Specified by:

stopAsync in interface com.google.common.util.concurrent.Service

Returns:

this

stopAndAwait

public void stopAndAwait()

Specified by:

stopAndAwait in interface RestartableService

stopAndAwait

public void stopAndAwait(long timeout,
                         java.util.concurrent.TimeUnit unit)
                  throws java.util.concurrent.TimeoutException

Specified by:

stopAndAwait in interface RestartableService

Throws:

java.util.concurrent.TimeoutException

awaitRunning

public void awaitRunning()

Specified by:

awaitRunning in interface com.google.common.util.concurrent.Service

awaitRunning

public void awaitRunning(long timeout,
                         java.util.concurrent.TimeUnit unit)
                  throws java.util.concurrent.TimeoutException

Specified by:

awaitRunning in interface com.google.common.util.concurrent.Service

Throws:

java.util.concurrent.TimeoutException

awaitTerminated

public void awaitTerminated()

Specified by:

awaitTerminated in interface com.google.common.util.concurrent.Service

awaitTerminated

public void awaitTerminated(long timeout,
                            java.util.concurrent.TimeUnit unit)
                     throws java.util.concurrent.TimeoutException

Specified by:

awaitTerminated in interface com.google.common.util.concurrent.Service

Throws:

java.util.concurrent.TimeoutException

failureCause

public java.lang.Throwable failureCause()

Specified by:

failureCause in interface com.google.common.util.concurrent.Service

addListener

public void addListener(com.google.common.util.concurrent.Service.Listener listener,
                        java.util.concurrent.Executor executor)

Specified by:

addListener in interface com.google.common.util.concurrent.Service

state

public com.google.common.util.concurrent.Service.State state()

Specified by:

state in interface com.google.common.util.concurrent.Service

onSourceRemovedEvent

public void onSourceRemovedEvent(SourceRemovedEvent event)
                          throws java.lang.InterruptedException,
                                 java.util.concurrent.TimeoutException,
                                 java.io.IOException

Throws:

java.lang.InterruptedException

java.util.concurrent.TimeoutException

java.io.IOException