BunyipsLib/org.murraybridgebunyips.bunyipslib.vision/Vision

Vision

Component wrapper to support the v8.2+ SDK's included libraries for Camera operation. This is an expansible system to run Processor components using the VisionPortal.

You will pass your own processors that you manage, and Vision will handle the data collection.

Vision is not a traditional subsystem where updates are propagated on the main thread, as processing is on another thread and updates are managed at the discretion of the VisionPortal. Once set up, Vision will automatically manage the camera stream and defined processor updates. All you will need to do is collect the data from the processors and use it in your OpMode. The update() method in this subsystem will simply add telemetry of the VisionPortal's status.

Author

Lucas Bubner, 2023

Since

1.0.0-pre

Constructors

Vision

constructor(camera: CameraName, cameraWidth: Int, cameraHeight: Int)

Create a new Vision instance with the specified camera and resolution.

constructor(camera: CameraName)

Create a new Vision instance with the specified camera and default resolution.

Properties

DEFAULT_CAMERA_HEIGHT

open var DEFAULT_CAMERA_HEIGHT: Int

Default camera height resolution to use.

DEFAULT_CAMERA_WIDTH

open var DEFAULT_CAMERA_WIDTH: Int

Default camera width resolution to use.

raw

open var raw: Vision.Raw

A built-in raw feed Processor that will do nothing but provide the raw camera feed.

visionPortal

open val visionPortal: VisionPortal

Inherited properties

currentTask

@get:Nullable

open var currentTask: Task

name

protected open var name: String

opMode

@Nullable

protected val opMode: BunyipsOpMode

Get a reference to the currently running BunyipsOpMode.

Functions

flip

open fun flip(): Vision

Flip all processor feeds horizontally and vertically (180deg, useful if your camera is mounted upside-down).

open fun flip(attachedProcessors: Array<Processor>): Vision

Flip a processor feed horizontally and vertically (rotate 180deg).

getAllData

open fun getAllData(): HashMap<String, List<VisionData>>

Get the culmination of data from all attached processors.

getAttachedProcessors

open fun getAttachedProcessors(): List<Processor>

Get all VisionProcessors attached to the VisionPortal.

getFps

open fun getFps(): Double

Get the current Frames Per Second of the VisionPortal.

getStatus

open fun getStatus(): VisionPortal.CameraState

Get the current status of the camera attached to the VisionPortal.

init

open fun init(newProcessors: Array<Processor>): Vision

Initialises the Vision class with the specified processors.

isInitialised

open fun isInitialised(): Boolean

Returns the state of VisionPortal.

periodic

protected open fun periodic()

Optional telemetry for subsystem attachment

setPreview

open fun setPreview(processorName: String)

open fun setPreview(processor: Processor)

Set the processor to display on FtcDashboard/DS from startPreview().

start

open fun start(attachedProcessors: Array<Processor>): Vision

Start desired processors.

startPreview

open fun startPreview()

Start the VisionSender thread to send all processor data to FtcDashboard/DS with dynamic switching.

stop

open fun stop(): Vision

Stop all processors and pause the camera stream (Level 3).

open fun stop(attachedProcessors: Array<Processor>): Vision

Stop desired processors (Level 2).

stopAllPreviews

open fun stopAllPreviews()

Stop the VisionSender thread to stop sending all processor data to FtcDashboard/DS.

terminate

open fun terminate(): Vision

Terminate all VisionPortal resources (Level 4).

Inherited functions

assertParamsNotNull

protected fun assertParamsNotNull(parameters: Array<Any>): Boolean

Utility function to run NullSafety.assertComponentArgs() on the given parameters, usually on the motors/hardware/critical objects passed into the constructor.

cancelCurrentTask

fun cancelCurrentTask()

Cancel the current task immediately and return to the default task, if available.

disable

fun disable()

Prevent a subsystem from running.

enable

fun enable()

Re-enable a subsystem if it was previously disabled via a disable() call.

isDefaultName

fun isDefaultName(): Boolean

isDisabled

fun isDisabled(): Boolean

isIdle

fun isIdle(): Boolean

Determine if the subsystem is idle, meaning an IdleTask is running.

onDisable

protected open fun onDisable()

User callback that runs once when this subsystem is disabled by a call to disable or by an assertion failure.

onEnable

protected open fun onEnable()

User callback that runs once when this subsystem is enabled by a call to enable or the first active call to periodic.

opMode

protected fun opMode(@NonNull ifRunning: Consumer<BunyipsOpMode>)

Null check consumer for the opMode field which will no-op the given consumer if an active BunyipsOpMode is not present (i.e.

require

@NonNull

protected fun require(@Nullable nullableOpMode: BunyipsOpMode): BunyipsOpMode

Null assertion for the opMode field which throws a NullPointerException if an active BunyipsOpMode is not present (i.e.

setDefaultTask

fun setDefaultTask(defaultTask: Task)

Set the default task for this subsystem, which will be run when no other task is running.

setHighPriorityCurrentTask

fun setHighPriorityCurrentTask(currentTask: Task)

Set the current task to the given task, overriding any current task.

startThread

fun startThread()

fun startThread(loopSleepDuration: Measure<Time>)

Call to delegate all updates of this subsystem to a thread that will begin execution on this method call.

stopThread

fun stopThread()

Call to stop delegating updates of this subsystem to a thread.

toString

@NonNull

fun toString(): String

toVerboseString

@NonNull

fun toVerboseString(): String

update

fun update()

Update the subsystem and run the current task, if tasks are not set up this will just call periodic.

updateAll

open fun updateAll()

Update all instances of BunyipsSubsystem that has been constructed since the last clearing.

withName

fun <T : BunyipsSubsystem?> withName(@NonNull subsystemName: String): T

Set the name of this subsystem that will be used in telemetry and references.