wh1ter0se / PowerUp-2018

import edu.wpi.cscore.CvSink;

import edu.wpi.cscore.CvSource;

import edu.wpi.cscore.UsbCamera;

import edu.wpi.first.wpilibj.CameraServer;

import edu.wpi.first.wpilibj.DriverStation;

import edu.wpi.first.wpilibj.IterativeRobot;

import org.opencv.core.Core;

import org.opencv.core.CvException;

import org.opencv.core.Mat;

import org.opencv.core.Size;

import org.usfirst.frc.team3695.robot.Constants.VisionConstants;

import org.usfirst.frc.team3695.robot.enumeration.Bot;

import java.util.ArrayList;

/**

 * Contains methods used for anything vision

 */

public class Vision extends IterativeRobot {

    /// Two cameras for double FOV

    private UsbCamera cameraLeft;

    private UsbCamera cameraRight;

    private UsbCamera cameraScrew;

    private UsbCamera cameraFrame;

    private Mat failImage;

    public Vision(){

        Size camSize = new Size(VisionConstants.CAM_WIDTH, VisionConstants.CAM_HEIGHT);

        failImage = Mat.zeros(camSize, 0);

    }

    //Places the vision in a separate thread from everything else as recommended by FIRST.

    public void startConcatCameraThread(){ new Thread(this::concatCameraStream).start(); }

    public void startScrewCameraThread(){

    	new Thread(this::screwCameraStream).start();

    }

    public void startFrameCameraThread(){

    	new Thread(this::frameCameraStream).start();

    }

    	 }

    }

    private void frameCameraStream(){

    	cameraFrame = CameraServer.getInstance().startAutomaticCapture("Frame", VisionConstants.HOOK_ID);

    	CvSink cvsinkFrame = new CvSink("frameSink");

    	cvsinkFrame.setSource(cameraFrame);

    	cvsinkFrame.setEnabled(true);

    	Mat streamImages = new Mat();

    	CvSource outputFrame = CameraServer.getInstance().putVideo("Frame", VisionConstants.CAM_WIDTH, VisionConstants.CAM_HEIGHT);

    	 while (!Thread.interrupted()){

             try {

                 cvsinkFrame.grabFrame(streamImages);

                 if ((Robot.bot == Bot.TEUFELSKIND && Constants.TEUFELSKIND.FRAME_CAM_FLIP)

                         || (Robot.bot == Bot.OOF && Constants.OOF.FRAME_CAM_FLIP)) {

                     Core.rotate(streamImages, streamImages, Core.ROTATE_180);

                 }

                 outputFrame.putFrame(streamImages);

                 DriverStation.reportWarning("Frame Camera: " + cameraFail.toString(), false);

                 outputFrame.putFrame(failImage);

             }

    	 }

    }

    /**

     * Start both the left and right camera streams and combine them into a single one which is then pushed

     * to an output stream titled Concat.

     * This method should only be used for starting the camera stream.

     */

    private void concatCameraStream() {

        cameraLeft = CameraServer.getInstance().startAutomaticCapture("Left", VisionConstants.LEFT_ID);

        cameraRight = CameraServer.getInstance().startAutomaticCapture("Right", VisionConstants.RIGHT_ID);

        /// Dummy sinks to keep camera connections open.

        CvSink cvsinkLeft = new CvSink("leftSink");

        cvsinkLeft.setSource(cameraLeft);

        cvsinkLeft.setEnabled(true);

        CvSink cvsinkRight = new CvSink("rightSink");

        cvsinkRight.setSource(cameraRight);

        cvsinkRight.setEnabled(true);

        /// Matrices to store each image from the cameras.

        Mat leftSource = new Mat();

        Mat rightSource = new Mat();

        /// The ArrayList of left and right sources is needed for the hconcat method used to combine the streams

        ArrayList<Mat> sources = new ArrayList<>();

        sources.add(leftSource);

        sources.add(rightSource);

        /// Concatenation of both matrices

        Mat concat = new Mat();

        /// Puts the combined video on the SmartDashboard (I think)

        /// The width is multiplied by 2 as the dimensions of the stream will have a width two times that of a single webcam

        while (!Thread.interrupted()) {

            try {

                /// Provide each mat with the current frame

                cvsinkLeft.grabFrame(leftSource);

                cvsinkRight.grabFrame(rightSource);

                /// Combine the frames into a single mat in the Output and stream the image.

                Core.hconcat(sources, concat);

                outputStream.putFrame(concat);

                DriverStation.reportWarning("Concat Cameras: " + cameraFail.toString(), false);

                outputStream.putFrame(failImage);

            }

        }

    }

}