Issues in Vision.java (master) - Issues in master - wh1ter0se/PowerUp-2018 - Measure and Improve Code Quality continuously with Scrutinizer

Issues (209)

src/org/usfirst/frc/team3695/robot/Vision.java (4 issues)

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package org.usfirst.frc.team3695.robot;

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 screwCameraStream(){

    	cameraScrew = CameraServer.getInstance().startAutomaticCapture("Screw", VisionConstants.SCREW_ID);
    	
    	CvSink cvsinkScrew = new CvSink("screwSink");
    	cvsinkScrew.setSource(cameraScrew);
    	cvsinkScrew.setEnabled(true);
    	
    	Mat streamImages = new Mat();
    	
    	CvSource outputScrew = CameraServer.getInstance().putVideo("Screw", VisionConstants.CAM_WIDTH, VisionConstants.CAM_HEIGHT);
    	 while (!Thread.interrupted()){
    	     try {
                 cvsinkScrew.grabFrame(streamImages);
                 if ((Robot.bot == Bot.TEUFELSKIND && Constants.TEUFELSKIND.SCREW_CAM_FLIP)
                         || (Robot.bot == Bot.OOF && Constants.OOF.SCREW_CAM_FLIP)) {
                     Core.rotate(streamImages, streamImages, Core.ROTATE_180);
                 }
                 outputScrew.putFrame(streamImages);
             } catch (CvException cameraFail){
throw new Exception("Exception Message", originalException);
    	         DriverStation.reportWarning("Screw Camera: " + cameraFail.toString(), false);
    	         outputScrew.putFrame(failImage);
             }
    	 }
    }
    
    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);
             } catch (CvException cameraFail){
throw new Exception("Exception Message", originalException);
                 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
        CvSource outputStream = CameraServer.getInstance().putVideo("Concat", 2*VisionConstants.CAM_WIDTH, VisionConstants.CAM_HEIGHT);


        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);
            } catch (CvException cameraFail){
throw new Exception("Exception Message", originalException);
                DriverStation.reportWarning("Concat Cameras: " + cameraFail.toString(), false);
                outputStream.putFrame(failImage);
            }
        }
    }
}


1			package org.usfirst.frc.team3695.robot;
2
3			import edu.wpi.cscore.CvSink;
4			import edu.wpi.cscore.CvSource;
5			import edu.wpi.cscore.UsbCamera;
6			import edu.wpi.first.wpilibj.CameraServer;
7			import edu.wpi.first.wpilibj.DriverStation;
8			import edu.wpi.first.wpilibj.IterativeRobot;
9			import org.opencv.core.Core;
10			import org.opencv.core.CvException;
11			import org.opencv.core.Mat;
12			import org.opencv.core.Size;
13			import org.usfirst.frc.team3695.robot.Constants.VisionConstants;
14			import org.usfirst.frc.team3695.robot.enumeration.Bot;
15
16			import java.util.ArrayList;
17
18			/**
19			* Contains methods used for anything vision
20			*/
21			public class Vision extends IterativeRobot {
22
23			/// Two cameras for double FOV
24			private UsbCamera cameraLeft;
25			private UsbCamera cameraRight;
26
27			private UsbCamera cameraScrew;
28			private UsbCamera cameraFrame;
29
30			private Mat failImage;
31
32			public Vision(){
33			Size camSize = new Size(VisionConstants.CAM_WIDTH, VisionConstants.CAM_HEIGHT);
34			failImage = Mat.zeros(camSize, 0);
35			}
36
37			//Places the vision in a separate thread from everything else as recommended by FIRST.
38			public void startConcatCameraThread(){ new Thread(this::concatCameraStream).start(); }
39
40			public void startScrewCameraThread(){
41			new Thread(this::screwCameraStream).start();
42			}
43
44			public void startFrameCameraThread(){
45			new Thread(this::frameCameraStream).start();
46			}
47
48			private void screwCameraStream(){
49
50			cameraScrew = CameraServer.getInstance().startAutomaticCapture("Screw", VisionConstants.SCREW_ID);
51
52			CvSink cvsinkScrew = new CvSink("screwSink");
53			cvsinkScrew.setSource(cameraScrew);
54			cvsinkScrew.setEnabled(true);
55
56			Mat streamImages = new Mat();
57
58			CvSource outputScrew = CameraServer.getInstance().putVideo("Screw", VisionConstants.CAM_WIDTH, VisionConstants.CAM_HEIGHT);
59			while (!Thread.interrupted()){
60			try {
61			cvsinkScrew.grabFrame(streamImages);
62			if ((Robot.bot == Bot.TEUFELSKIND && Constants.TEUFELSKIND.SCREW_CAM_FLIP)
63			\|\| (Robot.bot == Bot.OOF && Constants.OOF.SCREW_CAM_FLIP)) {
64			Core.rotate(streamImages, streamImages, Core.ROTATE_180);
65			}
66			outputScrew.putFrame(streamImages);
67			} catch (CvException cameraFail){
			0 ignored issues – show Best Practice introduced 2018-03-04 21:20 UTC by Report Bug Copy Issue Report Show Similar Issues like this Ignoring an Exception may lead to hard to find bugs. Consider logging or rethrowing the original exception. If you want to throw a different exception, you can set the original exception as its cause to preserve the stacktrace. When instantiating a new Exception, you can set another Exception as its cause. See the Oracle documentation on Throwables. Usage example throw new Exception("Exception Message", originalException); Complete Example: class ReThrowException { public static void throwsException() { try { throw new Exception("I am the original exception"); } catch (final Exception e) { throw new RuntimeException("I am the new exception", e); } } public static void main(String[] args) { try { throwsException(); } catch (final RuntimeException e) { System.out.println(e.getMessage()); System.out.println("and my cause is: " + e.getCause().getMessage()); e.printStackTrace(); } } } Loading history...
68			DriverStation.reportWarning("Screw Camera: " + cameraFail.toString(), false);
69			outputScrew.putFrame(failImage);
70			}
71			}
72			}
73
74			private void frameCameraStream(){
75			cameraFrame = CameraServer.getInstance().startAutomaticCapture("Frame", VisionConstants.HOOK_ID);
76
77			CvSink cvsinkFrame = new CvSink("frameSink");
78			cvsinkFrame.setSource(cameraFrame);
79			cvsinkFrame.setEnabled(true);
80
81			Mat streamImages = new Mat();
82
83			CvSource outputFrame = CameraServer.getInstance().putVideo("Frame", VisionConstants.CAM_WIDTH, VisionConstants.CAM_HEIGHT);
84			while (!Thread.interrupted()){
85			try {
86			cvsinkFrame.grabFrame(streamImages);
87			if ((Robot.bot == Bot.TEUFELSKIND && Constants.TEUFELSKIND.FRAME_CAM_FLIP)
88			\|\| (Robot.bot == Bot.OOF && Constants.OOF.FRAME_CAM_FLIP)) {
89			Core.rotate(streamImages, streamImages, Core.ROTATE_180);
90			}
91			outputFrame.putFrame(streamImages);
92			} catch (CvException cameraFail){
			0 ignored issues – show Best Practice introduced 2018-03-04 21:20 UTC by Report Bug Copy Issue Report Show Similar Issues like this Ignoring an Exception may lead to hard to find bugs. Consider logging or rethrowing the original exception. If you want to throw a different exception, you can set the original exception as its cause to preserve the stacktrace. When instantiating a new Exception, you can set another Exception as its cause. See the Oracle documentation on Throwables. Usage example throw new Exception("Exception Message", originalException); Complete Example: class ReThrowException { public static void throwsException() { try { throw new Exception("I am the original exception"); } catch (final Exception e) { throw new RuntimeException("I am the new exception", e); } } public static void main(String[] args) { try { throwsException(); } catch (final RuntimeException e) { System.out.println(e.getMessage()); System.out.println("and my cause is: " + e.getCause().getMessage()); e.printStackTrace(); } } } Loading history...
93			DriverStation.reportWarning("Frame Camera: " + cameraFail.toString(), false);
94			outputFrame.putFrame(failImage);
95			}
96			}
97			}
98
99			/**
100			* Start both the left and right camera streams and combine them into a single one which is then pushed
101			* to an output stream titled Concat.
102			* This method should only be used for starting the camera stream.
103			*/
104			private void concatCameraStream() {
105			cameraLeft = CameraServer.getInstance().startAutomaticCapture("Left", VisionConstants.LEFT_ID);
106			cameraRight = CameraServer.getInstance().startAutomaticCapture("Right", VisionConstants.RIGHT_ID);
107
108			/// Dummy sinks to keep camera connections open.
109			CvSink cvsinkLeft = new CvSink("leftSink");
110			cvsinkLeft.setSource(cameraLeft);
111			cvsinkLeft.setEnabled(true);
112			CvSink cvsinkRight = new CvSink("rightSink");
113			cvsinkRight.setSource(cameraRight);
114			cvsinkRight.setEnabled(true);
115
116			/// Matrices to store each image from the cameras.
117			Mat leftSource = new Mat();
118			Mat rightSource = new Mat();
119
120			/// The ArrayList of left and right sources is needed for the hconcat method used to combine the streams
121			ArrayList<Mat> sources = new ArrayList<>();
122			sources.add(leftSource);
123			sources.add(rightSource);
124
125			/// Concatenation of both matrices
126			Mat concat = new Mat();
127
128			/// Puts the combined video on the SmartDashboard (I think)
129			/// The width is multiplied by 2 as the dimensions of the stream will have a width two times that of a single webcam
130			CvSource outputStream = CameraServer.getInstance().putVideo("Concat", 2*VisionConstants.CAM_WIDTH, VisionConstants.CAM_HEIGHT);
			0 ignored issues – show Comprehensibility introduced 2017-12-06 00:29 UTC by Report Bug Copy Issue Report Show Similar Issues like this Consider assigning this magic number 2 to a constant. Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it. Loading history...
131
132			while (!Thread.interrupted()) {
133			try {
134			/// Provide each mat with the current frame
135			cvsinkLeft.grabFrame(leftSource);
136			cvsinkRight.grabFrame(rightSource);
137			/// Combine the frames into a single mat in the Output and stream the image.
138			Core.hconcat(sources, concat);
139			outputStream.putFrame(concat);
140			} catch (CvException cameraFail){
			0 ignored issues – show Best Practice introduced 2018-03-04 21:20 UTC by Report Bug Copy Issue Report Show Similar Issues like this Ignoring an Exception may lead to hard to find bugs. Consider logging or rethrowing the original exception. If you want to throw a different exception, you can set the original exception as its cause to preserve the stacktrace. When instantiating a new Exception, you can set another Exception as its cause. See the Oracle documentation on Throwables. Usage example throw new Exception("Exception Message", originalException); Complete Example: class ReThrowException { public static void throwsException() { try { throw new Exception("I am the original exception"); } catch (final Exception e) { throw new RuntimeException("I am the new exception", e); } } public static void main(String[] args) { try { throwsException(); } catch (final RuntimeException e) { System.out.println(e.getMessage()); System.out.println("and my cause is: " + e.getCause().getMessage()); e.printStackTrace(); } } } Loading history...
141			DriverStation.reportWarning("Concat Cameras: " + cameraFail.toString(), false);
142			outputStream.putFrame(failImage);
143			}
144			}
145			}
146			}
147

wh1ter0se / PowerUp-2018

Issues (209)

src/org/usfirst/frc/team3695/robot/Vision.java (4 issues)

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