handle camera disconnection/reconnection

src/core/defines.h

@@ -1 +1 @@
-#define REMOVE_DISCONNECTED_CAMERAS		// remove this to always use all cameras defined in the json, whether or not they actually exist
+//#define REMOVE_DISCONNECTED_CAMERAS		// remove this to always use all cameras defined in the json, whether or not they actually exist

src/core/visioncamera.h

@@ -209,4 +209,6 @@ class VisionCamera : public cs::VideoCamera {
 
 	int8_t brightness{50}, exposure{-1};
 	int16_t whitebalance{-1};
+
+
 };

src/core/visionserver.cpp

@@ -316,6 +316,13 @@ const cv::Mat_<float>& VisionServer::getCameraMatrix() const {
 const cv::Mat_<float>& VisionServer::getDistortion() const {
 	return this->distortion;
 }
+void VisionServer::getFrame(cv::Mat& framebuff) {
+	if(this->getCurrentCamera().IsConnected()) {
+		this->source.GrabFrame(framebuff);
+	} else {
+		framebuff = cv::Mat::zeros(cv::Size(320, 240), CV_8UC3);
+	}
+}
 
 void VisionServer::updateTarget(const std::string& target) {
 	this->active_target.setTarget(target);

src/core/visionserver.h

@@ -195,9 +195,15 @@ class VisionServer {    // make singleton?
     */
     const cv::Mat_<float>& getDistortion() const;
 
+    /**
+     * Get a frame from the current camera. Returns an blank array if the current camera is disconnected.
+     * @param framebuff the image matrix buffer
+    */
+    void getFrame(cv::Mat& framebuff);
+
     /**
      * Joins any processing threads that are currently running
-     * @return Returns if there was a thread running that was joined
+     * @return Returns true if there was a thread running that was joined
     */
     bool stopVision();
 
@@ -214,7 +220,7 @@ class VisionServer {    // make singleton?
      * @param quality The default streaming quality
     */
     template<class pipeline_t>
-    inline void runVision_S(int8_t quality = 50) { VisionServer::visionWorker<pipeline_t>(*this, quality); }
+    inline void runVision_S(int8_t quality = 50) { VisionServer::visionWorker_S<pipeline_t>(*this, quality); }
     /**
      * Runs a processing instance with 2 pipelines (switchable via networktables). Pipeline instances are 
 	 * stack allocated rather than heap allocated like with runVision<pipelines...>().
@@ -223,7 +229,7 @@ class VisionServer {    // make singleton?
      * @param quality The default streaming quality
     */
     template<class pipeline_t1, class pipeline_t2>
-    inline void runVision_S(int8_t quality = 50) { VisionServer::visionWorker<pipeline_t1, pipeline_t2>(*this, quality); }
+    inline void runVision_S(int8_t quality = 50) { VisionServer::visionWorker_S<pipeline_t1, pipeline_t2>(*this, quality); }
     /**
      * Runs a processing instance with 3 pipelines (switchable via networktables). Pipeline instances are 
 	 * stack allocated rather than heap allocated like with runVision<pipelines...>().
@@ -233,7 +239,7 @@ class VisionServer {    // make singleton?
      * @param quality The default streaming quality
     */
     template<class pipeline_t1, class pipeline_t2, class pipeline_t3>
-    inline void runVision_S(int8_t quality = 50) { VisionServer::visionWorker<pipeline_t1, pipeline_t2, pipeline_t3>(*this, quality); }
+    inline void runVision_S(int8_t quality = 50) { VisionServer::visionWorker_S<pipeline_t1, pipeline_t2, pipeline_t3>(*this, quality); }
     /**
      * Runs a processing instace with however many pipelines are supplied (although heap-allocation is used). Pipelines are switchable via networktables.
      * @param pipelines The pipeline typenames, separated by commas

src/core/visionserver.inc

@@ -6,23 +6,23 @@
 template<class pipeline_t>
 bool VisionServer::runVisionThread_S(int8_t quality) {
 	if(!this->launched.joinable()) {
-		this->launched = std::move(std::thread(VisionServer::visionWorker<pipeline_t>, std::ref(*this), quality));
+		this->launched = std::move(std::thread(VisionServer::visionWorker_S<pipeline_t>, std::ref(*this), quality));
 		return true;
 	}
 	return false;
 }
 template<class pipeline_t1, class pipeline_t2>
 bool VisionServer::runVisionThread_S(int8_t quality) {
 	if(!this->launched.joinable()) {
-		this->launched = std::move(std::thread(VisionServer::visionWorker<pipeline_t1, pipeline_t2>, std::ref(*this), quality));
+		this->launched = std::move(std::thread(VisionServer::visionWorker_S<pipeline_t1, pipeline_t2>, std::ref(*this), quality));
 		return true;
 	}
 	return false;
 }
 template<class pipeline_t1, class pipeline_t2, class pipeline_t3>
 bool VisionServer::runVisionThread_S(int8_t quality) {
 	if(!this->launched.joinable()) {
-		this->launched = std::move(std::thread(VisionServer::visionWorker<pipeline_t1, pipeline_t2, pipeline_t3>, std::ref(*this), quality));
+		this->launched = std::move(std::thread(VisionServer::visionWorker_S<pipeline_t1, pipeline_t2, pipeline_t3>, std::ref(*this), quality));
 		return true;
 	}
 	return false;
@@ -50,10 +50,10 @@ void VisionServer::visionWorker_S(VisionServer& server, int8_t quality) {
 
 	server.start = CHRONO::high_resolution_clock::now();
 	while(server.runloop) {
-		server.source.GrabFrame(frame);
+		server.getFrame(frame);
 
 		server.beg = CHRONO::high_resolution_clock::now();
-		if(server.vision->GetBoolean("Enable Processing", true)) {
+		if(server.vision->GetBoolean("Enable Processing", true) && !frame.empty()) {
 			pipeline.process(frame);
 		}
 		server.end = CHRONO::high_resolution_clock::now();
@@ -73,7 +73,7 @@ void VisionServer::visionWorker_S(VisionServer& server, int8_t quality) {
 			server.sec1_frames = server.total_frames;
 		}
 
-		if(server.vision->GetEntry("Show Statistics").GetBoolean(false)) {
+		if(server.vision->GetEntry("Show Statistics").GetBoolean(false) && !frame.empty()) {
 			server.putStats(frame);
 		}
 		server.updateStats();
@@ -103,8 +103,11 @@ void VisionServer::visionWorker_S(VisionServer& server, int8_t quality) {
 
 	server.start = CHRONO::high_resolution_clock::now();
 	while(server.runloop) {
-		server.source.GrabFrame(frame);
-		switch(server.vision->GetBoolean("Enable Processing", true) * ((int8_t)server.vision->GetEntry("Pipeline Index").GetDouble(-1) + 1)) {
+		server.getFrame(frame);
+		switch(
+			(server.vision->GetBoolean("Enable Processing", true) && !frame.empty()) * 
+				((int8_t)server.vision->GetEntry("Pipeline Index").GetDouble(-1) + 1)
+		) {
 			case 1 : {
 				server.beg = CHRONO::high_resolution_clock::now();
 				p1.process(frame);
@@ -138,7 +141,7 @@ void VisionServer::visionWorker_S(VisionServer& server, int8_t quality) {
 			server.sec1_frames = server.total_frames;
 		}
 
-		if(server.vision->GetEntry("Show Statistics").GetBoolean(false)) {
+		if(server.vision->GetEntry("Show Statistics").GetBoolean(false) && !frame.empty()) {
 			server.putStats(frame);
 		}
 		server.updateStats();
@@ -172,8 +175,11 @@ void VisionServer::visionWorker_S(VisionServer& server, int8_t quality) {
 
 	server.start = CHRONO::high_resolution_clock::now();
 	while(server.runloop) {
-		server.source.GrabFrame(frame);
-		switch(server.vision->GetBoolean("Enable Processing", true) * ((int8_t)server.vision->GetEntry("Pipeline Index").GetDouble(-1) + 1)) {
+		server.getFrame(frame);
+		switch(
+			(server.vision->GetBoolean("Enable Processing", true) && !frame.empty()) * 
+				((int8_t)server.vision->GetEntry("Pipeline Index").GetDouble(-1) + 1)
+		) {
 			case 1 : {
 				server.beg = CHRONO::high_resolution_clock::now();
 				p1.process(frame);
@@ -246,7 +252,8 @@ void VisionServer::visionWorker(VisionServer& server, int8_t quality) {
 
 	server.start = CHRONO::high_resolution_clock::now();
 	while(server.runloop) {
-		server.source.GrabFrame(frame);
+		server.getFrame(frame);
+
 		int idx = server.vision->GetBoolean("Enable Processing", true) * ((int)server.vision->GetEntry("Pipeline Index").GetDouble(-1) + 1);
 		if(idx > 0 && idx <= pipes.size()) {
 			server.beg = CHRONO::high_resolution_clock::now();

src/main.cpp

@@ -50,7 +50,7 @@ int main(int argc, char* argv[]) {
 	// 	Version::HTTP_1_1,
 	// 	"81"	// the main WPILibPi page uses port 80
 	// );
-	//vserver.runVision_S<CargoFinder, StripFinder<VThreshold::LED::BLUE> >(25);
+	//vserver.runVision_S<CargoFinder, StripFinder<VThreshold::LED::GREEN> >(25);	// this currently does not call the right worker
 	vserver.runVision<
 		CargoFinder,
 		StripFinder<VThreshold::LED::BLUE>,