public void GetCamNames()
{
foreach (var dev in UsbCamera.FindDevices())
{
CamNames.Add(dev);
}
}
/// <summary>
/// Start automatically capturing images to send to the dashboard.
/// </summary>
/// <remarks>
/// You should call this method to see a camera feed on the dashboard.
/// If you also want to perform vision processing on the roboRIO, use
/// <see cref="GetVideo()"/> to get access to the camera images
/// </remarks>
/// <param name="name">The name to give the camera</param>
/// <param name="dev">The device number for the camera interface</param>
/// <returns>The <see cref="UsbCamera"/> object that was created to stream from</returns>
public UsbCamera StartAutomaticCapture(string name, int dev)
{
UsbCamera camera = new UsbCamera(name, dev);
StartAutomaticCapture(camera);
return(camera);
}
/// <summary>
/// Start automatically capturing images to send to the dashboard.
/// </summary>
/// <remarks>
/// You should call this method to see a camera feed on the dashboard.
/// If you also want to perform vision processing on the roboRIO, use
/// <see cref="GetVideo()"/> to get access to the camera images
/// </remarks>
/// <param name="name">The name to give the camera</param>
/// <param name="path">The device path (e.g. "/dev/video0") of the camera</param>
/// <returns>The <see cref="UsbCamera"/> object that was created to stream from</returns>
public UsbCamera StartAutomaticCapture(string name, string path)
{
UsbCamera camera = new UsbCamera(name, path);
StartAutomaticCapture(camera);
return(camera);
}
/// <summary>
/// Start automatically capturing images to send to the dashboard.
/// </summary>
/// <remarks>
/// You should call this method to see a camera feed on the dashboard.
/// If you also want to perform vision processing on the roboRIO, use
/// <see cref="GetVideo()"/> to get access to the camera images
///
/// <para>
/// This overload calls <see cref="StartAutomaticCapture(string, int)"/> with device 0,
/// creating a camera named "USB Camera {dev}"
/// </para>
/// </remarks>
/// <param name="dev">The device number for the camera interface</param>
/// <returns>The <see cref="UsbCamera"/> object that was created to stream from</returns>
public UsbCamera StartAutomaticCapture(int dev)
{
UsbCamera camera = new UsbCamera($"USB Camera {dev.ToString()}", dev);
StartAutomaticCapture(camera);
return(camera);
}
private async void MainPage_Loaded(object sender, RoutedEventArgs e)
{
sendingPhoto = false;
panicLed = DeviceFactory.Build.Led(Pin.DigitalPin2);
infoLed = DeviceFactory.Build.Led(Pin.DigitalPin4);
ranger = DeviceFactory.Build.UltraSonicSensor(Pin.DigitalPin3);
screen = DeviceFactory.Build.RgbLcdDisplay();
screen.SetText("setting up...");
screen.SetBacklightRgb(0, 0, 200);
// init mode -> Both Led's are on
panicLed.ChangeState(SensorStatus.On);
infoLed.ChangeState(SensorStatus.On);
// init camera
camera = new UsbCamera();
var initWorked = await camera.InitializeAsync();
// Something went wrong
if (!initWorked || ranger.MeasureInCentimeters() == -1)
{
infoLed.ChangeState(SensorStatus.Off);
screen.SetText("Camera or Sensor not connected!");
screen.SetBacklightRgb(200, 0, 0);
blink(panicLed);
return;
}
// init photobackend
Microsoft.WindowsAzure.Storage.Auth.StorageCredentials credentials = new Microsoft.WindowsAzure.Storage.Auth.StorageCredentials(accountName, accountKey);
//credentials.UpdateSASToken("?sv=2015-04-05&ss=b&srt=sco&sp=rwlac&se=2016-11-20T04:05:54Z&st=2016-11-12T20:05:54Z&spr=https,http&sig=B0zDabRXoO7LfWy5iACsn0sHOnWzvmmrDv8fAqITPgI%3D");
CloudStorageAccount acc = new CloudStorageAccount(credentials, true);
CloudBlobClient client = acc.CreateCloudBlobClient();
container = client.GetContainerReference("picture-storage");
previewElement.Source = camera.MediaCaptureInstance;
await camera.StartCameraPreview();
// init finished - turn off panic Led
infoLed.ChangeState(SensorStatus.Off);
panicLed.ChangeState(SensorStatus.Off);
screen.SetText("");
screen.SetBacklightRgb(0, 0, 0);
DispatcherTimer mainThread = new DispatcherTimer();
mainThread.Interval = TimeSpan.FromSeconds(0.5);
mainThread.Tick += run;
mainThread.Start();
}
public override void RobotInit()
{
int status = 0;
var ret = HALThreads.HAL_SetCurrentThreadPriority(true, 25, ref status);
Console.WriteLine(status);
Console.WriteLine(ret);
Thread cameraThread = new Thread(() =>
{
// Get the USB Camera from the camera server
UsbCamera camera = CameraServer.Instance.StartAutomaticCapture();
camera.SetResolution(640, 480);
// Get a CvSink. This will capture Mats from the Camera
CvSink cvSink = CameraServer.Instance.GetVideo();
// Setup a CvSource. This will send images back to the dashboard
CvSource outputStream = CameraServer.Instance.PutVideo("Rectangle", 640, 480);
// Mats are very expensive. Let's reuse this Mat.
Mat mat = new Mat();
while (true)
{
// Tell the CvSink to grab a frame from the camera and put it
// in the source mat. If there is an error notify the output.
if (cvSink.GrabFrame(mat) == 0)
{
Console.WriteLine("Timeout");
// Send the output the error.
outputStream.NotifyError(cvSink.GetError());
// skip the rest of the current iteration
continue;
}
// Put a rectangle on the image
Cv2.Rectangle(mat, new Point(100, 100), new Point(400, 400),
new Scalar(255, 255, 255), 5);
// Give the output stream a new image to display
outputStream.PutFrame(mat);
}
});
cameraThread.IsBackground = true;
cameraThread.Start();
servo = new Servo(0);
joystick = new Joystick(0);
gyro = new AnalogGyro(0);
}
public void CamStop()
{
try {
CamEn = false;
if (camTimer != null)
{
camTimer.Dispose();
}
if (cam != null)
{
cam.Release();
cam = null;
}
} catch (Exception) { }
}
public Task CamCaptureAsync()
{
CamCaptureCancelTokenSrc = new CancellationTokenSource();
CamCaptureCancelToken = CamCaptureCancelTokenSrc.Token;
var camNo = UsbCamera.FindDevices().Length - 1;
return(Task.Run(() => {
//cam = new UsbCamera(camNo, 320, 180);
cam = new UsbCamera(camNo, 640, 360);
//cam = new UsbCamera(camNo, 1280, 720);
cam.Start();
camTimer = new System.Timers.Timer(1000d / CamFps.Value);
camTimer.Elapsed += camCaptureTimerElapsed;
CamCaptureBusy = false;
camTimer.Start();
}, CamCaptureCancelToken));
}
public override void RobotInit()
{
Console.WriteLine("Hello, FRC2017!");
Console.WriteLine("TrueMoe RobotCode 2017i");
chooser = new SendableChooser();
chooser.AddDefault("Default Auto", defaultAuto);
chooser.AddObject("My Auto", customAuto);
SmartDashboard.PutData("Chooser", chooser);
usbCamera = new UsbCamera("USB Camera 0", 0);
mjpegServer = new MjpegServer("USB Camera 0 Server", 1181);
mjpegServer.Source = usbCamera;
driveCtl = new drivingControl();
operateCtl = new operatingControl();
opIf = new operatorInterface();
}
/*******************************************************************************************
* PUBLIC METHODS
*******************************************************************************************/
public async Task Initialize()
{
webcam = new UsbCamera();
try
{
await webcam.InitializeAsync();
this.isEnabled = true;
}
catch (Exception ex)
{
var events = new Dictionary<string, string> { { "UsbCamera", ex.Message } };
TelemetryHelper.TrackEvent("FailedToInitializeMediaCapture", events);
}
//Initialize PIR Sensor
pirSensor = new PirSensor(App.Controller.XmlSettings.GpioMotionPin, PirSensor.SensorType.ActiveLow);
pirSensor.motionDetected += PirSensor_MotionDetected;
Interlocked.Exchange(ref isCapturing, 0);
}
private void btnStartCapture_Click(object sender, EventArgs e)
{
// [How to use]
// check USB camera is available.
string[] devices = UsbCamera.FindDevices();
if (devices.Length == 0)
{
return; // no camera.
}
// check format.
int cameraIndex = 0;
UsbCamera.VideoFormat[] formats = UsbCamera.GetVideoFormat(cameraIndex);
for (int i = 0; i < formats.Length; i++)
{
Console.WriteLine("{0}:{1}", i, formats[i]);
}
// create usb camera and start.
camera = new UsbCamera(cameraIndex, formats[0]);
camera.Start();
// get image.
// Immediately after starting the USB camera,
// GetBitmap() fails because image buffer is not prepared yet.
var bmp = camera.GetBitmap();
// show image in PictureBox.
var timer = new System.Timers.Timer(5)
{
SynchronizingObject = this
};
//timer.Elapsed += (s, ev) => pbxScreen.Image = camera.GetBitmap();
timer.Elapsed += Timer_Elapsed;
timer.Start();
// release resource when close.
this.FormClosing += (s, ev) => timer.Stop();
this.FormClosing += (s, ev) => camera.Stop();
}
public override void RobotInit()
{
System.Console.WriteLine("Hello, FRC2017!");
System.Console.WriteLine("TrueMoe RobotCode 2017c");
oi = new OI();
FRC2017c.gyroSys.reset();
chooser = new WPILib.SmartDashboard.SendableChooser();
camServer = CameraServer.Instance;
nt = NetworkTables.NetworkTable.GetTable("Forgiving/Vision");
chooser.AddDefault("Center", new AutonomousCommand("center"));
chooser.AddObject("turn Right", new AutonomousCommand("left"));
chooser.AddObject("turn Left", new AutonomousCommand("right"));
WPILib.SmartDashboard.SmartDashboard.PutData("Autonomous Mode", chooser);
WPILib.SmartDashboard.SmartDashboard.PutString("Team", "5453");
WPILib.SmartDashboard.SmartDashboard.PutNumber("AutonomousRushing1Delay", 900);
FRC2017c.gyroSys.resetDisplacement();
usbCamera = new UsbCamera("USB Camera 0", 0);
usbCamera.SetFPS(12);
camServer.StartAutomaticCapture(usbCamera);
}
/*******************************************************************************************
* PUBLIC METHODS
*******************************************************************************************/
public async Task Initialize()
{
webcam = new UsbCamera();
try
{
await webcam.InitializeAsync();
this.isEnabled = true;
}
catch (Exception ex)
{
var events = new Dictionary <string, string> {
{ "UsbCamera", ex.Message }
};
TelemetryHelper.TrackEvent("FailedToInitializeMediaCapture", events);
}
//Initialize PIR Sensor
pirSensor = new PirSensor(App.Controller.XmlSettings.GpioMotionPin, PirSensor.SensorType.ActiveLow);
pirSensor.motionDetected += PirSensor_MotionDetected;
Interlocked.Exchange(ref isCapturing, 0);
}
private void FrameworkElement_OnInitialized(object sender, EventArgs e)
{
var networkItem = new MenuItem()
{
Header = "Network camera"
};
networkItem.Click += delegate
{
var dia = new NetworkCameraDialog();
dia.Show();
dia.Closing += delegate(object o, CancelEventArgs args)
{
if (!dia.ok)
{
return;
}
try
{
System.Net.IPAddress ipaddress = System.Net.IPAddress.Parse(dia.IpBlock1.Text + "." + dia.IpBlock2.Text + "." + dia.IpBlock3.Text + "." + dia.IpBlock4.Text);
_viewModel.Items.Add(new NetworkCamera(ipaddress.ToString()));
}
catch (Exception ex)
{
LogManager.GetCurrentClassLogger().Warn(ex, "Can't open camera, not a valid network address");
}
};
};
Camera.Items.Add(networkItem);
Camera.Items.Add(new Separator());
List <string> cameraList = UsbCamera.GetDevices();
if (cameraList.Count > 0)
{
Camera.IsEnabled = true;
}
MenuItem menuItem;
foreach (var camera in cameraList.Select((value, i) => new { i, value }))
{
menuItem = new MenuItem();
menuItem.Header = camera.value;
menuItem.Click += delegate
{
if (!UsbCamera.IsCameraOpened(camera.i))
{
_viewModel.Items.Add(new UsbCamera(camera.i));
}
};
Camera.Items.Add(menuItem);
}
Camera.Items.Add(new Separator());
menuItem = new MenuItem();
menuItem.Header = "All local cameras";
menuItem.Click += delegate
{
foreach (var camera in cameraList.Select((value, i) => new { i, value }))
{
if (!UsbCamera.IsCameraOpened(camera.i))
{
_viewModel.Items.Add(new UsbCamera(camera.i));
}
}
};
Camera.Items.Add(menuItem);
}
public static List <string> GetCaptureCamera()
{
return(UsbCamera.FindDevices().ToList());
}