Clean up extensions.

Renaming, code de-duplication

5 files changed, 319 insertions, 0 deletions

diff --git a/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/AbstractVideoExtension.java b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/AbstractVideoExtension.java
new file mode 100644
index 0000000..9324232
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/AbstractVideoExtension.java
@@ -0,0 +1,166 @@
+package edu.wpi.first.smartdashboard.extensions.wpijavacvvideo;
+
+import edu.wpi.first.smartdashboard.gui.DashboardPrefs;
+import edu.wpi.first.smartdashboard.gui.StaticWidget;
+import edu.wpi.first.smartdashboard.properties.Property;
+import edu.wpi.first.smartdashboard.properties.StringProperty;
+import edu.wpi.first.wpijavacv.WPIColorImage;
+import edu.wpi.first.wpijavacv.WPIFFmpegVideo;
+import edu.wpi.first.wpijavacv.WPIGrayscaleImage;
+import edu.wpi.first.wpijavacv.WPIImage;
+import java.awt.Color;
+import java.awt.Dimension;
+import java.awt.Graphics;
+import java.awt.image.BufferedImage;
+
+/**
+ * An extension that displays a video.
+ *
+ * @author Greg Granito
+ * @author Luke Shumaker
+ */
+public abstract class AbstractVideoExtension extends StaticWidget {
+    public static final String NAME = null;
+    protected static final long errorBackoff = -1;
+    abstract protected Video getVideo();
+    abstract protected boolean isVideoProperty(Property property);
+
+    private boolean connected = false;
+
+    public class GCThread extends Thread {
+
+        boolean destroyed = false;
+
+        @Override
+        public void run() {
+            while (!destroyed) {
+                try {
+                    Thread.sleep(10000);
+                } catch (InterruptedException ex) {
+                }
+                System.gc();
+            }
+        }
+
+        public void destroy() {
+            destroyed = true;
+            interrupt();
+        }
+    }
+
+    public class BGThread extends Thread {
+
+        boolean destroyed = false;
+
+        public BGThread() {
+            super(NAME+" Background");
+        }
+
+        @Override
+        public void run() {
+            WPIImage image;
+            while (!destroyed) {
+                if (vid == null) {
+                    vid = getVideo();
+                }
+                try {
+                    image = vid.getImage();
+
+                    if (image instanceof WPIColorImage) {
+                        drawnImage = processImage((WPIColorImage) image).getBufferedImage();
+                    } else if (image instanceof WPIGrayscaleImage) {
+                        drawnImage = processImage((WPIGrayscaleImage) image).getBufferedImage();
+                    }
+
+                    repaint();
+                } catch (final Exception e) {
+                    e.printStackTrace();
+                    vid.dispose();
+                    vid = null;
+                    drawnImage = null;
+                    repaint();
+                    try {
+                        Thread.sleep(errorBackoff);
+                    } catch (InterruptedException ex) {
+                    }
+                }
+            }
+
+        }
+
+        @Override
+        public void destroy() {
+            destroyed = true;
+        }
+    }
+    private boolean resized = false;
+    private Video vid;
+    private BufferedImage drawnImage;
+    private BGThread bgThread = new BGThread();
+    private GCThread gcThread = new GCThread();
+
+    @Override
+    public void init() {
+        setPreferredSize(new Dimension(100, 100));
+        bgThread.start();
+        gcThread.start();
+        revalidate();
+        repaint();
+    }
+
+    @Override
+    public void propertyChanged(Property property) {
+        if (isVideoProperty(property)) {
+            if (vid != null) {
+                vid.dispose();
+            }
+            try {
+                vid = getVideo();
+            } catch (Exception e) {
+                e.printStackTrace();
+                drawnImage = null;
+                setPreferredSize(new Dimension(100, 100));
+                revalidate();
+                repaint();
+            }
+        }
+
+    }
+
+    @Override
+    public void disconnect() {
+        bgThread.destroy();
+        gcThread.destroy();
+        if(vid != null) vid.dispose();
+        super.disconnect();
+    }
+
+    @Override
+    protected void paintComponent(Graphics g) {
+        if (drawnImage != null) {
+            if (!resized) {
+                setPreferredSize(new Dimension(drawnImage.getWidth(), drawnImage.getHeight()));
+                revalidate();
+            }
+            int width = getBounds().width;
+            int height = getBounds().height;
+            double scale = Math.min((double) width / (double) drawnImage.getWidth(), (double) height / (double) drawnImage.getHeight());
+            g.drawImage(drawnImage, (int) (width - (scale * drawnImage.getWidth())) / 2, (int) (height - (scale * drawnImage.getHeight())) / 2,
+                    (int) ((width + scale * drawnImage.getWidth()) / 2), (int) (height + scale * drawnImage.getHeight()) / 2,
+                    0, 0, drawnImage.getWidth(), drawnImage.getHeight(), null);
+        } else {
+            g.setColor(Color.PINK);
+            g.fillRect(0, 0, getBounds().width, getBounds().height);
+            g.setColor(Color.BLACK);
+            g.drawString("NO CONNECTION", 10, 10);
+        }
+    }
+
+    public WPIImage processImage(WPIColorImage rawImage) {
+        return rawImage;
+    }
+
+    public WPIImage processImage(WPIGrayscaleImage rawImage) {
+        return rawImage;
+    }
+}
diff --git a/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/AxisCameraExtension.java b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/AxisCameraExtension.java
new file mode 100644
index 0000000..6851dfc
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/AxisCameraExtension.java
@@ -0,0 +1,51 @@
+package edu.wpi.first.smartdashboard.extensions.wpijavacvvideo;
+
+import edu.wpi.first.smartdashboard.gui.DashboardPrefs;
+import edu.wpi.first.smartdashboard.properties.IPAddressProperty;
+import edu.wpi.first.smartdashboard.properties.Property;
+import edu.wpi.first.wpijavacv.WPICamera;
+import edu.wpi.first.wpijavacv.WPIImage;
+
+/**
+ * Exactly like VideoURLExtension, except it forces the Stream URL
+ * to be of the form "http://${IP_address}/mjpg/video.mjpg" and only
+ * lets the user configure the IP address.
+ *
+ * @author Greg Granito
+ */
+public class AxisCameraExtension extends AbstractVideoExtension {
+    public static final String NAME = "Axis Camera";
+    protected static final long errorBackoff = 2000;
+
+    @Override
+    protected Video getVideo() {
+	return new Camera(new WPICamera(ipProperty.getSaveValue()), 5.0);
+    }
+
+    @Override
+    protected boolean isVideoProperty(Property property) {
+	return property == ipProperty;
+    }
+
+    public final IPAddressProperty ipProperty = new IPAddressProperty(this, "Axis Camera IP Address", defaultIPaddress());
+
+    private final int[] defaultIPaddress() {
+        final int team = DashboardPrefs.getInstance().team.getValue();
+        return new int[]{10, team / 100, team % 100, 11};
+    }
+    
+    public class Camera implements Video {
+	private final WPICamera vid;
+	private final double timeout;
+	public Camera(WPICamera vid, double timeout){
+	    this.vid = vid;
+	    this.timeout = timeout;
+	}
+	public WPIImage getImage() throws Exception {
+	    return vid.getNewImage(timeout);
+	}
+	public void dispose() {
+	    vid.dispose();
+	}
+    }
+}
diff --git a/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/LaptopCameraExtension.java b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/LaptopCameraExtension.java
new file mode 100644
index 0000000..03fa943
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/LaptopCameraExtension.java
@@ -0,0 +1,39 @@
+package edu.wpi.first.smartdashboard.extensions.wpijavacvvideo;
+
+import edu.wpi.first.smartdashboard.properties.Property;
+import edu.wpi.first.wpijavacv.WPIImage;
+import edu.wpi.first.wpijavacv.WPILaptopCamera;
+
+/**
+ * An extension that displays the laptop built-in camera.
+ *
+ * @author Greg Granito
+ * @author Luke Shumaker
+ */
+public class LaptopCameraExtension extends AbstractVideoExtension {
+    public static final String NAME = "Laptop Camera";
+    protected static final long errorBackoff = 500;
+
+    @Override
+    protected Video getVideo() {
+        return new Camera(new WPILaptopCamera());
+    }
+
+    @Override
+    protected boolean isVideoProperty(Property property) {
+        return false;
+    }
+
+    public class Camera implements Video {
+	private final WPILaptopCamera vid;
+	public Camera(WPILaptopCamera vid){
+	    this.vid = vid;
+	}
+	public WPIImage getImage() {
+	    return vid.getCurrentFrame();
+	}
+        public void dispose() {
+            vid.dispose();
+        }
+    }
+}
diff --git a/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/Video.java b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/Video.java
new file mode 100644
index 0000000..8187701
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/Video.java
@@ -0,0 +1,13 @@
+package edu.wpi.first.smartdashboard.extensions.wpijavacvvideo;
+
+import edu.wpi.first.wpijavacv.WPIImage;
+
+/**
+ * The basics of what you need out of a video source.
+ *
+ * @author Luke Shumaker
+ */
+public interface Video {
+	public WPIImage getImage() throws Exception;
+	public void dispose();
+}
diff --git a/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/VideoURLExtension.java b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/VideoURLExtension.java
new file mode 100644
index 0000000..bbe4d6b
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/VideoURLExtension.java
@@ -0,0 +1,50 @@
+package edu.wpi.first.smartdashboard.extensions.wpijavacvvideo;
+
+import edu.wpi.first.smartdashboard.gui.DashboardPrefs;
+import edu.wpi.first.smartdashboard.properties.Property;
+import edu.wpi.first.smartdashboard.properties.StringProperty;
+import edu.wpi.first.wpijavacv.WPIFFmpegVideo;
+import edu.wpi.first.wpijavacv.WPIImage;
+
+/**
+ * An extension that takes a video stream URL and displays the video.
+ *
+ * @author Greg Granito
+ * @author Luke Shumaker
+ */
+public class VideoURLExtension extends AbstractVideoExtension {
+    public static final String NAME = "Video URL Stream";
+    protected static final long errorBackoff = 2000;
+    
+    @Override
+    protected Video getVideo() {
+	return new Camera(new WPIFFmpegVideo(pathProperty.getSaveValue()), 5.0);
+    }
+
+    @Override
+    protected boolean isVideoProperty(Property property) {
+	return property == pathProperty;
+    }
+
+    public final StringProperty pathProperty = new StringProperty(this, "Video Path", defaultVideoPath());
+
+    private static String defaultVideoPath() {
+        final int team = DashboardPrefs.getInstance().team.getValue();
+        return "http://10." + (team / 100) + "." + (team % 100) + ".11/mjpg/video.mjpg";
+    }
+    
+    public class Camera implements Video {
+	private final WPIFFmpegVideo vid;
+	private final double timeout;
+	public Camera(WPIFFmpegVideo vid, double timeout){
+	    this.vid = vid;
+	    this.timeout = timeout;
+	}
+	public WPIImage getImage() throws Exception {
+	    return vid.getNewImage(timeout);
+	}
+	public void dispose() {
+	    vid.dispose();
+	}
+    }
+}