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package edu.wpi.first.wpijavacv;
import com.googlecode.javacv.FFmpegFrameGrabber;
import static com.googlecode.javacv.cpp.opencv_core.*;
import com.googlecode.javacv.cpp.opencv_core.IplImage;
/**
* A class used to gather images from the robot's camera.
* @author Joe Grinstead and Greg Granito
*/
public class WPIFFmpegVideo extends WPIDisposable {
private FFmpegFrameGrabber grabber;
private IplImage image;
private boolean readImage = true;
private boolean badConnection = false;
private final Object imageLock = new Object();
private final Object grabberLock = new Object();
public WPIFFmpegVideo(final String path) {
new Thread() {
@Override
public void run() {
grabber = new FFmpegFrameGrabber(path);
grabber.setFrameRate(1.0);
try {
grabber.start();
while (!isDisposed()) {
try {
IplImage newest;
synchronized (grabberLock) {
if (isDisposed()) {
return;
}
newest = grabber.grab();
}
if (isNull(newest)) {
synchronized (imageLock) {
badConnection = true;
imageLock.notify();
}
return;
} else {
synchronized (imageLock) {
if (image == null) {
image = cvCreateImage(newest.cvSize(), newest.depth(), newest.nChannels());
}
cvCopy(newest, image);
readImage = false;
badConnection = false;
imageLock.notify();
}
}
} catch (Exception ex) {
synchronized (imageLock) {
badConnection = true;
imageLock.notify();
}
ex.printStackTrace();
return;
}
try {
Thread.sleep(20);
} catch (InterruptedException ex) {
}
}
} catch (Exception ex) {
synchronized (imageLock) {
badConnection = true;
imageLock.notify();
}
ex.printStackTrace();
}
}
}.start();
}
public WPIImage getImage() throws BadConnectionException {
validateDisposed();
synchronized (imageLock) {
if (badConnection) {
throw new BadConnectionException();
} else if (image == null) {
return null;
} else if (image.nChannels() == 1) {
return new WPIGrayscaleImage(image.clone());
} else {
assert image.nChannels() == 3;
return new WPIColorImage(image.clone());
}
}
}
public WPIImage getNewImage(double timeout) throws BadConnectionException {
validateDisposed();
synchronized (imageLock) {
readImage = true;
while (readImage && !badConnection) {
try {
badConnection = true;
imageLock.wait((long) (timeout * 1000));
} catch (InterruptedException ex) {
}
}
readImage = true;
if (badConnection) {
throw new BadConnectionException();
} else if (image.nChannels() == 1) {
return new WPIGrayscaleImage(image.clone());
} else {
assert image.nChannels() == 3;
return new WPIColorImage(image.clone());
}
}
}
public WPIImage getNewImage() throws BadConnectionException {
return getNewImage(0);
}
@Override
protected void disposed() {
try {
synchronized (imageLock) {
if (!isNull(image)) {
image.release();
}
image = null;
}
} catch (Exception ex) {
}
}
/**
* An exception that occurs when the camera can not be reached.
* @author Greg Granito
*/
public static class BadConnectionException extends Exception {
}
@Override
protected void finalize() throws Throwable {
grabber.stop();
super.finalize();
}
}
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