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package edu.wpi.first.smartdashboard.gui.elements;
import edu.wpi.first.smartdashboard.gui.DashboardPrefs;
import edu.wpi.first.smartdashboard.gui.StaticWidget;
import edu.wpi.first.smartdashboard.properties.IntegerProperty;
import edu.wpi.first.smartdashboard.properties.Property;
import edu.wpi.first.smartdashboard.properties.StringProperty;
import java.awt.Color;
import java.awt.Dimension;
import java.awt.Graphics;
import java.awt.Graphics2D;
import java.awt.geom.AffineTransform;
import java.awt.image.BufferedImage;
import java.io.ByteArrayInputStream;
import java.io.ByteArrayOutputStream;
import java.io.InputStream;
import java.net.URL;
import java.net.URLConnection;
import javax.imageio.ImageIO;
/**
*
* @author Greg Granito
*/
public class VideoStreamViewerExtension extends StaticWidget {
public static final String NAME = "Simple Camera Viewer";
private static final int[] START_BYTES = new int[]{0xFF, 0xD8};
private static final int[] END_BYTES = new int[]{0xFF, 0xD9};
private boolean ipChanged = true;
private String ipString = null;
private double rotateAngleRad = 0;
private long lastFPSCheck = 0;
private int lastFPS = 0;
private int fpsCounter = 0;
public class BGThread extends Thread {
boolean destroyed = false;
public BGThread() {
super("Camera Viewer Background");
}
long lastRepaint = 0;
@Override
public void run() {
URLConnection connection = null;
InputStream stream = null;
ByteArrayOutputStream imageBuffer = new ByteArrayOutputStream();
while (!destroyed) {
try{
System.out.println("Connecting to camera");
ipChanged = false;
URL url = new URL("http://"+ipString+"/mjpg/video.mjpg");
connection = url.openConnection();
connection.setReadTimeout(250);
stream = connection.getInputStream();
while(!destroyed && !ipChanged){
while(System.currentTimeMillis()-lastRepaint<10){
stream.skip(stream.available());
Thread.sleep(1);
}
stream.skip(stream.available());
imageBuffer.reset();
for(int i = 0; i<START_BYTES.length;){
int b = stream.read();
if(b==START_BYTES[i])
i++;
else
i = 0;
}
for(int i = 0; i<START_BYTES.length;++i)
imageBuffer.write(START_BYTES[i]);
for(int i = 0; i<END_BYTES.length;){
int b = stream.read();
imageBuffer.write(b);
if(b==END_BYTES[i])
i++;
else
i = 0;
}
fpsCounter++;
if(System.currentTimeMillis()-lastFPSCheck>500){
lastFPSCheck = System.currentTimeMillis();
lastFPS = fpsCounter*2;
fpsCounter = 0;
}
lastRepaint = System.currentTimeMillis();
ByteArrayInputStream tmpStream = new ByteArrayInputStream(imageBuffer.toByteArray());
imageToDraw = ImageIO.read(tmpStream);
System.out.println(System.currentTimeMillis()-lastRepaint);
repaint();
}
} catch(Exception e){
imageToDraw = null;
repaint();
e.printStackTrace();
}
if(!ipChanged){
try {
Thread.sleep(500);
} catch (InterruptedException ex) {}
}
}
}
@Override
public void destroy() {
destroyed = true;
}
}
private BufferedImage imageToDraw;
private BGThread bgThread = new BGThread();
public final StringProperty ipProperty = new StringProperty(this, "Camera IP Address or mDNS name", "axis-camera.local");
public final IntegerProperty rotateProperty = new IntegerProperty(this, "Degrees Rotation", 0);
@Override
public void init() {
setPreferredSize(new Dimension(100, 100));
ipString = ipProperty.getSaveValue();
rotateAngleRad = Math.toRadians(rotateProperty.getValue());
bgThread.start();
revalidate();
repaint();
}
@Override
public void propertyChanged(Property property) {
if (property == ipProperty) {
ipString = ipProperty.getSaveValue();
ipChanged = true;
}
if (property == rotateProperty) {
rotateAngleRad = Math.toRadians(rotateProperty.getValue());
}
}
@Override
public void disconnect() {
bgThread.destroy();
super.disconnect();
}
@Override
protected void paintComponent(Graphics g) {
BufferedImage drawnImage = imageToDraw;
if (drawnImage != null) {
// cast the Graphics context into a Graphics2D
Graphics2D g2d = (Graphics2D)g;
// get the existing Graphics transform and copy it so that we can perform scaling and rotation
AffineTransform origXform = g2d.getTransform();
AffineTransform newXform = (AffineTransform)(origXform.clone());
// find the center of the original image
int origImageWidth = drawnImage.getWidth();
int origImageHeight = drawnImage.getHeight();
int imageCenterX = origImageWidth/2;
int imageCenterY = origImageHeight/2;
// perform the desired scaling
double panelWidth = getBounds().width;
double panelHeight = getBounds().height;
double panelCenterX = panelWidth/2.0;
double panelCenterY = panelHeight/2.0;
double rotatedImageWidth = origImageWidth * Math.abs(Math.cos(rotateAngleRad)) + origImageHeight * Math.abs(Math.sin(rotateAngleRad));
double rotatedImageHeight = origImageWidth * Math.abs(Math.sin(rotateAngleRad)) + origImageHeight * Math.abs(Math.cos(rotateAngleRad));
// compute scaling needed
double scale = Math.min(panelWidth / rotatedImageWidth, panelHeight / rotatedImageHeight);
// set the transform before drawing the image
// 1 - translate the origin to the center of the panel
// 2 - perform the desired rotation (rotation will be about origin)
// 3 - perform the desired scaling (will scale centered about origin)
newXform.translate(panelCenterX, panelCenterY);
newXform.rotate(rotateAngleRad);
newXform.scale(scale, scale);
g2d.setTransform(newXform);
// draw image so that the center of the image is at the "origin"; the transform will take care of the rotation and scaling
g2d.drawImage(drawnImage, -imageCenterX, -imageCenterY, null);
// restore the original transform
g2d.setTransform(origXform);
g.setColor(Color.PINK);
g.drawString("FPS: "+lastFPS, 10, 10);
} else {
g.setColor(Color.PINK);
g.fillRect(0, 0, getBounds().width, getBounds().height);
g.setColor(Color.BLACK);
g.drawString("NO CONNECTION", 10, 10);
}
}
}
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