edu.wpi.first.wpilibj.vision

Class VisionRunner<P extends VisionPipeline>

java.lang.Object

edu.wpi.first.wpilibj.vision.VisionRunner<P>

public class VisionRunner<P extends VisionPipeline>
extends java.lang.Object

A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot code. The easiest way to use this is to run it in a VisionThread and use the listener to take snapshots of the pipeline's outputs.

See Also:

VisionPipeline, VisionThread, edu.wpi.first.wpilibj.vision

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static interface	VisionRunner.Listener<P extends VisionPipeline> Listener interface for a callback that should run after a pipeline has processed its input.

Constructor Summary

Constructors

Constructor and Description
VisionRunner(VideoSource videoSource, P pipeline, VisionRunner.Listener<? super P> listener) Creates a new vision runner.

Method Summary

Modifier and Type	Method and Description
void	runForever() A convenience method that calls runOnce() in an infinite loop.
void	runOnce() Runs the pipeline one time, giving it the next image from the video source specified in the constructor.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

VisionRunner

public VisionRunner(VideoSource videoSource,
                    P pipeline,
                    VisionRunner.Listener<? super P> listener)

Creates a new vision runner. It will take images from the videoSource, send them to the pipeline, and call the listener when the pipeline has finished to alert user code when it is safe to access the pipeline's outputs.

Parameters:

videoSource - the video source to use to supply images for the pipeline

pipeline - the vision pipeline to run

listener - a function to call after the pipeline has finished running

Method Detail

runOnce

public void runOnce()

Runs the pipeline one time, giving it the next image from the video source specified in the constructor. This will block until the source either has an image or throws an error. If the source successfully supplied a frame, the pipeline's image input will be set, the pipeline will run, and the listener specified in the constructor will be called to notify it that the pipeline ran.

This method is exposed to allow teams to add additional functionality or have their own ways to run the pipeline. Most teams, however, should just use runForever() in its own thread using a VisionThread.

runForever

public void runForever()

A convenience method that calls runOnce() in an infinite loop. This must be run in a dedicated thread, and cannot be used in the main robot thread because it will freeze the robot program.

Do not call this method directly from the main thread.

Throws:

java.lang.IllegalStateException - if this is called from the main robot thread

See Also:

VisionThread