//Used for closing and stopping acquisition of a camera
void LHSVision::StopCamera(int camNum)
{
if(camNum == 1) //Camera 1 Shutdown
{
IMAQdxStopAcquisition(session);
Wait(.01);
IMAQdxCloseCamera(session);
}
else //Camera 2 Shutdown
{
IMAQdxStopAcquisition(session2);
Wait(.01);
IMAQdxCloseCamera(session2);
}
}
IMAQdxError Camera::Stop() {
// stop image acquisition
imaqError = IMAQdxErrorSuccess;
if (ULONG_MAX != session) {
// Had trouble with imaqDrawTextOnImage
//const DrawTextOptions options = {"Arial", 12, 0, 0, 0, 0, IMAQ_CENTER, IMAQ_INVERT};
//int fontUsed;
//imaqDrawTextOnImage(frame, frame, {120, 80}, "X", &options, &fontUsed);
if (NULL != frame && camera == currentCamera) {
// Would really like to make this semi-transparent, but not apparent how.
int x, y;
imaqGetImageSize(frame, &x, &y);
//RGBValue color = IMAQ_RGB_YELLOW;
//color.G = 240;
//color.R = 240;
//imaqOverlayOval(frame, { y/3, x/3, y/3, x/3 }, &color, IMAQ_DRAW_VALUE, NULL);
//imaqMergeOverlay(NULL, frame, NULL, 0, NULL);
// imaqDrawShapeOnImage(frame, frame, { y/3, x/3, y/3, x/3 }, DrawMode::IMAQ_DRAW_INVERT, ShapeMode::IMAQ_SHAPE_OVAL,0.0);
LCameraServer::GetInstance()->SetImage(frame);
}
IMAQdxStopAcquisition(session);
IMAQdxCloseCamera(session);
printf("Camera %s closed on session %lu.\n",
camInfo[camera].InterfaceName, session);
session = ULONG_MAX;
}
return imaqError;
}
int sgl_close_camera(CameraSgl *camera)
{
IMAQdxError error = 0;
if (camera->session_id) {
sgl_stop_acquistion(camera);
error = IMAQdxUnconfigureAcquisition(camera->session_id);
if (error) {
goto ERROR_MSG;
}
IMAQdxCloseCamera (camera->session_id);
camera->session_id = 0;
if (camera->display_win_num >= 0) {
imaqCloseWindow(camera->display_win_num);
camera->display_win_num = -1;
}
memset((void*)camera->interface_name, 0, sizeof(camera->interface_name));
memset((void*)&camera->info, 0, sizeof(camera->info));
camera->attached_win = NULL;
camera->display_win = NULL;
RectSet(&camera->rect_show, 0, 0, 0, 0);
sgl_release_camera_data(camera);
}
return 0;
ERROR_MSG:
sgl_camera_message_error(error, camera->error_callback);
return -1;
}
void Robot::TeleopPeriodic() {
Scheduler::GetInstance()->Run();
SmartDashboard::PutNumber("Arm Pos:",Robot::intakeArm->GetPos());
SmartDashboard::PutNumber("POV:",oi->getDriveStick()->GetPOV(0));
SmartDashboard::PutBoolean("old:",oldCameraSel);
SmartDashboard::PutBoolean("sel:",CameraSel);
double time = 0;
if (oldCameraSel != CameraSel)
{
time = Timer::GetFPGATimestamp();
IMAQdxStopAcquisition(session);
IMAQdxUnconfigureAcquisition(session);
IMAQdxCloseCamera(session);
if (CameraSel)
imaqError = IMAQdxOpenCamera("cam2", IMAQdxCameraControlModeController, &session);
else
imaqError = IMAQdxOpenCamera("cam0", IMAQdxCameraControlModeController, &session);
if(imaqError != IMAQdxErrorSuccess) {
DriverStation::ReportError("IMAQdxOpenCamera error: " + std::to_string((long)imaqError) + "\n");
}
imaqError = IMAQdxConfigureGrab(session);
if(imaqError != IMAQdxErrorSuccess) {
DriverStation::ReportError("IMAQdxConfigureGrab error: " + std::to_string((long)imaqError) + "\n");
}
IMAQdxStartAcquisition(session);
oldCameraSel = CameraSel;
time = time - Timer::GetFPGATimestamp();
SmartDashboard::PutNumber("Switch:",time);
}
// if (CameraSel)
// IMAQdxGrab(session2, frame, true, NULL);
// else
IMAQdxGrab(session, frame, true, NULL);
if(imaqError != IMAQdxErrorSuccess) {
DriverStation::ReportError("IMAQdxGrab error: " + std::to_string((long)imaqError) + "\n");
} else {
CameraServer::GetInstance()->SetImage(frame);
}
}
