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);
}
}
