learned multithreading

GearUp12499-org · Sep 16, 2024 · 21de3e1 · 21de3e1
1 parent 7dc5b4f
commit 21de3e1
Showing 1 changed file with 22 additions and 6 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Capture.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Capture.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode;
 
 import static org.firstinspires.ftc.vision.VisionPortal.CameraState.STREAMING;
+import static org.opencv.imgproc.Imgproc.COLOR_RGB2BGR;
 
 import android.graphics.Canvas;
 import android.os.Environment;
@@ -16,6 +17,7 @@
 import org.firstinspires.ftc.vision.VisionProcessor;
 import org.opencv.core.Mat;
 import org.opencv.imgcodecs.Imgcodecs;
+import org.opencv.imgproc.Imgproc;
 
 import java.io.File;
 import java.util.concurrent.TimeUnit;
@@ -26,17 +28,30 @@ public class Capture extends LinearOpMode {
 
     static class CaptureProcessor implements VisionProcessor {
         public Mat latest;
+        public final Object latestLock = new Object();
         public long frameNo = 0;
 
+        public Mat getLatest() {
+            synchronized (latestLock) {
+                return latest.clone();
+            }
+        }
+
         @Override
         public void init(int width, int height, CameraCalibration calibration) {
         }
 
         @Override
         public Object processFrame(Mat frame, long captureTimeNanos) {
+            if (frameNo < 3) {
+                Log.i("CaptureProcessor", String.format("ok, im running on %s/%d", Thread.currentThread().getName(), Thread.currentThread().getId()));
+            }
             frameNo++;
-            if (latest != null) latest.release();
-            latest = frame.clone();
+            synchronized (latestLock) {
+                if (latest != null) latest.release();
+                latest = frame.clone();
+                Imgproc.cvtColor(latest, latest, COLOR_RGB2BGR);
+            }
             return null;
         }
 
@@ -71,20 +86,21 @@ public void runOpMode() throws InterruptedException {
 
         boolean isAPressed = false;
         boolean configured = false;
+        Log.i("Main", String.format("ok, im running on %s/%d", Thread.currentThread().getName(), Thread.currentThread().getId()));
 
         while (opModeInInit()) {
             if (portal.getCameraState() == STREAMING && !configured) {
                 ExposureControl exposure = portal.getCameraControl(ExposureControl.class);
-                exposure.setMode(ExposureControl.Mode.Manual);
-                long micros = exposure.getMinExposure(TimeUnit.MILLISECONDS);
-                exposure.setExposure(200, TimeUnit.MILLISECONDS);
+//                exposure.setMode(ExposureControl.Mode.Manual);
+//                long micros = exposure.getMinExposure(TimeUnit.MILLISECONDS);
+//                exposure.setExposure(200, TimeUnit.MILLISECONDS);
                 configured = true;
             }
             boolean nonVolatileA = gamepad1.a;
             if (nonVolatileA && !isAPressed) {
                 Log.i("Capture", "Saving");
                 // try to avoid getting deallocated while saving by cloning
-                Mat imm = proc.latest.clone();
+                Mat imm = proc.getLatest(); // synchronized
                 save(imm);
                 imm.release();
                 Log.i("Capture", "Done");