wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/vision/VisionRunner.html
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<div class="subTitle">edu.wpi.first.wpilibj.vision</div>
<h2 title="Class VisionRunner" class="title">Class VisionRunner<P extends <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionPipeline.html" title="interface in edu.wpi.first.wpilibj.vision">VisionPipeline</a>></h2>
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<li>java.lang.Object</li>
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<pre>public class <span class="typeNameLabel">VisionRunner<P extends <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionPipeline.html" title="interface in edu.wpi.first.wpilibj.vision">VisionPipeline</a>></span>
extends java.lang.Object</pre>
<div class="block">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 <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionThread.html" title="class in edu.wpi.first.wpilibj.vision"><code>VisionThread</code></a>
and use the listener to take snapshots of the pipeline's outputs.</div>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/vision/VisionPipeline.html" title="interface in edu.wpi.first.wpilibj.vision"><code>VisionPipeline</code></a>,
<a href="../../../../../edu/wpi/first/wpilibj/vision/VisionThread.html" title="class in edu.wpi.first.wpilibj.vision"><code>VisionThread</code></a>,
<code>edu.wpi.first.wpilibj.vision</code></dd>
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<td class="colFirst"><code>static interface </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.Listener.html" title="interface in edu.wpi.first.wpilibj.vision">VisionRunner.Listener</a><<a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.Listener.html" title="type parameter in VisionRunner.Listener">P</a> extends <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionPipeline.html" title="interface in edu.wpi.first.wpilibj.vision">VisionPipeline</a>></span></code>
<div class="block">Listener interface for a callback that should run after a pipeline has processed its input.</div>
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<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.html#VisionRunner-edu.wpi.cscore.VideoSource-P-edu.wpi.first.wpilibj.vision.VisionRunner.Listener-">VisionRunner</a></span>(<a href="../../../../../edu/wpi/cscore/VideoSource.html" title="class in edu.wpi.cscore">VideoSource</a> videoSource,
<a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.html" title="type parameter in VisionRunner">P</a> pipeline,
<a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.Listener.html" title="interface in edu.wpi.first.wpilibj.vision">VisionRunner.Listener</a><? super <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.html" title="type parameter in VisionRunner">P</a>> listener)</code>
<div class="block">Creates a new vision runner.</div>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.html#runForever--">runForever</a></span>()</code>
<div class="block">A convenience method that calls <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.html#runOnce--"><code>runOnce()</code></a> in an infinite loop.</div>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.html#runOnce--">runOnce</a></span>()</code>
<div class="block">Runs the pipeline one time, giving it the next image from the video source specified
in the constructor.</div>
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<h4>VisionRunner</h4>
<pre>public VisionRunner(<a href="../../../../../edu/wpi/cscore/VideoSource.html" title="class in edu.wpi.cscore">VideoSource</a> videoSource,
<a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.html" title="type parameter in VisionRunner">P</a> pipeline,
<a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.Listener.html" title="interface in edu.wpi.first.wpilibj.vision">VisionRunner.Listener</a><? super <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.html" title="type parameter in VisionRunner">P</a>> listener)</pre>
<div class="block">Creates a new vision runner. It will take images from the <code>videoSource</code>, send them to
the <code>pipeline</code>, and call the <code>listener</code> when the pipeline has finished to alert
user code when it is safe to access the pipeline's outputs.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>videoSource</code> - the video source to use to supply images for the pipeline</dd>
<dd><code>pipeline</code> - the vision pipeline to run</dd>
<dd><code>listener</code> - a function to call after the pipeline has finished running</dd>
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<h4>runOnce</h4>
<pre>public void runOnce()</pre>
<div class="block">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.
<p>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 <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.html#runForever--"><code>runForever()</code></a> in its own
thread using a <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionThread.html" title="class in edu.wpi.first.wpilibj.vision"><code>VisionThread</code></a>.</p></div>
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<h4>runForever</h4>
<pre>public void runForever()</pre>
<div class="block">A convenience method that calls <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.html#runOnce--"><code>runOnce()</code></a> 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.
<p><strong>Do not call this method directly from the main thread.</strong></p></div>
<dl>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code>java.lang.IllegalStateException</code> - if this is called from the main robot thread</dd>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/vision/VisionThread.html" title="class in edu.wpi.first.wpilibj.vision"><code>VisionThread</code></a></dd>
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