import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
/**
 * 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 {@link #runForever} in its own
 * thread using a {@link VisionThread}.</p>
 */
public void runOnce() {
  if (Thread.currentThread().getId() == RobotBase.MAIN_THREAD_ID) {
    throw new IllegalStateException(
        "VisionRunner.runOnce() cannot be called from the main robot thread");
  }
  long frameTime = m_cvSink.grabFrame(m_image);
  if (frameTime == 0) {
    // There was an error, report it
    String error = m_cvSink.getError();
    DriverStation.reportError(error, true);
  } else {
    // No errors, process the image
    m_pipeline.process(m_image);
    m_listener.copyPipelineOutputs(m_pipeline);
  }
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
public void startSimulation() throws InstantiationException, IllegalAccessException, ClassNotFoundException
{
    RobotBase.initializeHardwareConfiguration();
    loadConfig(sPROPERTIES_FILE);

    // Do all of the stuff that
    HAL.setWaitTime(.02);

    createSimulator();
    createRobot();

    Thread robotThread = new Thread(createRobotThread(), "RobotThread");
    Runnable guiThread = createGuiThread();

    robotThread.start();
    SwingUtilities.invokeLater(guiThread);
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
public VisionManager(IPositioner aPositioner, ISnobotActor aSnobotActor, IVisionJoystick aOperatorJoystick, RobotBase aSnobotState)
{
    if (Properties2017.sENABLE_VISION.getValue())
    {
        mVisionServer = new VisionAdbServer(PortMappings2017.sADB_BIND_PORT, PortMappings2017.sAPP_MJPEG_PORT, PortMappings2017.sAPP_MJPEG_PORT);
    }

    mPositioner = aPositioner;
    mSnobotActor = aSnobotActor;
    mOperatorJoystick = aOperatorJoystick;
    mSnobotState = aSnobotState;

    mStateManager = new StateManager();
    mLatestTargetInformation = new ArrayList<>();
    mTargetMessage = "";

    MjpegForwarder forwarder = new MjpegForwarder(PortMappings2017.sAPP_MJPEG_FORWARDED_PORT);

    MjpegReceiver receiver = new MjpegReceiver();
    receiver.addImageReceiver(forwarder);
    receiver.start("http://127.0.0.01:" + PortMappings2017.sAPP_MJPEG_PORT);
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
public VisionAdbServer(int aAppBindPort, int aAppMjpegBindPort, int aAppForwardedMjpegBindPort)
{
    super(aAppBindPort, sTIMEOUT_PERIOD);

    if(RobotBase.isSimulation())
    {
        mAdb = new NativeAdbBridge(Properties2017.sADB_LOCATION.getValue(), sAPP_PACKAGE, sAPP_MAIN_ACTIVITY, Properties2017.sKILL_OLD_ADBS);
    }
    else
    {
        mAdb = new RioDroidAdbBridge(sAPP_PACKAGE, sAPP_MAIN_ACTIVITY);
    }

    mAdb.reversePortForward(aAppBindPort, aAppBindPort);
    mAdb.portForward(aAppMjpegBindPort, aAppForwardedMjpegBindPort);

    mFreshImage = false;
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
/**
 * Initializes systems
 * @param robot the RobotBase to set
 */
public Environment(RobotBase robot) {
    this.robot = robot;
    
    this.input = new XboxInput();
    
    this.accel = new AccelerometerSystem();
    this.accel.init(this);
    
    this.gyro = new GyroSystem();
    this.gyro.init(this);
    
    this.wheels = new WheelSystem();
    this.wheels.init(this);
    
    this.shooter = new ShooterSystem();
    this.shooter.init(this);
    
    this.intake = new IntakeSystem();
    this.intake.init(this);
    
    this.compressor = new Compressor(2, 1);
    this.compressor.start();
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
@Override
public void setRobot(RobotBase aRobot)
{
    for (ISimulatorUpdater simulator : mSimulatorComponenets)
    {
        simulator.setRobot(aRobot);
    }
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
private void createRobot() throws InstantiationException, IllegalAccessException, ClassNotFoundException
{
    System.out.println("*************************************************************");
    System.out.println("*                    Starting Robot Code                    *");
    System.out.println("*************************************************************");

    mRobot = (RobotBase) Class.forName(mClassName).newInstance();
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
@Override
public void setRobot(RobotBase mRobot)
{

}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
@Override
public void setRobot(RobotBase aRobot)
{
    mPositioner = ((Snobot2017) aRobot).getPositioner();
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
/**
 * A convenience method that calls {@link #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.
 *
 * <p><strong>Do not call this method directly from the main thread.</strong></p>
 *
 * @throws IllegalStateException if this is called from the main robot thread
 * @see VisionThread
 */
public void runForever() {
  if (Thread.currentThread().getId() == RobotBase.MAIN_THREAD_ID) {
    throw new IllegalStateException(
        "VisionRunner.runForever() cannot be called from the main robot thread");
  }
  while (!Thread.interrupted()) {
    runOnce();
  }
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
/**
 * Set the RobotBase
 * @param robot the RobotBase to set
 */
public RobotEnvironment(RobotBase robot) {
	this.setRobot(robot);
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
/**
 * Accessor for robot
 * @return the robot
 */
protected synchronized RobotBase getRobot() {
	return robot;
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
/**
 * Mutator for robot
 * @param robot the robot to set
 */
protected synchronized void setRobot(RobotBase robot) {
	this.robot = robot;
}
 

import edu.wpi.first.wpilibj.RobotBase; //导入依赖的package包/类
public abstract void setRobot(RobotBase mRobot);