Fixed some bugs

BinghamtonRover · Jul 28, 2023 · bb8ddb1 · bb8ddb1
1 parent 254d8b8
commit bb8ddb1
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Showing 3 changed files with 21 additions and 16 deletions.
diff --git a/lib/src/collection.dart b/lib/src/collection.dart
@@ -9,7 +9,15 @@ import "camera.dart";
 /// Default details for a camera
 /// 
 /// Used when first creating the camera objects
-final defaultDetails = CameraDetails(resolutionWidth: 300, resolutionHeight: 300, quality: 50, fps: 24, status: CameraStatus.CAMERA_ENABLED);
+CameraDetails getDefaultDetails(CameraName name) => CameraDetails(
+  name: name,
+  resolutionWidth: 300, 
+  resolutionHeight: 300, 
+  quality: 50, 
+  fps: 24, 
+  status: 
+  CameraStatus.CAMERA_ENABLED,
+);
 
 /// Returns the camera depending on device program is running
 /// 
@@ -23,10 +31,11 @@ class VideoCollection{
   /// Holds a list of available cameras
   Map<CameraName, CameraManager> cameras = {
     for (final name in CameraName.values) 
-      name: CameraManager(
-        camera: getCamera(name),
-        details: defaultDetails,
-      )
+      if (name != CameraName.CAMERA_NAME_UNDEFINED)
+        name: CameraManager(
+          camera: getCamera(name),
+          details: getDefaultDetails(name),
+        )
   };
 
   /// [VideoServer] to send messages through
@@ -36,16 +45,12 @@ class VideoCollection{
 
   /// Function to initiliaze cameras
   Future<void> init() async{
+    BurtLogger.level = LogLevel.debug;
     await videoServer.init();
-    logger.info("Starting Cameras...");
-    await connectCameras();
-  }
-
-  /// Connects to all [cameras]
-  Future<void> connectCameras() async{
-    for(final camera in cameras.values){
+    for (final camera in cameras.values) {
       await camera.init();
     }
+    logger.info("Video program initialized");
   }
 }
 

diff --git a/lib/src/constants.dart b/lib/src/constants.dart
@@ -7,7 +7,7 @@ import "package:burt_network/burt_network.dart";
 /// Map for MAC or LINUX devices
 Map<CameraName, String> cameraNames = {
   CameraName.ROVER_FRONT: "/dev/realsense_rgb",
-  //CameraName.ROVER_REAR: "...",
+  CameraName.ROVER_REAR: "...",
   CameraName.AUTONOMY_DEPTH: "/dev/realsense_depth",
   CameraName.SUBSYSTEM1: "/dev/subsystem1",
   CameraName.SUBSYSTEM2: "/dev/subsystem2",
@@ -17,7 +17,7 @@ Map<CameraName, String> cameraNames = {
 /// Map for WINDOWS devices
 Map<CameraName, int> cameraIndexes = {
   CameraName.ROVER_FRONT: 0,
-  //CameraName.ROVER_REAR: 1, 
+  CameraName.ROVER_REAR: 1, 
   CameraName.AUTONOMY_DEPTH: 1,
   CameraName.SUBSYSTEM1: 2,
   CameraName.SUBSYSTEM2: 3,

diff --git a/lib/src/udp.dart b/lib/src/udp.dart
@@ -10,9 +10,9 @@ class VideoServer extends ServerSocket{
   void onMessage(WrappedMessage wrapper) {
     // ignore message if not a video message
     if(wrapper.name != VideoCommand().messageName) return;
-    // Return the message to tell dashboard the message was received
-    sendMessage(wrapper);
     final command = VideoCommand.fromBuffer(wrapper.data);
+    // Return the message to tell dashboard the message was received
+    sendMessage(command);
     // Send LOADING before making any changes
     sendMessage(VideoData(id: command.id, details: CameraDetails(status: CameraStatus.CAMERA_LOADING)));
     // Change the settings