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Unread 23-01-2016, 15:06
PiMeson123 PiMeson123 is offline
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Performance of Toggling GRIP Execution on RoboRIO

Hello,
Our team is planning on using GRIP as an engine for vision processing, and we would like to deploy it in headless mode to the roboRIO to avoid using a coprocessor such as a Raspberry Pi.

We were considering the idea of toggling between running a null grip file and the one from our project (with a contour detection pipeline) on the roboRIO to limit the amount of processing resource we use on running GRIP (we don't need a constant stream of video being processed by GRIP, only a few frames when we execute a FindTargetContour command in our robot code).

If we use the code at the link below to start the execution of GRIP on the RoboRIO, can we have another String array like GRIP_ARGS, where the last String pathway "/home/lvuser/project.grip" is changed to "/home/lvuser/null.grip", null.grip being a null GRIP file, so that we can execute GRIP with that null file to prevent it from lagging out the RoboRIO? We plan on only taking 5 frames or so on request and putting only those frames through our GRIP pipeline before "shutting it off", so to speak. And then to turn it back on, we would want to execute GRIP again with the original GRIP file specified in GRIP_ARGS (using Runtime.getRuntime.exec()).

However, does this just make multiple instances of GRIP run on the RoboRIO, thus adding more processing constraint on the RoboRIO, or would it work in the way we would like it to, which would be the same as pressing open file <...> in the GRIP GUI?

Sample code source: https://github.com/WPIRoboticsProjec...C-program#java


An alternative could be to store the instance of GRIP in a Process object, and then destroy it when we need to, but I think this would be counterintuitive because then we would have to both start GRIP and load our project .grip file.
Ex:
Process p = Runtime.getRuntime().exec("");
p.destroy();
 


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