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PhotonVision/chameleon-server/src/main/java/com/chameleonvision/server/SocketHandler.java

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Module bringup (#95) * Merge to fix git history commit df76353dd5d4c9db7d4843c63bae2dcaf4a9b478 Author: Matt <matthew.morley.ca@gmail.com> Date: Sun Apr 12 12:21:31 2020 -0700 Add skeleton Manager and Server Skeleton VisionModule/VisionModuleManager/Visionprocess Add blank temp data class, flesh out VisionModule more added server and socket handler template Create Logger class Run spotless Add async to Logger Revert "Add async to Logger" This reverts commit 130df7b895dc73db6e4c0b7b101d383a2952b49e. Add asyncronous file appending commit 621e3a829ddace486680a9198538cfad278076da Author: Matt <matthew.morley.ca@gmail.com> Date: Sun Apr 12 09:04:52 2020 -0700 Add offset method to get2020Target commit 75e104770f36084a19fbf98e2470b937203e8dc0 Merge: 292071a 525cf52 Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 21:33:12 2020 -0700 Merge branch 'logging' into pipeline-bringup commit 292071adefd90c85355859a5407e9ab786aa2436 Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 21:32:25 2020 -0700 Update .gitignore commit a31f64fb65d42a81d1ecf0b4a8ebf03869c4ba03 Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 21:31:17 2020 -0700 Refactor calibration into `common.calibration` commit eb91324a263025afdd7fd59a5001c9e95f3d3e6c Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 16:48:52 2020 -0700 run spotless commit a6e3f0dda55964c8fb1819ad9386bb21de58cdf9 Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 16:48:28 2020 -0700 Fix JSON mat bug and lifecam default calibration for tests, fix 3d drawing commit f2d5caea43747c80c9d7417b4ffda32dad95cd71 Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 15:47:12 2020 -0700 Implement solvePNP, bounding box top and bottom commit bbf1ea445d72876d5e3c53ae3f41be68adf401ca Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 15:46:32 2020 -0700 Add lifecam calibration data commit 82684920224e5f5ba2924106cbe09beb3d30d42e Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 15:46:20 2020 -0700 Update geometry classes commit cab6a68184b74055ae088d59660ecd7ddff58400 Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 12:23:04 2020 -0700 Clean up draw 3d, fix convex hull bug in corner detection commit bb3c247e398b72e93c77ece8c97929982edded3e Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 11:44:57 2020 -0700 Update Contour.java commit 94c9b1dd342b17ceed5dca1020f1253cd6f59f62 Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 11:41:05 2020 -0700 Make Draw2dContours pipe respect showMultiple commit 0f231888accb19d4018ee2a2c1ccee5e28b48f69 Author: Matt <matthew.morley.ca@gmail.com> Date: Sat Apr 11 11:40:38 2020 -0700 Add point detection, fix convex hull calculation in Contour commit ef360ba7f814fad74b2f07025c08634f09eacf97 Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Fri Apr 10 04:51:50 2020 -0400 Add ContourShape class for approxPolyDp Start on ColoredShape tracking commit a4e9dd3d4221085e76425e99496bc7d03536a689 Author: Matt <matthew.morley.ca@gmail.com> Date: Thu Apr 9 20:53:14 2020 -0700 Create CornerDetectionPipe based on old solvePNPPipe commit 88cae18d63f8045a77e5c394af6b3f4d2fab98db Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Thu Apr 9 20:19:57 2020 -0400 Add perimeter, MatOfPoint2f getters to Contour commit 525cf52ec4ac204f7996310fa3d12ad127362bf7 Author: Matt <matthew.morley.ca@gmail.com> Date: Tue Mar 31 10:56:57 2020 -0700 Add slv4j logger to replace the current debugLogger I'm waiting on stuff to be less skeletoned to add more commit 50e70b907317e630ee66fb12b31d0b216e331156 Author: Matt <matthew.morley.ca@gmail.com> Date: Tue Mar 31 10:40:42 2020 -0700 Add logback commit b739ba287829c07a13079434751214e4ad4e769f Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Thu Apr 9 00:51:22 2020 -0400 various cleanups, add DummyFrameConsumer commit 91c36cb60ee4d40ac3715e3c7f4249e172b15e2b Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Thu Apr 9 00:48:42 2020 -0400 Add CVMat, ReflectionUtils to help track rogue Mats commit 7999c9ee935052436d44ff51d64d60a266aad1fd Author: Matt <matthew.morley.ca@gmail.com> Date: Wed Apr 8 21:48:02 2020 -0700 Apply spotless commit c39d9dc6fd13aedd2f684d8b2654f8a277ccf587 Author: Matt <matthew.morley.ca@gmail.com> Date: Wed Apr 8 21:45:19 2020 -0700 Resolve memory leaks due to unnecessary instantiation of Points commit 7b507da3c860c2a68d70d968224648819695c489 Author: Matt <matthew.morley.ca@gmail.com> Date: Wed Apr 8 21:29:53 2020 -0700 Fix ConcurrentModificationException bug in group contours pipe with potential targets commit d5c7b26f73f9c74bb2b29723f9987c3f66f8c288 Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Wed Apr 8 03:49:10 2020 -0400 Refactor CVPipeline, add ReflectivePipelineTest commit 2e6a64862cc9c27faf30545cbf89053a4e9a9ed7 Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Wed Apr 8 03:48:50 2020 -0400 add TestUtils class, move testimages commit 6653eb981224f4851cb2ad1219c6ebe08ca70b8f Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Wed Apr 8 03:45:11 2020 -0400 add Releasable interface, implement in classes commit ef1e3024a1ef8fdfee58d4a8ef00b8aa96146721 Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Tue Apr 7 19:53:41 2020 -0400 Move test images commit e25e736741d7432fca42a32f707099e62a1e5a14 Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Tue Apr 7 18:42:43 2020 -0400 Apply Spotless commit ff5cee953f80b59b938df5c1a6e1bef4e9fb6573 Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Tue Apr 7 01:52:06 2020 -0400 Finish ReflectivePipeline, various tweaks commit 7e6e65127a54ec784d048914fb49ca23b6ee4d29 Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Tue Apr 7 01:49:14 2020 -0400 Add FrameStaticProperties as member in Frame Add FrameStaticProperties as member in Frame commit 09bf8cb500d89b8f3e11afe5e4d2c56d42ce18f9 Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Mon Apr 6 17:45:25 2020 -0400 Add crosshair to DriverMode, cleanups commit 570531afb28e422f1e866454cfb8f5b745979ec9 Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Mon Apr 6 14:10:39 2020 -0400 Add DriverPipeline classes, apply spotless commit 0376bdbdcb6bb9e468d353fff24d4c2ac1a0684a Author: ori agranat <oriagranat9@gmail.com> Date: Mon Apr 6 11:48:36 2020 +0300 updated Largest ContourSortMode and added centermost commit 378ba923c06b9a68f4db4972ef5f2b643d8051fd Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Sun Apr 5 23:29:51 2020 -0400 Add pipeline classes, settings, separate enums commit 3b41afe125d8cf34e71bcd9c30d85f4f7dac30a8 Author: Banks Troutman <btrout.dhrs@gmail.com> Date: Sun Apr 5 23:29:32 2020 -0400 Refactor package structure, various cleanups * Apply spotless, attempt fix for SolvePNPTest * Fix SolvePNP Draw, fix 2019 PNP * Add active mat count to CVMat prints, fix NPE in contour release * Change providers/consumers to extend Provider/Supplier classes * ModuleManager bringup, spotless applied * Pipeline Test fixes and cleanups * Add getName to FrameProvider, set thread name in VisionRunner * VisionModuleManager test * God * Apply Spotless
2020-05-25 14:55:03 -04:00
package com.chameleonvision.server;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import io.javalin.websocket.*;
import java.io.IOException;
import java.nio.ByteBuffer;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import org.msgpack.jackson.dataformat.MessagePackFactory;
public class SocketHandler {
static List<WsContext> users = new ArrayList<>();
static ObjectMapper objectMapper = new ObjectMapper(new MessagePackFactory());
public static void onConnect(WsConnectContext context) {
users.add(context);
}
static void onClose(WsCloseContext context) {
users.remove(context);
}
public static void onBinaryMessage(WsBinaryMessageContext context) {
try {
Map<String, Object> data =
objectMapper.readValue(context.data(), new TypeReference<Map<String, Object>>() {});
// TODO pass data to ui data provider
} catch (IOException e) {
e.printStackTrace();
}
}
public static void sendMessage(Object message, WsContext user) throws JsonProcessingException {
ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(message));
user.send(b);
}
public static void broadcastMessage(Object message, WsContext userToSkip)
throws JsonProcessingException {
for (WsContext user : users) {
if (user != userToSkip) {
sendMessage(message, user);
}
}
}
public static void broadcastMessage(Object message) throws JsonProcessingException {
broadcastMessage(message, null);
}
}