mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
Websockets almost done TODO ports, testing
This commit is contained in:
Omer
@@ -8,10 +8,10 @@ import edu.wpi.cscore.UsbCamera;
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import java.util.Map;
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public class Main {
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public static void main(String [] args) {
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public static void main(String[] args) {
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SettingsManager manager = SettingsManager.getInstance();
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// NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
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for (Map.Entry<String, UsbCamera> entry: SettingsManager.UsbCameras.entrySet()){
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for (Map.Entry<String, UsbCamera> entry : SettingsManager.UsbCameras.entrySet()) {
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new Thread(new CameraProcess(entry.getKey())).start();
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}
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Server.main(8888);
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@@ -1,4 +1,5 @@
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package com.chameleonvision.settings;
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import com.chameleonvision.NoCameraException;
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import java.io.*;
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@@ -9,6 +10,7 @@ import com.chameleonvision.vision.Camera;
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import com.chameleonvision.vision.GeneralSettings;
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import com.chameleonvision.vision.Pipeline;
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import com.google.gson.Gson;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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@@ -17,102 +19,114 @@ import java.util.Map;
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import edu.wpi.cscore.*;
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import org.opencv.videoio.VideoCapture;
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public class SettingsManager {
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public class SettingsManager {
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private static SettingsManager instance;
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private SettingsManager() {
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InitiateGeneralSettings();
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InitiateCamerasInfo();
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InitiateUsbCameras();
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InitiateCameras();
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InitiateUsbCamerasSettings();
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if (!Cameras.containsKey(GeneralSettings.curr_camera) && Cameras.size() > 0) {
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String camName = Cameras.keySet().stream().findFirst().get();
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GeneralSettings.curr_camera = camName;
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GeneralSettings.curr_pipeline = Cameras.get(camName).pipelines.keySet().stream().findFirst().get();
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}
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}
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public static synchronized SettingsManager getInstance(){
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if(instance == null){
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public static synchronized SettingsManager getInstance() {
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if (instance == null) {
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synchronized (SettingsManager.class) {
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if(instance == null){
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if (instance == null) {
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instance = new SettingsManager();
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}
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}
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}
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return instance;
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}
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public static HashMap<String, Camera> Cameras = new HashMap<String, Camera>();
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public static HashMap<String,UsbCamera> UsbCameras = new HashMap<String, UsbCamera>();
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public static HashMap<String,UsbCameraInfo> USBCamerasInfo = new HashMap<String,UsbCameraInfo>();
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public static HashMap<String, UsbCamera> UsbCameras = new HashMap<String, UsbCamera>();
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public static HashMap<String, UsbCameraInfo> USBCamerasInfo = new HashMap<String, UsbCameraInfo>();
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public static com.chameleonvision.vision.GeneralSettings GeneralSettings;
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public static HashMap<String, String> CamerasCurrentPipeline = new HashMap<String, String>();
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public static HashMap<String,String> CameraPort = new HashMap<String, String>();
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private Path SettingsPath = Paths.get(System.getProperty("user.dir"),"Settings");
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private Path CamsPath = Paths.get(SettingsPath.toString(),"Cams");
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public static HashMap<String, String> CameraPorts = new HashMap<String, String>();//TODO Implement ports
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private Path SettingsPath = Paths.get(System.getProperty("user.dir"), "Settings");
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private Path CamsPath = Paths.get(SettingsPath.toString(), "Cams");
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private void InitiateGeneralSettings(){
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private void InitiateGeneralSettings() {
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CheckPath(SettingsPath);
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try {
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GeneralSettings = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(),"Settings.json").toString()), com.chameleonvision.vision.GeneralSettings.class);
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GeneralSettings = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(), "Settings.json").toString()), com.chameleonvision.vision.GeneralSettings.class);
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} catch (FileNotFoundException e) {
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GeneralSettings = new GeneralSettings();
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}
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}
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private void InitiateCamerasInfo(){
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private void InitiateCamerasInfo() {
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List<Integer> TrueCameras = new ArrayList<Integer>();
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UsbCameraInfo[] UsbDevices = UsbCamera.enumerateUsbCameras();
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for (var i=0; i < UsbDevices.length; i++){
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for (var i = 0; i < UsbDevices.length; i++) {
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var cap = new VideoCapture(UsbDevices[i].dev);
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if (cap.isOpened()){
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if (cap.isOpened()) {
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TrueCameras.add(i);
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cap.release();
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}
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}
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for (var i: TrueCameras){
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for (var i : TrueCameras) {
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var DeviceName = UsbDevices[i].name;
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var suffix = 0;
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while (USBCamerasInfo.containsKey(DeviceName)){
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while (USBCamerasInfo.containsKey(DeviceName)) {
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suffix++;
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DeviceName = String.format("%s(%s)",UsbDevices[i].name,suffix);
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DeviceName = String.format("%s(%s)", UsbDevices[i].name, suffix);
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}
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USBCamerasInfo.put(DeviceName,UsbDevices[i]);
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USBCamerasInfo.put(DeviceName, UsbDevices[i]);
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}
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}
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private void InitiateUsbCameras(){
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for(Map.Entry<String,UsbCameraInfo> entry : USBCamerasInfo.entrySet()){
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private void InitiateUsbCameras() {
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for (Map.Entry<String, UsbCameraInfo> entry : USBCamerasInfo.entrySet()) {
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var device = entry.getValue();
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var camera = new UsbCamera(device.name, device.dev);
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UsbCameras.put(device.name,camera);
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UsbCameras.put(device.name, camera);
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}
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}
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private void InitiateCameras(){
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private void InitiateCameras() {
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CheckPath(CamsPath);
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for(Map.Entry<String,UsbCameraInfo> entry: USBCamerasInfo.entrySet()){
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var camPath = Paths.get(CamsPath.toString(),String.format("%s.json",entry.getKey()));
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if(Files.exists(camPath)){
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for (Map.Entry<String, UsbCameraInfo> entry : USBCamerasInfo.entrySet()) {
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var camPath = Paths.get(CamsPath.toString(), String.format("%s.json", entry.getKey()));
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if (Files.exists(camPath)) {
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try {
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Camera cam = new Gson().fromJson(new FileReader(camPath.toString()),Camera.class);
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Cameras.put(entry.getKey(),cam);
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Camera cam = new Gson().fromJson(new FileReader(camPath.toString()), Camera.class);
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Cameras.put(entry.getKey(), cam);
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} catch (FileNotFoundException e) {
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e.printStackTrace();
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}
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} else{
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} else {
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CreateNewCam(entry.getKey());
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}
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}
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}
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private void InitiateUsbCamerasSettings(){
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for(Map.Entry<String,UsbCamera> entry: UsbCameras.entrySet()){
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private void InitiateUsbCamerasSettings() {
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for (Map.Entry<String, UsbCamera> entry : UsbCameras.entrySet()) {
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var cam = entry.getValue();
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var camName = entry.getKey();
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var camInfo = Cameras.get(camName);
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cam.setPixelFormat(VideoMode.PixelFormat.valueOf(camInfo.camVideoMode.pixel_format));
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cam.setFPS(camInfo.camVideoMode.fps);
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cam.setResolution(camInfo.camVideoMode.width, camInfo.camVideoMode.heigh);
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cam.setResolution(camInfo.camVideoMode.width, camInfo.camVideoMode.height);
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}
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}
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private void CheckPath(Path path){
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if (!Files.exists(path)){
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private void CheckPath(Path path) {
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if (!Files.exists(path)) {
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try {
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Files.createDirectories(path);
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} catch (IOException e) {
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@@ -120,92 +134,122 @@ public class SettingsManager {
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}
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}
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}
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// Creators
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private void CreateNewCam(String CameraName){
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private void CreateNewCam(String CameraName) {
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Camera cam = new Camera();
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var caminfo =USBCamerasInfo.get(CameraName);
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var caminfo = USBCamerasInfo.get(CameraName);
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cam.path = caminfo.path;
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var videomode = UsbCameras.get(CameraName).enumerateVideoModes()[0];
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CamVideoMode CamVideoMode = new CamVideoMode();
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CamVideoMode.fps = videomode.fps;
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CamVideoMode.heigh = videomode.height;
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CamVideoMode.height = videomode.height;
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CamVideoMode.width = videomode.width;
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CamVideoMode.pixel_format = videomode.pixelFormat.name();
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cam.camVideoMode = CamVideoMode;
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cam.pipelines = new HashMap<String, Pipeline>();
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cam.resolution = 0;
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cam.FOV = 60.8;
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Cameras.put(CameraName,cam);
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Cameras.put(CameraName, cam);
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CreateNewPipeline(null,CameraName);
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CreateNewPipeline(null, CameraName);
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}
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private void CreateNewPipeline(String PipeName, String CamName){
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if (CamName == null){
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private void CreateNewPipeline(String PipeName, String CamName) {
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if (CamName == null) {
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CamName = GeneralSettings.curr_camera;
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}
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var cam = Cameras.get(CamName);
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if (PipeName == null){
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if (PipeName == null) {
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var suffix = 0;
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PipeName = "pipeline" + suffix;
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while (cam.pipelines.containsKey(PipeName)){
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suffix ++;
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PipeName = "pipeline"+suffix;
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while (cam.pipelines.containsKey(PipeName)) {
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suffix++;
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PipeName = "pipeline" + suffix;
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}
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}
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else if (cam.pipelines.containsKey(PipeName)){
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} else if (cam.pipelines.containsKey(PipeName)) {
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System.err.println("Pipeline Already Exists");
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}
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cam.pipelines.put(PipeName,new Pipeline());
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cam.pipelines.put(PipeName, new Pipeline());
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}
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//Access Methods
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public Pipeline GetCurrentPipeline() throws Exception {
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if (!GeneralSettings.curr_pipeline.equals("")){
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public Pipeline GetCurrentPipeline() throws NoCameraException {
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if (!GeneralSettings.curr_pipeline.equals("")) {
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return Cameras.get(GeneralSettings.curr_camera).pipelines.get(GeneralSettings.curr_pipeline);
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}
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throw new NoCameraException();
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}
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public Camera GetCurrentCamera() throws Exception {
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if (!GeneralSettings.curr_camera.equals("")){
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public Camera GetCurrentCamera() throws NoCameraException {
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if (!GeneralSettings.curr_camera.equals("")) {
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return Cameras.get(GeneralSettings.curr_camera);
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}
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throw new NoCameraException();
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}
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public List<String> GetResolutionList() throws NoCameraException {
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if (!GeneralSettings.curr_camera.equals("")){
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if (!GeneralSettings.curr_camera.equals("")) {
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List<String> list = new ArrayList<String>();
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var cam = UsbCameras.get(GeneralSettings.curr_camera);
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for (var res : cam.enumerateVideoModes()){
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for (var res : cam.enumerateVideoModes()) {
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list.add(String.format("%s X %s at %s fps", res.width, res.height, res.fps));
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}
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return list;
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}
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throw new NoCameraException();
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}
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public void SetCurrentCamera(String CamName) throws Exception {
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if (Cameras.containsKey(CamName)){
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if (Cameras.containsKey(CamName)) {
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GeneralSettings.curr_camera = CamName;
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GeneralSettings.curr_pipeline = GetCurrentCamera().pipelines.keySet().stream().findFirst().toString();
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}
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}
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public void SetCurrentPipeline(String PipelineName) throws Exception {
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if (GetCurrentCamera().pipelines.containsKey(PipelineName)){
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if (GetCurrentCamera().pipelines.containsKey(PipelineName)) {
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GeneralSettings.curr_pipeline = PipelineName;
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}
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}
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public void SetCameraSettings(String cameraName, String field, Object value) {
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switch (field) {
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case "brightness":
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UsbCameras.get(cameraName).setBrightness((int) value);
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break;
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case "exposure":
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UsbCameras.get(cameraName).setExposureManual((int) value);
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break;
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case "resolution":
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VideoMode videoMode = UsbCameras.get(cameraName).enumerateVideoModes()[(int) value];
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Camera cam = Cameras.get(cameraName);
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cam.camVideoMode.height = videoMode.height;
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cam.camVideoMode.width = videoMode.width;
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cam.camVideoMode.fps = videoMode.fps;
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//cam.camVideoMode.pixel_format=videoMode.pixelFormat.toString().split(".")[1];//legacy from python
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cam.camVideoMode.pixel_format = videoMode.pixelFormat.toString();
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break;
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}
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}
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//Savers
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public void SaveSettings(){
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public void SaveSettings() {
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SaveCameras();
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SaveGeneralSettings();
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}
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private void SaveCameras(){
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for(Map.Entry<String,Camera> entry: Cameras.entrySet()){
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private void SaveCameras() {
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for (Map.Entry<String, Camera> entry : Cameras.entrySet()) {
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try {
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Gson gson = new Gson();
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FileWriter writer = new FileWriter(Paths.get(CamsPath.toString(),String.format("%s.json",entry.getKey())).toString());
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gson.toJson(entry.getValue(),writer);
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FileWriter writer = new FileWriter(Paths.get(CamsPath.toString(), String.format("%s.json", entry.getKey())).toString());
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gson.toJson(entry.getValue(), writer);
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writer.flush();
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writer.close();
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} catch (IOException e) {
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@@ -213,10 +257,11 @@ public class SettingsManager {
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}
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}
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}
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private void SaveGeneralSettings(){
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private void SaveGeneralSettings() {
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try {
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Gson gson = new Gson();
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FileWriter writer = new FileWriter(Paths.get(SettingsPath.toString(),"Settings.json").toString());
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FileWriter writer = new FileWriter(Paths.get(SettingsPath.toString(), "Settings.json").toString());
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new Gson().toJson(GeneralSettings, writer);
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writer.flush();
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writer.close();
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@@ -224,4 +269,6 @@ public class SettingsManager {
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e.printStackTrace();
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}
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}
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}
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@@ -3,7 +3,7 @@ package com.chameleonvision.vision;
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public class CamVideoMode {
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public int fps;
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public int width;
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public int heigh;
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public int height;
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public String pixel_format;
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}
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@@ -30,7 +30,7 @@ public class CameraProcess implements Runnable{
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int Width = manager.Cameras.get(CameraName).camVideoMode.width;
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int Height = manager.Cameras.get(CameraName).camVideoMode.heigh;
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int Height = manager.Cameras.get(CameraName).camVideoMode.height;
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var cv_publish = cs.putVideo(CameraName,Width,Height);
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//initial math setup for camera
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double DiagonalView = FastMath.toRadians(manager.Cameras.get(CameraName).FOV);
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@@ -1,13 +1,15 @@
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package com.chameleonvision.web;
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import com.chameleonvision.NoCameraException;
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import com.chameleonvision.settings.SettingsManager;
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import com.chameleonvision.vision.GeneralSettings;
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import com.chameleonvision.vision.Pipeline;
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import com.google.gson.JsonObject;
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import io.javalin.Javalin;
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import io.javalin.websocket.WsContext;
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import java.lang.reflect.Field;
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import java.util.ArrayList;
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import java.util.List;
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||||
import java.util.*;
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||||
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||||
import org.json.JSONArray;
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||||
import org.json.JSONObject;
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@@ -16,13 +18,15 @@ import org.springframework.beans.BeanUtils;
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public class Server {
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private static List<WsContext> users = new ArrayList<WsContext>();
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public static void main(int port) {
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Javalin app = Javalin.create();
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app.config.addStaticFiles("web");
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app.ws("/websocket", ws ->{
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app.ws("/websocket", ws -> {
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ws.onConnect(ctx -> {
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users.add(ctx);
|
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System.out.println("Socket Connected");
|
||||
sendFullSettings();
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});
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ws.onClose(ctx -> {
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users.remove(ctx);
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@@ -30,36 +34,133 @@ public class Server {
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SettingsManager.getInstance().SaveSettings();
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});
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ws.onMessage(ctx -> {
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// System.out.println(SettingsManager.getInstance().GetCurrentPipeline().);
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broadcastMessage(ctx, ctx.message());
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JSONObject jsonObject = new JSONObject(ctx.message());
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String key =jsonObject.keySet().toArray()[0].toString();
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String key = jsonObject.keySet().toArray()[0].toString();
|
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Object value = jsonObject.get(key);
|
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System.out.println("Key: "+key+" Value: "+value);
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Field[] fields = Pipeline.class.getFields();
|
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for (Field f : fields)
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{//TODO: check calibration in output tab for crashes
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||||
if(f.getName().equals(key))
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{
|
||||
if(BeanUtils.isSimpleValueType(value.getClass()))
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f.set(SettingsManager.getInstance().GetCurrentPipeline(),value);
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else
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||||
if(value.getClass()==JSONArray.class){
|
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f.set(SettingsManager.getInstance().GetCurrentPipeline(),((JSONArray)value).toList());
|
||||
}
|
||||
if (!setField(SettingsManager.getInstance().GetCurrentPipeline(), key, value)) {
|
||||
//If field not in pipeline
|
||||
switch (key) {
|
||||
case "change_general_settings_values":
|
||||
JSONObject newSettings = (JSONObject) value;
|
||||
setFields(SettingsManager.getInstance().GeneralSettings, newSettings);
|
||||
break;
|
||||
case "curr_camera":
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||||
SettingsManager.getInstance().SetCurrentCamera((String) value);
|
||||
//broadcastMessage((Map<String, Object>) new HashMap<String, Object>(){}.put("port",SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera)));
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||||
//broadcastMessage(SettingsManager.getInstance().GetCurrentCamera());//TODO CHECK JSON FOR CAMERA CHANGE
|
||||
break;
|
||||
case "curr_pipeline":
|
||||
System.out.println("change pipeline");
|
||||
SettingsManager.getInstance().SetCurrentPipeline((String) value);
|
||||
SettingsManager.CamerasCurrentPipeline.put(SettingsManager.GeneralSettings.curr_camera, (String) value);
|
||||
// broadcastMessage(SettingsManager.getInstance().GetCurrentPipeline());//TODO CHECK JSON FOR PIPELINE CHANGE
|
||||
break;
|
||||
case "resolution":
|
||||
System.out.println("change res");
|
||||
SettingsManager.getInstance().GetCurrentCamera().resolution = (int) value;
|
||||
SettingsManager.getInstance().SetCameraSettings(SettingsManager.GeneralSettings.curr_camera, "resolution", value);
|
||||
SettingsManager.getInstance().SaveSettings();
|
||||
break;
|
||||
case "fov":
|
||||
System.out.println("change fov");
|
||||
SettingsManager.getInstance().GetCurrentCamera().FOV = (double) value;
|
||||
SettingsManager.getInstance().SaveSettings();
|
||||
break;
|
||||
default:
|
||||
System.out.println("Unexpected value");
|
||||
break;
|
||||
}
|
||||
}
|
||||
});
|
||||
});
|
||||
app.start(port);
|
||||
}
|
||||
private static void broadcastMessage(WsContext sendingUser, String message){
|
||||
for (var user : users)
|
||||
{
|
||||
if (user != sendingUser){
|
||||
|
||||
|
||||
public static boolean setField(Object obj, String fieldName, Object value) {
|
||||
boolean successful = false;
|
||||
try {
|
||||
Field[] fields = obj.getClass().getFields();
|
||||
for (Field f : fields) {
|
||||
if (f.getName().equals(fieldName)) {
|
||||
successful = true;
|
||||
if (BeanUtils.isSimpleValueType(value.getClass())) {
|
||||
f.set(obj, value);
|
||||
} else if (value.getClass() == JSONArray.class) {
|
||||
f.set(obj, ((JSONArray) value).toList());
|
||||
}
|
||||
}
|
||||
}
|
||||
} catch (IllegalAccessException e) {
|
||||
return false;
|
||||
}
|
||||
return successful;
|
||||
}
|
||||
|
||||
public static boolean setFields(Object obj, JSONObject data) {
|
||||
boolean successful = false;
|
||||
try {
|
||||
Field[] fields = obj.getClass().getFields();
|
||||
for (Field f : fields) {
|
||||
if (data.has(f.getName())) {
|
||||
Object value = data.get(f.getName());
|
||||
if (BeanUtils.isSimpleValueType(value.getClass())) {
|
||||
successful = true;
|
||||
f.set(obj, value);
|
||||
}
|
||||
}
|
||||
}
|
||||
} catch (IllegalAccessException e) {
|
||||
return false;
|
||||
}
|
||||
return successful;
|
||||
}
|
||||
|
||||
private static void broadcastMessage(WsContext sendingUser, String message) {
|
||||
for (var user : users) {
|
||||
if (user != sendingUser) {
|
||||
user.send(message);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private static void broadcastMessage(Map<String, Object> map) {
|
||||
for (var user : users) {
|
||||
user.send(new JSONObject(map).toString());
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
private static void addAllFieldsToMap(Map<String, Object> map, Object obj) {
|
||||
try {
|
||||
Field[] fields = obj.getClass().getFields();
|
||||
for (Field field : fields)
|
||||
map.put(field.getName(), field.get(obj));
|
||||
} catch (IllegalAccessException e) {
|
||||
System.err.println("Illegal Access error:" + e.getStackTrace().toString());
|
||||
}
|
||||
}
|
||||
|
||||
private static void sendFullSettings() {
|
||||
Map<String, Object> fullSettings = new HashMap<>();
|
||||
//General settings
|
||||
addAllFieldsToMap(fullSettings, SettingsManager.GeneralSettings);
|
||||
fullSettings.put("cameraList", SettingsManager.Cameras.keySet());
|
||||
try {
|
||||
addAllFieldsToMap(fullSettings, SettingsManager.getInstance().GetCurrentPipeline());
|
||||
fullSettings.put("pipelineList", SettingsManager.getInstance().GetCurrentCamera().pipelines.keySet());
|
||||
fullSettings.put("resolutionList", SettingsManager.getInstance().GetResolutionList());
|
||||
fullSettings.put("resolution", SettingsManager.getInstance().GetCurrentCamera().resolution);
|
||||
fullSettings.put("FOV", SettingsManager.getInstance().GetCurrentCamera().FOV);
|
||||
// fullSettings.put("port", SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera));
|
||||
} catch (NoCameraException e) {
|
||||
System.err.println("No camera found!");
|
||||
//TODO: add message to ui to inform that there are no cameras
|
||||
}
|
||||
broadcastMessage(fullSettings);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user