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Start plumbing UI

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This commit is contained in:
Matt
2019-11-22 14:20:23 -08:00
parent d26711c35d
commit 0509b7aed0
3 changed files with 153 additions and 13 deletions
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163
Main/src/main/java/com/chameleonvision/classabstraction/VisionProcess.java
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@@ -2,15 +2,21 @@ package com.chameleonvision.classabstraction;
import com.chameleonvision.classabstraction.camera.CameraProcess;
import com.chameleonvision.classabstraction.camera.CameraStreamer;
import com.chameleonvision.classabstraction.pipeline.CVPipeline;
import com.chameleonvision.classabstraction.pipeline.CVPipelineResult;
import com.chameleonvision.classabstraction.pipeline.CVPipelineSettings;
import com.chameleonvision.classabstraction.pipeline.DriverVisionPipeline;
import com.chameleonvision.classabstraction.config.ConfigManager;
import com.chameleonvision.classabstraction.pipeline.*;
import com.chameleonvision.classabstraction.util.LoopingRunnable;
import com.chameleonvision.web.ServerHandler;
import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.networktables.EntryListenerFlags;
import edu.wpi.first.networktables.EntryNotification;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import org.opencv.core.Mat;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
public class VisionProcess {
@@ -22,6 +28,7 @@ public class VisionProcess {
private final VisionProcessRunnable visionRunnable;
private final CameraStreamer cameraStreamer;
private CVPipeline currentPipeline;
private int currentPipelineIndex = 0;
private final CVPipelineSettings driverVisionSettings = new CVPipelineSettings();
@@ -30,11 +37,24 @@ public class VisionProcess {
private volatile boolean hasUnprocessedFrame = true;
private volatile CVPipelineResult lastPipelineResult;
// network table stuff
public NetworkTableEntry ntPipelineEntry;
public NetworkTableEntry ntDriverModeEntry;
private int ntDriveModeListenerID;
private int ntPipelineListenerID;
private NetworkTableEntry ntYawEntry;
private NetworkTableEntry ntPitchEntry;
private NetworkTableEntry ntAuxListEntry;
private NetworkTableEntry ntDistanceEntry;
private NetworkTableEntry ntTimeStampEntry;
private NetworkTableEntry ntValidEntry;
Gson gson = new GsonBuilder().setPrettyPrinting().create();
public VisionProcess(CameraProcess cameraProcess, String name) {
this.cameraProcess = cameraProcess;
pipelines.add(new DriverVisionPipeline(() -> driverVisionSettings));
setPipeline(pipelines.get(0));
setPipeline(0);
// Thread to grab frames from the camera
// TODO: fix video modes!!!
@@ -69,18 +89,134 @@ public class VisionProcess {
new Thread(streamRunnable).start();
}
public void setPipeline(int pipelineIndex) {
CVPipeline newPipeline = pipelines.get(pipelineIndex);
if (newPipeline != null) {
setPipeline(newPipeline);
/**
* Removes the old value change listeners
* calls {@link #initNT}
*
* @param newTable passed to {@link #initNT}
*/
public void resetNT(NetworkTable newTable) {
ntDriverModeEntry.removeListener(ntDriveModeListenerID);
ntPipelineEntry.removeListener(ntPipelineListenerID);
initNT(newTable);
}
private void initNT(NetworkTable newTable) {
ntPipelineEntry = newTable.getEntry("pipeline");
ntDriverModeEntry = newTable.getEntry("driver_mode");
ntPitchEntry = newTable.getEntry("pitch");
ntYawEntry = newTable.getEntry("yaw");
ntDistanceEntry = newTable.getEntry("distance");
ntTimeStampEntry = newTable.getEntry("timestamp");
ntValidEntry = newTable.getEntry("is_valid");
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::setDriverMode, EntryListenerFlags.kUpdate);
ntPipelineListenerID = ntPipelineEntry.addListener(this::setPipeline, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setNumber(0);
}
private void setDriverMode(EntryNotification ignored) {
setPipeline(0);
}
/**
* Method called by the nt entry listener to update the next pipeline.
* @param notification the notification
*/
private void setPipeline(EntryNotification notification) {
var wantedPipelineIndex = (int) notification.value.getDouble();
if (wantedPipelineIndex >= pipelines.size()) {
ntPipelineEntry.setNumber(currentPipelineIndex);
} else {
currentPipelineIndex = wantedPipelineIndex;
setPipeline(wantedPipelineIndex);
}
}
public void setPipeline(CVPipeline pipeline) {
public void setPipeline(int pipelineIndex) {
CVPipeline newPipeline = pipelines.get(pipelineIndex);
if (newPipeline != null) {
setPipelineInternal(newPipeline);
}
// update the configManager
if(ConfigManager.settings.currentCamera.equals(cameraProcess.getProperties().name)) {
ConfigManager.settings.currentPipeline = pipelineIndex;
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("currentPipeline", pipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
ServerHandler.sendFullSettings();
}
}
private void setPipelineInternal(CVPipeline pipeline) {
pipelines.add(pipeline);
currentPipeline = pipeline;
currentPipeline.initPipeline(cameraProcess);
}
private void updateUI(CVPipelineResult data) {
if(cameraProcess.getProperties().name.equals(ConfigManager.settings.currentCamera)) {
HashMap<String, Object> WebSend = new HashMap<>();
HashMap<String, Object> point = new HashMap<>();
HashMap<String, Object> calculated = new HashMap<>();
List<Double> center = new ArrayList<>();
if (data.hasTarget) {
if(data instanceof CVPipeline2d.CVPipeline2dResult) {
CVPipeline2d.CVPipeline2dResult result = (CVPipeline2d.CVPipeline2dResult) data;
CVPipeline2d.Target bestTarget = result.targets.get(0);
center.add(bestTarget.rawPoint.center.x);
center.add(bestTarget.rawPoint.center.y);
calculated.put("pitch", bestTarget.pitch);
calculated.put("yaw", bestTarget.yaw);
} else {
center.add(0.0);
center.add(0.0);
calculated.put("pitch", 0);
calculated.put("yaw", 0);
}
} else {
center.add(0.0);
center.add(0.0);
calculated.put("pitch", 0);
calculated.put("yaw", 0);
}
point.put("fps", visionRunnable.fps);
point.put("calculated", calculated);
point.put("rawPoint", center);
WebSend.put("point", point);
ServerHandler.broadcastMessage(WebSend);
}
}
private void updateNetworkTableData(CVPipelineResult data) {
ntValidEntry.setBoolean(data.hasTarget);
if(data.hasTarget && !(data instanceof DriverVisionPipeline.DriverPipelineResult)) {
if(data instanceof CVPipeline2d.CVPipeline2dResult) {
ntTimeStampEntry.setDouble(data.processTime);
//noinspection unchecked
List<CVPipeline2d.Target> targets = (List<CVPipeline2d.Target>) data.targets;
ntPitchEntry.setDouble(targets.get(0).pitch);
ntYawEntry.setDouble(targets.get(0).yaw);
ntDistanceEntry.setDouble(targets.get(0).area);
ntAuxListEntry.setString(gson.toJson(targets));
} else if(data instanceof CVPipeline3d.CVPipeline3dResult) {
// TODO implement
}
} else {
ntPitchEntry.setDouble(0.0);
ntYawEntry.setDouble(0.0);
ntDistanceEntry.setDouble(0.0);
ntTimeStampEntry.setDouble(0.0);
}
}
public void setVideoMode(VideoMode newMode) {
cameraProcess.setVideoMode(newMode);
cameraStreamer.setNewVideoMode(newMode);
@@ -126,7 +262,7 @@ public class VisionProcess {
camData.getLeft().copyTo(lastCameraFrame);
hasUnprocessedFrame = true;
}
}
}
public Mat getFrame(Mat dst) {
@@ -145,6 +281,7 @@ public class VisionProcess {
*/
private class VisionProcessRunnable implements Runnable {
public Double fps = 0.0; // TODO update or average or something
private CVPipelineResult result;
private Mat streamBuffer = new Mat();
@@ -167,6 +304,10 @@ public class VisionProcess {
if (streamBuffer.cols() > 0 && streamBuffer.rows() > 0) {
result = currentPipeline.runPipeline(streamBuffer);
lastPipelineResult = result;
updateNetworkTableData(lastPipelineResult);
updateUI(lastPipelineResult);
} else {
// System.err.println("Bad streambuffer mat");
}

2
Main/src/main/java/com/chameleonvision/classabstraction/pipeline/CVPipeline2d.java
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@@ -124,7 +124,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalProcessTimeNanos / 1000);
}
public static class CVPipeline2dResult extends CVPipelineResult<Target> {
public static class CVPipeline2dResult extends CVPipelineResult<Target> {
public CVPipeline2dResult(List<Target> targets, Mat outputMat, long processTime) {
super(targets, outputMat, processTime);
}

1
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -81,7 +81,6 @@ public class VisionProcess implements Runnable {
pipeChange.put("currentPipeline", ntPipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
ServerHandler.sendFullSettings();
}
}
}