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Fixed usb camera bug, work on pipeline configs

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This commit is contained in:
Banks Troutman
2019-11-27 19:39:08 -05:00
parent 5f8ca112a9
commit 07e07df040
7 changed files with 53 additions and 29 deletions
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8
Main/src/main/java/com/chameleonvision/config/CVPipelineSettingsList.java Normal file
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@@ -0,0 +1,8 @@
package com.chameleonvision.config;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import java.util.List;
public interface CVPipelineSettingsList extends List<CVPipelineSettings> {
}

20
Main/src/main/java/com/chameleonvision/config/CameraConfig.java
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@@ -1,6 +1,7 @@
package com.chameleonvision.config; package com.chameleonvision.config;
import com.chameleonvision.util.JacksonHelper; import com.chameleonvision.util.JacksonHelper;
import com.chameleonvision.vision.pipeline.CVPipeline2dSettings;
import com.chameleonvision.vision.pipeline.CVPipelineSettings; import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import java.io.File; import java.io.File;
@@ -38,6 +39,11 @@ public class CameraConfig {
CameraJsonConfig config = preliminaryConfig; CameraJsonConfig config = preliminaryConfig;
try { try {
config = JacksonHelper.deserializer(getConfigPath(), CameraJsonConfig.class); config = JacksonHelper.deserializer(getConfigPath(), CameraJsonConfig.class);
// if (config != null) {
// TODO: fix for multicamera
// boolean pathsDifferent = !(config.path != preliminaryConfig.path);
// config = new CameraJsonConfig(config.fov, preliminaryConfig.path, config.name, config.nickname);
// }
} catch (IOException e) { } catch (IOException e) {
System.err.printf("Failed to load camera config: %s - using default.\n", getConfigPath().toString()); System.err.printf("Failed to load camera config: %s - using default.\n", getConfigPath().toString());
} }
@@ -48,10 +54,8 @@ public class CameraConfig {
List<CVPipelineSettings> pipelines = new ArrayList<>(); List<CVPipelineSettings> pipelines = new ArrayList<>();
try { try {
var pipelineArray = JacksonHelper.deserializer(getPipelinesPath(), CVPipelineSettings[].class); var pipelineArray = JacksonHelper.deserializer(getPipelinesPath(), CVPipelineSettings[].class);
if (pipelineArray != null) { // pipelines = Arrays.asList(pipelineArray);
pipelines = Arrays.asList(pipelineArray); } catch (Exception e) {
}
} catch (IOException e) {
System.err.println("Failed to load camera pipelines: " + getPipelinesPath().toString()); System.err.println("Failed to load camera pipelines: " + getPipelinesPath().toString());
} }
return pipelines; return pipelines;
@@ -78,7 +82,7 @@ public class CameraConfig {
void savePipelines(List<CVPipelineSettings> pipelines) { void savePipelines(List<CVPipelineSettings> pipelines) {
try { try {
JacksonHelper.serializer(getPipelinesPath(), pipelines); JacksonHelper.serializer(getPipelinesPath(), pipelines.toArray());
} catch (IOException e) { } catch (IOException e) {
System.err.println("Failed to save camera pipelines file: " + getConfigPath().toString()); System.err.println("Failed to save camera pipelines file: " + getConfigPath().toString());
} }
@@ -99,8 +103,7 @@ public class CameraConfig {
System.err.println("Failed to create camera config folder: " + getFolderPath().toString()); System.err.println("Failed to create camera config folder: " + getFolderPath().toString());
} }
} catch(Exception e) { } catch(Exception e) {
if(!(e instanceof java.nio.file.FileAlreadyExistsException || e instanceof java.nio.file.FileAlreadyExistsException)) System.err.println("Failed to create camera config folder: " + getFolderPath().toString());
System.err.println("Failed to create camera config folder: " + getFolderPath().toString());
} }
} }
} }
@@ -118,7 +121,8 @@ public class CameraConfig {
private void checkPipelines() { private void checkPipelines() {
if (!pipelinesExists()) { if (!pipelinesExists()) {
try { try {
Files.createFile(getPipelinesPath()); var sanePipeline = List.of(new CVPipeline2dSettings()).toArray();
JacksonHelper.serializer(getPipelinesPath(), List.of(new CVPipeline2dSettings()).toArray());
} catch (IOException e) { } catch (IOException e) {
System.err.println("Failed to create camera pipelines file: " + getPipelinesPath().toString()); System.err.println("Failed to create camera pipelines file: " + getPipelinesPath().toString());
} }

2
Main/src/main/java/com/chameleonvision/config/CameraJsonConfig.java
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@@ -32,6 +32,6 @@ public class CameraJsonConfig {
public static CameraJsonConfig fromUSBCameraProcess(USBCameraCapture process) { public static CameraJsonConfig fromUSBCameraProcess(USBCameraCapture process) {
USBCameraProperties camProps = process.getProperties(); USBCameraProperties camProps = process.getProperties();
return new CameraJsonConfig(camProps.getFOV(), camProps.name, camProps.path, camProps.getNickname()); return new CameraJsonConfig(camProps.getFOV(), camProps.path, camProps.name, camProps.getNickname());
} }
} }

6
Main/src/main/java/com/chameleonvision/util/JacksonHelper.java
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@@ -12,15 +12,15 @@ import java.nio.file.Path;
public class JacksonHelper { public class JacksonHelper {
private JacksonHelper() {} // no construction, utility class private JacksonHelper() {} // no construction, utility class
public static void serializer(Path path, Object object) throws IOException { public static <T> void serializer(Path path, T object) throws IOException {
PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(Object.class).build(); PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(object.getClass()).build();
ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT).build(); ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT).build();
objectMapper.writerWithDefaultPrettyPrinter().writeValue(new File(path.toString()), object); objectMapper.writerWithDefaultPrettyPrinter().writeValue(new File(path.toString()), object);
} }
public static <T> T deserializer(Path path, Class<T> ref) throws IOException { public static <T> T deserializer(Path path, Class<T> ref) throws IOException {
PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(ref).build(); PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(ref).build();
ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv).build(); ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT).build();
File jsonFile = new File(path.toString()); File jsonFile = new File(path.toString());
if (jsonFile.exists() && jsonFile.length() > 0) { if (jsonFile.exists() && jsonFile.length() > 0) {
return objectMapper.readValue(jsonFile, ref); return objectMapper.readValue(jsonFile, ref);

9
Main/src/main/java/com/chameleonvision/vision/VisionManager.java
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@@ -92,8 +92,7 @@ public class VisionManager {
CameraJsonConfig cameraJsonConfig = config.cameraConfig; CameraJsonConfig cameraJsonConfig = config.cameraConfig;
CameraCapture camera = new USBCameraCapture(cameraJsonConfig); CameraCapture camera = new USBCameraCapture(cameraJsonConfig);
VisionProcess process = new VisionProcess(camera, cameraJsonConfig.name); VisionProcess process = new VisionProcess(camera, cameraJsonConfig.name, config.pipelines);
config.pipelines.forEach(process::addPipeline);
process.setDriverModeSettings(config.drivermode); process.setDriverModeSettings(config.drivermode);
visionProcesses.add(new VisionProcessManageable(i, cameraJsonConfig.name, process)); visionProcesses.add(new VisionProcessManageable(i, cameraJsonConfig.name, process));
} }
@@ -172,8 +171,12 @@ public class VisionManager {
ConfigManager.saveCameraDriverMode(getCurrentCameraName(), driverModeSettings); ConfigManager.saveCameraDriverMode(getCurrentCameraName(), driverModeSettings);
} }
public static List<String> getCameraResolutionList(CameraCapture capture) {
return capture.getProperties().getVideoModes().stream().map(Helpers::VideoModeToString).collect(Collectors.toList());
}
public static List<String> getCurrentCameraResolutionList() { public static List<String> getCurrentCameraResolutionList() {
return currentUIVisionProcess.getCamera().getProperties().getVideoModes().stream().map(Helpers::VideoModeToString).collect(Collectors.toList()); return getCameraResolutionList(currentUIVisionProcess.getCamera());
} }
public static int getCurrentUIVisionProcessIndex() { public static int getCurrentUIVisionProcessIndex() {

13
Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -55,11 +55,18 @@ public class VisionProcess {
private NetworkTableEntry ntValidEntry; private NetworkTableEntry ntValidEntry;
private ObjectMapper objectMapper = new ObjectMapper(); private ObjectMapper objectMapper = new ObjectMapper();
VisionProcess(CameraCapture cameraCapture, String name) { VisionProcess(CameraCapture cameraCapture, String name, List<CVPipelineSettings> loadedPipelineSettings) {
this.cameraCapture = cameraCapture; this.cameraCapture = cameraCapture;
pipelines.add(new CVPipeline2d("New Pipeline")); if (loadedPipelineSettings == null || loadedPipelineSettings.size() == 0) {
setPipeline(0, false); pipelines.add(new CVPipeline2d("New Pipeline"));
} else {
for (CVPipelineSettings setting : loadedPipelineSettings) {
addPipeline(setting);
}
setPipeline(0, false);
}
// Thread to put frames on the dashboard // Thread to put frames on the dashboard
this.cameraStreamer = new CameraStreamer(cameraCapture, name); this.cameraStreamer = new CameraStreamer(cameraCapture, name);

24
Main/src/main/java/com/chameleonvision/web/SocketHandler.java
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@@ -1,26 +1,28 @@
package com.chameleonvision.web; package com.chameleonvision.web;
import com.chameleonvision.config.GeneralSettings; import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.vision.VisionManager; import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.vision.VisionProcess; import com.chameleonvision.vision.VisionProcess;
import com.chameleonvision.vision.camera.CameraCapture; import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.vision.enums.CalibrationMode;
import com.chameleonvision.vision.pipeline.CVPipeline;
import com.chameleonvision.vision.pipeline.CVPipeline2dSettings;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.chameleonvision.vision.enums.StreamDivisor; import com.chameleonvision.vision.enums.StreamDivisor;
import com.chameleonvision.vision.pipeline.CVPipeline;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.fasterxml.jackson.core.JsonProcessingException; import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference; import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper; import com.fasterxml.jackson.databind.ObjectMapper;
import io.javalin.websocket.*; import io.javalin.websocket.WsBinaryMessageContext;
import io.javalin.websocket.WsCloseContext;
import io.javalin.websocket.WsConnectContext;
import io.javalin.websocket.WsContext;
import org.apache.commons.lang3.ArrayUtils; import org.apache.commons.lang3.ArrayUtils;
import org.msgpack.jackson.dataformat.MessagePackFactory; import org.msgpack.jackson.dataformat.MessagePackFactory;
import java.lang.reflect.Field; import java.lang.reflect.Field;
import java.nio.ByteBuffer; import java.nio.ByteBuffer;
import java.util.*; import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
public class SocketHandler { public class SocketHandler {
@@ -137,13 +139,13 @@ public class SocketHandler {
switch (entry.getKey()) { switch (entry.getKey()) {
case "exposure": { case "exposure": {
currentCamera.setExposure((Integer) entry.getValue()); currentCamera.setExposure((Integer) entry.getValue());
VisionManager.saveCurrentCameraPipelines();
} }
case "brightness": { case "brightness": {
currentCamera.setBrightness((Integer) entry.getValue()); currentCamera.setBrightness((Integer) entry.getValue());
VisionManager.saveCurrentCameraPipelines();
} }
} }
VisionManager.saveCurrentCameraPipelines();
break; break;
} }
} }