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general settings and camera settings as http requests

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ori agranat
2019-11-09 19:52:33 +02:00
parent 130cc394ee
commit 1198e2cf99
9 changed files with 153 additions and 74 deletions
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5
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -2,14 +2,13 @@ package com.chameleonvision.vision.camera;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.ServerHandler;
import com.chameleonvision.web.SocketHandler;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import org.opencv.core.Mat;
import java.lang.reflect.Array;
import java.util.*;
import java.util.stream.Collectors;
import java.util.stream.IntStream;
@@ -157,7 +156,7 @@ public class Camera {
var newHeight = camVideoMode.height / streamDivisor.value;
cvSource = cs.putVideo(name, newWidth, newHeight);
}
ServerHandler.sendFullSettings();
SocketHandler.sendFullSettings();
}
public void addPipeline() {

8
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -4,7 +4,7 @@ import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Orientation;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.web.ServerHandler;
import com.chameleonvision.web.SocketHandler;
import edu.wpi.cscore.VideoException;
import edu.wpi.first.networktables.*;
import org.opencv.core.*;
@@ -76,8 +76,8 @@ public class VisionProcess implements Runnable {
SettingsManager.GeneralSettings.currentPipeline = ntPipelineIndex;
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("currentPipeline", ntPipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
ServerHandler.sendFullSettings();
SocketHandler.broadcastMessage(pipeChange);
SocketHandler.sendFullSettings();
}
}
@@ -245,7 +245,7 @@ public class VisionProcess implements Runnable {
point.put("calculated", calculated);
point.put("rawPoint", center);
WebSend.put("point", point);
ServerHandler.broadcastMessage(WebSend);
SocketHandler.broadcastMessage(WebSend);
}
cameraProcess.setOutputFrame(streamOutputMat);

66
Main/src/main/java/com/chameleonvision/web/Requesthandler.java Normal file
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@@ -0,0 +1,66 @@
package com.chameleonvision.web;
import com.chameleonvision.network.NetworkIPMode;
import com.chameleonvision.settings.GeneralSettings;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.camera.CameraException;
import com.chameleonvision.vision.camera.CameraManager;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.JsonMappingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import io.javalin.http.Context;
import java.util.HashMap;
import java.util.Map;
public class Requesthandler {
public static void onGeneralSettings(Context ctx) {
ObjectMapper objectMapper = new ObjectMapper();
try {
Map map = objectMapper.readValue(ctx.body(), Map.class);
SettingsManager.GeneralSettings.teamNumber = (int) map.get("teamNumber");
SettingsManager.GeneralSettings.connectionType = NetworkIPMode.values()[(int) map.get("connectionType")];
SettingsManager.GeneralSettings.ip = (String) map.get("ip");
SettingsManager.GeneralSettings.netmask = (String) map.get("netmask");
SettingsManager.GeneralSettings.gateway = (String) map.get("gateway");
SettingsManager.GeneralSettings.hostname = (String) map.get("hostname");
SettingsManager.saveSettings();
SocketHandler.sendFullSettings();
ctx.status(200);
} catch (JsonProcessingException e) {
ctx.status(500);
}
}
public static void onCameraSettings(Context ctx) {
ObjectMapper objectMapper = new ObjectMapper();
try {
Map camSettings = objectMapper.readValue(ctx.body(), Map.class);
var curCam = CameraManager.getCurrentCamera();
Number newFOV = (Number) camSettings.get("fov");
Integer newStreamDivisor = (Integer) camSettings.get("streamDivisor");
Integer newResolution = (Integer) camSettings.get("resolution");
curCam.setFOV(newFOV);
var currentStreamDivisorOrdinal = curCam.getStreamDivisor().ordinal();
if (currentStreamDivisorOrdinal != newStreamDivisor) {
curCam.setStreamDivisor(newStreamDivisor, true);
}
var currentResolutionIndex = curCam.getVideoModeIndex();
if (currentResolutionIndex != newResolution) {
curCam.setCamVideoMode(newResolution, true);
}
CameraManager.saveCameras();
SocketHandler.sendFullSettings();
ctx.status(200);
} catch (JsonProcessingException | CameraException e) {
e.printStackTrace();
ctx.status(500);
}
}
}

21
Main/src/main/java/com/chameleonvision/web/Server.java
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@@ -3,30 +3,33 @@ package com.chameleonvision.web;
import com.chameleonvision.settings.SettingsManager;
import io.javalin.Javalin;
public class Server {
public static ServerHandler handler;
private static SocketHandler socketHandler;
public static void main(int port) {
handler = new ServerHandler();
socketHandler = new SocketHandler();
Javalin app = Javalin.create(javalinConfig -> javalinConfig.showJavalinBanner=false);
app.config.addStaticFiles("web");
Javalin app = Javalin.create(javalinConfig -> {
javalinConfig.showJavalinBanner = false;
javalinConfig.addStaticFiles("web");
javalinConfig.enableCorsForAllOrigins();
});
app.ws("/websocket", ws -> {
ws.onConnect(ctx -> {
handler.onConnect(ctx);
socketHandler.onConnect(ctx);
System.out.println("Socket Connected");
});
ws.onClose(ctx -> {
handler.onClose(ctx);
socketHandler.onClose(ctx);
System.out.println("Socket Disconnected");
SettingsManager.saveSettings();
});
ws.onBinaryMessage(ctx -> {
handler.onBinaryMessage(ctx);
socketHandler.onBinaryMessage(ctx);
});
});
app.post("/api/settings/general", Requesthandler::onGeneralSettings);
app.post("/api/settings/camera", Requesthandler::onCameraSettings);
app.start(port);
}
}

45
Main/src/main/java/com/chameleonvision/web/ServerHandler.java → Main/src/main/java/com/chameleonvision/web/SocketHandler.java
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@@ -22,12 +22,12 @@ import java.nio.ByteBuffer;
import java.util.*;
public class ServerHandler {
public class SocketHandler {
private static List<WsContext> users;
private static ObjectMapper objectMapper;
ServerHandler() {
SocketHandler() {
users = new ArrayList<>();
objectMapper = new ObjectMapper(new MessagePackFactory());
}
@@ -47,14 +47,6 @@ public class ServerHandler {
for (Map.Entry<String, Object> entry : deserialized.entrySet()) {
try {
switch (entry.getKey()) {
case "generalSettings": {
for (HashMap.Entry<String, Object> e : ((HashMap<String, Object>) entry.getValue()).entrySet()) {
setField(SettingsManager.GeneralSettings, e.getKey(), e.getValue());
}
SettingsManager.saveSettings();
sendFullSettings();
break;
}
case "driverMode": {
for (HashMap.Entry<String, Object> e : ((HashMap<String, Object>) entry.getValue()).entrySet()) {
setField(CameraManager.getCurrentCamera(), e.getKey(), e.getValue());
@@ -63,30 +55,6 @@ public class ServerHandler {
CameraManager.saveCameras();
break;
}
case "cameraSettings": {
HashMap camSettings = (HashMap) entry.getValue();
var curCam = CameraManager.getCurrentCamera();
Number newFOV = (Number) camSettings.get("fov");
Integer newStreamDivisor = (Integer) camSettings.get("streamDivisor");
Integer newResolution = (Integer) camSettings.get("resolution");
curCam.setFOV(newFOV);
var currentStreamDivisorOrdinal = curCam.getStreamDivisor().ordinal();
if (currentStreamDivisorOrdinal != newStreamDivisor) {
curCam.setStreamDivisor(newStreamDivisor, true);
}
var currentResolutionIndex = curCam.getVideoModeIndex();
if (currentResolutionIndex != newResolution) {
curCam.setCamVideoMode(newResolution, true);
}
CameraManager.saveCameras();
sendFullSettings();
break;
}
case "changeCameraName": {
CameraManager.getCurrentCamera().setNickname((String) entry.getValue());
sendFullSettings();
@@ -183,7 +151,7 @@ public class ServerHandler {
private void setField(Object obj, String fieldName, Object value) {
try {
if (obj instanceof Camera) {
var cam = (Camera)obj;
var cam = (Camera) obj;
switch (fieldName) {
case "driverBrightness":
cam.setDriverBrightness((Integer) value);
@@ -192,7 +160,7 @@ public class ServerHandler {
cam.setDriverExposure((Integer) value);
break;
case "isDriver":
cam.setDriverMode((boolean)value);
cam.setDriverMode((boolean) value);
break;
default:
Field field = obj.getClass().getField(fieldName);
@@ -207,8 +175,7 @@ public class ServerHandler {
Field field = obj.getClass().getField(fieldName);
if (field.getType().isEnum()) {
field.set(obj, field.getType().getEnumConstants()[(Integer) value]);
}
else {
} else {
field.set(obj, value);
}
}
@@ -296,7 +263,7 @@ public class ServerHandler {
fullSettings.put("cameraList", CameraManager.getAllCameraByNickname());
fullSettings.put("pipeline", getOrdinalPipeline());
var currentCamera = CameraManager.getCurrentCamera();
fullSettings.put("driverMode",getOrdinalDriver());
fullSettings.put("driverMode", getOrdinalDriver());
fullSettings.put("pipelineList", currentCamera.getPipelinesNickname());
fullSettings.put("resolutionList", currentCamera.getResolutionList());
fullSettings.put("port", currentCamera.getStreamPort());