mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
general settings and camera settings as http requests
This commit is contained in:
ori agranat
277
Main/src/main/java/com/chameleonvision/web/SocketHandler.java
Normal file
277
Main/src/main/java/com/chameleonvision/web/SocketHandler.java
Normal file
@@ -0,0 +1,277 @@
|
||||
package com.chameleonvision.web;
|
||||
|
||||
import com.chameleonvision.settings.GeneralSettings;
|
||||
import com.chameleonvision.vision.*;
|
||||
import com.chameleonvision.vision.camera.Camera;
|
||||
import com.chameleonvision.vision.camera.CameraException;
|
||||
import com.chameleonvision.settings.SettingsManager;
|
||||
import com.chameleonvision.vision.camera.CameraManager;
|
||||
import com.fasterxml.jackson.core.JsonProcessingException;
|
||||
import com.fasterxml.jackson.core.type.TypeReference;
|
||||
import com.fasterxml.jackson.databind.ObjectMapper;
|
||||
import edu.wpi.cscore.VideoException;
|
||||
import io.javalin.websocket.*;
|
||||
|
||||
import org.apache.commons.lang3.ArrayUtils;
|
||||
import org.msgpack.jackson.dataformat.MessagePackFactory;
|
||||
|
||||
import java.io.IOException;
|
||||
import java.lang.reflect.Field;
|
||||
import java.lang.reflect.ParameterizedType;
|
||||
import java.nio.ByteBuffer;
|
||||
import java.util.*;
|
||||
|
||||
|
||||
public class SocketHandler {
|
||||
|
||||
private static List<WsContext> users;
|
||||
private static ObjectMapper objectMapper;
|
||||
|
||||
SocketHandler() {
|
||||
users = new ArrayList<>();
|
||||
objectMapper = new ObjectMapper(new MessagePackFactory());
|
||||
}
|
||||
|
||||
void onConnect(WsConnectContext context) {
|
||||
users.add(context);
|
||||
sendFullSettings();
|
||||
}
|
||||
|
||||
public void onClose(WsCloseContext context) {
|
||||
users.remove(context);
|
||||
}
|
||||
|
||||
void onBinaryMessage(WsBinaryMessageContext context) throws Exception {
|
||||
Map<String, Object> deserialized = objectMapper.readValue(ArrayUtils.toPrimitive(context.data()), new TypeReference<Map<String, Object>>() {
|
||||
});
|
||||
for (Map.Entry<String, Object> entry : deserialized.entrySet()) {
|
||||
try {
|
||||
switch (entry.getKey()) {
|
||||
case "driverMode": {
|
||||
for (HashMap.Entry<String, Object> e : ((HashMap<String, Object>) entry.getValue()).entrySet()) {
|
||||
setField(CameraManager.getCurrentCamera(), e.getKey(), e.getValue());
|
||||
}
|
||||
CameraManager.getCurrentCamera().setDriverMode((Boolean) ((HashMap<String, Object>) entry.getValue()).get("isDriver"));
|
||||
CameraManager.saveCameras();
|
||||
break;
|
||||
}
|
||||
case "changeCameraName": {
|
||||
CameraManager.getCurrentCamera().setNickname((String) entry.getValue());
|
||||
sendFullSettings();
|
||||
SettingsManager.saveSettings();
|
||||
break;
|
||||
}
|
||||
case "changePipelineName": {
|
||||
CameraManager.getCurrentPipeline().nickname = (String) entry.getValue();
|
||||
sendFullSettings();
|
||||
SettingsManager.saveSettings();
|
||||
break;
|
||||
}
|
||||
case "duplicatePipeline": {
|
||||
HashMap pipelineVals = (HashMap) entry.getValue();
|
||||
int pipelineIndex = (int) pipelineVals.get("pipeline");
|
||||
int cameraIndex = (int) pipelineVals.get("camera");
|
||||
|
||||
Pipeline origPipeline = CameraManager.getCurrentCamera().getPipelineByIndex(pipelineIndex);
|
||||
|
||||
if (cameraIndex != -1) {
|
||||
CameraManager.getCameraByIndex(cameraIndex).addPipeline(origPipeline);
|
||||
} else {
|
||||
CameraManager.getCurrentCamera().addPipeline(origPipeline);
|
||||
}
|
||||
SettingsManager.saveSettings();
|
||||
break;
|
||||
}
|
||||
case "command": {
|
||||
var cam = CameraManager.getCurrentCamera();
|
||||
switch ((String) entry.getValue()) {
|
||||
case "addNewPipeline":
|
||||
cam.addPipeline();
|
||||
sendFullSettings();
|
||||
SettingsManager.saveSettings();
|
||||
break;
|
||||
case "deleteCurrentPipeline":
|
||||
int currentIndex = cam.getCurrentPipelineIndex();
|
||||
int nextIndex;
|
||||
if (currentIndex == cam.getPipelines().size() - 1) {
|
||||
nextIndex = currentIndex - 1;
|
||||
} else {
|
||||
nextIndex = currentIndex;
|
||||
}
|
||||
cam.deletePipeline();
|
||||
cam.setCurrentPipelineIndex(nextIndex);
|
||||
sendFullSettings();
|
||||
SettingsManager.saveSettings();
|
||||
break;
|
||||
case "save":
|
||||
SettingsManager.saveSettings();
|
||||
System.out.println("saved Settings");
|
||||
break;
|
||||
}
|
||||
// used to define all incoming commands
|
||||
break;
|
||||
}
|
||||
case "currentCamera": {
|
||||
CameraManager.setCurrentCamera((Integer) entry.getValue());
|
||||
sendFullSettings();
|
||||
break;
|
||||
}
|
||||
case "currentPipeline": {
|
||||
var cam = CameraManager.getCurrentCamera();
|
||||
cam.setCurrentPipelineIndex((Integer) entry.getValue());
|
||||
sendFullSettings();
|
||||
try {
|
||||
cam.setBrightness(cam.getCurrentPipeline().brightness);
|
||||
cam.setExposure(cam.getCurrentPipeline().exposure);
|
||||
} catch (Exception e) {
|
||||
continue;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
setField(CameraManager.getCurrentCamera().getCurrentPipeline(), entry.getKey(), entry.getValue());
|
||||
switch (entry.getKey()) {
|
||||
case "exposure": {
|
||||
CameraManager.getCurrentCamera().setExposure((Integer) entry.getValue());
|
||||
}
|
||||
case "brightness": {
|
||||
CameraManager.getCurrentCamera().setBrightness((Integer) entry.getValue());
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
} catch (Exception e) {
|
||||
System.err.println(e.getMessage());
|
||||
}
|
||||
broadcastMessage(deserialized, context);
|
||||
}
|
||||
}
|
||||
|
||||
private void setField(Object obj, String fieldName, Object value) {
|
||||
try {
|
||||
if (obj instanceof Camera) {
|
||||
var cam = (Camera) obj;
|
||||
switch (fieldName) {
|
||||
case "driverBrightness":
|
||||
cam.setDriverBrightness((Integer) value);
|
||||
break;
|
||||
case "driverExposure":
|
||||
cam.setDriverExposure((Integer) value);
|
||||
break;
|
||||
case "isDriver":
|
||||
cam.setDriverMode((boolean) value);
|
||||
break;
|
||||
default:
|
||||
Field field = obj.getClass().getField(fieldName);
|
||||
if (field.getType().isEnum()) {
|
||||
field.set(obj, field.getType().getEnumConstants()[(Integer) value]);
|
||||
} else {
|
||||
field.set(obj, value);
|
||||
}
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
Field field = obj.getClass().getField(fieldName);
|
||||
if (field.getType().isEnum()) {
|
||||
field.set(obj, field.getType().getEnumConstants()[(Integer) value]);
|
||||
} else {
|
||||
field.set(obj, value);
|
||||
}
|
||||
}
|
||||
|
||||
} catch (NoSuchFieldException | IllegalAccessException ex) {
|
||||
ex.printStackTrace();
|
||||
}
|
||||
}
|
||||
|
||||
private static void broadcastMessage(Object obj, WsContext userToSkip) {
|
||||
if (users != null)
|
||||
for (var user : users) {
|
||||
if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
|
||||
continue;
|
||||
}
|
||||
try {
|
||||
ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(obj));
|
||||
user.send(b);
|
||||
} catch (JsonProcessingException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static void broadcastMessage(Object obj) {
|
||||
broadcastMessage(obj, null);//Broadcasts the message to every user
|
||||
}
|
||||
|
||||
private static HashMap<String, Object> getOrdinalPipeline() throws CameraException, IllegalAccessException {
|
||||
HashMap<String, Object> tmp = new HashMap<>();
|
||||
for (Field f : Pipeline.class.getFields()) {
|
||||
if (!f.getType().isEnum()) {
|
||||
tmp.put(f.getName(), f.get(CameraManager.getCurrentCamera().getCurrentPipeline()));
|
||||
} else {
|
||||
var i = (Enum) f.get(CameraManager.getCurrentCamera().getCurrentPipeline());
|
||||
tmp.put(f.getName(), i.ordinal());
|
||||
}
|
||||
}
|
||||
return tmp;
|
||||
}
|
||||
|
||||
private static HashMap<String, Object> getOrdinalSettings() {
|
||||
HashMap<String, Object> tmp = new HashMap<>();
|
||||
tmp.put("teamNumber", SettingsManager.GeneralSettings.teamNumber);
|
||||
tmp.put("connectionType", SettingsManager.GeneralSettings.connectionType.ordinal());
|
||||
tmp.put("ip", SettingsManager.GeneralSettings.ip);
|
||||
tmp.put("gateway", SettingsManager.GeneralSettings.gateway);
|
||||
tmp.put("netmask", SettingsManager.GeneralSettings.netmask);
|
||||
tmp.put("hostname", SettingsManager.GeneralSettings.hostname);
|
||||
return tmp;
|
||||
}
|
||||
|
||||
private static HashMap<String, Object> getOrdinalCameraSettings() {
|
||||
HashMap<String, Object> tmp = new HashMap<>();
|
||||
try {
|
||||
var currentCamera = CameraManager.getCurrentCamera();
|
||||
tmp.put("fov", currentCamera.getFOV());
|
||||
tmp.put("streamDivisor", currentCamera.getStreamDivisor().ordinal());
|
||||
tmp.put("resolution", currentCamera.getVideoModeIndex());
|
||||
} catch (CameraException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
return tmp;
|
||||
}
|
||||
|
||||
private static HashMap<String, Object> getOrdinalDriver() {
|
||||
HashMap<String, Object> tmp = new HashMap<>();
|
||||
try {
|
||||
var currentCamera = CameraManager.getCurrentCamera();
|
||||
tmp.put("isDriver", currentCamera.getDriverMode());
|
||||
tmp.put("driverBrightness", currentCamera.getDriverBrightness());
|
||||
tmp.put("driverExposure", currentCamera.getDriverExposure());
|
||||
} catch (CameraException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
return tmp;
|
||||
}
|
||||
|
||||
public static void sendFullSettings() {
|
||||
//General settings
|
||||
Map<String, Object> fullSettings = new HashMap<>();
|
||||
try {
|
||||
fullSettings.put("settings", getOrdinalSettings());
|
||||
fullSettings.put("cameraSettings", getOrdinalCameraSettings());
|
||||
fullSettings.put("cameraList", CameraManager.getAllCameraByNickname());
|
||||
fullSettings.put("pipeline", getOrdinalPipeline());
|
||||
var currentCamera = CameraManager.getCurrentCamera();
|
||||
fullSettings.put("driverMode", getOrdinalDriver());
|
||||
fullSettings.put("pipelineList", currentCamera.getPipelinesNickname());
|
||||
fullSettings.put("resolutionList", currentCamera.getResolutionList());
|
||||
fullSettings.put("port", currentCamera.getStreamPort());
|
||||
fullSettings.put("currentPipelineIndex", CameraManager.getCurrentCamera().getCurrentPipelineIndex());
|
||||
fullSettings.put("currentCameraIndex", CameraManager.getCurrentCameraIndex());
|
||||
} catch (CameraException | IllegalAccessException e) {
|
||||
System.err.println("No camera found!");
|
||||
}
|
||||
broadcastMessage(fullSettings);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user