Event scripts (#36)

* Begin scripting work * More scripting work * Finalize scripting system * Begin implementing script events * Finalize script system Co-authored-by: Banks T <btrout.dhrs@gmail.com>
2026-06-22 01:11:40 +00:00 · 2020-01-04 06:20:28 -08:00
parent 2ce8a8dad9
commit 159dea1e25
10 changed files with 278 additions and 9 deletions
--- a/chameleon-server/src/main/java/com/chameleonvision/Main.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/Main.java
@@ -2,6 +2,8 @@ package com.chameleonvision;

 import com.chameleonvision.config.ConfigManager;
 import com.chameleonvision.network.NetworkManager;
+import com.chameleonvision.scripting.ScriptEventType;
+import com.chameleonvision.scripting.ScriptManager;
 import com.chameleonvision.util.Platform;
 import com.chameleonvision.util.ShellExec;
 import com.chameleonvision.util.Utilities;
@@ -42,6 +44,8 @@ public class Main {
            if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
                System.err.println("NT Connection has failed!");
                hasReportedConnectionFailure = true;
+            } else if (logMessage.message.contains("connected")) {
+                ScriptManager.queueEvent(ScriptEventType.kNTConnected);
            }
        }
    }
@@ -102,6 +106,9 @@ public class Main {
    }

    public static void main(String[] args) {
+
+        Runtime.getRuntime().addShutdownHook(new Thread(() -> ScriptManager.queueEvent(ScriptEventType.kProgramExit)));
+
        if (CurrentPlatform.equals(Platform.UNSUPPORTED)) {
            System.err.printf("Sorry, this platform is not supported. Give these details to the developers.\n%s\n", CurrentPlatform.toString());
            return;
@@ -133,6 +140,14 @@ public class Main {
        }

        ConfigManager.initializeSettings();
+
+        if (!CurrentPlatform.isWindows()) {
+            ScriptManager.initialize();
+        } else {
+            System.out.println("Scripts not yet supported on Windows. ScriptEvents will be ignored.");
+        }
+
+
        NetworkManager.initialize(manageNetwork);

        if (ntServerMode) {
@@ -148,6 +163,8 @@ public class Main {
 //            NetworkTableInstance.getDefault().startClient("localhost");
        }

+        ScriptManager.queueEvent(ScriptEventType.kProgramInit);
+
        boolean visionSourcesOk = VisionManager.initializeSources();
        if (!visionSourcesOk) {
            System.out.println("No cameras connected!");
@@ -156,13 +173,13 @@ public class Main {

        boolean visionProcessesOk = VisionManager.initializeProcesses();
        if (!visionProcessesOk) {
-            System.err.println("shit");
+            System.err.println("Failed to start threads!");
            return;
        }

        VisionManager.startProcesses();

-        System.out.printf("Starting Webserver at port %d\n", DEFAULT_PORT);
+        System.out.printf("Starting Web server at port %d\n", DEFAULT_PORT);
        Server.main(DEFAULT_PORT);
    }
 }
--- a/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptCommandType.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptCommandType.java
@@ -0,0 +1,14 @@
+package com.chameleonvision.scripting;
+
+public enum ScriptCommandType {
+    kDefault(""),
+    kBashScript("bash"),
+    kPythonScript("python"),
+    kPython3Script("python3");
+
+    public final String value;
+
+    ScriptCommandType(String value) {
+        this.value = value;
+    }
+}
--- a/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptConfig.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptConfig.java
@@ -0,0 +1,23 @@
+package com.chameleonvision.scripting;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonProperty;
+
+public class ScriptConfig {
+    public final ScriptEventType eventType;
+    public final String command;
+
+    public ScriptConfig(ScriptEventType eventType) {
+        this.eventType = eventType;
+        this.command = "";
+    }
+
+    @JsonCreator
+    public ScriptConfig(
+            @JsonProperty("eventType") ScriptEventType eventType,
+            @JsonProperty("command") String command
+    ) {
+        this.eventType = eventType;
+        this.command = command;
+    }
+}
--- a/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptEvent.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptEvent.java
@@ -0,0 +1,35 @@
+package com.chameleonvision.scripting;
+
+import com.chameleonvision.Debug;
+import com.chameleonvision.util.ShellExec;
+
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.LinkedList;
+import java.util.List;
+
+public class ScriptEvent {
+    private static final ShellExec executor = new ShellExec(true, true);
+
+    public final ScriptConfig config;
+
+    public ScriptEvent(ScriptConfig config) {
+        this.config = config;
+    }
+
+    public int run() throws IOException {
+        int retVal = executor.executeBashCommand(config.command);
+
+        String output = executor.getOutput();
+        String error = executor.getError();
+
+        if (!error.isEmpty()) {
+            System.err.printf("Error when running \"%s\" script: %s\n", config.eventType.name(), error);
+        } else if (!output.isEmpty()) {
+            Debug.printInfo(String.format("Output from \"%s\" script: %s\n", config.eventType.name(), output));
+        }
+        Debug.printInfo(String.format("Script for %s ran with command line: \"%s\", exit code: %d, output: %s, error: %s\n", config.eventType.name(), config.command, retVal, output, error));
+        return retVal;
+    }
+}
--- a/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptEventType.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptEventType.java
@@ -0,0 +1,21 @@
+package com.chameleonvision.scripting;
+
+public enum ScriptEventType {
+    kProgramInit("Program Init"),
+    kProgramExit("Program Exit"),
+    kNTConnected("NT Connected"),
+    kLEDOn("LED On"),
+    kLEDOff("LED Off"),
+    kEnterDriverMode("Enter Driver Mode"),
+    kExitDriverMode("Exit Driver Mode"),
+    kFoundTarget("Found Target"),
+    kFoundMultipleTarget("Found Multiple Target"),
+    kLostTarget("Lost Target"),
+    kPipelineLag("Pipeline Lag");
+
+    public final String value;
+
+    ScriptEventType(String value) {
+        this.value = value;
+    }
+}
--- a/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptManager.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptManager.java
@@ -0,0 +1,126 @@
+package com.chameleonvision.scripting;
+
+import com.chameleonvision.Debug;
+import com.chameleonvision.Main;
+import com.chameleonvision.config.ConfigManager;
+import com.chameleonvision.util.JacksonHelper;
+import com.chameleonvision.util.LoopingRunnable;
+import com.chameleonvision.util.Platform;
+import com.chameleonvision.util.ProgramDirectoryUtilities;
+
+import java.io.File;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.LinkedBlockingDeque;
+import java.util.concurrent.LinkedBlockingQueue;
+
+public class ScriptManager {
+
+    private ScriptManager() {}
+
+    private static final List<ScriptEvent> events = new ArrayList<>();
+    private static final LinkedBlockingDeque<ScriptEventType> queuedEvents = new LinkedBlockingDeque<>(25);
+
+    public static void initialize() {
+        ScriptConfigManager.initialize();
+        if (ScriptConfigManager.fileExists()) {
+            for (ScriptConfig scriptConfig : ScriptConfigManager.loadConfig()) {
+                ScriptEvent scriptEvent = new ScriptEvent(scriptConfig);
+                events.add(scriptEvent);
+            }
+
+            new Thread(new ScriptRunner(10L)).start();
+        } else {
+            System.err.println("Something went wrong initializing scripts! Events will not run.");
+        }
+    }
+
+    private static class ScriptRunner extends LoopingRunnable {
+
+        ScriptRunner(Long loopTimeMs) {
+            super(loopTimeMs);
+        }
+
+        @Override
+        protected void process() {
+            try {
+
+                handleEvent(queuedEvents.takeFirst());
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
+        }
+
+        private void handleEvent(ScriptEventType eventType) {
+            var toRun = events.parallelStream().filter(e -> e.config.eventType == eventType).findFirst().orElse(null);
+            if (toRun != null) {
+                try {
+                    toRun.run();
+                } catch (IOException e) {
+                    System.err.printf("Failed to run script for event: %s, exception below.\n%s\n", eventType.name(), e.getMessage());
+                }
+            }
+        }
+    }
+
+    protected static class ScriptConfigManager {
+
+        protected static final Path scriptConfigPath = Paths.get(ConfigManager.SettingsPath.toString(), "scripts.json");
+
+        private ScriptConfigManager() {}
+
+        static boolean fileExists() { return Files.exists(scriptConfigPath); }
+
+        public static void initialize() {
+            if (!fileExists()) {
+                List<ScriptConfig> eventsConfig = new ArrayList<>();
+                for (var eventType : ScriptEventType.values()) {
+                    eventsConfig.add(new ScriptConfig(eventType));
+                }
+
+                try {
+                    JacksonHelper.serializer(scriptConfigPath, eventsConfig.toArray(new ScriptConfig[0]));
+                } catch (IOException e) {
+                    e.printStackTrace();
+                }
+            }
+        }
+
+        static List<ScriptConfig> loadConfig() {
+            try {
+                var raw = JacksonHelper.deserializer(scriptConfigPath, ScriptConfig[].class);
+                if (raw != null) {
+                    return List.of(raw);
+                }
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+            return new ArrayList<>();
+        }
+
+        protected static void deleteConfig() {
+            try {
+                Files.delete(scriptConfigPath);
+            } catch (IOException e) {
+                //
+            }
+        }
+    }
+
+    public static void queueEvent(ScriptEventType eventType) {
+        if (!Platform.getCurrentPlatform().isWindows()) {
+            try {
+                queuedEvents.putLast(eventType);
+                Debug.printInfo("Queued event: " + eventType.name());
+            } catch (InterruptedException e) {
+                System.err.println("Failed to add event to queue: " + eventType.name());
+            }
+        }
+    }
+}
--- a/chameleon-server/src/main/java/com/chameleonvision/util/Platform.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/util/Platform.java
@@ -23,7 +23,7 @@ public enum Platform {
 	private static final String OS_ARCH = System.getProperty("os.arch");
 	public static final Platform CurrentPlatform = getCurrentPlatform();

-	public boolean isWindows() {
+    public boolean isWindows() {
 		return this == WINDOWS_64;
 	}

@@ -35,6 +35,10 @@ public enum Platform {
 		return this == MACOS_64;
 	}

+	public static boolean isRaspberryPi() {
+		return CurrentPlatform.equals(LINUX_RASPBIAN);
+	}
+
 	private static ShellExec shell = new ShellExec(true, false);

 	public boolean isRoot() {
--- a/chameleon-server/src/main/java/com/chameleonvision/util/ProgramDirectoryUtilities.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/util/ProgramDirectoryUtilities.java
@@ -24,19 +24,16 @@ public class ProgramDirectoryUtilities
    {
        if (runningFromJAR())
        {
+            if (Platform.isRaspberryPi()) {
+                return "/boot/chameleon-vision";
+            }
            return getCurrentJARDirectory();
        } else
        {
            return System.getProperty("user.dir");
-//            return getCurrentProjectDirectory();
        }
    }

-    private static String getCurrentProjectDirectory()
-    {
-        return new File("").getAbsolutePath();
-    }
-
    private static String getCurrentJARDirectory()
    {
        try
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
@@ -4,6 +4,8 @@ import com.chameleonvision.Debug;
 import com.chameleonvision.config.CameraCalibrationConfig;
 import com.chameleonvision.config.CameraConfig;
 import com.chameleonvision.config.ConfigManager;
+import com.chameleonvision.scripting.ScriptEventType;
+import com.chameleonvision.scripting.ScriptManager;
 import com.chameleonvision.config.FullCameraConfiguration;
 import com.chameleonvision.util.LoopingRunnable;
 import com.chameleonvision.util.MathHandler;
@@ -137,6 +139,7 @@ public class VisionProcess {

    public void setDriverMode(boolean driverMode) {
        pipelineManager.setDriverMode(driverMode);
+        ScriptManager.queueEvent(driverMode ? ScriptEventType.kEnterDriverMode : ScriptEventType.kExitDriverMode);
        SocketHandler.sendFullSettings();
    }