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Advanced networking settings (#899)

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Exposes NetworkManager interface name and more robustly handles device/interface names internally.

---------

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
This commit is contained in:
Matt
2023-09-01 12:58:35 -07:00
committed by GitHub
parent 08892b9e68
commit 306677e56f
14 changed files with 313 additions and 90 deletions
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2
photon-client/src/components/app/photon-sidebar.vue
View File

@@ -104,7 +104,7 @@ const mdAndUp = computed<boolean>(() => getCurrentInstance()?.proxy.$vuetify.bre
</v-list-item-icon>
<v-list-item-content>
<v-list-item-title class="text-wrap">
{{ useStateStore().backendConnected ? "Backend Connected" : "Trying to connect to Backend" }}
{{ useStateStore().backendConnected ? "Backend connected" : "Trying to connect to backend" }}
</v-list-item-title>
</v-list-item-content>
</v-list-item>

5
photon-client/src/components/common/cv-select.vue
View File

@@ -35,6 +35,11 @@ const localValue = computed({
// Computed in case items changes
const items = computed<SelectItem[]>(() => {
// Trivial case for empty list; we have no data
if (!props.items.length) {
return [];
}
// Check if the prop exists on the object to infer object type
if ((props.items[0] as SelectItem).name) {
return props.items as SelectItem[];

54
photon-client/src/components/settings/NetworkingCard.vue
View File

@@ -1,9 +1,10 @@
<script setup lang="ts">
import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
import { ref } from "vue";
import { computed, ref } from "vue";
import CvInput from "@/components/common/cv-input.vue";
import CvRadio from "@/components/common/cv-radio.vue";
import CvSwitch from "@/components/common/cv-switch.vue";
import CvSelect from "@/components/common/cv-select.vue";
import { NetworkConnectionType } from "@/types/SettingTypes";
import { useStateStore } from "@/stores/StateStore";
@@ -76,6 +77,11 @@ const saveGeneralSettings = () => {
}
});
};
const currentNetworkInterfaceIndex = computed<number>({
get: () => useSettingsStore().networkInterfaceNames.indexOf(useSettingsStore().network.networkManagerIface || ""),
set: (v) => (useSettingsStore().network.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
});
</script>
<template>
@@ -87,7 +93,7 @@ const saveGeneralSettings = () => {
v-model="useSettingsStore().network.ntServerAddress"
label="Team Number/NetworkTables Server Address"
tooltip="Enter the Team Number or the IP address of the NetworkTables Server"
:label-cols="3"
:label-cols="4"
:disabled="useSettingsStore().network.runNTServer"
:rules="[
(v) =>
@@ -109,33 +115,65 @@ const saveGeneralSettings = () => {
The NetworkTables Server Address is not set or is invalid. NetworkTables is unable to connect.
</v-banner>
<cv-radio
v-show="useSettingsStore().network.shouldManage"
v-model="useSettingsStore().network.connectionType"
label="IP Assignment Mode"
tooltip="DHCP will make the radio (router) automatically assign an IP address; this may result in an IP address that changes across reboots. Static IP assignment means that you pick the IP address and it won't change."
:input-cols="12 - 3"
:input-cols="12 - 4"
:list="['DHCP', 'Static']"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
/>
<cv-input
v-if="useSettingsStore().network.connectionType === NetworkConnectionType.Static"
v-model="useSettingsStore().network.staticIp"
:input-cols="12 - 3"
:input-cols="12 - 4"
label="Static IP"
:rules="[(v) => isValidIPv4(v) || 'Invalid IPv4 address']"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
/>
<cv-input
v-show="useSettingsStore().network.shouldManage"
v-model="useSettingsStore().network.hostname"
label="Hostname"
:input-cols="12 - 3"
:input-cols="12 - 4"
:rules="[(v) => isValidHostname(v) || 'Invalid hostname']"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
/>
<v-divider class="pb-3" />
<span style="font-weight: 700">Advanced Networking</span>
<cv-switch
v-model="useSettingsStore().network.shouldManage"
:disabled="!useSettingsStore().network.canManage"
label="Manage Device Networking"
tooltip="If enabled, Photon will manage device hostname and network settings."
:label-cols="4"
class="pt-2"
/>
<cv-select
v-model="currentNetworkInterfaceIndex"
label="NetworkManager interface"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
:select-cols="12 - 4"
tooltip="Name of the interface PhotonVision should manage the IP address of"
:items="useSettingsStore().networkInterfaceNames"
/>
<v-banner
v-show="
!useSettingsStore().networkInterfaceNames.length &&
useSettingsStore().network.shouldManage &&
useSettingsStore().network.canManage
"
rounded
color="red"
text-color="white"
icon="mdi-information-outline"
>
Photon cannot detect any wired connections! Please send program logs to the developers for help.
</v-banner>
<cv-switch
v-model="useSettingsStore().network.runNTServer"
label="Run NetworkTables Server (Debugging Only)"
tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
class="mt-3 mb-3"
:label-cols="3"
:label-cols="4"
/>
<v-banner
v-show="useSettingsStore().network.runNTServer"

23
photon-client/src/stores/settings/GeneralSettingsStore.ts
View File

@@ -1,5 +1,11 @@
import { defineStore } from "pinia";
import type { GeneralSettings, LightingSettings, MetricData, NetworkSettings } from "@/types/SettingTypes";
import type {
GeneralSettings,
LightingSettings,
MetricData,
NetworkSettings,
ConfigurableNetworkSettings
} from "@/types/SettingTypes";
import { NetworkConnectionType } from "@/types/SettingTypes";
import { useStateStore } from "@/stores/StateStore";
import axios from "axios";
@@ -23,10 +29,17 @@ export const useSettingsStore = defineStore("settings", {
network: {
ntServerAddress: "",
shouldManage: true,
canManage: true,
connectionType: NetworkConnectionType.DHCP,
staticIp: "",
hostname: "photonvision",
runNTServer: false
runNTServer: false,
networkInterfaceNames: [
{
connName: "Example Wired Connection",
devName: "eth0"
}
]
},
lighting: {
supported: true,
@@ -47,6 +60,9 @@ export const useSettingsStore = defineStore("settings", {
getters: {
gpuAccelerationEnabled(): boolean {
return this.general.gpuAcceleration !== undefined;
},
networkInterfaceNames(): string[] {
return this.network.networkInterfaceNames.map((i) => i.connName);
}
},
actions: {
@@ -77,12 +93,11 @@ export const useSettingsStore = defineStore("settings", {
this.network = data.networkSettings;
},
saveGeneralSettings() {
const payload: Required<NetworkSettings> = {
const payload: Required<ConfigurableNetworkSettings> = {
connectionType: this.network.connectionType,
hostname: this.network.hostname,
networkManagerIface: this.network.networkManagerIface || "",
ntServerAddress: this.network.ntServerAddress,
physicalInterface: this.network.physicalInterface || "",
runNTServer: this.network.runNTServer,
setDHCPcommand: this.network.setDHCPcommand || "",
setStaticCommand: this.network.setStaticCommand || "",

10
photon-client/src/types/SettingTypes.ts
View File

@@ -24,6 +24,11 @@ export enum NetworkConnectionType {
Static = 1
}
export interface NetworkInterfaceType {
connName: string;
devName: string;
}
export interface NetworkSettings {
ntServerAddress: string;
connectionType: NetworkConnectionType;
@@ -31,12 +36,15 @@ export interface NetworkSettings {
hostname: string;
runNTServer: boolean;
shouldManage: boolean;
canManage: boolean;
networkManagerIface?: string;
physicalInterface?: string;
setStaticCommand?: string;
setDHCPcommand?: string;
networkInterfaceNames: NetworkInterfaceType[];
}
export type ConfigurableNetworkSettings = Omit<NetworkSettings, "canManage" | "networkInterfaceNames">;
export interface LightingSettings {
supported: boolean;
brightness: number;

3
photon-core/build.gradle
View File

@@ -27,6 +27,9 @@ dependencies {
implementation wpilibTools.deps.wpilibJava("apriltag")
implementation "org.xerial:sqlite-jdbc:3.41.0.0"
// NetworkManager
implementation "com.github.hypfvieh:dbus-java:3.3.2"
}
task writeCurrentVersionJava {

8
photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
View File

@@ -83,12 +83,12 @@ public class ConfigManager {
// Cannot import into SQL if we aren't in SQL mode rn
return;
}
logger.info("Translating settings zip!");
var maybeCams = Path.of(folderPath.toAbsolutePath().toString(), "cameras").toFile();
var maybeCamsBak = Path.of(folderPath.toAbsolutePath().toString(), "cameras_backup").toFile();
if (maybeCams.exists() && maybeCams.isDirectory()) {
logger.info("Translating settings zip!");
var legacy = new LegacyConfigProvider(folderPath);
legacy.load();
var loadedConfig = legacy.getConfig();
@@ -264,6 +264,12 @@ public class ConfigManager {
this.getConfig().getCameraConfigurations().clear();
}
public void clearConfig() {
logger.info("Clearing configuration!");
m_provider.clearConfig();
m_provider.saveToDisk();
}
public void saveToDisk() {
m_provider.saveToDisk();
}

6
photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java
View File

@@ -20,7 +20,7 @@ package org.photonvision.common.configuration;
import java.nio.file.Path;
public abstract class ConfigProvider {
private PhotonConfiguration config;
protected PhotonConfiguration config;
abstract void load();
@@ -30,6 +30,10 @@ public abstract class ConfigProvider {
return config;
}
public void clearConfig() {
config = new PhotonConfiguration();
}
public abstract boolean saveUploadedHardwareConfig(Path uploadPath);
public abstract boolean saveUploadedHardwareSettings(Path uploadPath);

51
photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
View File

@@ -19,15 +19,14 @@ package org.photonvision.common.configuration;
import com.fasterxml.jackson.annotation.JsonAlias;
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonGetter;
import com.fasterxml.jackson.annotation.JsonIgnore;
import com.fasterxml.jackson.annotation.JsonProperty;
import com.fasterxml.jackson.annotation.JsonSetter;
import com.fasterxml.jackson.databind.ObjectMapper;
import java.util.HashMap;
import java.util.Map;
import org.photonvision.common.hardware.Platform;
import org.photonvision.common.networking.NetworkMode;
import org.photonvision.common.networking.NetworkUtils;
import org.photonvision.common.util.file.JacksonUtils;
public class NetworkConfig {
@@ -37,21 +36,31 @@ public class NetworkConfig {
public String staticIp = "";
public String hostname = "photonvision";
public boolean runNTServer = false;
public boolean shouldManage;
@JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
@JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";
public String networkManagerIface = "Wired connection 1";
public String physicalInterface = "eth0";
public String networkManagerIface;
public String setStaticCommand =
"nmcli con mod ${interface} ipv4.addresses ${ipaddr}/8 ipv4.method \"manual\" ipv6.method \"disabled\"";
public String setDHCPcommand =
"nmcli con mod ${interface} ipv4.method \"auto\" ipv6.method \"disabled\"";
private boolean shouldManage;
public NetworkConfig() {
setShouldManage(false);
if (Platform.isLinux()) {
// Default to the name of the first Ethernet connection. Otherwise, "Wired connection 1" is a
// reasonable guess
this.networkManagerIface =
NetworkUtils.getAllWiredInterfaces().stream()
.map(it -> it.connName)
.findFirst()
.orElse("Wired connection 1");
}
// We can (usually) manage networking on Linux devices, and if we can we should try to. Command
// line inhibitions happen at a level above this class
setShouldManage(deviceCanManageNetwork());
}
@JsonCreator
@@ -64,7 +73,6 @@ public class NetworkConfig {
@JsonProperty("runNTServer") boolean runNTServer,
@JsonProperty("shouldManage") boolean shouldManage,
@JsonProperty("networkManagerIface") String networkManagerIface,
@JsonProperty("physicalInterface") String physicalInterface,
@JsonProperty("setStaticCommand") String setStaticCommand,
@JsonProperty("setDHCPcommand") String setDHCPcommand) {
this.ntServerAddress = ntServerAddress;
@@ -73,7 +81,6 @@ public class NetworkConfig {
this.hostname = hostname;
this.runNTServer = runNTServer;
this.networkManagerIface = networkManagerIface;
this.physicalInterface = physicalInterface;
this.setStaticCommand = setStaticCommand;
this.setDHCPcommand = setDHCPcommand;
setShouldManage(shouldManage);
@@ -81,7 +88,9 @@ public class NetworkConfig {
public Map<String, Object> toHashMap() {
try {
return new ObjectMapper().convertValue(this, JacksonUtils.UIMap.class);
var ret = new ObjectMapper().convertValue(this, JacksonUtils.UIMap.class);
ret.put("canManage", this.deviceCanManageNetwork());
return ret;
} catch (Exception e) {
e.printStackTrace();
return new HashMap<>();
@@ -89,18 +98,28 @@ public class NetworkConfig {
}
@JsonIgnore
public String getEscapedIfaceName() {
public String getPhysicalInterfaceName() {
return NetworkUtils.getNMinfoForConnName(this.networkManagerIface).devName;
}
@JsonIgnore
public String getEscapedInterfaceName() {
return "\"" + networkManagerIface + "\"";
}
@JsonGetter("shouldManage")
@JsonIgnore
public boolean shouldManage() {
return this.shouldManage || Platform.isLinux();
return this.shouldManage;
}
@JsonSetter("shouldManage")
@JsonIgnore
public void setShouldManage(boolean shouldManage) {
this.shouldManage = shouldManage || Platform.isLinux();
this.shouldManage = shouldManage && this.deviceCanManageNetwork();
}
@JsonIgnore
private boolean deviceCanManageNetwork() {
return Platform.isLinux();
}
@Override
@@ -117,8 +136,6 @@ public class NetworkConfig {
+ runNTServer
+ ", networkManagerIface="
+ networkManagerIface
+ ", physicalInterface="
+ physicalInterface
+ ", setStaticCommand="
+ setStaticCommand
+ ", setDHCPcommand="

25
photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
View File

@@ -24,6 +24,7 @@ import java.util.Map;
import java.util.stream.Collectors;
import org.photonvision.PhotonVersion;
import org.photonvision.common.hardware.Platform;
import org.photonvision.common.networking.NetworkUtils;
import org.photonvision.common.util.SerializationUtils;
import org.photonvision.raspi.LibCameraJNI;
import org.photonvision.vision.processes.VisionModule;
@@ -55,6 +56,10 @@ public class PhotonConfiguration {
this.cameraConfigurations = cameraConfigurations;
}
public PhotonConfiguration() {
this(new HardwareConfig(), new HardwareSettings(), new NetworkConfig());
}
public HardwareConfig getHardwareConfig() {
return hardwareConfig;
}
@@ -93,7 +98,12 @@ public class PhotonConfiguration {
Map<String, Object> map = new HashMap<>();
var settingsSubmap = new HashMap<String, Object>();
settingsSubmap.put("networkSettings", networkConfig.toHashMap());
// Hack active interfaces into networkSettings
var netConfigMap = networkConfig.toHashMap();
netConfigMap.put("networkInterfaceNames", NetworkUtils.getAllWiredInterfaces());
settingsSubmap.put("networkSettings", netConfigMap);
map.put(
"cameraSettings",
VisionModuleManager.getInstance().getModules().stream()
@@ -140,17 +150,4 @@ public class PhotonConfiguration {
public List<HashMap<String, Object>> calibrations;
public boolean isFovConfigurable = true;
}
@Override
public String toString() {
return "PhotonConfiguration [hardwareConfig="
+ hardwareConfig
+ ", hardwareSettings="
+ hardwareSettings
+ ", networkConfig="
+ networkConfig
+ ", cameraConfigurations="
+ cameraConfigurations
+ "]";
}
}

1
photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
View File

@@ -62,7 +62,6 @@ public class SqlConfigProvider extends ConfigProvider {
private static final String dbName = "photon.sqlite";
private final String dbPath;
private PhotonConfiguration config;
private final Object m_mutex = new Object();
private final File rootFolder;

17
photon-core/src/main/java/org/photonvision/common/networking/NetworkManager.java
View File

@@ -38,9 +38,10 @@ public class NetworkManager {
}
private boolean isManaged = false;
public boolean networkingIsDisabled = false; // Passed in via CLI
public void initialize(boolean shouldManage) {
isManaged = shouldManage;
isManaged = shouldManage && !networkingIsDisabled;
if (!isManaged) {
return;
}
@@ -99,8 +100,8 @@ public class NetworkManager {
// set nmcli back to DHCP, and re-run dhclient -- this ought to grab a new IP address
shell.executeBashCommand(
config.setDHCPcommand.replace(
NetworkConfig.NM_IFACE_STRING, config.getEscapedIfaceName()));
shell.executeBashCommand("dhclient " + config.physicalInterface, false);
NetworkConfig.NM_IFACE_STRING, config.getEscapedInterfaceName()));
shell.executeBashCommand("dhclient " + config.getPhysicalInterfaceName(), false);
} catch (Exception e) {
logger.error("Exception while setting DHCP!");
}
@@ -111,7 +112,7 @@ public class NetworkManager {
shell.executeBashCommand(
config
.setStaticCommand
.replace(NetworkConfig.NM_IFACE_STRING, config.getEscapedIfaceName())
.replace(NetworkConfig.NM_IFACE_STRING, config.getEscapedInterfaceName())
.replace(NetworkConfig.NM_IP_STRING, config.staticIp));
if (Platform.isRaspberryPi()) {
@@ -119,17 +120,17 @@ public class NetworkManager {
// integral in my testing (Matt)
shell.executeBashCommand(
"sh -c 'nmcli con down "
+ config.getEscapedIfaceName()
+ config.getEscapedInterfaceName()
+ "; nmcli con up "
+ config.getEscapedIfaceName()
+ config.getEscapedInterfaceName()
+ "'");
} else {
// for now just bring down /up -- more testing needed on beelink et al
shell.executeBashCommand(
"sh -c 'nmcli con down "
+ config.getEscapedIfaceName()
+ config.getEscapedInterfaceName()
+ "; nmcli con up "
+ config.getEscapedIfaceName()
+ config.getEscapedInterfaceName()
+ "'");
}
} catch (Exception e) {

131
photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java Normal file
View File

@@ -0,0 +1,131 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.common.networking;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
import java.util.stream.Collectors;
import org.photonvision.common.hardware.Platform;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.ShellExec;
public class NetworkUtils {
private static final Logger logger = new Logger(NetworkUtils.class, LogGroup.General);
public static enum NMType {
NMTYPE_ETHERNET("ethernet"),
NMTYPE_WIFI("wifi"),
NMTYPE_UNKNOWN("");
private NMType(String id) {
identifier = id;
}
private final String identifier;
public static NMType typeForString(String s) {
for (var t : NMType.values()) {
if (t.identifier.equals(s)) {
return t;
}
}
return NMTYPE_UNKNOWN;
}
}
public static class NMDeviceInfo {
public NMDeviceInfo(String c, String d, String type) {
connName = c;
devName = d;
nmType = NMType.typeForString(type);
}
public final String connName; // Human readable name used by "nmcli con"
public final String devName; // underlying device, used by dhclient
public final NMType nmType;
@Override
public String toString() {
return "NMDeviceInfo [connName="
+ connName
+ ", devName="
+ devName
+ ", nmType="
+ nmType
+ "]";
}
}
public static ArrayList<NMDeviceInfo> getAllInterfaces() {
var ret = new ArrayList<NMDeviceInfo>();
if (!Platform.isLinux()) {
// Can't determine interface name on Linux, give up
return ret;
}
try {
var shell = new ShellExec(true, true);
shell.executeBashCommand(
"nmcli -t -f GENERAL.CONNECTION,GENERAL.DEVICE,GENERAL.TYPE device show");
String out = shell.getOutput();
if (out == null) {
return new ArrayList<>();
}
Pattern pattern =
Pattern.compile("GENERAL.CONNECTION:(.*)\nGENERAL.DEVICE:(.*)\nGENERAL.TYPE:(.*)");
Matcher matcher = pattern.matcher(out);
while (matcher.find()) {
ret.add(new NMDeviceInfo(matcher.group(1), matcher.group(2), matcher.group(3)));
}
} catch (IOException e) {
logger.error("Could not get active NM ifaces!", e);
}
logger.debug("Found network interfaces:\n" + ret.toString());
return ret;
}
public static List<NMDeviceInfo> getAllActiveInterfaces() {
// Seems like if a interface exists but isn't actually connected, the connection name will be an
// empty string. Check here and only return connections with non-empty names
return getAllInterfaces().stream()
.filter(it -> !it.connName.trim().isEmpty())
.collect(Collectors.toList());
}
public static List<NMDeviceInfo> getAllWiredInterfaces() {
return getAllActiveInterfaces().stream()
.filter(it -> it.nmType == NMType.NMTYPE_ETHERNET)
.collect(Collectors.toList());
}
public static NMDeviceInfo getNMinfoForConnName(String connName) {
for (NMDeviceInfo info : getAllActiveInterfaces()) {
if (info.connName.equals(connName)) {
return info;
}
}
return null;
}
}

67
photon-server/src/main/java/org/photonvision/Main.java
View File

@@ -80,6 +80,12 @@ public class Main {
"ignore-cameras",
true,
"Ignore cameras that match a regex. Uses camera name as provided by cscore.");
options.addOption("n", "disable-networking", false, "Disables control device network settings");
options.addOption(
"c",
"clear-config",
false,
"Clears PhotonVision pipeline and networking settings. Preserves log files");
CommandLineParser parser = new DefaultParser();
CommandLine cmd = parser.parse(options, args);
@@ -109,6 +115,14 @@ public class Main {
VisionSourceManager.getInstance()
.setIgnoredCamerasRegex(cmd.getOptionValue("ignore-cameras"));
}
if (cmd.hasOption("disable-networking")) {
NetworkManager.getInstance().networkingIsDisabled = true;
}
if (cmd.hasOption("clear-config")) {
ConfigManager.getInstance().clearConfig();
}
}
return true;
}
@@ -117,46 +131,29 @@ public class Main {
ConfigManager.getInstance().load();
try {
var reflective = new ReflectivePipelineSettings();
var shape = new ColoredShapePipelineSettings();
var aprilTag = new AprilTagPipelineSettings();
List<VisionSource> collectedSources =
Files.list(testModeFolder)
.filter(p -> p.toFile().isFile())
.map(
p -> {
try {
// var camConf =
//
// ConfigManager.getInstance()
// .getConfig()
//
// .getCameraConfigurations()
//
// .get(p.getFileName().toString());
CameraConfiguration camConf =
new CameraConfiguration(
p.getFileName().toString(), p.toAbsolutePath().toString());
camConf.FOV = TestUtils.WPI2019Image.FOV; // Good guess?
camConf.addCalibration(TestUtils.get2020LifeCamCoeffs(false));
// if (camConf == null && false) {
CameraConfiguration camConf;
if (true) {
camConf =
new CameraConfiguration(
p.getFileName().toString(), p.toAbsolutePath().toString());
camConf.FOV = TestUtils.WPI2019Image.FOV; // Good guess?
camConf.addCalibration(TestUtils.get2020LifeCamCoeffs(false));
var pipeSettings = new AprilTagPipelineSettings();
pipeSettings.pipelineNickname = p.getFileName().toString();
pipeSettings.outputShowMultipleTargets = true;
pipeSettings.inputShouldShow = true;
pipeSettings.outputShouldShow = false;
pipeSettings.solvePNPEnabled = true;
var pipeSettings = new AprilTagPipelineSettings();
pipeSettings.pipelineNickname = p.getFileName().toString();
pipeSettings.outputShowMultipleTargets = true;
pipeSettings.inputShouldShow = true;
pipeSettings.outputShouldShow = false;
pipeSettings.solvePNPEnabled = true;
var psList = new ArrayList<CVPipelineSettings>();
// psList.add(reflective);
// psList.add(shape);
psList.add(aprilTag);
camConf.pipelineSettings = psList;
}
var aprilTag = new AprilTagPipelineSettings();
var psList = new ArrayList<CVPipelineSettings>();
psList.add(aprilTag);
camConf.pipelineSettings = psList;
return new FileVisionSource(camConf);
} catch (Exception e) {
@@ -313,9 +310,11 @@ public class Main {
}
try {
LibCameraJNI.forceLoad();
if (Platform.isRaspberryPi()) {
LibCameraJNI.forceLoad();
}
} catch (IOException e) {
logger.error("Failed to load native libraries!", e);
logger.error("Failed to load libcamera-JNI!", e);
}
try {