mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-24 01:31:44 +00:00
Move Java backend to properly named folder
This commit is contained in:
Banks Troutman
@@ -0,0 +1,8 @@
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package com.chameleonvision.config;
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import com.chameleonvision.vision.pipeline.CVPipelineSettings;
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import java.util.List;
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public interface CVPipelineSettingsList extends List<CVPipelineSettings> {
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}
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@@ -0,0 +1,139 @@
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package com.chameleonvision.config;
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import com.chameleonvision.util.JacksonHelper;
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import com.chameleonvision.vision.pipeline.CVPipelineSettings;
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import java.io.File;
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import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.util.List;
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public class CameraConfig {
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private static final Path camerasConfigFolderPath = Paths.get(ConfigManager.SettingsPath.toString(), "cameras");
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private final String cameraConfigName;
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private final CameraJsonConfig preliminaryConfig;
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public final PipelineConfig pipelineConfig;
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CameraConfig(CameraJsonConfig config) {
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preliminaryConfig = config;
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cameraConfigName = preliminaryConfig.name.replace(' ', '_');
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pipelineConfig = new PipelineConfig(this);
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}
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public FullCameraConfiguration load() {
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checkFolder();
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checkConfig();
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checkDriverMode();
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pipelineConfig.check();
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return new FullCameraConfiguration(loadConfig(), pipelineConfig.load(), loadDriverMode(), this);
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}
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private CameraJsonConfig loadConfig() {
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CameraJsonConfig config = preliminaryConfig;
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try {
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config = JacksonHelper.deserializer(getConfigPath(), CameraJsonConfig.class);
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} catch (IOException e) {
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System.err.printf("Failed to load camera config: %s - using default.\n", getConfigPath().toString());
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}
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return config;
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}
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private CVPipelineSettings loadDriverMode() {
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CVPipelineSettings driverMode = new CVPipelineSettings();
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driverMode.nickname = "DRIVERMODE";
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try {
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driverMode = JacksonHelper.deserializer(getDriverModePath(), CVPipelineSettings.class);
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} catch (IOException e) {
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System.err.println("Failed to load camera drivermode: " + getDriverModePath().toString());
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}
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return driverMode;
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}
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void saveConfig(CameraJsonConfig config) {
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try {
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JacksonHelper.serializer(getConfigPath(), config);
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} catch (IOException e) {
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System.err.println("Failed to save camera config file: " + getConfigPath().toString());
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}
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}
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void savePipelines(List<CVPipelineSettings> pipelines) {
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pipelineConfig.save(pipelines);
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}
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public void saveDriverMode(CVPipelineSettings driverMode) {
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try {
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JacksonHelper.serializer(getDriverModePath(), driverMode);
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} catch (IOException e) {
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System.err.println("Failed to save camera drivermode file: " + getDriverModePath().toString());
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}
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}
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void checkFolder() {
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if (!getConfigFolderExists()) {
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try {
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if (!(new File(getConfigFolderPath().toUri()).mkdirs())) {
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System.err.println("Failed to create camera config folder: " + getConfigFolderPath().toString());
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}
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} catch(Exception e) {
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System.err.println("Failed to create camera config folder: " + getConfigFolderPath().toString());
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}
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}
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}
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private void checkConfig() {
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if (!configExists()) {
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try {
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JacksonHelper.serializer(getConfigPath(), preliminaryConfig);
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} catch (IOException e) {
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System.err.println("Failed to create camera config file: " + getConfigPath().toString());
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}
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}
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}
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private void checkDriverMode() {
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if (!driverModeExists()) {
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try {
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CVPipelineSettings newDriverModeSettings = new CVPipelineSettings();
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newDriverModeSettings.nickname = "DRIVERMODE";
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JacksonHelper.serializer(getDriverModePath(), newDriverModeSettings);
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} catch (IOException e) {
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System.err.println("Failed to create camera drivermode file: " + getDriverModePath().toString());
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}
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}
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}
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private Path getConfigFolderPath() {
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return Paths.get(camerasConfigFolderPath.toString(), cameraConfigName);
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}
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private Path getConfigPath() {
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return Paths.get(getConfigFolderPath().toString(), "camera.json");
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}
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private Path getDriverModePath() {
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return Paths.get(getConfigFolderPath().toString(), "drivermode.json");
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}
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private boolean getConfigFolderExists() {
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return Files.exists(getConfigFolderPath());
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}
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Path getPipelineFolderPath() {
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return Paths.get(getConfigFolderPath().toString(), "pipelines");
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}
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private boolean configExists() {
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return getConfigFolderExists() && Files.exists(getConfigPath());
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}
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private boolean driverModeExists() {
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return getConfigFolderExists() && Files.exists(getDriverModePath());
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}
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}
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@@ -0,0 +1,48 @@
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package com.chameleonvision.config;
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import com.chameleonvision.vision.VisionProcess;
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import com.chameleonvision.vision.camera.USBCameraProperties;
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import com.chameleonvision.vision.enums.StreamDivisor;
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import com.fasterxml.jackson.annotation.JsonCreator;
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import com.fasterxml.jackson.annotation.JsonProperty;
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public class CameraJsonConfig {
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public final double fov;
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public final String path;
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public final String name;
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public final String nickname;
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public final int videomode;
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public final StreamDivisor streamDivisor;
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@JsonCreator
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public CameraJsonConfig(
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@JsonProperty("fov") double fov,
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@JsonProperty("path") String path,
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@JsonProperty("name") String name,
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@JsonProperty("nickname") String nickname,
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@JsonProperty("videomode") int videomode,
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@JsonProperty("streamDivisor") StreamDivisor streamDivisor) {
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this.fov = fov;
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this.path = path;
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this.name = name;
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this.nickname = nickname;
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this.videomode = videomode;
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this.streamDivisor = streamDivisor;
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}
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public CameraJsonConfig(String path, String name) {
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this.fov = USBCameraProperties.DEFAULT_FOV;
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this.path = path;
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this.name = name;
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this.nickname = name;
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this.videomode = 0;
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this.streamDivisor = StreamDivisor.NONE;
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}
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public static CameraJsonConfig fromVisionProcess(VisionProcess process) {
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USBCameraProperties camProps = process.getCamera().getProperties();
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int videomode = camProps.getCurrentVideoModeIndex();
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StreamDivisor streamDivisor = process.cameraStreamer.getDivisor();
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return new CameraJsonConfig(camProps.getFOV(), camProps.path, camProps.name, camProps.getNickname(), videomode, streamDivisor);
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}
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}
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@@ -0,0 +1,111 @@
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package com.chameleonvision.config;
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import com.chameleonvision.util.ProgramDirectoryUtilities;
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import com.chameleonvision.util.JacksonHelper;
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import com.chameleonvision.vision.pipeline.CVPipelineSettings;
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import java.io.File;
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import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.util.ArrayList;
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import java.util.LinkedHashMap;
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import java.util.List;
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public class ConfigManager {
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private ConfigManager() {}
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static final Path SettingsPath = Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "settings");
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private static final Path settingsFilePath = Paths.get(SettingsPath.toString(), "settings.json");
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private static final LinkedHashMap<String, CameraConfig> cameraConfigs = new LinkedHashMap<>();
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public static GeneralSettings settings = new GeneralSettings();
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private static boolean settingsFolderExists() { return Files.exists(SettingsPath); }
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private static boolean settingsFileExists() { return settingsFolderExists() && Files.exists(settingsFilePath); }
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private static void checkSettingsFolder() {
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if (!settingsFolderExists()) {
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try {
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if( !(new File(SettingsPath.toUri()).mkdirs()) ) {
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System.err.println("Failed to create settings folder: " + SettingsPath.toString());
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}
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Files.createDirectory(SettingsPath);
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} catch (IOException e) {
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if(!(e instanceof java.nio.file.FileAlreadyExistsException))
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e.printStackTrace();
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}
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}
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}
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private static void checkSettingsFile() {
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boolean settingsFileEmpty = settingsFileExists() && new File(settingsFilePath.toString()).length() == 0;
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if (settingsFileEmpty || !settingsFileExists()) {
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try {
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JacksonHelper.serializer(settingsFilePath, settings);
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} catch (IOException e) {
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e.printStackTrace();
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}
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} else {
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try {
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settings = JacksonHelper.deserializer(settingsFilePath, GeneralSettings.class);
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} catch (IOException e) {
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System.err.println("Failed to load settings.json, using defaults.");
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}
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}
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}
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public static void initializeSettings() {
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System.out.println("Settings folder: " + SettingsPath.toString());
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checkSettingsFolder();
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checkSettingsFile();
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}
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private static void saveSettingsFile() {
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try {
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JacksonHelper.serializer(settingsFilePath, settings);
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} catch (IOException e) {
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System.err.println("Failed to save settings.json!");
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}
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}
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public static void saveGeneralSettings() {
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checkSettingsFolder();
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saveSettingsFile();
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}
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public static List<FullCameraConfiguration> initializeCameras(List<CameraJsonConfig> preliminaryConfigs) {
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List<FullCameraConfiguration> configList = new ArrayList<>();
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checkSettingsFolder();
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// loop over all the camera names and try to create settings folders for it
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for (CameraJsonConfig preliminaryConfig : preliminaryConfigs) {
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CameraConfig cameraConfiguration = new CameraConfig(preliminaryConfig);
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cameraConfigs.put(preliminaryConfig.name, cameraConfiguration);
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FullCameraConfiguration camJsonConfig = cameraConfiguration.load();
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configList.add(camJsonConfig);
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}
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return configList;
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}
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public static void saveCameraConfig(String cameraName, CameraJsonConfig config) {
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var camConf = cameraConfigs.get(cameraName);
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camConf.saveConfig(config);
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}
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public static void saveCameraPipelines(String cameraName, List<CVPipelineSettings> pipelines) {
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var camConf = cameraConfigs.get(cameraName);
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camConf.savePipelines(pipelines);
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}
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public static void saveCameraDriverMode(String cameraName, CVPipelineSettings driverMode) {
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var camConf = cameraConfigs.get(cameraName);
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camConf.saveDriverMode(driverMode);
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}
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}
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@@ -0,0 +1,19 @@
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package com.chameleonvision.config;
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import com.chameleonvision.vision.pipeline.CVPipelineSettings;
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import java.util.List;
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public class FullCameraConfiguration {
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public final CameraJsonConfig cameraConfig;
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public final List<CVPipelineSettings> pipelines;
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public final CVPipelineSettings drivermode;
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public final CameraConfig fileConfig;
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FullCameraConfiguration(CameraJsonConfig cameraConfig, List<CVPipelineSettings> pipelines, CVPipelineSettings drivermode, CameraConfig fileConfig) {
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this.cameraConfig = cameraConfig;
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this.pipelines = pipelines;
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this.drivermode = drivermode;
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this.fileConfig = fileConfig;
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}
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}
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@@ -0,0 +1,14 @@
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package com.chameleonvision.config;
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import com.chameleonvision.network.NetworkIPMode;
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public class GeneralSettings {
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public int teamNumber = 1577;
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public NetworkIPMode connectionType = NetworkIPMode.DHCP;
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public String ip = "";
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public String gateway = "";
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public String netmask = "";
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public String hostname = "Chameleon-vision";
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public String currentCamera = "";
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public Integer currentPipeline = null;
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}
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@@ -0,0 +1,150 @@
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package com.chameleonvision.config;
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import com.chameleonvision.util.JacksonHelper;
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import com.chameleonvision.vision.pipeline.*;
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import java.io.File;
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import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.util.ArrayList;
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import java.util.List;
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public class PipelineConfig {
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private static final String CVPipeline2DPrefix = "CV2D";
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private static final String CVPipeline3DPrefix = "CV3D";
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private final CameraConfig cameraConfig;
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/**
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* Construct a new PipelineConfig
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* @param cameraConfig the CameraConfig (parent folder, kinda?)
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*/
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PipelineConfig(CameraConfig cameraConfig) {
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this.cameraConfig = cameraConfig;
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}
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private void checkFolder() {
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if ( !(new File(cameraConfig.getPipelineFolderPath().toUri()).mkdirs())) {
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if (Files.notExists(cameraConfig.getPipelineFolderPath())) {
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System.err.println("Failed to create pipelines folder.");
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}
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}
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}
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private File[] getPipelineFiles() {
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return new File(cameraConfig.getPipelineFolderPath().toUri()).listFiles();
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}
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private boolean folderHasPipelines() {
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File[] folderContents = getPipelineFiles();
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if(folderContents == null) return false;
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return folderContents.length > 0;
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}
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void check() {
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cameraConfig.checkFolder();
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checkFolder();
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// Check if there's at least one pipe
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if (!folderHasPipelines()) {
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save(new CVPipeline2dSettings());
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}
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}
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private Path getPipelinePath(CVPipelineSettings setting) {
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String pipelineName = setting.nickname.replace(' ', '_');
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String prefix = ((setting instanceof CVPipeline2dSettings) ? CVPipeline2DPrefix : CVPipeline3DPrefix) + "-";
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String fullFileName = prefix + pipelineName + ".json";
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return Path.of(cameraConfig.getPipelineFolderPath().toString(), fullFileName);
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}
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private boolean pipelineExists(CVPipelineSettings setting) {
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return Files.exists(getPipelinePath(setting));
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}
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public void save(CVPipelineSettings settings) {
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var path = getPipelinePath(settings);
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if (settings instanceof CVPipeline3dSettings) {
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try {
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JacksonHelper.serializer(path, settings);
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} catch (IOException e) {
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e.printStackTrace();
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}
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} else if (settings instanceof CVPipeline2dSettings) {
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try {
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JacksonHelper.serializer(path, settings);
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} catch (IOException e) {
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e.printStackTrace();
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}
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} else {
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throw new RuntimeException("saving non-2d and non-3d pipelines not implemented~");
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}
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}
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public void save(List<CVPipelineSettings> settings) {
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for(CVPipelineSettings setting : settings) {
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save(setting);
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}
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}
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public void delete(CVPipelineSettings setting) {
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if(pipelineExists(setting)) {
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try {
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Files.delete(getPipelinePath(setting));
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} catch (IOException e) {
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System.err.println("Failed to delete pipeline!");
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}
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}
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}
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public CVPipelineSettings rename(CVPipelineSettings setting, String newName) {
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if (pipelineExists(setting)) {
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delete(setting);
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setting.nickname = newName;
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save(setting);
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} else {
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setting.nickname = newName;
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save(setting);
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}
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return setting;
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}
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public List<CVPipelineSettings> load() {
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check(); // TODO: this ensures there will be a default pipeline. is the check later necessary?
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File[] pipelineFiles = getPipelineFiles();
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List<CVPipelineSettings> deserializedList = new ArrayList<>();
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if(pipelineFiles == null || pipelineFiles.length < 1) {
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// TODO handle no pipelines to load
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System.err.println("no pipes to load! loading default");
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} else {
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for(File pipelineFile : pipelineFiles) {
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var name = pipelineFile.getName();
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if(name.startsWith(CVPipeline3DPrefix)) {
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// try to load 3d pipe
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try {
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var pipe = JacksonHelper.deserializer(Paths.get(pipelineFile.getPath()), CVPipeline3dSettings.class);
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deserializedList.add(pipe);
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} catch (IOException e) {
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System.err.println("couldn't load cvpipeline3d");
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}
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} else if(name.startsWith(CVPipeline2DPrefix)) {
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// try to load 2d pipe
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try {
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var pipe = JacksonHelper.deserializer(Paths.get(pipelineFile.getPath()), CVPipeline2dSettings.class);
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deserializedList.add(pipe);
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} catch (IOException e) {
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System.err.println("couldn't load cvpipeline2d");
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}
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}
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}
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}
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return deserializedList;
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}
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}
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