mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
Move Java backend to properly named folder
This commit is contained in:
Banks Troutman
@@ -0,0 +1,60 @@
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package com.chameleonvision.web;
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import com.chameleonvision.config.ConfigManager;
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import com.chameleonvision.network.NetworkIPMode;
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import com.chameleonvision.vision.VisionManager;
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import com.chameleonvision.vision.VisionProcess;
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import com.chameleonvision.vision.camera.CameraCapture;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import io.javalin.http.Context;
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import java.util.Map;
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public class RequestHandler {
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public static void onGeneralSettings(Context ctx) {
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ObjectMapper objectMapper = new ObjectMapper();
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try {
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Map map = objectMapper.readValue(ctx.body(), Map.class);
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// TODO: change to function, to restart NetworkTables
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ConfigManager.settings.teamNumber = (int) map.get("teamNumber");
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ConfigManager.settings.connectionType = NetworkIPMode.values()[(int) map.get("connectionType")];
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ConfigManager.settings.ip = (String) map.get("ip");
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ConfigManager.settings.netmask = (String) map.get("netmask");
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ConfigManager.settings.gateway = (String) map.get("gateway");
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ConfigManager.settings.hostname = (String) map.get("hostname");
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ConfigManager.saveGeneralSettings();
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SocketHandler.sendFullSettings();
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ctx.status(200);
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} catch (JsonProcessingException e) {
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ctx.status(500);
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}
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}
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public static void onCameraSettings(Context ctx) {
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ObjectMapper objectMapper = new ObjectMapper();
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try {
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Map camSettings = objectMapper.readValue(ctx.body(), Map.class);
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VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
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CameraCapture currentCamera = currentVisionProcess.getCamera();
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double newFOV;
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try {
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newFOV = (Double) camSettings.get("fov");
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} catch (Exception ignored) {
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newFOV = (Integer) camSettings.get("fov");
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}
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currentCamera.getProperties().setFOV(newFOV);
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VisionManager.saveCurrentCameraSettings();
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SocketHandler.sendFullSettings();
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ctx.status(200);
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} catch (JsonProcessingException e) {
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e.printStackTrace();
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ctx.status(500);
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}
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}
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}
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@@ -0,0 +1,35 @@
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package com.chameleonvision.web;
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import com.chameleonvision.config.ConfigManager;
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import io.javalin.Javalin;
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public class Server {
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private static SocketHandler socketHandler;
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public static void main(int port) {
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socketHandler = new SocketHandler();
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Javalin app = Javalin.create(javalinConfig -> {
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javalinConfig.showJavalinBanner = false;
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javalinConfig.addStaticFiles("web");
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javalinConfig.enableCorsForAllOrigins();
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});
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app.ws("/websocket", ws -> {
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ws.onConnect(ctx -> {
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socketHandler.onConnect(ctx);
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System.out.println("Socket Connected");
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});
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ws.onClose(ctx -> {
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socketHandler.onClose(ctx);
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System.out.println("Socket Disconnected");
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ConfigManager.saveGeneralSettings();
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});
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ws.onBinaryMessage(ctx -> {
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socketHandler.onBinaryMessage(ctx);
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});
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});
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app.post("/api/settings/general", RequestHandler::onGeneralSettings);
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app.post("/api/settings/camera", RequestHandler::onCameraSettings);
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app.start(port);
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}
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}
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@@ -0,0 +1,266 @@
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package com.chameleonvision.web;
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import com.chameleonvision.config.ConfigManager;
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import com.chameleonvision.vision.VisionManager;
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import com.chameleonvision.vision.VisionProcess;
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import com.chameleonvision.vision.camera.CameraCapture;
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import com.chameleonvision.vision.enums.StreamDivisor;
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import com.chameleonvision.vision.pipeline.CVPipeline;
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import com.chameleonvision.vision.pipeline.CVPipelineSettings;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.core.type.TypeReference;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import io.javalin.websocket.WsBinaryMessageContext;
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import io.javalin.websocket.WsCloseContext;
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import io.javalin.websocket.WsConnectContext;
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import io.javalin.websocket.WsContext;
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import org.apache.commons.lang3.ArrayUtils;
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import org.msgpack.jackson.dataformat.MessagePackFactory;
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import java.lang.reflect.Field;
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import java.nio.ByteBuffer;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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public class SocketHandler {
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private static List<WsContext> users;
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private static ObjectMapper objectMapper;
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SocketHandler() {
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users = new ArrayList<>();
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objectMapper = new ObjectMapper(new MessagePackFactory());
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}
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void onConnect(WsConnectContext context) {
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users.add(context);
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sendFullSettings();
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}
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void onClose(WsCloseContext context) {
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users.remove(context);
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}
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@SuppressWarnings("unchecked")
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void onBinaryMessage(WsBinaryMessageContext context) throws Exception {
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Map<String, Object> deserialized = objectMapper.readValue(ArrayUtils.toPrimitive(context.data()), new TypeReference<>() {
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});
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for (Map.Entry<String, Object> entry : deserialized.entrySet()) {
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try {
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VisionProcess currentProcess = VisionManager.getCurrentUIVisionProcess();
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CameraCapture currentCamera = currentProcess.getCamera();
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CVPipeline currentPipeline = currentProcess.pipelineManager.getCurrentPipeline();
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switch (entry.getKey()) {
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case "driverMode": {
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HashMap<String, Object> data = (HashMap<String, Object>) entry.getValue();
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currentProcess.getDriverModeSettings().exposure = (Integer) data.get("driverExposure");
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currentProcess.getDriverModeSettings().brightness = (Integer) data.get("driverBrightness");
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currentProcess.setDriverMode((Boolean) data.get("isDriver"));
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VisionManager.saveCurrentCameraDriverMode();
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break;
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}
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case "changeCameraName": {
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currentProcess.setCameraNickname((String) entry.getValue());
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sendFullSettings();
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VisionManager.saveCurrentCameraSettings();
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break;
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}
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case "changePipelineName": {
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currentProcess.pipelineManager.renameCurrentPipeline((String) entry.getValue());
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sendFullSettings();
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VisionManager.saveCurrentCameraPipelines();
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break;
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}
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case "duplicatePipeline": {
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HashMap pipelineVals = (HashMap) entry.getValue();
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int pipelineIndex = (int) pipelineVals.get("pipeline");
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int cameraIndex = (int) pipelineVals.get("camera");
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ObjectMapper mapper = new ObjectMapper();
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CVPipelineSettings origPipeline = currentProcess.pipelineManager.getPipeline(pipelineIndex).settings;
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String val = mapper.writeValueAsString(origPipeline);
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CVPipelineSettings newPipeline = mapper.readValue(val, origPipeline.getClass());
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if (cameraIndex != -1) {
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VisionProcess newProcess = VisionManager.getVisionProcessByIndex(cameraIndex);
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if (newProcess != null) {
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currentProcess.pipelineManager.duplicatePipeline(newPipeline, newProcess);
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} else {
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System.err.println("Failed to get destination camera for pipeline duplication!");
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}
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} else {
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currentProcess.pipelineManager.duplicatePipeline(newPipeline);
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}
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VisionManager.saveCurrentCameraPipelines();
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sendFullSettings();
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break;
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}
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case "command": {
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switch ((String) entry.getValue()) {
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case "addNewPipeline":
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// TODO: add to UI selection for new 2d/3d
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boolean is3d = false;
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currentProcess.pipelineManager.addNewPipeline(is3d);
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sendFullSettings();
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VisionManager.saveCurrentCameraPipelines();
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break;
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case "deleteCurrentPipeline":
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currentProcess.pipelineManager.deleteCurrentPipeline();
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sendFullSettings();
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VisionManager.saveCurrentCameraPipelines();
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break;
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case "save":
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ConfigManager.saveGeneralSettings();
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VisionManager.saveAllCameras();
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System.out.println("Saved Settings");
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break;
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}
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// used to define all incoming commands
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break;
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}
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case "currentCamera": {
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VisionManager.setCurrentProcessByIndex((Integer) entry.getValue());
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sendFullSettings();
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break;
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}
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case "currentPipeline": {
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currentProcess.pipelineManager.setCurrentPipeline((Integer) entry.getValue());
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sendFullSettings();
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break;
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}
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default: {
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// only change settings when we aren't in driver mode
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if(currentProcess.pipelineManager.getDriverMode()) {
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setField(currentProcess.pipelineManager.driverModePipeline.settings, entry.getKey(), entry.getValue());
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} else {
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setField(currentPipeline.settings, entry.getKey(), entry.getValue());
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}
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switch (entry.getKey()) {
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case "exposure": {
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currentCamera.setExposure((Integer) entry.getValue());
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break;
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}
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case "brightness": {
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currentCamera.setBrightness((Integer) entry.getValue());
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break;
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}
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case "videoModeIndex":{
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currentCamera.setVideoMode((Integer) entry.getValue());
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break;
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}
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case "streamDivisor":{
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currentProcess.cameraStreamer.setDivisor(StreamDivisor.values()[(Integer) entry.getValue()], true);
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break;
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}
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}
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VisionManager.saveCurrentCameraPipelines();
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break;
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}
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}
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} catch (Exception e) {
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System.err.println(e.getMessage());
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}
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broadcastMessage(deserialized, context);
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}
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}
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private void setField(Object obj, String fieldName, Object value) {
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try {
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Field field = obj.getClass().getField(fieldName);
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if (field.getType().isEnum())
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field.set(obj, field.getType().getEnumConstants()[(Integer) value]);
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else
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field.set(obj, value);
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} catch (NoSuchFieldException | IllegalAccessException ex) {
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ex.printStackTrace();
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}
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}
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private static void broadcastMessage(Object obj, WsContext userToSkip) {
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if (users != null)
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for (WsContext user : users) {
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if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
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continue;
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}
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try {
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ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(obj));
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user.send(b);
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} catch (JsonProcessingException e) {
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e.printStackTrace();
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}
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}
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}
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public static void broadcastMessage(Object obj) {
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broadcastMessage(obj, null);//Broadcasts the message to every user
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}
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private static HashMap<String, Object> getOrdinalPipeline(Class cvClass) throws IllegalAccessException {
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HashMap<String, Object> tmp = new HashMap<>();
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for (Field field : cvClass.getFields()) { // iterate over every field in CVPipelineSettings
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try {
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if (!field.getType().isEnum()) { // if the field is not an enum, get it based on the current pipeline
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tmp.put(field.getName(), field.get(VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipeline().settings));
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} else {
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var ordinal = (Enum) field.get(VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipeline().settings);
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tmp.put(field.getName(), ordinal.ordinal());
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}
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} catch (IllegalArgumentException e) {
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e.printStackTrace();
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}
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}
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return tmp;
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}
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private static HashMap<String, Object> getOrdinalSettings() {
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HashMap<String, Object> tmp = new HashMap<>();
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tmp.put("teamNumber", ConfigManager.settings.teamNumber);
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tmp.put("connectionType", ConfigManager.settings.connectionType.ordinal());
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tmp.put("ip", ConfigManager.settings.ip);
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tmp.put("gateway", ConfigManager.settings.gateway);
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tmp.put("netmask", ConfigManager.settings.netmask);
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tmp.put("hostname", ConfigManager.settings.hostname);
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return tmp;
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}
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private static HashMap<String, Object> getOrdinalCameraSettings() {
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HashMap<String, Object> tmp = new HashMap<>();
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VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
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CameraCapture currentCamera = VisionManager.getCurrentUIVisionProcess().getCamera();
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tmp.put("fov", currentCamera.getProperties().getFOV());
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tmp.put("streamDivisor", currentVisionProcess.cameraStreamer.getDivisor().ordinal());
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tmp.put("resolution", currentVisionProcess.getCamera().getProperties().getCurrentVideoModeIndex());
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return tmp;
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}
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public static void sendFullSettings() {
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//General settings
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Map<String, Object> fullSettings = new HashMap<>();
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VisionProcess currentProcess = VisionManager.getCurrentUIVisionProcess();
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CVPipeline currentPipeline = currentProcess.pipelineManager.getCurrentPipeline();
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try {
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fullSettings.put("settings", getOrdinalSettings());
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fullSettings.put("cameraSettings", getOrdinalCameraSettings());
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fullSettings.put("cameraList", VisionManager.getAllCameraNicknames());
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fullSettings.put("pipeline", getOrdinalPipeline(currentPipeline.settings.getClass()));
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fullSettings.put("pipelineList", VisionManager.getCurrentCameraPipelineNicknames());
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fullSettings.put("resolutionList", VisionManager.getCurrentCameraResolutionList());
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fullSettings.put("port", currentProcess.cameraStreamer.getStreamPort());
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fullSettings.put("currentPipelineIndex", VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipelineIndex());
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fullSettings.put("currentCameraIndex", VisionManager.getCurrentUIVisionProcessIndex());
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} catch (IllegalAccessException e) {
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System.err.println("No camera found!");
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}
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broadcastMessage(fullSettings);
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}
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}
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