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Convert to user selected camera matching (#1556)

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This commit is contained in:
oh-yes-0-fps
2025-01-01 03:04:20 -05:00
committed by GitHub
parent b2e70a7257
commit 418eada0b5
67 changed files with 2710 additions and 1948 deletions
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74
photon-server/src/main/java/org/photonvision/server/RequestHandler.java
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@@ -52,7 +52,8 @@ import org.photonvision.common.util.file.JacksonUtils;
import org.photonvision.common.util.file.ProgramDirectoryUtilities;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
import org.photonvision.vision.camera.CameraQuirk;
import org.photonvision.vision.processes.VisionModuleManager;
import org.photonvision.vision.camera.PVCameraInfo;
import org.photonvision.vision.processes.VisionSourceManager;
import org.zeroturnaround.zip.ZipUtil;
public class RequestHandler {
@@ -395,7 +396,7 @@ public class RequestHandler {
logger.info("Changing camera FOV to: " + fov);
logger.info("Changing quirks to: " + settings.quirksToChange.toString());
var module = VisionModuleManager.getInstance().getModule(index);
var module = VisionSourceManager.getInstance().vmm.getModule(index);
module.setFov(fov);
module.changeCameraQuirks(settings.quirksToChange);
@@ -474,7 +475,7 @@ public class RequestHandler {
try {
index = kObjectMapper.readTree(ctx.bodyInputStream()).get("index").asInt();
var calData = VisionModuleManager.getInstance().getModule(index).endCalibration();
var calData = VisionSourceManager.getInstance().vmm.getModule(index).endCalibration();
if (calData == null) {
ctx.result("The calibration process failed");
ctx.status(500);
@@ -551,7 +552,7 @@ public class RequestHandler {
String name = data.get("name").asText();
int idx = data.get("cameraIndex").asInt();
VisionModuleManager.getInstance().getModule(idx).setCameraNickname(name);
VisionSourceManager.getInstance().vmm.getModule(idx).setCameraNickname(name);
ctx.status(200);
ctx.result("Successfully changed the camera name to: " + name);
logger.info("Successfully changed the camera name to: " + name);
@@ -581,7 +582,8 @@ public class RequestHandler {
var observationIdx = Integer.parseInt(ctx.queryParam("snapshotIdx"));
CameraCalibrationCoefficients calList =
VisionModuleManager.getInstance()
VisionSourceManager.getInstance()
.vmm
.getModule(idx)
.getStateAsCameraConfig()
.calibrations
@@ -631,7 +633,7 @@ public class RequestHandler {
var width = Integer.parseInt(ctx.queryParam("width"));
var height = Integer.parseInt(ctx.queryParam("height"));
var cc = VisionModuleManager.getInstance().getModule(idx).getStateAsCameraConfig();
var cc = VisionSourceManager.getInstance().vmm.getModule(idx).getStateAsCameraConfig();
CameraCalibrationCoefficients calList =
cc.calibrations.stream()
@@ -818,19 +820,63 @@ public class RequestHandler {
FileUtils.deleteDirectory(cameraDir);
}
// prevent -anyone- else from writing camera configs -- but flush first
ConfigManager.getInstance().saveToDisk();
ConfigManager.getInstance().setWriteTaskEnabled(false);
ConfigManager.getInstance().disableFlushOnShutdown();
// remove the config from the global config and force-flush
ConfigManager.getInstance().getConfig().removeCameraConfig(name);
ConfigManager.getInstance().saveToDisk();
VisionSourceManager.getInstance().deleteVisionSource(name);
ctx.status(200);
restartProgram();
} catch (IOException e) {
// todo
logger.error("asdf", e);
ctx.status(500);
}
}
public static void onActivateMatchedCameraRequest(Context ctx) {
logger.info(ctx.queryString().toString());
String uniqueName = ctx.queryParam("uniqueName");
if (VisionSourceManager.getInstance().reactivateDisabledCameraConfig(uniqueName)) {
ctx.status(200);
} else {
ctx.status(403);
}
ctx.result("Successfully assigned camera with unique name: " + uniqueName);
}
public static void onAssignUnmatchedCameraRequest(Context ctx) {
logger.info(ctx.queryString().toString());
PVCameraInfo camera;
try {
camera = JacksonUtils.deserialize(ctx.queryParam("cameraInfo"), PVCameraInfo.class);
} catch (IOException e) {
ctx.status(401);
return;
}
if (VisionSourceManager.getInstance().assignUnmatchedCamera(camera)) {
ctx.status(200);
} else {
ctx.status(403);
}
ctx.result("Successfully assigned camera: " + camera);
}
public static void onUnassignCameraRequest(Context ctx) {
logger.info(ctx.queryString().toString());
String uniqueName = ctx.queryParam("uniqueName");
if (VisionSourceManager.getInstance().deactivateVisionSource(uniqueName)) {
ctx.status(200);
} else {
ctx.status(403);
}
ctx.status(200);
ctx.result("Successfully assigned camera with unique name: " + uniqueName);
}
}

3
photon-server/src/main/java/org/photonvision/server/Server.java
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@@ -136,6 +136,9 @@ public class Server {
app.get("/api/utils/getCalibrationJSON", RequestHandler::onCalibrationExportRequest);
app.post("/api/utils/nukeConfigDirectory", RequestHandler::onNukeConfigDirectory);
app.post("/api/utils/nukeOneCamera", RequestHandler::onNukeOneCamera);
app.post("/api/utils/activateMatchedCamera", RequestHandler::onActivateMatchedCameraRequest);
app.post("/api/utils/assignUnmatchedCamera", RequestHandler::onAssignUnmatchedCameraRequest);
app.post("/api/utils/unassignCamera", RequestHandler::onUnassignCameraRequest);
// Calibration
app.post("/api/calibration/end", RequestHandler::onCalibrationEndRequest);