Bootup sprint (#18)

* Did some stuff * Fix gradle, start implementing mjpeg frame consumer * Did some stuff * bade changes * rename camera config to USBCameraConfiguration, add name * unrename cameraconfiguration * Add pub/sub framework * Add setResolution to mjpeg frame consumer * add NTDataConsumer * Add some totally broken hsv hacks * Start refactoring UI data * Update index.js * Commit and push, he says * Fix up some errors * Fix input tab * Fix fps * Update index.js * Add pipeline field setting, update PipelineManager, fix nullpointers and USBCameraSettables * Change v-model to point to data() * update hsv to use mutations * Work on saving, fix hsv * Rename shouldErode/shouldDilate to erode and dilate * Hook all the tabs up to the Store * Change handleData to handlePipelineData * camera quirk redo, add ICCSub to SocketHandler * Fix some property names * Fixed tons of naming in UI, fix backend for multi-val PSCs, fix PSC enums * change pipeline type to an int in store * Fix mutation naming * Attempt threshold fix * Update SocketHandler.java * Add truthy data sending * Start adding logging support * [UI] Add delay to slider input boxes (#1) * [UI] [Backend] potentially fix camera settings, various logging tweaks * Don't release raw input mat * add setVideoModeIndex to vision settables * Implement pipeline index in socket handler, add framework for renaming/changing pipes * (ish) get pipeline change working * Create index.html * Cleanups, fix pipeline index bug, fix stream res for MJPG, add dashboard stream (unused) * Refactor UI to use mutatePipeline, send pipeline results * Update NetworkConfig.java * Change double to number * Run spotless * Fix reversal of large/small comparators * Fix left/right * Fix pitch/yaw calculation bug, fix area bug * Use Vue.set instead of assignment This fixes {{ }} * Update App.vue * run spotless * Actually add pipelines and reassign indecies * Delete old pipeline configs Fixes duplication on renaming pipeline * Start working on deleting pipes * Fix camera nickname change * run spotless * Fix some test stuff * Update VisionModuleManagerTest.java * vision source manager test is still broken * Fix VisionSourceManager test * Apply spotless 2 electric boogaloo Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com> Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com> Co-authored-by: Aaryan Agrawal <54345060+13Ducks@users.noreply.github.com>
2026-06-20 00:51:41 +00:00 · 2020-07-07 01:01:58 -07:00
parent 01712a7396
commit 4cd2262acc
106 changed files with 3666 additions and 623 deletions
--- a/photon-server/src/test/java/org/photonvision/common/BenchmarkTest.java
+++ b/photon-server/src/test/java/org/photonvision/common/BenchmarkTest.java
@@ -32,8 +32,8 @@ import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.opencv.ContourIntersectionDirection;
 import org.photonvision.vision.pipeline.CVPipeline;
-import org.photonvision.vision.pipeline.CVPipelineResult;
 import org.photonvision.vision.pipeline.ReflectivePipeline;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;

 /** Various tests that check performance on long-running tasks (i.e. a pipeline) */
 public class BenchmarkTest {
--- a/photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java
+++ b/photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java
@@ -90,7 +90,6 @@ public class ConfigTest {
    @Test
    @Order(2)
    public void deserializeConfig() {
-        configMgr.load();

        var reflectivePipelineSettings =
                configMgr.getConfig().getCameraConfigurations().get("TestCamera").pipelineSettings.get(0);
--- a/photon-server/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
@@ -17,23 +17,33 @@

 package org.photonvision.vision;

-import java.util.ArrayList;
-import java.util.List;
+import java.util.HashMap;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
-import org.photonvision.vision.camera.CameraQuirks;
+import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.QuirkyCamera;

 public class QuirkyCameraTest {
    @Test
    public void ps3EyeTest() {
-        QuirkyCamera psEye = new QuirkyCamera(0x1415, 0x2000, "psEye");
-        Assertions.assertEquals(psEye.quirks, List.of(CameraQuirks.Gain));
+        HashMap<CameraQuirk, Boolean> ps3EyeQuirks = new HashMap<>();
+        ps3EyeQuirks.put(CameraQuirk.Gain, true);
+        for (var q : CameraQuirk.values()) {
+            ps3EyeQuirks.putIfAbsent(q, false);
+        }
+
+        QuirkyCamera psEye = QuirkyCamera.getQuirkyCamera(0x1415, 0x2000, "psEye");
+        Assertions.assertEquals(psEye.quirks, ps3EyeQuirks);
    }

    @Test
    public void quirklessCameraTest() {
-        QuirkyCamera noQuirk = new QuirkyCamera(1234, 888, "empty");
-        Assertions.assertEquals(noQuirk.quirks, new ArrayList<>());
+        HashMap<CameraQuirk, Boolean> noQuirks = new HashMap<>();
+        for (var q : CameraQuirk.values()) {
+            noQuirks.put(q, false);
+        }
+
+        QuirkyCamera quirkless = QuirkyCamera.getQuirkyCamera(1234, 888, "empty");
+        Assertions.assertEquals(quirkless.quirks, noQuirks);
    }
 }
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
@@ -35,6 +35,7 @@ import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.opencv.ContourIntersectionDirection;
 import org.photonvision.vision.opencv.ContourShape;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;

--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
@@ -25,6 +25,7 @@ import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.opencv.ContourIntersectionDirection;
 import org.photonvision.vision.opencv.ContourShape;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;

 public class ColoredShapePipelineTest {

--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
@@ -25,6 +25,7 @@ import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.opencv.ContourIntersectionDirection;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;

 public class ReflectivePipelineTest {

--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
@@ -35,6 +35,7 @@ import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.opencv.ContourIntersectionDirection;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;

--- a/photon-server/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -18,15 +18,17 @@
 package org.photonvision.vision.processes;

 import edu.wpi.cscore.VideoMode;
-import java.util.ArrayList;
 import java.util.HashMap;
+import java.util.List;
 import org.junit.jupiter.api.*;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.datatransfer.DataConsumer;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
-import org.photonvision.vision.pipeline.CVPipelineResult;
+import org.photonvision.vision.pipeline.CVPipelineSettings;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;

 public class VisionModuleManagerTest {

@@ -87,15 +89,19 @@ public class VisionModuleManagerTest {

        @Override
        public VideoMode getCurrentVideoMode() {
-            return null;
+            return new VideoMode(0, 320, 240, 254);
        }

        @Override
-        public void setCurrentVideoMode(VideoMode videoMode) {}
+        public void setCurrentVideoMode(VideoMode videoMode) {
+            this.frameStaticProperties = new FrameStaticProperties(getCurrentVideoMode(), getFOV());
+        }

        @Override
        public HashMap<Integer, VideoMode> getAllVideoModes() {
-            return null;
+            var ret = new HashMap<Integer, VideoMode>();
+            ret.put(0, getCurrentVideoMode());
+            return ret;
        }
    }

@@ -114,19 +120,20 @@ public class VisionModuleManagerTest {

    @Test
    public void setupManager() {
-        var sources = new ArrayList<VisionSource>();
-        sources.add(
+        var sources = new HashMap<VisionSource, List<CVPipelineSettings>>();
+        sources.put(
                new TestSource(
                        new FileFrameProvider(
                                TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes),
-                                TestUtils.WPI2019Image.FOV)));
+                                TestUtils.WPI2019Image.FOV)),
+                List.of());

-        var moduleManager = new VisionModuleManager(sources);
+        VisionModuleManager.getInstance().addSources(sources);
        var module0DataConsumer = new TestDataConsumer();

-        moduleManager.visionModules.get(0).addDataConsumer(module0DataConsumer);
+        VisionModuleManager.getInstance().visionModules.get(0).addDataConsumer(module0DataConsumer);

-        moduleManager.startModules();
+        VisionModuleManager.getInstance().startModules();

        sleep(500);

--- a/photon-server/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
@@ -62,8 +62,7 @@ public class VisionSourceManagerTest {

    @Test
    public void visionSourceTest() {
-        VisionSourceManager visionSourceManager = new VisionSourceManager();
-        List<VisionSource> i = visionSourceManager.LoadAllSources(camConfig, usbCameraInfos);
+        List<VisionSource> i = VisionSourceManager.LoadAllSources(camConfig, usbCameraInfos);
        for (var source : i) {
            Assertions.assertEquals(source, usbCameraSources.get(i.indexOf(source)));
        }
--- a/photon-server/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
@@ -19,17 +19,33 @@ package org.photonvision.vision.target;

 import static org.junit.jupiter.api.Assertions.assertEquals;

+import org.apache.commons.math3.util.FastMath;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.opencv.core.*;
 import org.photonvision.common.util.TestUtils;
+import org.photonvision.common.util.numbers.DoubleCouple;
+import org.photonvision.vision.frame.FrameStaticProperties;

 public class TargetCalculationsTest {

    private static Size imageSize = new Size(800, 600);
    private static Point imageCenterPoint = new Point(imageSize.width / 2, imageSize.height / 2);
-    private static double CameraHorizontalFocalLength = 61;
-    private static double CameraVerticalFocalLength = 34.3;
+    private static final double diagFOV = Math.toRadians(70.0);
+
+    private static final FrameStaticProperties props =
+            new FrameStaticProperties((int) imageSize.width, (int) imageSize.height, diagFOV);
+    private static final TrackedTarget.TargetCalculationParameters params =
+            new TrackedTarget.TargetCalculationParameters(
+                    true,
+                    TargetOffsetPointEdge.Center,
+                    new Point(),
+                    imageCenterPoint,
+                    new DoubleCouple(1.0, 0.0),
+                    RobotOffsetPointMode.None,
+                    props.horizontalFocalLength,
+                    props.verticalFocalLength,
+                    imageSize.width * imageSize.height);

    @BeforeEach
    public void Init() {
@@ -41,11 +57,14 @@ public class TargetCalculationsTest {
        var targetPixelOffsetX = 100;
        var targetCenterPoint = new Point(imageCenterPoint.x + targetPixelOffsetX, imageCenterPoint.y);

+        var trueYaw =
+                Math.atan((imageCenterPoint.x - targetCenterPoint.x) / params.horizontalFocalLength);
+
        var yaw =
                TargetCalculations.calculateYaw(
-                        imageCenterPoint.x, targetCenterPoint.x, CameraHorizontalFocalLength);
+                        imageCenterPoint.x, targetCenterPoint.x, params.horizontalFocalLength);

-        assertEquals(-1.466, yaw, 0.025, "Yaw not as expected");
+        assertEquals(FastMath.toDegrees(trueYaw), yaw, 0.025, "Yaw not as expected");
    }

    @Test
@@ -53,11 +72,14 @@ public class TargetCalculationsTest {
        var targetPixelOffsetY = 100;
        var targetCenterPoint = new Point(imageCenterPoint.x, imageCenterPoint.y + targetPixelOffsetY);

+        var truePitch =
+                Math.atan((imageCenterPoint.y - targetCenterPoint.y) / params.verticalFocalLength);
+
        var pitch =
                TargetCalculations.calculatePitch(
-                        imageCenterPoint.y, targetCenterPoint.y, CameraVerticalFocalLength);
+                        imageCenterPoint.y, targetCenterPoint.y, params.verticalFocalLength);

-        assertEquals(2.607, pitch, 0.025, "Pitch not as expected");
+        assertEquals(FastMath.toDegrees(truePitch) * -1, pitch, 0.025, "Pitch not as expected");
    }

    @Test
--- a/photon-server/src/test/java/org/photonvision/vision/target/TrackedTargetTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/target/TrackedTargetTest.java
@@ -65,7 +65,8 @@ public class TrackedTargetTest {
                        imageSize.area());

        var trackedTarget = new TrackedTarget(pTarget, setting);
-        assertEquals(1.4, trackedTarget.getYaw(), 0.025, "Yaw was incorrect");
-        assertEquals(0, trackedTarget.getPitch(), 0.025, "Pitch was incorrect");
+        // TODO change these hardcoded values
+        assertEquals(12.0, trackedTarget.getYaw(), 0.05, "Yaw was incorrect");
+        assertEquals(0, trackedTarget.getPitch(), 0.05, "Pitch was incorrect");
    }
 }