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Full rewrite of camera system

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This commit is contained in:
Banks Troutman
2019-09-19 14:07:42 -04:00
parent 760f62dd93
commit 508ccff766
16 changed files with 470 additions and 252 deletions
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65
Main/src/main/java/com/chameleonvision/web/Server.java
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@@ -1,7 +1,8 @@
package com.chameleonvision.web;
import com.chameleonvision.NoCameraException;
import com.chameleonvision.CameraException;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.camera.CameraManager;
import edu.wpi.cscore.VideoException;
import io.javalin.Javalin;
import io.javalin.websocket.WsContext;
@@ -15,7 +16,7 @@ import org.springframework.beans.BeanUtils;
public class Server {
private static List<WsContext> users = new ArrayList<WsContext>();
private static List<WsContext> users = new ArrayList<>();
public static void main(int port) {
Javalin app = Javalin.create();
@@ -33,6 +34,9 @@ public class Server {
});
ws.onMessage(ctx -> {
broadcastMessage(ctx.message(), ctx);
JSONObject jsonObject = new JSONObject(ctx.message());
String key = null;
var jsonKeySetArray = jsonObject.keySet().toArray();
@@ -44,7 +48,7 @@ public class Server {
if (key == null) return;
Object value = jsonObject.get(key);
// System.out.printf("Got websocket json data: [%s, %s]\n", key, value);
if (!allFieldsToMap(SettingsManager.getInstance().GetCurrentPipeline()).containsKey(key)) {
if (!allFieldsToMap(CameraManager.getCurrentPipeline()).containsKey(key)) {
//If field not in pipeline
switch (key) {
case "change_general_settings_values":
@@ -54,44 +58,41 @@ public class Server {
case "curr_camera":
String newCamera = (String) value;
System.out.printf("Changing camera to %s\n", newCamera);
SettingsManager.getInstance().SetCurrentCamera(newCamera);
CameraManager.setCurrentCamera(newCamera);
//broadcastMessage((Map<String, Object>) new HashMap<String, Object>(){}.put("port",SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera)));
broadcastMessage(SettingsManager.getInstance().GetCurrentCamera()); //TODO CHECK JSON FOR CAMERA CHANGE
broadcastMessage(CameraManager.getCurrentCamera()); //TODO CHECK JSON FOR CAMERA CHANGE
break;
case "curr_pipeline":
String newPipeline = (String) value;
var pipelineNumber = Integer.parseInt(newPipeline.replace("pipeline", ""));
System.out.printf("Changing pipeline to %s\n", newPipeline);
SettingsManager.getInstance().SetCurrentPipeline(newPipeline);
SettingsManager.CamerasCurrentPipeline.put(SettingsManager.GeneralSettings.curr_camera, newPipeline);
broadcastMessage(allFieldsToMap(SettingsManager.getInstance().GetCurrentPipeline()));
CameraManager.setCurrentPipeline(pipelineNumber);
broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
break;
case "resolution":
int newResolution = (int) value;
System.out.printf("Changing resolution mode to %d\n", newResolution);
SettingsManager.getInstance().GetCurrentCamera().resolution = newResolution;
SettingsManager.getInstance().SaveSettings();
int newVideoMode = (int) value;
System.out.printf("Changing video mode to %d\n", newVideoMode);
CameraManager.getCurrentCamera().setCamVideoMode(newVideoMode);
break;
case "fov":
case "FOV":
double newFov = (double) value;
System.out.printf("Changing FOV to %f\n", newFov);
SettingsManager.getInstance().GetCurrentCamera().FOV = newFov;
SettingsManager.getInstance().SaveSettings();
CameraManager.getCurrentCamera().setFOV(newFov);
break;
default:
System.out.printf("Unexpected value from websocket: [%s, %s]\n", key, value);
break;
}
} else {
setField(SettingsManager.getInstance().GetCurrentPipeline(), key, value);
setField(CameraManager.getCurrentPipeline(), key, value);
//Special cases for exposure and brightness
//TODO maybe add listener for value changes instead of this special case
switch (key) {
case "exposure":
int newExposure = (int) value;
System.out.printf("Changing exposure to %d\n", newExposure);
SettingsManager.getInstance().GetCurrentPipeline().exposure = newExposure;
try {
SettingsManager.getInstance().GetCurrentUsbCamera().setExposureManual(newExposure);
CameraManager.getCurrentCamera().setExposure(newExposure);
}
catch ( VideoException e)
{
@@ -102,8 +103,7 @@ public class Server {
case "brightness":
int newBrightness = (int) value;
System.out.printf("Changing brightness to %d\n", newBrightness);
SettingsManager.getInstance().GetCurrentPipeline().brightness = newBrightness;
SettingsManager.getInstance().GetCurrentUsbCamera().setBrightness(newBrightness);
CameraManager.getCurrentCamera().setBrightness(newBrightness);
break;
}
}
@@ -155,30 +155,31 @@ public class Server {
}
private static Map<String, Object> allFieldsToMap(Object obj) {
Map map = new HashMap<>();
Map map = new HashMap<String, Object>();
try {
Field[] fields = obj.getClass().getFields();
for (Field field : fields)
for (Field field : fields) {
map.put(field.getName(), field.get(obj));
}
} catch (IllegalAccessException e) {
System.err.println("Illegal Access error:" + e.getStackTrace().toString());
System.err.println("Illegal Access error:" + e.getStackTrace());
}
return map;
}
private static void sendFullSettings() {
Map<String, Object> fullSettings = new HashMap<>();
//General settings
fullSettings.putAll(allFieldsToMap(SettingsManager.GeneralSettings));
fullSettings.put("cameraList", SettingsManager.Cameras.keySet());
Map<String, Object> fullSettings = new HashMap<>(allFieldsToMap(SettingsManager.GeneralSettings));
fullSettings.put("cameraList", CameraManager.getAllCamerasByName().keySet());
try {
fullSettings.putAll(allFieldsToMap(SettingsManager.getInstance().GetCurrentPipeline()));
fullSettings.put("pipelineList", SettingsManager.getInstance().GetCurrentCamera().pipelines.keySet());
fullSettings.put("resolutionList", SettingsManager.getInstance().GetResolutionList());
fullSettings.put("resolution", SettingsManager.getInstance().GetCurrentCamera().resolution);
fullSettings.put("FOV", SettingsManager.getInstance().GetCurrentCamera().FOV);
var currentCamera = CameraManager.getCurrentCamera();
fullSettings.putAll(allFieldsToMap(currentCamera.getCurrentPipeline()));
fullSettings.put("pipelineList", currentCamera.getPipelines().keySet());
fullSettings.put("resolutionList", CameraManager.getResolutionList());
fullSettings.put("resolution", currentCamera.getVideoModeIndex());
fullSettings.put("FOV", currentCamera.getFOV());
// fullSettings.put("port", SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera));
} catch (NoCameraException e) {
} catch (CameraException e) {
System.err.println("No camera found!");
//TODO: add message to ui to inform that there are no cameras
}