Added shit

backend/Main.py

@@ -4,11 +4,13 @@ from app.ChameleonVisionApp import ChameleonApplication
 from app.classes.SettingsManager import SettingsManager
 from tornado.options import options
 from handlers.CamerasHandler import CamerasHandler
+from handlers.VisionHandler import VisionHandler
 
 if __name__ == "__main__":
     mng = SettingsManager()
-    a = CamerasHandler.get_cameras()
-    b = CamerasHandler.start_cameras(a)
+    a = CamerasHandler.get_cameras_info()
+    b = CamerasHandler.get_or_start_cameras(a)
+    VisionHandler().run()
 
     tornado.options.parse_command_line()
     app = ChameleonApplication()

backend/app/classes/Exceptions.py

@@ -1,5 +1,5 @@
 
-class PipelineAlreadyExistsException(Excetion):
+class PipelineAlreadyExistsException(Exception):
 
     def __init__(self, pipe_name):
         super(f"Pipeline {pipe_name} already exists")

backend/app/classes/SettingsManager.py

@@ -1,5 +1,5 @@
 import os
-import json
+import jsonpass
 from .Singleton import Singleton
 from handlers.CamerasHandler import CamerasHandler
 from .Exceptions import PipelineAlreadyExistsException
@@ -11,12 +11,15 @@ class SettingsManager(metaclass=Singleton):
 
     default_pipeline = {
         "exposure": 50,
-        "brightness": 50
+        "brightness": 50,
+        "hue": [0, 100],
+        "saturation": [0, 100],
+        "value": [0, 100]
     }
     default_general_settings = {
         "team_number": 1577,
-        "curr_camera": "cam1",
-        "curr_pipeline": "pipeline1"
+        "curr_camera": "",
+        "curr_pipeline": ""
     }
 
     def __init__(self):
@@ -25,7 +28,7 @@ class SettingsManager(metaclass=Singleton):
         self._init_general_settings()
         self._init_cameras()
 
-        if not self.cams[self.general_settings["curr_camera"]]:
+        if self.general_settings["curr_camera"] not in self.cams and len(list(self.cams.keys())) > 0:
             self.general_settings["curr_camera"] = list(self.cams.keys())[0]
 
     def _init_general_settings(self):
@@ -36,7 +39,7 @@ class SettingsManager(metaclass=Singleton):
             self.general_settings = self.default_general_settings.copy()
 
     def _init_cameras(self):
-        cameras = CamerasHandler.get_cameras()
+        cameras = CamerasHandler.get_cameras_info()
 
         for cam in cameras:
             if os.path.exists(os.path.join(self.cams_path, cam.name)):
@@ -98,7 +101,7 @@ class SettingsManager(metaclass=Singleton):
             suffix = 0
             pipe_name = "pipeline" + str(suffix)
 
-            while pipe_name not in self.cams[cam_name]["pipelines"]:
+            while pipe_name in self.cams[cam_name]["pipelines"]:
                 suffix += 1
                 pipe_name = "pipeline" + str(suffix)
         elif self.cams[cam_name]["pipelines"][pipe_name]:

backend/app/handlers/CamerasHandler.py

@@ -5,24 +5,55 @@ import cv2
 class CamerasHandler:
 
     @staticmethod
-    def get_cameras():
-        arr = []
+    def get_cameras_info():
 
-        usb_devices = cscore.UsbCamera.enumerateUsbCameras()
+        if not getattr(CamerasHandler, "cams_info", False):
 
-        for index in range(len(usb_devices)):
-            cap = cv2.VideoCapture(index)
-            if cap.isOpened():
-                arr.append(index)
-            cap.release()
-            index += 1
-        return [usb_devices[i] for i in arr]
+            arr = []
+
+            usb_devices = cscore.UsbCamera.enumerateUsbCameras()
+
+            for index in range(len(usb_devices)):
+                cap = cv2.VideoCapture(index)
+                if cap.isOpened():
+                    arr.append(index)
+                cap.release()
+                index += 1
+
+            setattr(CamerasHandler, "cams_info", [usb_devices[i] for i in arr])
+
+        return getattr(CamerasHandler, "cams_info")
 
     @staticmethod
-    def start_cameras(usb_devices):
-        cameras = []
-        for device in usb_devices:
-            camera = cscore.UsbCamera(name='', dev=device.dev)
-            camera.setPixelFormat(pixelFormat=camera.enumerateVideoModes()[0].pixelFormat) #TODO if dictionary is empy do this else take from dictionary
-            cameras.append(camera)
-        return cameras
+    def get_or_start_cameras(usb_devices):
+
+        if not getattr(CamerasHandler, "cams", False):
+            cameras = {}
+            for device in usb_devices:
+                device_name = device.name
+
+                if device.name in cameras:
+                    suffix = 0
+                    device_name = device.name + str(suffix)
+
+                    while device_name in cameras:
+                        suffix += 1
+                        device_name = "pipeline" + str(suffix)
+
+                camera = cscore.UsbCamera(name=device_name, dev=device.dev)
+                camera.setPixelFormat(pixelFormat=camera.enumerateVideoModes()[0].pixelFormat) #TODO if dictionary is empy do this else take from dictionary
+
+                cameras[device_name] = camera
+
+            setattr(CamerasHandler, "cams", cameras)
+
+        return getattr(CamerasHandler, "cams")
+
+    @staticmethod
+    def get_usb_camera_by_name(cam_name):
+        return CamerasHandler.get_or_start_cameras(CamerasHandler.get_cameras_info())[cam_name]
+
+    @staticmethod
+    def change_camera_values(usb_camera: cscore.UsbCamera, dic):
+        usb_camera.setBrightness(dic["brightness"] or 50)
+        usb_camera.setExposureManual(dic["exposure"] or 50)

backend/app/handlers/SocketHandler.py

@@ -1,6 +1,6 @@
 import tornado.websocket
 import json
-import os
+from .CamerasHandler import CamerasHandler
 from ..classes.SettingsManager import SettingsManager
 
 
@@ -14,7 +14,7 @@ class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
         self.init_actions()
 
     def init_actions(self):
-        self.actions["change_pipeline_values"] = self.settings_manager.change_pipeline_values
+        self.actions["change_pipeline_values"] = self.change_pipeline_values
         self.actions["change_general_settings_values"] = self.settings_manager.change_general_settings_values
         self.actions["change_cam"] = self.change_curr_camera
         self.actions["change_pipeline"] = self.change_curr_pipeline
@@ -57,4 +57,11 @@ class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
     def change_curr_pipeline(self, dic):
         self.settings_manager.set_curr_pipeline(pipe_name=dic["pipeline"])
 
+    def change_pipeline_values(self, dic):
+        self.settings_manager.change_pipeline_values(dic)
+
+        CamerasHandler.change_camera_values(CamerasHandler.get_usb_camera_by_name(self.settings_manager.general_settings["curr_camera"]), dic)
+
+
+
 

backend/app/handlers/VisionHandler.py

@@ -1,7 +1,8 @@
 import cscore
-import networktables
+from networktables import NetworkTables
 import cv2
 import numpy
+from cscore import CameraServer
 from app.classes.SettingsManager import SettingsManager
 
 
@@ -22,8 +23,7 @@ class VisionHandler:
         _, contours, _ = cv2.findContours(binary_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
         return contours
 
-    def filter_contours(self, input_contours, camera_area, min_area, max_area, min_ratio, max_ratio, min_extent,
-                        max_extent):
+    def filter_contours(self, input_contours, camera_area, min_area, max_area, min_ratio, max_ratio, min_extent, max_extent):
         output = []
         rectangle = []
 
@@ -66,20 +66,33 @@ class VisionHandler:
 
     def run(self):
         camera_server = cscore.CameraServer.getInstance()
-        networktables.NetworkTables.startClientTeam(team=SettingsManager.general_settings["team_number"])
-        networktables.NetworkTables.initialize()
+        NetworkTables.startClientTeam(team=SettingsManager.general_settings.get("team_number", 1577))
+        NetworkTables.initialize()
+
+    def camera_process(self, camera, stream):
+        def driver_mode_listener(key, value, is_new):
+            raise NotImplementedError()
+
+        def pipeline_listener(key, value, is_new):
+            raise NotImplementedError()
 
-    def camera_process(self,camera, stream,):
         image = numpy.zeros(shape=(0, 0, 3), dtype=numpy.uint8)
-        table = networktables.NetworkTables.getTable("/Chameleon-Vision/"+camera.getInfo().name)
+        table = NetworkTables.getTable("/Chameleon-Vision/" + camera.getInfo().name)
+        NetworkTables.addEntryListener("Driver_Mode", driver_mode_listener)
+        NetworkTables.addEntryListener("Pipeline", pipeline_listener)
+
+        cv_sink = CameraServer.getInstance().getVideo(camera=camera)
 
         while True:
-            # _, image = cv_sink.grabFrame(image)
+            _, image = cv_sink.grabFrame(image)
+            hsv_image = self._hsv_threshold()
+            filtered_contours = None
+
             if table.getBoolean("Driver_Mode", False):
-                hsv_image = self._hsv_threshold()
-                contours = self.find_contours()
-                contours = self.find_contours()
-                image = self.draw_image()
-
+                contours = self.find_contours(hsv_image)
+                filtered_contours = self.filter_contours(contours)
 
+            image = self.draw_image(input_image=hsv_image, is_binary=False, rectangles=filtered_contours)
             stream.putFrame(image)
+
+

backend/settings/cams/cam1/pipeline1.json

@@ -1 +0,0 @@
-{"exposure": 50, "brightness": 50}

backend/settings/settings.json

@@ -1,5 +0,0 @@
-{
-  "team_number": 1577,
-  "curr_camera": "cam1",
-  "curr_pipeline": "pipeline1"
-}