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[backend] Fix FPS calculation, display latency in UI (#31)

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This commit is contained in:
Matt
2020-07-12 10:37:04 -07:00
committed by GitHub
parent 30b4b8d111
commit 54445dad35
4 changed files with 110 additions and 5 deletions
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20
photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
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@@ -18,6 +18,7 @@
package org.photonvision.vision.processes;
import com.fasterxml.jackson.core.JsonProcessingException;
import edu.wpi.first.wpilibj.MedianFilter;
import java.util.*;
import org.apache.commons.lang3.tuple.Pair;
import org.photonvision.common.configuration.CameraConfiguration;
@@ -60,7 +61,9 @@ public class VisionModule {
private final NTDataPublisher ntConsumer;
private final int moduleIndex;
private final MJPGFrameConsumer uiStreamer;
private long lastUpdateTimestamp = -1;
private long lastUIResultUpdateTime = 0;
private long lastRunTime = 0;
private MedianFilter fpsAverager = new MedianFilter(10);
private MJPGFrameConsumer dashboardStreamer;
@@ -100,12 +103,21 @@ public class VisionModule {
addResultConsumer(
result -> {
var now = System.currentTimeMillis();
if (lastUpdateTimestamp + 1000.0 / 15.0 > now) return;
var fps = fpsAverager.calculate(1000.0 / (now - lastRunTime));
lastRunTime = now;
// only update the UI at 15hz
if (lastUIResultUpdateTime + 1000.0 / 15.0 > now) return;
var uiMap = new HashMap<Integer, HashMap<String, Object>>();
var dataMap = new HashMap<String, Object>();
dataMap.put("fps", 1000.0 / result.getLatencyMillis());
dataMap.put("fps", fps);
dataMap.put("latency", result.getLatencyMillis());
var targets = result.targets;
var uiTargets = new ArrayList<HashMap<String, Object>>();
for (var t : targets) {
uiTargets.add(t.toHashMap());
@@ -123,7 +135,7 @@ public class VisionModule {
logger.error(Arrays.toString(e.getStackTrace()));
}
lastUpdateTimestamp = now;
lastUIResultUpdateTime = now;
});
setPipeline(visionSource.getSettables().getConfiguration().currentPipelineIndex);