mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
Added enums, msgpack - new ui intergration
This commit is contained in:
Omer
@@ -22,11 +22,10 @@ public class Server {
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System.out.println("Socket Disconnected");
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SettingsManager.saveSettings();
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});
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ws.onMessage(ctx -> {
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// handler.onMessage(ctx);
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ws.onBinaryMessage(ctx -> {
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handler.onBinaryMessage(ctx);
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});
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ws.onBinaryMessage(ctx->handler.onMessage(ctx));
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app.start(port);
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});
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app.start(port);
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}
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}
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}
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@@ -1,33 +1,33 @@
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package com.chameleonvision.web;
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import com.chameleonvision.vision.Orientation;
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import com.chameleonvision.vision.SortMode;
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import com.chameleonvision.vision.TargetGroup;
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import com.chameleonvision.vision.TargetIntersection;
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import com.chameleonvision.vision.camera.CameraException;
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import com.chameleonvision.settings.SettingsManager;
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import com.chameleonvision.vision.camera.CameraManager;
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import edu.wpi.cscore.VideoException;
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import io.javalin.websocket.*;
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import org.apache.commons.lang3.ArrayUtils;
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import org.json.JSONArray;
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import org.json.JSONObject;
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import org.msgpack.MessagePack;
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import org.msgpack.template.Templates;
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import org.msgpack.type.ArrayValue;
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import org.msgpack.type.BooleanValue;
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import org.msgpack.type.IntegerValue;
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import org.msgpack.type.MapValue;
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import org.apache.commons.lang3.builder.ReflectionToStringBuilder;
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import org.apache.commons.lang3.builder.ToStringStyle;
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import org.msgpack.core.MessagePack;
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import org.msgpack.core.MessageUnpacker;
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import org.msgpack.value.ImmutableArrayValue;
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import org.msgpack.value.ImmutableValue;
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import org.msgpack.value.Value;
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import org.springframework.beans.BeanUtils;
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import java.io.IOException;
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import java.lang.reflect.Field;
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import java.util.*;
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public class ServerHandler {
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private static List<WsContext> users;
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private MessagePack msgpack;
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ServerHandler() {
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users = new ArrayList<>();
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msgpack = new MessagePack();
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}
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void onConnect(WsConnectContext context) {
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@@ -39,103 +39,97 @@ public class ServerHandler {
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users.remove(context);
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}
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void onMessage(WsBinaryMessageContext data) throws IOException {
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byte[] b = ArrayUtils.toPrimitive(data.data());
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System.out.println(msgpack.read(b).isMapValue());
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Map entries = msgpack.read(b,Templates.tMap(Templates.TString,Templates.TValue));
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System.out.println(Arrays.toString(entries.entrySet().toArray()));
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entries.forEach((k, value) -> {
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/*
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To get int from value
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((IntegerValue)value).getInt();
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To get boolean from value
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((BooleanValue)value).getBoolean();
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To get Array from value
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((ArrayValue) value).toArray();
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*/
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String key = k.toString();
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System.out.printf("Got websocket msgpack data: [%s, %s]\n", key, value);
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try{
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if (hasField(CameraManager.getCurrentPipeline(), key)) {
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//Special cases for exposure and brightness and aspect ratio
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switch (key) {
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case "exposure":
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int newExposure = ((IntegerValue)value).getInt();
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System.out.printf("Changing exposure to %d\n", newExposure);
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try {
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CameraManager.getCurrentCamera().setExposure(newExposure);
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} catch (VideoException e) {
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System.out.println("Exposure changes is not supported on your webcam/webcam's driver");
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}
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break;
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case "brightness":
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int newBrightness = (int) value;
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System.out.printf("Changing brightness to %d\n", newBrightness);
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CameraManager.getCurrentCamera().setBrightness(newBrightness);
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break;
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case "ratio":
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//If there is any better to convert Integer to Double you're welcome to change it
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List<Double> doubleRatio = CameraManager.getCurrentPipeline().ratio;
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List<Object> newRatio = ((JSONArray) value).toList();
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for (int i = 0; i < newRatio.size(); i++) {
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doubleRatio.set(i, Double.parseDouble(newRatio.get(i).toString()));
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}
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break;
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default:
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//Any other field in CameraManager that doesn't need anything special
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setField(CameraManager.getCurrentPipeline(), key, value);
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System.out.println("CameraManager.getCurrentPipeline().hue = " + CameraManager.getCurrentPipeline().hue.get(0));
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break;
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void onBinaryMessage(WsBinaryMessageContext data) throws Exception {
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MessageUnpacker unpacker = MessagePack.newDefaultUnpacker(ArrayUtils.toPrimitive(data.data()));
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int length = unpacker.unpackMapHeader();
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for (int mapIndex = 0; mapIndex < length; mapIndex++) {
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String key = unpacker.unpackString(); // key
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Object value = get(unpacker.unpackValue());
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try {
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if (hasField(CameraManager.getCurrentPipeline(), key)) {
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//Special cases for exposure and brightness and aspect ratio
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switch (key) {
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case "exposure":
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int newExposure = (int) value;
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System.out.printf("Changing exposure to %d\n", newExposure);
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try {
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;
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CameraManager.getCurrentCamera().setExposure(newExposure);
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} catch (VideoException e) {
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System.out.println("Exposure changes is not supported on your webcam/webcam's driver");
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}
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break;
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case "brightness":
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int newBrightness = (int) value;
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System.out.printf("Changing brightness to %d\n", newBrightness);
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CameraManager.getCurrentCamera().setBrightness(newBrightness);
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break;
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case "ratio":
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CameraManager.getCurrentPipeline().ratio=getFloatList((ImmutableArrayValue) value);
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break;
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case "area":
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CameraManager.getCurrentPipeline().area=getFloatList((ImmutableArrayValue) value);
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break;
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//Enums
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case "targetIntersection":
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setField(CameraManager.getCurrentPipeline(), key, TargetIntersection.values()[(int) value]);
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break;
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case "targetGroup":
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setField(CameraManager.getCurrentPipeline(), key, TargetGroup.values()[(int) value]);
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break;
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case "sortMode":
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setField(CameraManager.getCurrentPipeline(), key, SortMode.values()[(int) value]);
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break;
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case "orientation":
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setField(CameraManager.getCurrentPipeline(), key, Orientation.values()[(int) value]);
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break;
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default:
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//Any other field in CameraManager that doesn't need anything special
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setField(CameraManager.getCurrentPipeline(), key, value);
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break;
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}
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} else {
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switch (key) {
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case "change_general_settings_values":
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Map<String, Object> map = (Map<String, Object>) value;
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map.forEach((s, o) -> setField(SettingsManager.GeneralSettings, s, o));
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SettingsManager.saveSettings();
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break;
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case "curr_camera":
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String newCamera = (String) value;
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System.out.printf("Changing camera to %s\n", newCamera);
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CameraManager.setCurrentCamera(newCamera);
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HashMap<String, Integer> portMap = new HashMap<>();
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portMap.put("port", CameraManager.getCurrentCamera().getStreamPort());
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sendFullSettings();
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break;
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case "curr_pipeline":
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int newPipeline = (int) value;
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System.out.printf("Changing pipeline to %s\n", newPipeline);
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CameraManager.setCurrentPipeline(newPipeline);
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CameraManager.getCurrentCameraProcess().ntPipelineEntry.setNumber(newPipeline);
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broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
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break;
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case "resolution":
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int newVideoMode = (int) value;
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System.out.printf("Changing video mode to %d\n", newVideoMode);
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CameraManager.getCurrentCamera().setCamVideoMode(newVideoMode, true);
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break;
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case "FOV":
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float newFov = ((Integer) value) * 1F;//TODO check this
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System.out.printf("Changing FOV to %f\n", newFov);
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CameraManager.getCurrentCamera().setFOV(newFov);
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break;
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default:
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System.out.printf("Unexpected value from websocket: [%s, %s]\n", key, value);
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break;
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}
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}
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} else {
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switch (key) {
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case "change_general_settings_values":
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Map<String, Object> map = (Map<String, Object>) value;
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map.forEach((s, o) -> setField(SettingsManager.GeneralSettings, s, o));
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SettingsManager.saveSettings();
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break;
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case "curr_camera":
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String newCamera = (String) value;
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System.out.printf("Changing camera to %s\n", newCamera);
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CameraManager.setCurrentCamera(newCamera);
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HashMap<String, Integer> portMap = new HashMap<>();
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portMap.put("port", CameraManager.getCurrentCamera().getStreamPort());
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sendFullSettings();
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break;
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case "curr_pipeline":
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int newPipeline = (int) value;
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System.out.printf("Changing pipeline to %s\n", newPipeline);
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CameraManager.setCurrentPipeline(newPipeline);
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CameraManager.getCurrentCameraProcess().ntPipelineEntry.setNumber(newPipeline);
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broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
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break;
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case "resolution":
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int newVideoMode = (int) value;
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System.out.printf("Changing video mode to %d\n", newVideoMode);
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CameraManager.getCurrentCamera().setCamVideoMode(newVideoMode, true);
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break;
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case "FOV":
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double newFov = Double.parseDouble(value.toString());//TODO check this
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System.out.printf("Changing FOV to %f\n", newFov);
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CameraManager.getCurrentCamera().setFOV(newFov);
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break;
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default:
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System.out.printf("Unexpected value from websocket: [%s, %s]\n", key, value);
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break;
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}}
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}
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catch (CameraException e)
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{
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} catch (CameraException e) {
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System.err.println("Camera error");
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e.printStackTrace();
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}
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});
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broadcastMessage(entries, data);
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}
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}
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private void setField(Object obj, String fieldName, Object value) {
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@@ -143,33 +137,64 @@ public class ServerHandler {
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Field[] fields = obj.getClass().getFields();
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for (Field f : fields) {
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if (f.getName().equals(fieldName)) {
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if (BeanUtils.isSimpleValueType(value.getClass())) {
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if (BeanUtils.isSimpleValueType(f.getType())) {
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f.set(obj, value);
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} else if (value.getClass() == ArrayValue.class) {
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f.set(obj, ((ArrayValue) value).toArray());
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} else if (value instanceof ImmutableArrayValue) {
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List<Value> valLst = ((ImmutableArrayValue) value).list();
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List<Object> lst = new ArrayList<>();
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for (Value val : valLst) {
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lst.add(get((ImmutableValue) val));
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}
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f.set(obj, lst);
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}
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}
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}
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} catch (IllegalAccessException e) {
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System.out.println("IllegalAccessException ");
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} catch (Exception e) {
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System.out.println("Exception setting field ");
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e.printStackTrace();
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}
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}
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private static void broadcastMessage(Object obj, WsContext userToSkip) {//TODO check if session id is a good way to differentiate users
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for (var user : users) {
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if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
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continue;
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}
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user.send(obj);
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// if (obj.getClass() == String.class)
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// user.send((String) obj);
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// else if (obj.getClass() == HashMap.class)
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// user.send(new JSONObject((HashMap<String, Object>) obj).toString());
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// else
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// user.send(new JSONObject(obj).toString());
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private Object get(ImmutableValue v) throws Exception {
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//TODO find a smarter way to write this
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if (v.isIntegerValue())
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return v.asIntegerValue().toInt();
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if (v.isFloatValue())
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return v.asFloatValue().toFloat();
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if (v.isArrayValue()) {
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return v.asArrayValue();
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}
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if (v.isBinaryValue())
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return v.asBinaryValue().asByteArray();
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if (v.isBooleanValue())
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return v.asBooleanValue().getBoolean();
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if (v.isMapValue())
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return v.asMapValue().map();
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if (v.isStringValue())
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return v.asStringValue().asString();
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throw new Exception("Value not recognized");
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}
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private List<Float> getFloatList(ImmutableArrayValue arrayValue) {
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List<Float> output = new ArrayList<>();
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List<Value> values = arrayValue.list();
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for (Value v:values) {
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if (v.isFloatValue())
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output.add(v.asFloatValue().toFloat());
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else
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output.add((float) v.asIntegerValue().toInt());
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}
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return output;
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}
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private static void broadcastMessage(Object obj, WsContext userToSkip) {
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if (users != null)
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for (var user : users) {
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if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
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continue;
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}
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user.send(obj);
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}
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}
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public static void broadcastMessage(Object obj) {//TODO fix sending for msgpack
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