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Added enums, msgpack - new ui intergration

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This commit is contained in:
Omer
2019-10-12 03:38:42 +03:00
parent 2eb4cbc950
commit 5f879f9d98
17 changed files with 239 additions and 193 deletions
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9
Main/pom.xml
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@@ -91,9 +91,14 @@
</dependency> </dependency>
<dependency> <dependency>
<groupId>org.msgpack</groupId> <groupId>org.msgpack</groupId>
<artifactId>msgpack</artifactId> <artifactId>msgpack-core</artifactId>
<version>0.6.12</version> <version>0.8.18</version>
</dependency> </dependency>
<!-- <dependency>-->
<!-- <groupId>org.msgpack</groupId>-->
<!-- <artifactId>msgpack</artifactId>-->
<!-- <version>0.6.12</version>-->
<!-- </dependency>-->
<dependency> <dependency>
<groupId>org.springframework</groupId> <groupId>org.springframework</groupId>
<artifactId>spring-beans</artifactId> <artifactId>spring-beans</artifactId>

5
Main/src/main/java/com/chameleonvision/vision/Orientation.java Normal file
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@@ -0,0 +1,5 @@
package com.chameleonvision.vision;
public enum Orientation {
Normal,Inverted//TODO add 90 and 270 deg rotation?
}

16
Main/src/main/java/com/chameleonvision/vision/Pipeline.java
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@@ -6,20 +6,20 @@ import java.util.List;
public class Pipeline { public class Pipeline {
public int exposure = 50; public int exposure = 50;
public int brightness = 50; public int brightness = 50;
public String orientation = "Normal"; public Orientation orientation = Orientation.Normal;
public List<Integer> hue = Arrays.asList(50, 180); public List<Integer> hue = Arrays.asList(50, 180);
public List<Integer> saturation = Arrays.asList(50, 255); public List<Integer> saturation = Arrays.asList(50, 255);
public List<Integer> value = Arrays.asList(50, 255); public List<Integer> value = Arrays.asList(50, 255);
public boolean erode = false; public boolean erode = false;
public boolean dilate = false; public boolean dilate = false;
public List<Integer> area = Arrays.asList(0, 100); public List<Float> area = Arrays.asList(0f, 100f);
public List<Double> ratio = Arrays.asList(0D, 20D); public List<Float> ratio = Arrays.asList(0f, 20f);
public List<Integer> extent = Arrays.asList(0, 100); public List<Integer> extent = Arrays.asList(0, 100);
public int is_binary = 0; public boolean isBinary = false;
public String sort_mode = "Largest"; public SortMode sortMode = SortMode.Largest;
public String target_group = "Single"; public TargetGroup targetGroup = TargetGroup.Single;
public String target_intersection = "Up"; public TargetIntersection targetIntersection = TargetIntersection.Up;
public double M = 1; public double M = 1;
public double B = 0; public double B = 0;
public boolean is_calibrated = false; public boolean isCalibrated = false;
} }

5
Main/src/main/java/com/chameleonvision/vision/SortMode.java Normal file
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@@ -0,0 +1,5 @@
package com.chameleonvision.vision;
public enum SortMode {
Largest,Smallest,Highest,Lowest,Rightmost,Leftmost,Centermost
}

5
Main/src/main/java/com/chameleonvision/vision/TargetGroup.java Normal file
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@@ -0,0 +1,5 @@
package com.chameleonvision.vision;
public enum TargetGroup {
Single,Dual,Triple,Quadruple,Quintuple
}

5
Main/src/main/java/com/chameleonvision/vision/TargetIntersection.java Normal file
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@@ -0,0 +1,5 @@
package com.chameleonvision.vision;
public enum TargetIntersection {
None,Up,Down,Left,Right
}

18
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -13,7 +13,7 @@ import java.util.stream.IntStream;
public class Camera { public class Camera {
private static final double DEFAULT_FOV = 60.8; private static final float DEFAULT_FOV = 60.8f;
private static final int MINIMUM_FPS = 30; private static final int MINIMUM_FPS = 30;
private static final int MINIMUM_WIDTH = 320; private static final int MINIMUM_WIDTH = 320;
private static final int MINIMUM_HEIGHT = 200; private static final int MINIMUM_HEIGHT = 200;
@@ -29,7 +29,7 @@ public class Camera {
private final CvSink cvSink; private final CvSink cvSink;
private final Object cvSourceLock = new Object(); private final Object cvSourceLock = new Object();
private CvSource cvSource; private CvSource cvSource;
private double FOV; private float FOV;
private CameraValues camVals; private CameraValues camVals;
private CamVideoMode camVideoMode; private CamVideoMode camVideoMode;
private int currentPipelineIndex; private int currentPipelineIndex;
@@ -39,23 +39,23 @@ public class Camera {
this(cameraName, DEFAULT_FOV); this(cameraName, DEFAULT_FOV);
} }
public Camera(String cameraName, double fov) { public Camera(String cameraName, float fov) {
this(cameraName,CameraManager.AllUsbCameraInfosByName.get(cameraName), fov); this(cameraName,CameraManager.AllUsbCameraInfosByName.get(cameraName), fov);
} }
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov) { public Camera(String cameraName, UsbCameraInfo usbCamInfo, float fov) {
this(cameraName ,usbCamInfo, fov, new HashMap<>(), 0); this(cameraName ,usbCamInfo, fov, new HashMap<>(), 0);
} }
public Camera(String cameraName, double fov, int videoModeIndex) { public Camera(String cameraName, float fov, int videoModeIndex) {
this(cameraName, fov, new HashMap<>(), videoModeIndex); this(cameraName, fov, new HashMap<>(), videoModeIndex);
} }
public Camera(String cameraName, double fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex) { public Camera(String cameraName, float fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex); this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex);
} }
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex) { public Camera(String cameraName, UsbCameraInfo usbCamInfo, float fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex) {
FOV = fov; FOV = fov;
name = cameraName; name = cameraName;
path = usbCamInfo.path; path = usbCamInfo.path;
@@ -158,11 +158,11 @@ public class Camera {
.orElse(-1); .orElse(-1);
} }
public double getFOV() { public float getFOV() {
return FOV; return FOV;
} }
public void setFOV(double fov) { public void setFOV(float fov) {
FOV = fov; FOV = fov;
camVals = new CameraValues(this); camVals = new CameraValues(this);
} }

2
Main/src/main/java/com/chameleonvision/vision/camera/CameraDeserializer.java
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@@ -14,7 +14,7 @@ public class CameraDeserializer implements JsonDeserializer<Camera> {
@Override @Override
public Camera deserialize(JsonElement jsonElement, Type type, JsonDeserializationContext context) throws JsonParseException { public Camera deserialize(JsonElement jsonElement, Type type, JsonDeserializationContext context) throws JsonParseException {
var jsonObj = jsonElement.getAsJsonObject(); var jsonObj = jsonElement.getAsJsonObject();
var camFOV = jsonObj.get("FOV").getAsDouble(); var camFOV = jsonObj.get("FOV").getAsFloat();
var camName = jsonObj.get("name").getAsString(); var camName = jsonObj.get("name").getAsString();
var videoModeIndex = jsonObj.get("resolution").getAsInt(); var videoModeIndex = jsonObj.get("resolution").getAsInt();

4
Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
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@@ -7,7 +7,7 @@ import org.apache.commons.math3.util.FastMath;
public class CameraValues { public class CameraValues {
public final int ImageWidth; public final int ImageWidth;
public final int ImageHeight; public final int ImageHeight;
public final double FOV; public final float FOV;
public final double ImageArea; public final double ImageArea;
public final double CenterX; public final double CenterX;
public final double CenterY; public final double CenterY;
@@ -24,7 +24,7 @@ public class CameraValues {
this(camera.getVideoMode().width, camera.getVideoMode().height, camera.getFOV()); this(camera.getVideoMode().width, camera.getVideoMode().height, camera.getFOV());
} }
public CameraValues(int imageWidth, int imageHeight, double fov) { public CameraValues(int imageWidth, int imageHeight, float fov) {
ImageWidth = imageWidth; ImageWidth = imageWidth;
ImageHeight = imageHeight; ImageHeight = imageHeight;
FOV = fov; FOV = fov;

48
Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
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@@ -1,5 +1,8 @@
package com.chameleonvision.vision.process; package com.chameleonvision.vision.process;
import com.chameleonvision.vision.SortMode;
import com.chameleonvision.vision.TargetGroup;
import com.chameleonvision.vision.TargetIntersection;
import com.chameleonvision.vision.camera.CameraValues; import com.chameleonvision.vision.camera.CameraValues;
import com.chameleonvision.util.MathHandler; import com.chameleonvision.util.MathHandler;
import org.apache.commons.math3.util.FastMath; import org.apache.commons.math3.util.FastMath;
@@ -14,13 +17,6 @@ import java.util.*;
public class CVProcess { public class CVProcess {
private final CameraValues cameraValues; private final CameraValues cameraValues;
private HashMap<String, Integer> targetGrouping = new HashMap<>() {{
put("Single", 1);
put("Dual", 2);
put("Triple", 3);
put("Quadruple", 4);
put("Quintuple", 5);
}};
private Mat kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5)); private Mat kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
private Size blur = new Size(1,1); private Size blur = new Size(1,1);
private Mat hsvImage = new Mat(); private Mat hsvImage = new Mat();
@@ -58,7 +54,7 @@ public class CVProcess {
return foundContours; return foundContours;
} }
List<MatOfPoint> filterContours(List<MatOfPoint> inputContours, List<Integer> area, List<Double> ratio, List<Integer> extent) { List<MatOfPoint> filterContours(List<MatOfPoint> inputContours, List<Float> area, List<Float> ratio, List<Integer> extent) {
for (MatOfPoint Contour : inputContours) { for (MatOfPoint Contour : inputContours) {
try { try {
double contourArea = Imgproc.contourArea(Contour); double contourArea = Imgproc.contourArea(Contour);
@@ -97,34 +93,34 @@ public class CVProcess {
Moments m = Imgproc.moments(c); Moments m = Imgproc.moments(c);
return (m.get_m10()/m.get_m00()); return (m.get_m10()/m.get_m00());
} }
RotatedRect sortTargetsToOne(List<RotatedRect> inputRects, String sortMode) { RotatedRect sortTargetsToOne(List<RotatedRect> inputRects, SortMode sortMode) {
switch (sortMode) { switch (sortMode) {
case "Largest": case Largest:
return Collections.max(inputRects, Comparator.comparing(rect -> rect.size.area())); return Collections.max(inputRects, Comparator.comparing(rect -> rect.size.area()));
case "Smallest": case Smallest:
return Collections.min(inputRects, Comparator.comparing(rect -> rect.size.area())); return Collections.min(inputRects, Comparator.comparing(rect -> rect.size.area()));
case "Highest": case Highest:
return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.y)); return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.y));
case "Lowest": case Lowest:
return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.y)); return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.y));
case "Leftmost": case Leftmost:
return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.x)); return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.x));
case "Rightmost": case Rightmost:
return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.x)); return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.x));
case "Centermost": case Centermost:
return Collections.min(inputRects, sortByCentermostComparator); return Collections.min(inputRects, sortByCentermostComparator);
default: default:
return inputRects.get(0); // default to whatever the first contour is, but this should never happen return inputRects.get(0); // default to whatever the first contour is, but this should never happen
} }
} }
List<RotatedRect> groupTargets(List<MatOfPoint> inputContours, String intersectionPoint, String targetGroup) { List<RotatedRect> groupTargets(List<MatOfPoint> inputContours, TargetIntersection intersectionPoint, TargetGroup targetGroup) {
finalCountours.clear(); finalCountours.clear();
if (!targetGroup.equals("Single")) { if (!targetGroup.equals(TargetGroup.Single)) {
inputContours.sort(sortByMomentsX); inputContours.sort(sortByMomentsX);
for (var i = 0; i < inputContours.size(); i++) { for (var i = 0; i < inputContours.size(); i++) {
List<Point> FinalContourList = new ArrayList<>(inputContours.get(i).toList()); List<Point> FinalContourList = new ArrayList<>(inputContours.get(i).toList());
for (var c = 0; c < (targetGrouping.get(targetGroup) - 1); c++) { for (var c = 0; c < targetGroup.ordinal(); c++) {
try { try {
MatOfPoint firstContour = inputContours.get(i + c); MatOfPoint firstContour = inputContours.get(i + c);
MatOfPoint secondContour = inputContours.get(i + c + 1); MatOfPoint secondContour = inputContours.get(i + c + 1);
@@ -163,8 +159,8 @@ public class CVProcess {
return finalCountours; return finalCountours;
} }
private boolean isIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint) { private boolean isIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, TargetIntersection intersectionPoint) {
if (IntersectionPoint.equals("None")) { if (intersectionPoint.equals(TargetIntersection.None)) {
return true; return true;
} }
try { try {
@@ -182,26 +178,26 @@ public class CVProcess {
double intersectionY = (mA * (intersectionX - x0A)) + y0A; double intersectionY = (mA * (intersectionX - x0A)) + y0A;
double massX = (x0A + x0B) / 2; double massX = (x0A + x0B) / 2;
double massY = (y0A + y0B) / 2; double massY = (y0A + y0B) / 2;
switch (IntersectionPoint) { switch (intersectionPoint) {
case "Up": { case Up: {
if (intersectionY < massY) { if (intersectionY < massY) {
return true; return true;
} }
break; break;
} }
case "Down": { case Down: {
if (intersectionY > massY) { if (intersectionY > massY) {
return true; return true;
} }
break; break;
} }
case "Left": { case Left: {
if (intersectionX < massX) { if (intersectionX < massX) {
return true; return true;
} }
break; break;
} }
case "Right": { case Right: {
if (intersectionX > massX) { if (intersectionX > massX) {
return true; return true;
} }

11
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -1,6 +1,7 @@
package com.chameleonvision.vision.process; package com.chameleonvision.vision.process;
import com.chameleonvision.settings.SettingsManager; import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Orientation;
import com.chameleonvision.vision.Pipeline; import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera; import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.web.ServerHandler; import com.chameleonvision.web.ServerHandler;
@@ -135,7 +136,7 @@ public class VisionProcess implements Runnable {
if (currentPipeline == null) { if (currentPipeline == null) {
return pipelineResult; return pipelineResult;
} }
if (!currentPipeline.orientation.equals("Normal")) { if (currentPipeline.orientation.equals(Orientation.Inverted)) {
Core.flip(inputImage, inputImage, -1); Core.flip(inputImage, inputImage, -1);
} }
if (ntDriverModeEntry.getBoolean(false)) { if (ntDriverModeEntry.getBoolean(false)) {
@@ -147,7 +148,7 @@ public class VisionProcess implements Runnable {
cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate); cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
if (currentPipeline.is_binary == 1) { if (currentPipeline.isBinary == true) {
Imgproc.cvtColor(hsvThreshMat, outputImage, Imgproc.COLOR_GRAY2BGR, 3); Imgproc.cvtColor(hsvThreshMat, outputImage, Imgproc.COLOR_GRAY2BGR, 3);
} else { } else {
inputImage.copyTo(outputImage); inputImage.copyTo(outputImage);
@@ -156,13 +157,13 @@ public class VisionProcess implements Runnable {
if (foundContours.size() > 0) { if (foundContours.size() > 0) {
filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent); filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
if (filteredContours.size() > 0) { if (filteredContours.size() > 0) {
groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.target_intersection, currentPipeline.target_group); groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
if (groupedContours.size() > 0) { if (groupedContours.size() > 0) {
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sort_mode); var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
// System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area()); // System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area());
pipelineResult.RawPoint = finalRect; pipelineResult.RawPoint = finalRect;
pipelineResult.IsValid = true; pipelineResult.IsValid = true;
if (!currentPipeline.is_calibrated) { if (!currentPipeline.isCalibrated) {
pipelineResult.CalibratedX = camera.getCamVals().CenterX; pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY; pipelineResult.CalibratedY = camera.getCamVals().CenterY;
} else { } else {

7
Main/src/main/java/com/chameleonvision/web/Server.java
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@@ -22,11 +22,10 @@ public class Server {
System.out.println("Socket Disconnected"); System.out.println("Socket Disconnected");
SettingsManager.saveSettings(); SettingsManager.saveSettings();
}); });
ws.onMessage(ctx -> { ws.onBinaryMessage(ctx -> {
// handler.onMessage(ctx); handler.onBinaryMessage(ctx);
}); });
ws.onBinaryMessage(ctx->handler.onMessage(ctx)); app.start(port);
}); });
app.start(port);
} }
} }

271
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -1,33 +1,33 @@
package com.chameleonvision.web; package com.chameleonvision.web;
import com.chameleonvision.vision.Orientation;
import com.chameleonvision.vision.SortMode;
import com.chameleonvision.vision.TargetGroup;
import com.chameleonvision.vision.TargetIntersection;
import com.chameleonvision.vision.camera.CameraException; import com.chameleonvision.vision.camera.CameraException;
import com.chameleonvision.settings.SettingsManager; import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.camera.CameraManager; import com.chameleonvision.vision.camera.CameraManager;
import edu.wpi.cscore.VideoException; import edu.wpi.cscore.VideoException;
import io.javalin.websocket.*; import io.javalin.websocket.*;
import org.apache.commons.lang3.ArrayUtils; import org.apache.commons.lang3.ArrayUtils;
import org.json.JSONArray; import org.apache.commons.lang3.builder.ReflectionToStringBuilder;
import org.json.JSONObject; import org.apache.commons.lang3.builder.ToStringStyle;
import org.msgpack.MessagePack; import org.msgpack.core.MessagePack;
import org.msgpack.template.Templates; import org.msgpack.core.MessageUnpacker;
import org.msgpack.type.ArrayValue; import org.msgpack.value.ImmutableArrayValue;
import org.msgpack.type.BooleanValue; import org.msgpack.value.ImmutableValue;
import org.msgpack.type.IntegerValue; import org.msgpack.value.Value;
import org.msgpack.type.MapValue;
import org.springframework.beans.BeanUtils; import org.springframework.beans.BeanUtils;
import java.io.IOException;
import java.lang.reflect.Field; import java.lang.reflect.Field;
import java.util.*; import java.util.*;
public class ServerHandler { public class ServerHandler {
private static List<WsContext> users; private static List<WsContext> users;
private MessagePack msgpack;
ServerHandler() { ServerHandler() {
users = new ArrayList<>(); users = new ArrayList<>();
msgpack = new MessagePack();
} }
void onConnect(WsConnectContext context) { void onConnect(WsConnectContext context) {
@@ -39,103 +39,97 @@ public class ServerHandler {
users.remove(context); users.remove(context);
} }
void onMessage(WsBinaryMessageContext data) throws IOException { void onBinaryMessage(WsBinaryMessageContext data) throws Exception {
byte[] b = ArrayUtils.toPrimitive(data.data()); MessageUnpacker unpacker = MessagePack.newDefaultUnpacker(ArrayUtils.toPrimitive(data.data()));
System.out.println(msgpack.read(b).isMapValue()); int length = unpacker.unpackMapHeader();
Map entries = msgpack.read(b,Templates.tMap(Templates.TString,Templates.TValue)); for (int mapIndex = 0; mapIndex < length; mapIndex++) {
System.out.println(Arrays.toString(entries.entrySet().toArray())); String key = unpacker.unpackString(); // key
entries.forEach((k, value) -> { Object value = get(unpacker.unpackValue());
/* try {
To get int from value if (hasField(CameraManager.getCurrentPipeline(), key)) {
((IntegerValue)value).getInt(); //Special cases for exposure and brightness and aspect ratio
switch (key) {
To get boolean from value case "exposure":
((BooleanValue)value).getBoolean(); int newExposure = (int) value;
System.out.printf("Changing exposure to %d\n", newExposure);
To get Array from value try {
((ArrayValue) value).toArray(); ;
CameraManager.getCurrentCamera().setExposure(newExposure);
*/ } catch (VideoException e) {
String key = k.toString(); System.out.println("Exposure changes is not supported on your webcam/webcam's driver");
System.out.printf("Got websocket msgpack data: [%s, %s]\n", key, value); }
break;
case "brightness":
try{ int newBrightness = (int) value;
if (hasField(CameraManager.getCurrentPipeline(), key)) { System.out.printf("Changing brightness to %d\n", newBrightness);
//Special cases for exposure and brightness and aspect ratio CameraManager.getCurrentCamera().setBrightness(newBrightness);
switch (key) { break;
case "exposure": case "ratio":
int newExposure = ((IntegerValue)value).getInt(); CameraManager.getCurrentPipeline().ratio=getFloatList((ImmutableArrayValue) value);
System.out.printf("Changing exposure to %d\n", newExposure); break;
try { case "area":
CameraManager.getCurrentCamera().setExposure(newExposure); CameraManager.getCurrentPipeline().area=getFloatList((ImmutableArrayValue) value);
} catch (VideoException e) { break;
System.out.println("Exposure changes is not supported on your webcam/webcam's driver"); //Enums
} case "targetIntersection":
break; setField(CameraManager.getCurrentPipeline(), key, TargetIntersection.values()[(int) value]);
case "brightness": break;
int newBrightness = (int) value; case "targetGroup":
System.out.printf("Changing brightness to %d\n", newBrightness); setField(CameraManager.getCurrentPipeline(), key, TargetGroup.values()[(int) value]);
CameraManager.getCurrentCamera().setBrightness(newBrightness); break;
break; case "sortMode":
case "ratio": setField(CameraManager.getCurrentPipeline(), key, SortMode.values()[(int) value]);
//If there is any better to convert Integer to Double you're welcome to change it break;
List<Double> doubleRatio = CameraManager.getCurrentPipeline().ratio; case "orientation":
List<Object> newRatio = ((JSONArray) value).toList(); setField(CameraManager.getCurrentPipeline(), key, Orientation.values()[(int) value]);
for (int i = 0; i < newRatio.size(); i++) { break;
doubleRatio.set(i, Double.parseDouble(newRatio.get(i).toString())); default:
} //Any other field in CameraManager that doesn't need anything special
break; setField(CameraManager.getCurrentPipeline(), key, value);
default: break;
//Any other field in CameraManager that doesn't need anything special }
setField(CameraManager.getCurrentPipeline(), key, value); } else {
System.out.println("CameraManager.getCurrentPipeline().hue = " + CameraManager.getCurrentPipeline().hue.get(0)); switch (key) {
break; case "change_general_settings_values":
Map<String, Object> map = (Map<String, Object>) value;
map.forEach((s, o) -> setField(SettingsManager.GeneralSettings, s, o));
SettingsManager.saveSettings();
break;
case "curr_camera":
String newCamera = (String) value;
System.out.printf("Changing camera to %s\n", newCamera);
CameraManager.setCurrentCamera(newCamera);
HashMap<String, Integer> portMap = new HashMap<>();
portMap.put("port", CameraManager.getCurrentCamera().getStreamPort());
sendFullSettings();
break;
case "curr_pipeline":
int newPipeline = (int) value;
System.out.printf("Changing pipeline to %s\n", newPipeline);
CameraManager.setCurrentPipeline(newPipeline);
CameraManager.getCurrentCameraProcess().ntPipelineEntry.setNumber(newPipeline);
broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
break;
case "resolution":
int newVideoMode = (int) value;
System.out.printf("Changing video mode to %d\n", newVideoMode);
CameraManager.getCurrentCamera().setCamVideoMode(newVideoMode, true);
break;
case "FOV":
float newFov = ((Integer) value) * 1F;//TODO check this
System.out.printf("Changing FOV to %f\n", newFov);
CameraManager.getCurrentCamera().setFOV(newFov);
break;
default:
System.out.printf("Unexpected value from websocket: [%s, %s]\n", key, value);
break;
}
} }
} else { } catch (CameraException e) {
switch (key) {
case "change_general_settings_values":
Map<String, Object> map = (Map<String, Object>) value;
map.forEach((s, o) -> setField(SettingsManager.GeneralSettings, s, o));
SettingsManager.saveSettings();
break;
case "curr_camera":
String newCamera = (String) value;
System.out.printf("Changing camera to %s\n", newCamera);
CameraManager.setCurrentCamera(newCamera);
HashMap<String, Integer> portMap = new HashMap<>();
portMap.put("port", CameraManager.getCurrentCamera().getStreamPort());
sendFullSettings();
break;
case "curr_pipeline":
int newPipeline = (int) value;
System.out.printf("Changing pipeline to %s\n", newPipeline);
CameraManager.setCurrentPipeline(newPipeline);
CameraManager.getCurrentCameraProcess().ntPipelineEntry.setNumber(newPipeline);
broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
break;
case "resolution":
int newVideoMode = (int) value;
System.out.printf("Changing video mode to %d\n", newVideoMode);
CameraManager.getCurrentCamera().setCamVideoMode(newVideoMode, true);
break;
case "FOV":
double newFov = Double.parseDouble(value.toString());//TODO check this
System.out.printf("Changing FOV to %f\n", newFov);
CameraManager.getCurrentCamera().setFOV(newFov);
break;
default:
System.out.printf("Unexpected value from websocket: [%s, %s]\n", key, value);
break;
}}
}
catch (CameraException e)
{
System.err.println("Camera error"); System.err.println("Camera error");
e.printStackTrace(); e.printStackTrace();
} }
}); }
broadcastMessage(entries, data);
} }
private void setField(Object obj, String fieldName, Object value) { private void setField(Object obj, String fieldName, Object value) {
@@ -143,33 +137,64 @@ public class ServerHandler {
Field[] fields = obj.getClass().getFields(); Field[] fields = obj.getClass().getFields();
for (Field f : fields) { for (Field f : fields) {
if (f.getName().equals(fieldName)) { if (f.getName().equals(fieldName)) {
if (BeanUtils.isSimpleValueType(value.getClass())) { if (BeanUtils.isSimpleValueType(f.getType())) {
f.set(obj, value); f.set(obj, value);
} else if (value.getClass() == ArrayValue.class) { } else if (value instanceof ImmutableArrayValue) {
f.set(obj, ((ArrayValue) value).toArray()); List<Value> valLst = ((ImmutableArrayValue) value).list();
List<Object> lst = new ArrayList<>();
for (Value val : valLst) {
lst.add(get((ImmutableValue) val));
}
f.set(obj, lst);
} }
} }
} }
} catch (IllegalAccessException e) { } catch (Exception e) {
System.out.println("IllegalAccessException "); System.out.println("Exception setting field ");
e.printStackTrace(); e.printStackTrace();
} }
} }
private Object get(ImmutableValue v) throws Exception {
private static void broadcastMessage(Object obj, WsContext userToSkip) {//TODO check if session id is a good way to differentiate users //TODO find a smarter way to write this
for (var user : users) { if (v.isIntegerValue())
if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) { return v.asIntegerValue().toInt();
continue; if (v.isFloatValue())
} return v.asFloatValue().toFloat();
user.send(obj); if (v.isArrayValue()) {
// if (obj.getClass() == String.class) return v.asArrayValue();
// user.send((String) obj);
// else if (obj.getClass() == HashMap.class)
// user.send(new JSONObject((HashMap<String, Object>) obj).toString());
// else
// user.send(new JSONObject(obj).toString());
} }
if (v.isBinaryValue())
return v.asBinaryValue().asByteArray();
if (v.isBooleanValue())
return v.asBooleanValue().getBoolean();
if (v.isMapValue())
return v.asMapValue().map();
if (v.isStringValue())
return v.asStringValue().asString();
throw new Exception("Value not recognized");
}
private List<Float> getFloatList(ImmutableArrayValue arrayValue) {
List<Float> output = new ArrayList<>();
List<Value> values = arrayValue.list();
for (Value v:values) {
if (v.isFloatValue())
output.add(v.asFloatValue().toFloat());
else
output.add((float) v.asIntegerValue().toInt());
}
return output;
}
private static void broadcastMessage(Object obj, WsContext userToSkip) {
if (users != null)
for (var user : users) {
if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
continue;
}
user.send(obj);
}
} }
public static void broadcastMessage(Object obj) {//TODO fix sending for msgpack public static void broadcastMessage(Object obj) {//TODO fix sending for msgpack

8
New client/chameleon-client/src/views/CameraViewes/ContoursTab.vue
View File

@@ -1,10 +1,10 @@
<template> <template>
<div> <div>
<CVrangeSlider v-model="value.Area" name="Area" :min="0" :max="100" :step="0.1" @input="handleInput('Area',value.Area)"></CVrangeSlider> <CVrangeSlider v-model="value.Area" name="Area" :min="0" :max="100" :step="0.1" @input="handleInput('area',value.Area)"></CVrangeSlider>
<CVrangeSlider v-model="value.Ratio" name="Ratio (W/H)" :min="0" :max="100" :step="0.1" @input="handleInput('ratio',value.Ratio)"></CVrangeSlider> <CVrangeSlider v-model="value.Ratio" name="Ratio (W/H)" :min="0" :max="100" :step="0.1" @input="handleInput('ratio',value.Ratio)"></CVrangeSlider>
<CVrangeSlider v-model="value.Extent" name="Extent" :min="0" :max="100" @input="handleInput('Extent',value.Extent)"></CVrangeSlider> <CVrangeSlider v-model="value.Extent" name="Extent" :min="0" :max="100" @input="handleInput('extent',value.Extent)"></CVrangeSlider>
<CVselect name="Target Group" :list="['Single','Dual','Triple','Quadruple','Quintuple']" v-model="value.TargetGrouping" @input="handleInput('TargetGrouping',value.TargetGrouping)"></CVselect> <CVselect name="Target Group" :list="['Single','Dual','Triple','Quadruple','Quintuple']" v-model="value.TargetGrouping" @input="handleInput('targetGroup',value.TargetGrouping)"></CVselect>
<CVselect name="Target Intersection" :list="['None','Up','Down','Left','Right']" :disabled="isDisabled" v-model="value.TargetIntersection" @input="handleInput('TargetIntersection',value.TargetIntersection)"></CVselect> <CVselect name="Target Intersection" :list="['None','Up','Down','Left','Right']" :disabled="isDisabled" v-model="value.TargetIntersection" @input="handleInput('targetIntersection',value.TargetIntersection)"></CVselect>
</div> </div>
</template> </template>

6
New client/chameleon-client/src/views/CameraViewes/InputTab.vue
View File

@@ -1,8 +1,8 @@
<template> <template>
<div> <div>
<CVslider name="Exposure" v-model="value.Exposure" @input="handleInput('exposure',value.Exposure)" :min="0" :max="100"></CVslider> <CVslider name="Exposure" v-model="value.Exposure" :min="0" :max="100" @input="handleInput('exposure',value.Exposure)"></CVslider>
<CVslider name="Brightness" v-model="value.Brightness" :min="0" :max="100" @input="handleInput('Brightness',value.Brightness)"></CVslider> <CVslider name="Brightness" v-model="value.Brightness" :min="0" :max="100" @input="handleInput('brightness',value.Brightness)"></CVslider>
<CVselect name="Orientation" v-model="value.Orientation" :list="['Normal','Inverted']" @input="handleInput('Orientation',value.Orientation)"></CVselect> <CVselect name="Orientation" v-model="value.Orientation" :list="['Normal','Inverted']" @input="handleInput('orientation',value.Orientation)"></CVselect>
</div> </div>
</template> </template>

2
New client/chameleon-client/src/views/CameraViewes/OutputTab.vue
View File

@@ -1,6 +1,6 @@
<template> <template>
<div> <div>
<CVselect name="SortMode" v-model="value.SortMode" :list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Closest']" @input="handleInput('SortMode',value.SortMode)"></CVselect> <CVselect name="SortMode" v-model="value.SortMode" :list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Centermost']" @input="handleInput('sortMode',value.SortMode)"></CVselect>
<span>Calibrate:</span><v-divider dark color="white"></v-divider> <span>Calibrate:</span><v-divider dark color="white"></v-divider>
<v-row align="center" justify="start"> <v-row align="center" justify="start">
<v-col style="padding-right:0px" :cols="3"> <v-col style="padding-right:0px" :cols="3">

8
New client/chameleon-client/src/views/CameraViewes/ThresholdTab.vue
View File

@@ -1,10 +1,10 @@
<template> <template>
<div> <div>
<CVrangeSlider v-model="value.Hue" name="Hue" :min="0" :max="180" @input="handleInput('hue',value.Hue)"></CVrangeSlider> <CVrangeSlider v-model="value.Hue" name="Hue" :min="0" :max="180" @input="handleInput('hue',value.Hue)"></CVrangeSlider>
<CVrangeSlider v-model="value.Saturation" name="Saturation" :min="0" :max="255" @input="handleInput('Saturation',value.Saturation)"></CVrangeSlider> <CVrangeSlider v-model="value.Saturation" name="Saturation" :min="0" :max="255" @input="handleInput('saturation',value.Saturation)"></CVrangeSlider>
<CVrangeSlider v-model="value.Value" name="Value" :min="0" :max="255" @input="handleInput('Value',value.Value)"></CVrangeSlider> <CVrangeSlider v-model="value.Value" name="Value" :min="0" :max="255" @input="handleInput('value',value.Value)"></CVrangeSlider>
<CVswitch v-model="value.Erode" name="Erode" @input="handleInput('Erode',value.Erode)"></CVswitch> <CVswitch v-model="value.Erode" name="Erode" @input="handleInput('erode',value.Erode)"></CVswitch>
<CVswitch v-model="value.Dilate" name="Dilate" @input="handleInput('Dilate',value.Dilate)"></CVswitch> <CVswitch v-model="value.Dilate" name="Dilate" @input="handleInput('dilate',value.Dilate)"></CVswitch>
</div> </div>
</template> </template>