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Added saving for selected pipeline

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This commit is contained in:
Omer
2019-09-18 03:04:48 +03:00
parent 326da862c4
commit 5fd3dc8f6c
3 changed files with 81 additions and 73 deletions
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29
Main/src/main/java/com/chameleonvision/settings/SettingsManager.java
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@@ -23,7 +23,7 @@ public class SettingsManager {
private static SettingsManager instance;
private SettingsManager() {
InitiateGeneralSettings();
InitiateSavedSettings();
InitiateCamerasInfo();
InitiateUsbCameras();
InitiateCameras();
@@ -57,9 +57,11 @@ public class SettingsManager {
private Path CamsPath = Paths.get(SettingsPath.toString(), "Cams");
private void InitiateGeneralSettings() {
private void InitiateSavedSettings() {
CheckPath(SettingsPath);
try {
CamerasCurrentPipeline = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(),"SelectedPipelines.json").toString()),HashMap.class);
// CamerasCurrentPipeline = new JSONArray(Paths.get(SettingsPath.toString(),"SelectedPipelines.json")).toList();
GeneralSettings = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(), "Settings.json").toString()), com.chameleonvision.vision.GeneralSettings.class);
} catch (FileNotFoundException e) {
GeneralSettings = new GeneralSettings();
@@ -152,16 +154,13 @@ public class SettingsManager {
cam.FOV = 60.8;
Cameras.put(CameraName, cam);
CreateNewPipeline(null, CameraName);
CreateNewPipeline(null, CameraName);//Created 2 pipeline for testing TODO add a create pipeline button
CreateNewPipeline(null,cam);
CreateNewPipeline(null,cam);//Created 2 pipeline for testing TODO add a create pipeline button
CamerasCurrentPipeline.put(CameraName,"pipeline0");//sets pipeline0 as the default pipeline
}
private void CreateNewPipeline(String PipeName, String CamName) {
if (CamName == null) {
CamName = GeneralSettings.curr_camera;
}
var cam = Cameras.get(CamName);
public void CreateNewPipeline(String PipeName,Camera cam) {
if (PipeName == null) {
var suffix = 0;
PipeName = "pipeline" + suffix;
@@ -248,6 +247,7 @@ public class SettingsManager {
public void SaveSettings() {
SaveCameras();
SaveGeneralSettings();
SaveSelectedPipelines();
}
private void SaveCameras() {
@@ -266,7 +266,6 @@ public class SettingsManager {
private void SaveGeneralSettings() {
try {
Gson gson = new Gson();
FileWriter writer = new FileWriter(Paths.get(SettingsPath.toString(), "Settings.json").toString());
new Gson().toJson(GeneralSettings, writer);
writer.flush();
@@ -276,5 +275,15 @@ public class SettingsManager {
}
}
private void SaveSelectedPipelines() {
try {
FileWriter writer = new FileWriter(Paths.get(SettingsPath.toString(), "SelectedPipelines.json").toString());
new Gson().toJson(CamerasCurrentPipeline, writer);
writer.flush();
writer.close();
} catch (IOException e) {
e.printStackTrace();
}
}
}

47
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -14,44 +14,46 @@ import org.opencv.imgproc.Imgproc;
import java.util.ArrayList;
import java.util.List;
import java.util.Set;
public class CameraProcess implements Runnable {
private String CameraName;
private CameraServer cs = CameraServer.getInstance();
private NetworkTableEntry ntPipelineEntry, ntDriverModeEntry,ntYawEntry,ntPitchEntry,ntDistanceEntry,ntTimeStampEntry,ntValidEntry;
private NetworkTableEntry ntPipelineEntry, ntDriverModeEntry, ntYawEntry, ntPitchEntry, ntDistanceEntry, ntTimeStampEntry, ntValidEntry;
private MemoryManager memManager = new MemoryManager(125);
private int imgWidth, imgHeight;
private void ChangeCameraValues(int Exposure, int Brightness){
private void ChangeCameraValues(int Exposure, int Brightness) {
SettingsManager.getInstance().UsbCameras.get(CameraName).setBrightness(Brightness);
SettingsManager.getInstance().UsbCameras.get(CameraName).setExposureManual(Exposure);
}
private void DriverModeListener(EntryNotification entryNotification){
if (entryNotification.value.getBoolean()){
ChangeCameraValues(25,15);
} else{
private void DriverModeListener(EntryNotification entryNotification) {
if (entryNotification.value.getBoolean()) {
ChangeCameraValues(25, 15);
} else {
Pipeline pipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
ChangeCameraValues(pipeline.exposure, pipeline.brightness);
}
}
private void PipelineListener(EntryNotification entryNotification){
if (SettingsManager.Cameras.get(CameraName).pipelines.containsKey(entryNotification.value.getString())){
SettingsManager.CamerasCurrentPipeline.put(CameraName,entryNotification.value.getString());
private void PipelineListener(EntryNotification entryNotification) {
if (SettingsManager.Cameras.get(CameraName).pipelines.containsKey(entryNotification.value.getString())) {
SettingsManager.CamerasCurrentPipeline.put(CameraName, entryNotification.value.getString());
Pipeline pipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
ChangeCameraValues(pipeline.exposure, pipeline.brightness);
//TODO Send Pipeline change using websocket to client
} else{
} else {
ntPipelineEntry.setString(SettingsManager.CamerasCurrentPipeline.get(CameraName));
}
}
public CameraProcess(String CameraName) {
this.CameraName = CameraName;
// add pipeline
SettingsManager.CamerasCurrentPipeline.put(CameraName, SettingsManager.Cameras.get(CameraName).pipelines.keySet().toArray()[0].toString());
// NetworkTables
NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + CameraName);
ntPipelineEntry = ntTable.getEntry("Pipeline");
@@ -93,7 +95,7 @@ public class CameraProcess implements Runnable {
double processTimeMs;
double fps;
//camera results
double CalibratedX,CalibratedY , Pitch, Yaw;
double CalibratedX, CalibratedY, Pitch, Yaw;
boolean isValid;
while (!Thread.interrupted()) {
@@ -103,6 +105,7 @@ public class CameraProcess implements Runnable {
currentPipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
// System.out.println(SettingsManager.CamerasCurrentPipeline.get(CameraName));
// start fps counter right before grabbing input frame
startTime = System.nanoTime();
cv_sink.grabFrame(inputMat);
@@ -128,14 +131,14 @@ public class CameraProcess implements Runnable {
GroupedContours = visionProcess.GroupTargets(FilteredContours, currentPipeline.target_intersection, currentPipeline.target_group);
if (GroupedContours.size() > 0) {
var finalRect = visionProcess.SortTargetsToOne(GroupedContours, currentPipeline.sort_mode);
if (!currentPipeline.is_calibrated){
if (!currentPipeline.is_calibrated) {
CalibratedX = camVals.CenterX;
CalibratedY = camVals.CenterY;
} else{
CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
CalibratedY = finalRect.center.x * currentPipeline.M + currentPipeline.B;
Pitch = camVals.CalculatePitch(finalRect.center.y, CalibratedY);
Yaw = camVals.CalculateYaw(finalRect.center.x, CalibratedX);
} else {
CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
CalibratedY = finalRect.center.x * currentPipeline.M + currentPipeline.B;
Pitch = camVals.CalculatePitch(finalRect.center.y, CalibratedY);
Yaw = camVals.CalculateYaw(finalRect.center.x, CalibratedX);
}
isValid = true;
// Send calc using networktables
@@ -148,7 +151,7 @@ public class CameraProcess implements Runnable {
Imgproc.drawContours(outputMat, a, 0, contourColor, 3);
}
} else{
} else {
isValid = false;
}
}
@@ -158,7 +161,7 @@ public class CameraProcess implements Runnable {
// calculate FPS after publishing output frame
processTimeMs = (System.nanoTime() - startTime) * 1e-6;
fps = 1000 / processTimeMs;
System.out.printf("%s Process time: %fms, FPS: %.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n",CameraName ,processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
// System.out.printf("%s Process time: %fms, FPS: %.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n",CameraName ,processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
inputMat.release();
hsvThreshMat.release();

78
Main/src/main/java/com/chameleonvision/web/Server.java
View File

@@ -2,9 +2,7 @@ package com.chameleonvision.web;
import com.chameleonvision.NoCameraException;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.GeneralSettings;
import com.chameleonvision.vision.Pipeline;
import com.google.gson.JsonObject;
import edu.wpi.cscore.VideoException;
import io.javalin.Javalin;
import io.javalin.websocket.WsContext;
@@ -34,8 +32,7 @@ public class Server {
SettingsManager.getInstance().SaveSettings();
});
ws.onMessage(ctx -> {
// System.out.println(SettingsManager.getInstance().GetCurrentPipeline().);
broadcastMessage(ctx, ctx.message());
broadcastMessage(ctx.message(), ctx);
JSONObject jsonObject = new JSONObject(ctx.message());
String key = null;
var jsonKeySetArray = jsonObject.keySet().toArray();
@@ -47,7 +44,7 @@ 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 (!setField(SettingsManager.getInstance().GetCurrentPipeline(), key, value)) {
if (!allFieldsToMap(SettingsManager.getInstance().GetCurrentPipeline()).containsKey(key)) {
//If field not in pipeline
switch (key) {
case "change_general_settings_values":
@@ -59,13 +56,14 @@ public class Server {
System.out.printf("Changing camera to %s\n", newCamera);
SettingsManager.getInstance().SetCurrentCamera(newCamera);
//broadcastMessage((Map<String, Object>) new HashMap<String, Object>(){}.put("port",SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera)));
//broadcastMessage(ctx, SettingsManager.getInstance().GetCurrentCamera()); //TODO CHECK JSON FOR CAMERA CHANGE
broadcastMessage(SettingsManager.getInstance().GetCurrentCamera()); //TODO CHECK JSON FOR CAMERA CHANGE
break;
case "curr_pipeline":
String newPipeline = (String) value;
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()));
break;
case "resolution":
int newResolution = (int) value;
@@ -76,7 +74,7 @@ public class Server {
break;
case "fov":
double newFov = (double) value;
System.out.printf("Changing FOV to %d\n", newFov);
System.out.printf("Changing FOV to %f\n", newFov);
SettingsManager.getInstance().GetCurrentCamera().FOV = newFov;
SettingsManager.getInstance().SaveSettings();
break;
@@ -84,21 +82,29 @@ public class Server {
System.out.printf("Unexpected value from websocket: [%s, %s]\n", key, value);
break;
}
} else { //
} else {
setField(SettingsManager.getInstance().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;
SettingsManager.getInstance().GetCurrentUsbCamera().setExposureManual(newExposure);
SettingsManager.getInstance().SaveSettings();
try {
SettingsManager.getInstance().GetCurrentUsbCamera().setExposureManual(newExposure);
}
catch ( VideoException e)
{
System.out.println("Exposure changes is not supported on your webcam/webcam's driver");
}
//TODO check if this crash occurs on linux
break;
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);
SettingsManager.getInstance().SaveSettings();
break;
}
}
@@ -107,14 +113,11 @@ public class Server {
app.start(port);
}
public static boolean setField(Object obj, String fieldName, Object value) {
boolean successful = false;
private static void setField(Object obj, String fieldName, Object value) {
try {
Field[] fields = obj.getClass().getFields();
for (Field f : fields) {
if (f.getName().equals(fieldName)) {
successful = true;
if (BeanUtils.isSimpleValueType(value.getClass())) {
f.set(obj, value);
} else if (value.getClass() == JSONArray.class) {
@@ -123,33 +126,20 @@ public class Server {
}
}
} catch (IllegalAccessException e) {
return false;
System.out.println("IllegalAccessException ");
e.printStackTrace();
}
return successful;
}
public static boolean setFields(Object obj, JSONObject data) {
boolean successful = false;
try {
Field[] fields = obj.getClass().getFields();
for (Field f : fields) {
if (data.has(f.getName())) {
Object value = data.get(f.getName());
if (BeanUtils.isSimpleValueType(value.getClass())) {
successful = true;
f.set(obj, value);
}
}
}
} catch (IllegalAccessException e) {
return false;
}
return successful;
private static void setFields(Object obj, JSONObject data) {
Map<String,Object> map = data.toMap();
map.forEach((s, o) -> setField(obj,s,o));
}
public static void broadcastMessage(WsContext sendingUser, Object obj) {//TODO chekc if session id is a good way to differentiate users
private static void broadcastMessage(Object obj, WsContext userToSkip) {//TODO chekc if session id is a good way to differentiate users
for (var user : users) {
if (sendingUser!=null&& user.getSessionId().equals(sendingUser.getSessionId())) {
if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
continue;
}
if (obj.getClass() == String.class)
@@ -161,7 +151,12 @@ public class Server {
}
}
private static void addAllFieldsToMap(Map<String, Object> map, Object obj) {
private static void broadcastMessage(Object obj) {
broadcastMessage(obj, null);//Broadcasts the message to ever user
}
private static Map<String, Object> allFieldsToMap(Object obj) {
Map map = new HashMap<>();
try {
Field[] fields = obj.getClass().getFields();
for (Field field : fields)
@@ -169,15 +164,16 @@ public class Server {
} catch (IllegalAccessException e) {
System.err.println("Illegal Access error:" + e.getStackTrace().toString());
}
return map;
}
private static void sendFullSettings() {
Map<String, Object> fullSettings = new HashMap<>();
//General settings
addAllFieldsToMap(fullSettings, SettingsManager.GeneralSettings);
fullSettings.putAll(allFieldsToMap(SettingsManager.GeneralSettings));
fullSettings.put("cameraList", SettingsManager.Cameras.keySet());
try {
addAllFieldsToMap(fullSettings, SettingsManager.getInstance().GetCurrentPipeline());
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);
@@ -187,7 +183,7 @@ public class Server {
System.err.println("No camera found!");
//TODO: add message to ui to inform that there are no cameras
}
broadcastMessage(null, fullSettings);
broadcastMessage(fullSettings);
}