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Merge branch 'networkmanager' into dev

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# Conflicts:
#	Main/src/main/java/com/chameleonvision/util/MathHandler.java
#	Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
#	Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
#	Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
This commit is contained in:
Banks Troutman
2019-10-07 14:08:01 -04:00
parent 285125cc22 53585be088
commit 61b09f2bf3
24 changed files with 746 additions and 123 deletions
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44
Main/src/main/java/com/chameleonvision/Main.java
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@@ -1,15 +1,18 @@
package com.chameleonvision;
import com.chameleonvision.network.NetworkManager;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.util.Utilities;
import com.chameleonvision.vision.camera.CameraManager;
import com.chameleonvision.vision.process.VisionProcess;
import com.chameleonvision.web.Server;
import edu.wpi.cscore.CameraServerCvJNI;
import edu.wpi.cscore.CameraServerJNI;
import edu.wpi.first.networktables.LogMessage;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.io.IOException;
import java.util.function.Consumer;
public class Main {
@@ -17,14 +20,31 @@ public class Main {
private static final String NT_SERVERMODE_KEY = "--nt-servermode"; // no args for this setting
private static final String NT_CLIENTMODESERVER_KEY = "--nt-client-server"; // expects String representing an IP address (hostnames will be rejected!)
private static final String NETWORK_MANAGE_KEY = "--unmanage-network"; // no args for this setting
private static final String IGNORE_ROOT = "--ignore-root"; // no args for this setting
private static final int DEFAULT_PORT = 8888;
private static int webserverPort = DEFAULT_PORT;
private static boolean ntServerMode = false;
private static boolean manageNetwork = true;
private static boolean ignoreRoot = false;
private static String ntClientModeServer = null;
private static class NTLogger implements Consumer<LogMessage> {
private boolean hasReportedConnectionFailure = false;
@Override
public void accept(LogMessage logMessage) {
if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
System.err.println("NT Connection has failed!");
hasReportedConnectionFailure = true;
}
}
}
public static final Platform CurrentPlatform = Platform.getCurrentPlatform();
private static void handleArgs(String[] args) {
for (int i = 0; i < args.length; i++) {
var key = args[i].toLowerCase();
@@ -43,6 +63,7 @@ public class Main {
break;
case NT_SERVERMODE_KEY:
case NETWORK_MANAGE_KEY:
case IGNORE_ROOT:
// nothing
}
@@ -77,29 +98,46 @@ public class Main {
case NETWORK_MANAGE_KEY:
manageNetwork = false;
break;
case IGNORE_ROOT:
ignoreRoot = true;
}
}
}
public static void main(String[] args) {
handleArgs(args);
if (!CurrentPlatform.isRoot()) {
if (ignoreRoot) {
// TODO: should we do this?
// manageNetwork = false;
System.out.println("Ignoring root, network will not be managed!");
} else {
System.err.println("This program must be run as root!");
return;
}
}
// Attempt to load the JNI Libraries
try {
if (CurrentPlatform.equals(Platform.LINUX_ARM64))
CameraServerJNI.forceLoad();
CameraServerCvJNI.forceLoad();
} catch (IOException e) {
var errorStr = SettingsManager.getCurrentPlatform().equals(SettingsManager.Platform.UNSUPPORTED) ? "Unsupported platform!" : "Failed to load JNI Libraries!";
var errorStr = CurrentPlatform.equals(Platform.UNSUPPORTED) ? "Unsupported platform!" : "Failed to load JNI Libraries!";
throw new RuntimeException(errorStr);
}
if (CameraManager.initializeCameras()) {
SettingsManager.initialize(manageNetwork);
SettingsManager.initialize();
NetworkManager.initialize(manageNetwork);
CameraManager.initializeThreads();
if (ntServerMode) {
System.out.println("Starting NT Server");
NetworkTableInstance.getDefault().startServer();
} else {
NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
if (ntClientModeServer != null) {
NetworkTableInstance.getDefault().startClient(ntClientModeServer);
} else {

82
Main/src/main/java/com/chameleonvision/network/LinuxNetworking.java Normal file
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@@ -0,0 +1,82 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.NetworkSettings;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.util.ShellExec;
import java.io.BufferedOutputStream;
import java.io.IOException;
import java.net.InetAddress;
import java.net.SocketException;
import java.net.UnknownHostException;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
public class LinuxNetworking extends SysNetworking {
private ShellExec shell = new ShellExec(true, true);
@Override
public boolean setDHCP() {
String[] clearArgs = { "addr", "flush", "dev", networkInterface.name };
try {
int clearRetCode = shell.execute("ip", clearArgs);
int dhcpRetCode = shell.execute("dhclient", networkInterface.name);
return clearRetCode == 0 && dhcpRetCode == 0;
} catch (IOException e) {
e.printStackTrace();
return false;
}
}
@Override
public boolean setHostname(String newHostname) {
String[] setHostnameArgs = { "set-hostname", newHostname };
try {
var setHostnameRetCode = shell.execute("hostnamectl", setHostnameArgs);
return setHostnameRetCode == 0;
} catch(Exception e) {
e.printStackTrace();
return false;
}
}
@Override
public boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast) {
try {
String[] clearArgs = { "addr", "flush", "dev", networkInterface.name };
String[] setIPArgs = { "addr", "add", String.format("%s/%s", ipAddress, netmask), "broadcast", broadcast, "dev", networkInterface.name };
String[] setGatewayArgs = { "route", "replace", "default", "via", gateway, "dev", networkInterface.name };
int clearRetCode = shell.execute("ip", clearArgs);
int setIPRetCode = shell.execute("ip", setIPArgs);
int setGatewayRetCode = shell.execute("ip", setGatewayArgs);
return clearRetCode == 0 && setIPRetCode == 0 && setGatewayRetCode == 0;
} catch (IOException e) {
e.printStackTrace();
return false;
}
}
@Override
public List<java.net.NetworkInterface> getNetworkInterfaces() throws SocketException {
List<java.net.NetworkInterface> netInterfaces;
try {
netInterfaces = Collections.list(java.net.NetworkInterface.getNetworkInterfaces());
} catch (SocketException e) {
return null;
}
List<java.net.NetworkInterface> goodInterfaces = new ArrayList<>();
for (var netInterface : netInterfaces) {
if (netInterface.getDisplayName().contains("lo")) continue;
if (!netInterface.isUp()) continue;
goodInterfaces.add(netInterface);
}
return goodInterfaces;
}
}

7
Main/src/main/java/com/chameleonvision/network/NetworkIPMode.java Normal file
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@@ -0,0 +1,7 @@
package com.chameleonvision.network;
public enum NetworkIPMode {
DHCP,
STATIC,
UNKNOWN
}

57
Main/src/main/java/com/chameleonvision/network/NetworkInterface.java Normal file
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@@ -0,0 +1,57 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.GeneralSettings;
import java.net.InetAddress;
import java.net.InterfaceAddress;
public class NetworkInterface {
public final String name;
public final String displayName;
public final String IPAddress;
public final String Netmask;
public final String Gateway;
public final String Broadcast;
public NetworkInterface(java.net.NetworkInterface inetface, InterfaceAddress ifaceAddress) {
name = inetface.getName();
displayName = inetface.getDisplayName();
var inetAddress = ifaceAddress.getAddress();
IPAddress = inetAddress.getHostAddress();
Netmask = getIPv4LocalNetMask(ifaceAddress);
// TODO: hack to "get" gateway, this is gross and bad, pls fix
var splitIPAddr = IPAddress.split("\\.");
splitIPAddr[3] = "1";
Gateway = String.join(".", splitIPAddr);
splitIPAddr[3] = "255";
Broadcast = String.join(".", splitIPAddr);
}
private static String getIPv4LocalNetMask(InterfaceAddress interfaceAddress) {
var netPrefix = interfaceAddress.getNetworkPrefixLength();
try {
// Since this is for IPv4, it's 32 bits, so set the sign value of
// the int to "negative"...
int shiftby = (1<<31);
// For the number of bits of the prefix -1 (we already set the sign bit)
for (int i = netPrefix - 1; i > 0; i--) {
// Shift the sign right... Java makes the sign bit sticky on a shift...
// So no need to "set it back up"...
shiftby = (shiftby >> 1);
}
// Transform the resulting value in xxx.xxx.xxx.xxx format, like if
/// it was a standard address...
String maskString = ((shiftby >> 24) & 255) + "." + ((shiftby >> 16) & 255) + "." + ((shiftby >> 8) & 255) + "." + (shiftby & 255);
// Return the address thus created...
return maskString;
// return InetAddress.getByName(maskString);
}
catch(Exception e) {
e.printStackTrace();
}
// Something went wrong here...
return null;
}
}

122
Main/src/main/java/com/chameleonvision/network/NetworkManager.java Normal file
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@@ -0,0 +1,122 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.NetworkSettings;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
import java.net.SocketException;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
public class NetworkManager {
private NetworkManager() {}
protected static SysNetworking networking;
protected static NetworkInterface botInterface = null;
private static boolean isManaged = false;
public static void initialize(boolean manage) {
isManaged = manage;
if (!isManaged) {
return;
}
Platform platform = Platform.getCurrentPlatform();
if (platform.isLinux()) {
networking = new LinuxNetworking();
} else if (platform.isWindows()) {
// networking = new WindowsNetworking();
System.out.println("Windows networking is not yet supported. Running unmanaged.");
return;
}
List<java.net.NetworkInterface> interfaces = new ArrayList<>();
List<NetworkInterface> goodInterfaces = new ArrayList<>();
try {
interfaces = networking.getNetworkInterfaces();
} catch (SocketException e) {
e.printStackTrace();
}
var teamBytes = NetworkSettings.GetTeamNumberIPBytes(SettingsManager.GeneralSettings.team_number);
if (interfaces.size() > 0) {
for (var inetface : interfaces) {
for (var inetfaceAddr : inetface.getInterfaceAddresses()) {
var rawAddr = inetfaceAddr.getAddress().getAddress();
if (rawAddr.length > 4) continue;
if (rawAddr[1] == teamBytes[0] && rawAddr[2] == teamBytes[1]) {
goodInterfaces.add(new NetworkInterface(inetface, inetfaceAddr));
}
}
}
if (goodInterfaces.size() == 0) {
isManaged = false;
System.err.println("No valid network interfaces found! Staying unmanaged.");
return;
}
botInterface = goodInterfaces.get(0);
networking.setNetworkInterface(botInterface);
} else {
isManaged = false;
System.err.println("No valid network interfaces found! Staying unmanaged.");
return;
}
if(!loadFromGeneralSettings()) {
isManaged = false;
System.err.println("Failed to load network settings. Staying unmanaged!");
}
}
private static boolean loadFromGeneralSettings() {
if (!isManaged) {
return true;
}
var genSettings = SettingsManager.GeneralSettings;
boolean isStatic = genSettings.connection_type.toLowerCase().equals("static");
if (isStatic) {
var splitIPAddr = genSettings.ip.split("\\.");
splitIPAddr[3] = "255";
var broadcast = String.join(".", splitIPAddr);
if (!setStatic(genSettings.ip, genSettings.netmask, genSettings.gateway, broadcast)) {
return false;
}
} else {
if (!setDHCP()) {
return false;
}
}
return setHostname(genSettings.hostname);
}
private static boolean setDHCP() {
if (!isManaged) {
return true;
}
return networking.setDHCP();
}
private static boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast) {
if (!isManaged) {
return true;
}
return networking.setStatic(ipAddress, netmask, gateway, broadcast);
}
private static boolean setHostname(String hostname) {
if (!isManaged) {
return true;
}
return networking.setHostname(hostname);
}
}

37
Main/src/main/java/com/chameleonvision/network/SysNetworking.java Normal file
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@@ -0,0 +1,37 @@
package com.chameleonvision.network;
import com.chameleonvision.util.ShellExec;
import java.io.IOException;
import java.net.SocketException;
import java.util.List;
import java.util.Scanner;
public abstract class SysNetworking {
NetworkInterface networkInterface;
ShellExec shell = new ShellExec(true, true);
public String getHostname() {
try {
var retCode = shell.execute("hostname", null, true);
if (retCode == 0) {
while(!shell.isOutputCompleted()) {}
return shell.getOutput();
} else {
return null;
}
} catch (IOException e) {
return null;
}
}
public void setNetworkInterface(NetworkInterface networkInterface) {
this.networkInterface = networkInterface;
}
public abstract boolean setDHCP();
public abstract boolean setHostname(String hostname);
public abstract boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast);
public abstract List<java.net.NetworkInterface> getNetworkInterfaces() throws SocketException;
}

57
Main/src/main/java/com/chameleonvision/network/WindowsNetworking.java Normal file
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@@ -0,0 +1,57 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.NetworkSettings;
import com.chameleonvision.settings.SettingsManager;
import java.net.SocketException;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
public class WindowsNetworking extends SysNetworking {
@Override
public boolean setDHCP() {
return false;
}
@Override
public boolean setHostname(String newHostname) {
var currentHostname = getHostname();
if (getHostname() == null) {
return false;
}
String command = String.format("wmic computersystem where name=\"%s\" call rename name=\"%s\"", currentHostname, newHostname);
try {
var process = Runtime.getRuntime().exec(command);
var returnCode = process.waitFor();
return returnCode == 0;
} catch(Exception e) {
return false;
}
}
@Override
public boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast) {
return false;
}
@Override
public List<java.net.NetworkInterface> getNetworkInterfaces() throws SocketException {
var netInterfaces = Collections.list(java.net.NetworkInterface.getNetworkInterfaces());
List<java.net.NetworkInterface> goodInterfaces = new ArrayList<>();
for (var netInterface : netInterfaces) {
if (netInterface.getDisplayName().toLowerCase().contains("bluetooth")) continue;
if (netInterface.getDisplayName().toLowerCase().contains("virtual")) continue;
if (netInterface.getDisplayName().toLowerCase().contains("loopback")) continue;
if (!netInterface.isUp()) continue;
goodInterfaces.add(netInterface);
}
return goodInterfaces;
}
}

2
Main/src/main/java/com/chameleonvision/vision/GeneralSettings.java → Main/src/main/java/com/chameleonvision/settings/GeneralSettings.java
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@@ -1,4 +1,4 @@
package com.chameleonvision.vision;
package com.chameleonvision.settings;
public class GeneralSettings {
public int team_number = 1577;

15
Main/src/main/java/com/chameleonvision/settings/NetworkSettings.java
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@@ -1,9 +1,12 @@
package com.chameleonvision.settings;
import java.net.*;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Enumeration;
import com.chameleonvision.util.Utilities;
import org.apache.commons.lang3.StringUtils;
import org.apache.commons.lang3.SystemUtils;
public class NetworkSettings {
@@ -51,20 +54,26 @@ public class NetworkSettings {
}
}
public static byte[] GetTeamNumberIPBytes(int teamNumber) {
return new byte[]{(byte) (teamNumber / 100), (byte) (teamNumber % 100)};
}
public static String getAdapter() {
try {//TODO fix windows get adapter
Enumeration<NetworkInterface> nets = NetworkInterface.getNetworkInterfaces();
for (NetworkInterface netint : Collections.list(nets)) {
Enumeration<InetAddress> ee = netint.getInetAddresses();
for (InetAddress addr : Collections.list(ee))
if (addr instanceof Inet4Address)
if ((addr.getAddress()[0] & 0xFF) == 192 && (addr.getAddress()[1] & 0xFF) == 168) {
if (addr instanceof Inet4Address) {
var addrString = addr.toString();
if ((addr.getAddress()[0] & 0xFF) == 10 && (addr.getAddress()[1] & 0xFF) == 168) {
System.out.println("found robot network interface at " + netint.getName() + " ip: " + addr.getHostAddress());
return netint.getName();
}
}
}
} catch (SocketException e) {
System.err.println("Socket exception while trying to find current ip");
System.err.println("Socket exception while trying to find current IP");
}
return "";
}

81
Main/src/main/java/com/chameleonvision/settings/Platform.java Normal file
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@@ -0,0 +1,81 @@
package com.chameleonvision.settings;
import com.chameleonvision.util.ShellExec;
import java.io.IOException;
public enum Platform {
WINDOWS_64("Windows x64"),
LINUX_64("Linux x64"),
LINUX_RASPBIAN("Linux Raspbian"),
LINUX_TEGRA("Linux For Tegra"),
LINUX_ARM64("Linux ARM64"),
MACOS_64("Mac OS x64"),
UNSUPPORTED("Unsupported Platform");
public final String value;
Platform(String value) {
this.value = value;
}
public boolean isWindows() {
return this == WINDOWS_64;
}
public boolean isLinux() {
return this == LINUX_64 || this == LINUX_RASPBIAN || this == LINUX_ARM64 || this == LINUX_TEGRA;
}
public boolean isMac() {
return this == MACOS_64;
}
private static ShellExec shell = new ShellExec(true, false);
public boolean isRoot() {
if (isLinux() || isMac()) {
try {
shell.execute("id", null, true, "-u");
} catch (IOException e) {
e.printStackTrace();
}
while (!shell.isOutputCompleted()) {}
if (shell.getExitCode() == 0) {
var out = shell.getOutput();
out = out.split("\n")[0];
return out.equals("0");
}
} else if (isWindows()) {
return true;
} else {
return true;
}
return false;
}
public static Platform getCurrentPlatform() {
var osName = System.getProperty("os.name");
var osArch = System.getProperty("os.arch");
if (osName.contains("Windows")) {
if (osArch.equals("amd64")) return Platform.WINDOWS_64;
return Platform.UNSUPPORTED;
}
if (osName.contains("Linux")) {
if (osName.contains("Tegra")) return Platform.LINUX_TEGRA;
if (osArch.equals("amd64")) return Platform.LINUX_64;
if (osArch.contains("rasp")) return Platform.LINUX_RASPBIAN;
if (osArch.contains("aarch")) return Platform.LINUX_ARM64;
return Platform.UNSUPPORTED;
}
if (osName.contains("Mac")) {
if (osArch.equals("amd64")) return Platform.MACOS_64;
return Platform.UNSUPPORTED;
}
return Platform.UNSUPPORTED;
}
}

68
Main/src/main/java/com/chameleonvision/settings/SettingsManager.java
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@@ -1,7 +1,7 @@
package com.chameleonvision.settings;
import com.chameleonvision.FileHelper;
import com.chameleonvision.vision.GeneralSettings;
import com.chameleonvision.network.NetworkManager;
import com.chameleonvision.util.FileHelper;
import com.chameleonvision.vision.camera.CameraManager;
import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
@@ -15,21 +15,22 @@ import java.nio.file.Paths;
public class SettingsManager {
public static final Path SettingsPath = Paths.get(System.getProperty("user.dir"), "settings");
public static com.chameleonvision.vision.GeneralSettings GeneralSettings;
public static com.chameleonvision.settings.GeneralSettings GeneralSettings;
private SettingsManager() {}
public static void initialize(boolean manageNetwork) {
public static void initialize() {
initGeneralSettings();
if (manageNetwork) {
NetworkSettings netSettings = new NetworkSettings();
netSettings.hostname = GeneralSettings.hostname;
netSettings.gateway = GeneralSettings.gateway;
netSettings.netmask = GeneralSettings.netmask;
netSettings.connectionType = GeneralSettings.connection_type;
netSettings.ip = GeneralSettings.ip;
netSettings.run();
}
// if (manageNetwork) {
// NetworkSettings netSettings = new NetworkSettings();
// netSettings.hostname = GeneralSettings.hostname;
// netSettings.gateway = GeneralSettings.gateway;
// netSettings.netmask = GeneralSettings.netmask;
// netSettings.connectionType = GeneralSettings.connection_type;
// netSettings.ip = GeneralSettings.ip;
// netSettings.run();
// }
var allCameras = CameraManager.getAllCamerasByName();
if (!allCameras.containsKey(GeneralSettings.curr_camera) && allCameras.size() > 0) {
var cam = allCameras.entrySet().stream().findFirst().get().getValue();
@@ -38,49 +39,10 @@ public class SettingsManager {
}
}
public enum Platform {
WINDOWS_64("Windows x64"),
LINUX_64("Linux x64"),
LINUX_RASPBIAN("Linux Raspbian"),
LINUX_AARCH64("Linux ARM 64bit"),
MACOS_64("Mac OS x64"),
UNSUPPORTED("Unsupported Platform");
public final String value;
Platform(String value) {
this.value = value;
}
}
public static Platform getCurrentPlatform() {
var osName = System.getProperty("os.name");
var osArch = System.getProperty("os.arch");
if (osName.contains("Windows")) {
if (osArch.equals("amd64")) return Platform.WINDOWS_64;
return Platform.UNSUPPORTED;
}
if (osName.contains("Linux")) {
if (osArch.equals("amd64")) return Platform.LINUX_64;
if (osArch.contains("rasp")) return Platform.LINUX_RASPBIAN;
if (osArch.contains("aarch")) return Platform.LINUX_64;
return Platform.UNSUPPORTED;
}
if (osName.contains("Mac")) {
if (osArch.equals("amd64")) return Platform.MACOS_64;
return Platform.UNSUPPORTED;
}
return Platform.UNSUPPORTED;
}
private static void initGeneralSettings() {
FileHelper.CheckPath(SettingsPath);
try {
GeneralSettings = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(), "settings.json").toString()), com.chameleonvision.vision.GeneralSettings.class);
GeneralSettings = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(), "settings.json").toString()), com.chameleonvision.settings.GeneralSettings.class);
} catch (FileNotFoundException e) {
GeneralSettings = new GeneralSettings();
}

2
Main/src/main/java/com/chameleonvision/FileHelper.java → Main/src/main/java/com/chameleonvision/util/FileHelper.java
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@@ -1,4 +1,4 @@
package com.chameleonvision;
package com.chameleonvision.util;
import java.io.IOException;
import java.nio.file.Files;

9
Main/src/main/java/com/chameleonvision/Handler/MathHandler.java → Main/src/main/java/com/chameleonvision/util/MathHandler.java
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@@ -1,17 +1,20 @@
package com.chameleonvision.Handler;
import org.apache.commons.math3.util.FastMath;
package com.chameleonvision.util;
import java.lang.Math;
public class MathHandler {
MathHandler(){}
MathHandler() {}
public static double sigmoid(double x){
double bias = 0;
double a = 5;
double b = -0.05;
double k = 200;
if (x < 50){
bias = -1.338;
}
return ((k / (1 + Math.pow(Math.E,(a + (b * x))))) + bias);
}
public static double toSlope(double angle){

2
Main/src/main/java/com/chameleonvision/MemoryManager.java → Main/src/main/java/com/chameleonvision/util/MemoryManager.java
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@@ -1,4 +1,4 @@
package com.chameleonvision;
package com.chameleonvision.util;
public class MemoryManager {

151
Main/src/main/java/com/chameleonvision/util/ShellExec.java Normal file
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@@ -0,0 +1,151 @@
package com.chameleonvision.util;
import java.io.*;
/**
* Execute external process and optionally read output buffer.
*/
public class ShellExec {
private int exitCode;
private boolean readOutput, readError;
private StreamGobbler errorGobbler, outputGobbler;
public ShellExec() {
this(false, false);
}
public ShellExec(boolean readOutput, boolean readError) {
this.readOutput = readOutput;
this.readError = readError;
}
/**
* Execute a command in current folder, and wait for process to end
* @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
* @param args 0..n command line arguments
* @return process exit code
*/
public int execute(String command, String... args) throws IOException {
return execute(command, null, true, args);
}
/**
* Execute a command.
* @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
* @param workdir working directory or NULL to use command folder
* @param wait wait for process to end
* @param args 0..n command line arguments
* @return process exit code
*/
public int execute(String command, String workdir, boolean wait, String...args) throws IOException {
String[] cmdArr;
if (args != null && args.length > 0) {
cmdArr = new String[1+args.length];
cmdArr[0] = command;
System.arraycopy(args, 0, cmdArr, 1, args.length);
} else {
cmdArr = new String[] { command };
}
ProcessBuilder pb = new ProcessBuilder(cmdArr);
File workingDir = (workdir==null ? new File(command).getParentFile() : new File(workdir) );
pb.directory(workingDir);
Process process = pb.start();
// Consume streams, older jvm's had a memory leak if streams were not read,
// some other jvm+OS combinations may block unless streams are consumed.
errorGobbler = new StreamGobbler(process.getErrorStream(), readError);
outputGobbler = new StreamGobbler(process.getInputStream(), readOutput);
errorGobbler.start();
outputGobbler.start();
exitCode = 0;
if (wait) {
try {
process.waitFor();
exitCode = process.exitValue();
} catch (InterruptedException ignored) { }
}
return exitCode;
}
public int getExitCode() {
return exitCode;
}
public boolean isOutputCompleted() {
return (outputGobbler != null && outputGobbler.isCompleted());
}
public boolean isErrorCompleted() {
return (errorGobbler != null && errorGobbler.isCompleted());
}
public String getOutput() {
return (outputGobbler != null ? outputGobbler.getOutput() : null);
}
public String getError() {
return (errorGobbler != null ? errorGobbler.getOutput() : null);
}
//********************************************
//********************************************
/**
* StreamGobbler reads inputstream to "gobble" it.
* This is used by Executor class when running
* a commandline applications. Gobblers must read/purge
* INSTR and ERRSTR process streams.
* http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4
*/
@SuppressWarnings("WeakerAccess")
private class StreamGobbler extends Thread {
private InputStream is;
private StringBuilder output;
private volatile boolean completed; // mark volatile to guarantee a thread safety
public StreamGobbler(InputStream is, boolean readStream) {
this.is = is;
this.output = (readStream ? new StringBuilder(256) : null);
}
public void run() {
completed = false;
try {
String NL = System.getProperty("line.separator", "\r\n");
InputStreamReader isr = new InputStreamReader(is);
BufferedReader br = new BufferedReader(isr);
String line;
while ( (line = br.readLine()) != null) {
if (output != null)
output.append(line).append(NL);
}
} catch (IOException ex) {
// ex.printStackTrace();
}
completed = true;
}
/**
* Get inputstream buffer or null if stream
* was not consumed.
* @return
*/
public String getOutput() {
return (output != null ? output.toString() : null);
}
/**
* Is input stream completed.
* @return
*/
public boolean isCompleted() {
return completed;
}
}
}

29
Main/src/main/java/com/chameleonvision/util/Utilities.java
View File

@@ -1,5 +1,8 @@
package com.chameleonvision.util;
import java.util.ArrayList;
import java.util.List;
public class Utilities {
private Utilities() {}
@@ -8,4 +11,30 @@ public class Utilities {
return ip.matches(PATTERN);
}
public static List<Byte> getDigitBytes(int num) {
List<Byte> digits = new ArrayList<>();
collectDigitBytes(num, digits);
return digits;
}
private static void collectDigitBytes(int num, List<Byte> digits) {
if (num / 10 > 0) {
collectDigitBytes( num / 10, digits);
}
digits.add((byte) (num % 10));
}
public static List<Integer> getDigits(int num) {
List<Integer> digits = new ArrayList<Integer>();
collectDigits(num, digits);
return digits;
}
private static void collectDigits(int num, List<Integer> digits) {
if(num / 10 > 0) {
collectDigits(num / 10, digits);
}
digits.add(num % 10);
}
}

12
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
View File

@@ -1,13 +1,11 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.CameraException;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
import org.opencv.core.Mat;
import org.springframework.core.env.Environment;
import java.util.Arrays;
import java.util.HashMap;
@@ -18,7 +16,7 @@ public class Camera {
private static final double DEFAULT_FOV = 60.8;
private static final int MINIMUM_FPS = 30;
private static final int MINIMUM_WIDTH = 320;
private static final int MINIMUM_HEIGHT = 240;
private static final int MINIMUM_HEIGHT = 200;
private static final int MAX_INIT_MS = 1500;
public final String name;
@@ -67,12 +65,11 @@ public class Camera {
this.pipelines = pipelines;
// set up video modes according to minimums
if (SettingsManager.getCurrentPlatform() == SettingsManager.Platform.WINDOWS_64 && !UsbCam.isConnected()) {
if (Platform.getCurrentPlatform() == Platform.WINDOWS_64 && !UsbCam.isConnected()) {
System.out.print("Waiting on camera... ");
long initTimeout = System.nanoTime();
while(!UsbCam.isConnected())
{
//TODO add a time sleep, can wait only so long before giving up
if (((System.nanoTime() - initTimeout) / 1e6 ) >= MAX_INIT_MS) {
break;
}
@@ -80,7 +77,8 @@ public class Camera {
var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
System.out.printf("Camera initialized in %.2fms\n", initTimeMs);
}
availableVideoModes = UsbCam.enumerateVideoModes();
var trueVideoModes = UsbCam.enumerateVideoModes();
availableVideoModes = Arrays.stream(trueVideoModes).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT).toArray(VideoMode[]::new);
if (availableVideoModes.length == 0) {
System.err.println("Camera not supported!");
throw new RuntimeException(new CameraException(CameraException.CameraExceptionType.BAD_CAMERA));

4
Main/src/main/java/com/chameleonvision/CameraException.java → Main/src/main/java/com/chameleonvision/vision/camera/CameraException.java
View File

@@ -1,4 +1,4 @@
package com.chameleonvision;
package com.chameleonvision.vision.camera;
public class CameraException extends Exception {
public enum CameraExceptionType {
@@ -19,7 +19,7 @@ public class CameraException extends Exception {
}
}
public CameraException(CameraExceptionType camExceptionType) {
CameraException(CameraExceptionType camExceptionType) {
super(camExceptionType.toString());
}
}

5
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
View File

@@ -1,9 +1,7 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.CameraException;
import com.chameleonvision.FileHelper;
import com.chameleonvision.util.FileHelper;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.GeneralSettings;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.process.VisionProcess;
import com.google.gson.Gson;
@@ -15,7 +13,6 @@ import org.opencv.videoio.VideoCapture;
import java.io.*;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;

2
Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
View File

@@ -1,7 +1,7 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.vision.camera.CameraValues;
import com.chameleonvision.Handler.MathHandler;
import com.chameleonvision.util.MathHandler;
import org.apache.commons.math3.util.FastMath;
import org.jetbrains.annotations.NotNull;
import org.opencv.core.*;

10
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
View File

@@ -113,14 +113,20 @@ public class VisionProcess implements Runnable {
}
private void updateNetworkTables(PipelineResult pipelineResult) {
ntValidEntry.setBoolean(pipelineResult.IsValid);
if (pipelineResult.IsValid) {
ntValidEntry.setBoolean(true);
ntYawEntry.setNumber(pipelineResult.Yaw);
ntPitchEntry.setNumber(pipelineResult.Pitch);
ntDistanceEntry.setNumber(pipelineResult.Area);
ntTimeStampEntry.setNumber(TimeStamp);
NetworkTableInstance.getDefault().flush();
} else {
ntYawEntry.setNumber(0.0);
ntPitchEntry.setNumber(0.0);
ntDistanceEntry.setNumber(0.0);
ntTimeStampEntry.setNumber(TimeStamp);
ntValidEntry.setBoolean(false);
}
ntTimeStampEntry.setNumber(timeStamp);
}
private PipelineResult runVisionProcess(Mat inputImage, Mat outputImage) {

5
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
View File

@@ -1,11 +1,8 @@
package com.chameleonvision.web;
import com.chameleonvision.CameraException;
import com.chameleonvision.vision.camera.CameraException;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.vision.camera.CameraManager;
import com.google.gson.JsonArray;
import edu.wpi.cscore.VideoException;
import io.javalin.websocket.WsCloseContext;
import io.javalin.websocket.WsConnectContext;