mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
Update backend to provide more useful info to frontend (#866)
This commit is contained in:
Sriman Achanta
@@ -18,9 +18,9 @@
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package org.photonvision.server;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.JsonNode;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import io.javalin.http.Context;
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import io.javalin.http.UploadedFile;
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import java.io.File;
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import java.io.FileInputStream;
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import java.io.FileNotFoundException;
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@@ -29,8 +29,7 @@ import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.util.HashMap;
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import java.util.Map;
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import java.util.Optional;
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import org.apache.commons.io.FileUtils;
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import org.photonvision.common.configuration.ConfigManager;
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import org.photonvision.common.configuration.NetworkConfig;
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@@ -48,170 +47,312 @@ import org.photonvision.common.util.TimedTaskManager;
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import org.photonvision.common.util.file.ProgramDirectoryUtilities;
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import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
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import org.photonvision.vision.processes.VisionModuleManager;
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import org.photonvision.vision.target.TargetModel;
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public class RequestHandler {
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// Treat all 2XX calls as "INFO"
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// Treat all 4XX calls as "ERROR"
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// Treat all 5XX calls as "ERROR"
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private static final Logger logger = new Logger(RequestHandler.class, LogGroup.WebServer);
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private static final ObjectMapper kObjectMapper = new ObjectMapper();
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public static void onSettingUpload(Context ctx) {
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var file = ctx.uploadedFile("zipData");
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if (file != null) {
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// Copy the file from the client to a temporary location
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var tempFilePath =
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new File(Path.of(System.getProperty("java.io.tmpdir"), file.getFilename()).toString());
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tempFilePath.getParentFile().mkdirs();
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try {
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FileUtils.copyInputStreamToFile(file.getContent(), tempFilePath);
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} catch (IOException e) {
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logger.error("Exception while uploading settings file to temp folder!");
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e.printStackTrace();
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return;
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}
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public static void onSettingsImportRequest(Context ctx) {
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var file = ctx.uploadedFile("data");
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// Process the file by its extension
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if (file.getExtension().contains("zip")) {
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// .zip files are assumed to be full packages of configuration files
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logger.debug("Processing uploaded settings zip " + file.getFilename());
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ConfigManager.saveUploadedSettingsZip(tempFilePath);
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if (file == null) {
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ctx.status(400);
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ctx.result(
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"No File was sent with the request. Make sure that the settings zip is sent at the key 'data'");
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logger.error(
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"No File was sent with the request. Make sure that the settings zip is sent at the key 'data'");
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return;
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}
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} else if (file.getFilename().equals(ConfigManager.HW_CFG_FNAME)) {
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// Filenames matching the hardware config .json file are assumed to be
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// hardware config .json's
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logger.debug("Processing uploaded hardware config " + file.getFilename());
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ConfigManager.getInstance().saveUploadedHardwareConfig(tempFilePath.toPath());
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if (!file.getExtension().contains("zip")) {
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ctx.status(400);
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ctx.result(
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"The uploaded file was not of type 'zip'. The uploaded file should be a .zip file.");
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logger.error(
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"The uploaded file was not of type 'zip'. The uploaded file should be a .zip file.");
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return;
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}
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} else if (file.getFilename().equals(ConfigManager.HW_SET_FNAME)) {
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// Filenames matching the hardware settings .json file are assumed to be
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// hardware settings.json's
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logger.debug("Processing uploaded hardware settings" + file.getFilename());
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ConfigManager.getInstance().saveUploadedHardwareSettings(tempFilePath.toPath());
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// Create a temp file
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var tempFilePath = handleTempFileCreation(file);
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} else if (file.getFilename().equals(ConfigManager.NET_SET_FNAME)) {
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// Filenames matching the network config .json file are assumed to be
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// network config .json's
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logger.debug("Processing uploaded network config " + file.getFilename());
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ConfigManager.getInstance().saveUploadedNetworkConfig(tempFilePath.toPath());
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} else {
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logger.error(
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"Couldn't apply provided settings file - did not recognize "
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+ file.getFilename()
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+ " as a supported file.");
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ctx.status(500);
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return;
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}
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if (tempFilePath.isEmpty()) {
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ctx.status(500);
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ctx.result("There was an error while creating a temporary copy of the file");
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logger.error("There was an error while creating a temporary copy of the file");
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return;
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}
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if (ConfigManager.saveUploadedSettingsZip(tempFilePath.get())) {
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ctx.status(200);
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logger.info("Settings uploaded, going down for restart.");
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restartProgram();
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ctx.result("Successfully saved the uploaded settings zip");
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logger.info("Successfully saved the uploaded settings zip");
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} else {
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logger.error("Couldn't read uploaded file! Ignoring.");
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ctx.status(500);
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ctx.result("There was an error while saving the uploaded zip file");
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logger.error("There was an error while saving the uploaded zip file");
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}
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}
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public static void onOfflineUpdate(Context ctx) {
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logger.info("Handling offline update .jar upload...");
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var file = ctx.uploadedFile("jarData");
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logger.info("New .jar uploaded successfully.");
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public static void onSettingsExportRequest(Context ctx) {
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logger.info("Exporting Settings to ZIP Archive");
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if (file != null) {
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try {
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Path filePath =
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Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "photonvision.jar");
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File targetFile = new File(filePath.toString());
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var stream = new FileOutputStream(targetFile);
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logger.info(
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"Streaming user-provided " + file.getFilename() + " into " + targetFile.toString());
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file.getContent().transferTo(stream);
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stream.close();
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ctx.status(200);
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logger.info("New .jar in place, going down for restart...");
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restartProgram();
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} catch (FileNotFoundException e) {
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logger.error(
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".jar of this program could not be found. How the heck this program started in the first place is a mystery.");
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ctx.status(500);
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} catch (IOException e) {
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logger.error("Could not overwrite the .jar for this instance of photonvision.");
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ctx.status(500);
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}
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} else {
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logger.error("Couldn't read provided file for new .jar! Ignoring.");
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ctx.status(500);
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}
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}
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@SuppressWarnings("unchecked")
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public static void onGeneralSettings(Context context) throws JsonProcessingException {
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Map<String, Object> map =
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(Map<String, Object>) kObjectMapper.readValue(context.body(), Map.class);
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var networkConfig = NetworkConfig.fromHashMap(map);
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ConfigManager.getInstance().setNetworkSettings(networkConfig);
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ConfigManager.getInstance().requestSave();
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NetworkManager.getInstance().reinitialize();
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NetworkTablesManager.getInstance().setConfig(networkConfig);
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context.status(200);
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}
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@SuppressWarnings("unchecked")
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public static void onCameraSettingsSave(Context context) {
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try {
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var settingsAndIndex = kObjectMapper.readValue(context.body(), Map.class);
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logger.info("Got cam setting json from frontend!\n" + settingsAndIndex.toString());
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var settings = (HashMap<String, Object>) settingsAndIndex.get("settings");
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int index = (Integer) settingsAndIndex.get("index");
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// The only settings we actually care about are FOV
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var fov = Double.parseDouble(settings.get("fov").toString());
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logger.info(String.format("Setting camera %s's fov to %s", index, fov));
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var module = VisionModuleManager.getInstance().getModule(index);
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module.setFov(fov);
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module.saveModule();
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} catch (JsonProcessingException e) {
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logger.error("Got invalid camera setting JSON from frontend!");
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e.printStackTrace();
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}
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}
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public static void onSettingsDownload(Context ctx) {
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logger.info("exporting settings to download...");
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try {
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var zip = ConfigManager.getInstance().getSettingsFolderAsZip();
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var stream = new FileInputStream(zip);
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logger.info("Uploading settings with size " + stream.available());
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ctx.result(stream);
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ctx.contentType("application/zip");
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ctx.header("Content-Disposition: attachment; filename=\"photonvision-settings-export.zip\"");
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ctx.header(
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"Content-Disposition", "attachment; filename=\"photonvision-settings-export.zip\"");
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ctx.result(stream);
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ctx.status(200);
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} catch (IOException e) {
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e.printStackTrace();
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ctx.status(501);
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logger.error("Got bad recode from zip to byte");
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logger.error("Unable to export settings archive, bad recode from zip to byte");
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ctx.status(500);
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ctx.result("There was an error while exporting the settings archive");
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}
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}
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private static ShellExec shell = new ShellExec();
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public static void onHardwareConfigRequest(Context ctx) {
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var file = ctx.uploadedFile("data");
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public static void onExportCurrentLogs(Context ctx) {
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if (!Platform.isLinux()) {
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logger.warn("Cannot export journalctl on non-Linux platforms! Ignoring");
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if (file == null) {
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ctx.status(400);
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ctx.result(
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"No File was sent with the request. Make sure that the hardware config json is sent at the key 'data'");
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logger.error(
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"No File was sent with the request. Make sure that the hardware config json is sent at the key 'data'");
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return;
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}
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if (!file.getExtension().contains("json")) {
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ctx.status(400);
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ctx.result(
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"The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
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logger.error(
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"The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
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return;
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}
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// Create a temp file
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var tempFilePath = handleTempFileCreation(file);
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if (tempFilePath.isEmpty()) {
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ctx.status(500);
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ctx.result("There was an error while creating a temporary copy of the file");
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logger.error("There was an error while creating a temporary copy of the file");
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return;
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}
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if (ConfigManager.getInstance().saveUploadedHardwareConfig(tempFilePath.get().toPath())) {
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ctx.status(200);
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ctx.result("Successfully saved the uploaded hardware config");
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logger.info("Successfully saved the uploaded hardware config");
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} else {
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ctx.status(500);
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ctx.result("There was an error while saving the uploaded hardware config");
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logger.error("There was an error while saving the uploaded hardware config");
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}
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}
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public static void onHardwareSettingsRequest(Context ctx) {
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var file = ctx.uploadedFile("data");
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if (file == null) {
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ctx.status(400);
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ctx.result(
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"No File was sent with the request. Make sure that the hardware settings json is sent at the key 'data'");
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logger.error(
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"No File was sent with the request. Make sure that the hardware settings json is sent at the key 'data'");
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return;
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}
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if (!file.getExtension().contains("json")) {
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ctx.status(400);
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ctx.result(
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"The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
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logger.error(
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"The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
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return;
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}
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// Create a temp file
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var tempFilePath = handleTempFileCreation(file);
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if (tempFilePath.isEmpty()) {
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ctx.status(500);
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ctx.result("There was an error while creating a temporary copy of the file");
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logger.error("There was an error while creating a temporary copy of the file");
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return;
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}
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if (ConfigManager.getInstance().saveUploadedHardwareSettings(tempFilePath.get().toPath())) {
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ctx.status(200);
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ctx.result("Successfully saved the uploaded hardware settings");
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logger.info("Successfully saved the uploaded hardware settings");
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} else {
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ctx.status(500);
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ctx.result("There was an error while saving the uploaded hardware settings");
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logger.error("There was an error while saving the uploaded hardware settings");
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}
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}
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public static void onNetworkConfigRequest(Context ctx) {
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var file = ctx.uploadedFile("data");
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if (file == null) {
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ctx.status(400);
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ctx.result(
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"No File was sent with the request. Make sure that the network config json is sent at the key 'data'");
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logger.error(
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"No File was sent with the request. Make sure that the network config json is sent at the key 'data'");
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return;
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}
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if (!file.getExtension().contains("json")) {
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ctx.status(400);
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ctx.result(
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"The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
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logger.error(
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"The uploaded file was not of type 'json'. The uploaded file should be a .json file.");
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return;
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}
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// Create a temp file
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var tempFilePath = handleTempFileCreation(file);
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if (tempFilePath.isEmpty()) {
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ctx.status(500);
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ctx.result("There was an error while creating a temporary copy of the file");
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logger.error("There was an error while creating a temporary copy of the file");
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return;
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}
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if (ConfigManager.getInstance().saveUploadedNetworkConfig(tempFilePath.get().toPath())) {
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ctx.status(200);
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ctx.result("Successfully saved the uploaded network config");
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logger.info("Successfully saved the uploaded network config");
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} else {
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ctx.status(500);
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ctx.result("There was an error while saving the uploaded network config");
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logger.error("There was an error while saving the uploaded network config");
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}
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}
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public static void onOfflineUpdateRequest(Context ctx) {
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var file = ctx.uploadedFile("jarData");
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if (file == null) {
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ctx.status(400);
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ctx.result(
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"No File was sent with the request. Make sure that the new jar is sent at the key 'jarData'");
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logger.error(
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"No File was sent with the request. Make sure that the new jar is sent at the key 'jarData'");
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return;
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}
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if (!file.getExtension().contains("jar")) {
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ctx.status(400);
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ctx.result(
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"The uploaded file was not of type 'jar'. The uploaded file should be a .jar file.");
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logger.error(
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"The uploaded file was not of type 'jar'. The uploaded file should be a .jar file.");
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return;
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}
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try {
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Path filePath =
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Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "photonvision.jar");
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File targetFile = new File(filePath.toString());
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var stream = new FileOutputStream(targetFile);
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file.getContent().transferTo(stream);
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stream.close();
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ctx.status(200);
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ctx.result(
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"Offline update successfully complete. PhotonVision will restart in the background.");
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logger.info(
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"Offline update successfully complete. PhotonVision will restart in the background.");
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restartProgram();
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} catch (FileNotFoundException e) {
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ctx.result("The current program jar file couldn't be found.");
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ctx.status(500);
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logger.error("The current program jar file couldn't be found.", e);
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} catch (IOException e) {
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ctx.result("Unable to overwrite the existing program with the new program.");
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ctx.status(500);
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logger.error("Unable to overwrite the existing program with the new program.", e);
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}
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||||
}
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||||
public static void onGeneralSettingsRequest(Context ctx) {
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||||
NetworkConfig config;
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||||
try {
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config = kObjectMapper.readValue(ctx.body(), NetworkConfig.class);
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||||
ctx.status(200);
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||||
ctx.result("Successfully saved general settings");
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logger.info("Successfully saved general settings");
|
||||
} catch (JsonProcessingException e) {
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// If the settings can't be parsed, use the default network settings
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config = new NetworkConfig();
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||||
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||||
ctx.status(400);
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ctx.result("The provided general settings were malformed");
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logger.error("The provided general settings were malformed", e);
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||||
}
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||||
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||||
ConfigManager.getInstance().setNetworkSettings(config);
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||||
ConfigManager.getInstance().requestSave();
|
||||
|
||||
NetworkManager.getInstance().reinitialize();
|
||||
|
||||
NetworkTablesManager.getInstance().setConfig(config);
|
||||
}
|
||||
|
||||
public static void onCameraSettingsRequest(Context ctx) {
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||||
try {
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||||
var data = kObjectMapper.readTree(ctx.body());
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||||
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||||
int index = data.get("index").asInt();
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||||
double fov = kObjectMapper.readTree(data.get("settings").asText()).get("fov").asDouble();
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||||
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||||
var module = VisionModuleManager.getInstance().getModule(index);
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||||
module.setFov(fov);
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||||
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||||
module.saveModule();
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||||
|
||||
ctx.status(200);
|
||||
ctx.result("Successfully saved camera settings");
|
||||
logger.info("Successfully saved camera settings");
|
||||
} catch (JsonProcessingException e) {
|
||||
ctx.status(400);
|
||||
ctx.result("The provided camera settings were malformed");
|
||||
logger.error("The provided camera settings were malformed", e);
|
||||
}
|
||||
}
|
||||
|
||||
public static void onLogExportRequest(Context ctx) {
|
||||
if (!Platform.isLinux()) {
|
||||
ctx.status(405);
|
||||
ctx.result("Logs can only be exported on a Linux platform");
|
||||
// INFO only log because this isn't ERROR worthy
|
||||
logger.info("Logs can only be exported on a Linux platform");
|
||||
return;
|
||||
}
|
||||
|
||||
try {
|
||||
ShellExec shell = new ShellExec();
|
||||
var tempPath = Files.createTempFile("photonvision-journalctl", ".txt");
|
||||
shell.executeBashCommand(
|
||||
"journalctl -u photonvision.service > " + tempPath.toAbsolutePath().toString());
|
||||
shell.executeBashCommand("journalctl -u photonvision.service > " + tempPath.toAbsolutePath());
|
||||
|
||||
while (!shell.isOutputCompleted()) {
|
||||
// TODO: add timeout
|
||||
@@ -220,150 +361,170 @@ public class RequestHandler {
|
||||
if (shell.getExitCode() == 0) {
|
||||
// Wrote to the temp file! Add it to the ctx
|
||||
var stream = new FileInputStream(tempPath.toFile());
|
||||
logger.info("Uploading settings with size " + stream.available());
|
||||
ctx.result(stream);
|
||||
ctx.contentType("application/zip");
|
||||
ctx.header("Content-Disposition: attachment; filename=\"photonvision-journalctl.txt\"");
|
||||
ctx.contentType("text/plain");
|
||||
ctx.header("Content-Disposition", "attachment; filename=\"photonvision-journalctl.txt\"");
|
||||
ctx.status(200);
|
||||
ctx.result(stream);
|
||||
logger.info("Uploading settings with size " + stream.available());
|
||||
} else {
|
||||
logger.error("Could not export journactl logs! (exit code != 0)");
|
||||
ctx.status(500);
|
||||
ctx.result("The journalctl service was unable to export logs");
|
||||
logger.error("The journalctl service was unable to export logs");
|
||||
}
|
||||
} catch (IOException e) {
|
||||
// TODO Auto-generated catch block
|
||||
logger.error("Could not export journactl logs! (IOexception)", e);
|
||||
ctx.status(500);
|
||||
ctx.result("There was an error while exporting journactl logs");
|
||||
logger.error("There was an error while exporting journactl logs", e);
|
||||
}
|
||||
}
|
||||
|
||||
public static void onCalibrationEnd(Context ctx) {
|
||||
public static void onCalibrationEndRequest(Context ctx) {
|
||||
logger.info("Calibrating camera! This will take a long time...");
|
||||
|
||||
int index;
|
||||
|
||||
try {
|
||||
index = (int) kObjectMapper.readValue(ctx.body(), HashMap.class).get("idx");
|
||||
index = kObjectMapper.readTree(ctx.body()).get("index").asInt();
|
||||
|
||||
var calData = VisionModuleManager.getInstance().getModule(index).endCalibration();
|
||||
if (calData == null) {
|
||||
ctx.result("The calibration process failed");
|
||||
ctx.status(500);
|
||||
logger.error(
|
||||
"The calibration process failed. Calibration data for module at index ("
|
||||
+ index
|
||||
+ ") was null");
|
||||
return;
|
||||
}
|
||||
|
||||
ctx.result("Camera calibration successfully completed!");
|
||||
ctx.status(200);
|
||||
logger.info("Camera calibration successfully completed!");
|
||||
} catch (JsonProcessingException e) {
|
||||
ctx.status(400);
|
||||
ctx.result(
|
||||
"The 'index' field was not found in the request. Please make sure the index of the vision module is specified with the 'index' key.");
|
||||
logger.error(
|
||||
"The 'index' field was not found in the request. Please make sure the index of the vision module is specified with the 'index' key.",
|
||||
e);
|
||||
} catch (Exception e) {
|
||||
logger.error("Cannot parse calibration idx", e);
|
||||
ctx.status(500);
|
||||
return;
|
||||
ctx.result("There was an error while ending calibration");
|
||||
logger.error("There was an error while ending calibration", e);
|
||||
}
|
||||
|
||||
var calData = VisionModuleManager.getInstance().getModule(index).endCalibration();
|
||||
if (calData == null) {
|
||||
ctx.status(500);
|
||||
return;
|
||||
}
|
||||
|
||||
ctx.result(String.valueOf(calData.standardDeviation));
|
||||
ctx.status(200);
|
||||
logger.info("Camera calibrated!");
|
||||
}
|
||||
|
||||
public static void restartDevice(Context ctx) {
|
||||
ctx.status(HardwareManager.getInstance().restartDevice() ? 200 : 500);
|
||||
public static void onCalibrationImportRequest(Context ctx) {
|
||||
var data = ctx.body();
|
||||
|
||||
try {
|
||||
var actualObj = kObjectMapper.readTree(data);
|
||||
|
||||
int cameraIndex = actualObj.get("cameraIndex").asInt();
|
||||
var payload = kObjectMapper.readTree(actualObj.get("payload").asText());
|
||||
var coeffs = CameraCalibrationCoefficients.parseFromCalibdbJson(payload);
|
||||
|
||||
var uploadCalibrationEvent =
|
||||
new IncomingWebSocketEvent<>(
|
||||
DataChangeDestination.DCD_ACTIVEMODULE,
|
||||
"calibrationUploaded",
|
||||
coeffs,
|
||||
cameraIndex,
|
||||
null);
|
||||
DataChangeService.getInstance().publishEvent(uploadCalibrationEvent);
|
||||
|
||||
ctx.status(200);
|
||||
ctx.result("Calibration imported successfully from CalibDB data!");
|
||||
logger.info("Calibration imported successfully from CalibDB data!");
|
||||
} catch (JsonProcessingException e) {
|
||||
ctx.status(400);
|
||||
ctx.result(
|
||||
"The Provided CalibDB data is malformed and cannot be parsed for the required fields.");
|
||||
logger.error(
|
||||
"The Provided CalibDB data is malformed and cannot be parsed for the required fields.",
|
||||
e);
|
||||
}
|
||||
}
|
||||
|
||||
public static void restartProgram(Context ctx) {
|
||||
public static void onProgramRestartRequest(Context ctx) {
|
||||
// TODO, check if this was successful or not
|
||||
ctx.status(204);
|
||||
restartProgram();
|
||||
}
|
||||
|
||||
public static void restartProgram() {
|
||||
TimedTaskManager.getInstance().addOneShotTask(RequestHandler::restartProgramInternal, 0);
|
||||
public static void onDeviceRestartRequest(Context ctx) {
|
||||
ctx.status(HardwareManager.getInstance().restartDevice() ? 204 : 500);
|
||||
}
|
||||
|
||||
public static void onCameraNicknameChangeRequest(Context ctx) {
|
||||
try {
|
||||
var data = kObjectMapper.readTree(ctx.body());
|
||||
|
||||
String name = data.get("name").asText();
|
||||
int idx = data.get("cameraIndex").asInt();
|
||||
|
||||
VisionModuleManager.getInstance().getModule(idx).setCameraNickname(name);
|
||||
ctx.status(200);
|
||||
ctx.result("Successfully changed the camera name to: " + name);
|
||||
logger.info("Successfully changed the camera name to: " + name);
|
||||
} catch (JsonProcessingException e) {
|
||||
ctx.status(400);
|
||||
ctx.result("The provided nickname data was malformed");
|
||||
logger.error("The provided nickname data was malformed", e);
|
||||
|
||||
} catch (Exception e) {
|
||||
ctx.status(500);
|
||||
ctx.result("An error occurred while changing the camera's nickname");
|
||||
logger.error("An error occurred while changing the camera's nickname", e);
|
||||
}
|
||||
}
|
||||
|
||||
public static void onMetricsPublishRequest(Context ctx) {
|
||||
HardwareManager.getInstance().publishMetrics();
|
||||
ctx.status(204);
|
||||
}
|
||||
|
||||
/**
|
||||
* Note that this doesn't actually restart the program itself -- instead, it relies on systemd or
|
||||
* an equivalent.
|
||||
* Create a temporary file using the UploadedFile from Javalin.
|
||||
*
|
||||
* @param file the uploaded file.
|
||||
* @return Temporary file. Empty if the temporary file was unable to be created.
|
||||
*/
|
||||
public static void restartProgramInternal() {
|
||||
if (Platform.isLinux()) {
|
||||
try {
|
||||
new ShellExec().executeBashCommand("systemctl restart photonvision.service");
|
||||
} catch (IOException e) {
|
||||
logger.error("Could not restart device!", e);
|
||||
System.exit(0);
|
||||
}
|
||||
} else {
|
||||
System.exit(0);
|
||||
}
|
||||
}
|
||||
private static Optional<File> handleTempFileCreation(UploadedFile file) {
|
||||
var tempFilePath =
|
||||
new File(Path.of(System.getProperty("java.io.tmpdir"), file.getFilename()).toString());
|
||||
tempFilePath.getParentFile().mkdirs();
|
||||
|
||||
public static void importCalibrationFromCalibdb(Context ctx) {
|
||||
var file = ctx.body();
|
||||
|
||||
if (file != null) {
|
||||
// check if it's a JSON file
|
||||
// Load using Jackson
|
||||
try {
|
||||
ObjectMapper mapper = new ObjectMapper();
|
||||
JsonNode actualObj = mapper.readTree(file);
|
||||
|
||||
int cameraIndex = actualObj.get("cameraIndex").asInt();
|
||||
String filename = actualObj.get("filename").asText();
|
||||
var payload = mapper.readTree(actualObj.get("payload").asText());
|
||||
|
||||
var coeffs = CameraCalibrationCoefficients.parseFromCalibdbJson(payload);
|
||||
|
||||
var uploadCalibrationEvent =
|
||||
new IncomingWebSocketEvent<CameraCalibrationCoefficients>(
|
||||
DataChangeDestination.DCD_ACTIVEMODULE,
|
||||
"calibrationUploaded",
|
||||
coeffs,
|
||||
(Integer) cameraIndex,
|
||||
null);
|
||||
DataChangeService.getInstance().publishEvent(uploadCalibrationEvent);
|
||||
|
||||
ctx.status(200);
|
||||
logger.info("Calibration added!");
|
||||
} catch (Exception e) {
|
||||
logger.warn("Could not parse cal metaJSON!");
|
||||
e.printStackTrace();
|
||||
return;
|
||||
}
|
||||
} else {
|
||||
ctx.status(500);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
public static void setCameraNickname(Context ctx) {
|
||||
try {
|
||||
var data = kObjectMapper.readValue(ctx.body(), HashMap.class);
|
||||
String name = String.valueOf(data.get("name"));
|
||||
int idx = Integer.parseInt(String.valueOf(data.get("cameraIndex")));
|
||||
VisionModuleManager.getInstance().getModule(idx).setCameraNickname(name);
|
||||
ctx.status(200);
|
||||
return;
|
||||
} catch (JsonProcessingException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
ctx.status(500);
|
||||
}
|
||||
|
||||
public static void uploadPnpModel(Context ctx) {
|
||||
UITargetData data;
|
||||
try {
|
||||
data = kObjectMapper.readValue(ctx.body(), UITargetData.class);
|
||||
} catch (JsonProcessingException e) {
|
||||
e.printStackTrace();
|
||||
ctx.status(500);
|
||||
return;
|
||||
FileUtils.copyInputStreamToFile(file.getContent(), tempFilePath);
|
||||
} catch (IOException e) {
|
||||
logger.error(
|
||||
"There was an error while uploading " + file.getFilename() + " to the temp folder!");
|
||||
return Optional.empty();
|
||||
}
|
||||
|
||||
VisionModuleManager.getInstance().getModule(data.index).setTargetModel(data.targetModel);
|
||||
ctx.status(200);
|
||||
return Optional.of(tempFilePath);
|
||||
}
|
||||
|
||||
public static void sendMetrics(Context ctx) {
|
||||
HardwareManager.getInstance().publishMetrics();
|
||||
// TimedTaskManager.getInstance().addOneShotTask(() ->
|
||||
// RoborioFinder.getInstance().findRios(),
|
||||
// 0);
|
||||
ctx.status(200);
|
||||
}
|
||||
|
||||
public static class UITargetData {
|
||||
public int index;
|
||||
public TargetModel targetModel;
|
||||
/**
|
||||
* Restart the running program. Note that this doesn't actually restart the program itself,
|
||||
* instead, it relies on systemd or an equivalent.
|
||||
*/
|
||||
private static void restartProgram() {
|
||||
TimedTaskManager.getInstance()
|
||||
.addOneShotTask(
|
||||
() -> {
|
||||
if (Platform.isLinux()) {
|
||||
try {
|
||||
new ShellExec().executeBashCommand("systemctl restart photonvision.service");
|
||||
} catch (IOException e) {
|
||||
logger.error("Could not restart device!", e);
|
||||
System.exit(0);
|
||||
}
|
||||
} else {
|
||||
System.exit(0);
|
||||
}
|
||||
},
|
||||
0);
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user