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Misc bugfixes (#39)

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* Selectively send pipeline changes

* Make input and output both rotated

* Notify UI of driver mode change over NT

* Fix "show multiple"

* Rename extent to fullness, fix area filtering

This is a breaking change to docs (make sure we note area is out of 100 and is percentage)

* Apply stream divisor to both streams

Co-authored-by: Banks T <btrout.dhrs@gmail.com>
This commit is contained in:
Matt
2020-07-17 20:05:03 -07:00
committed by GitHub
parent 0d155d9c6a
commit 768964c8fc
19 changed files with 231 additions and 145 deletions
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11
photon-server/src/main/java/org/photonvision/common/dataflow/events/IncomingWebSocketEvent.java
View File

@@ -17,6 +17,7 @@
package org.photonvision.common.dataflow.events;
import io.javalin.websocket.WsContext;
import java.util.HashMap;
import org.photonvision.common.dataflow.DataChangeDestination;
import org.photonvision.common.dataflow.DataChangeSource;
@@ -24,15 +25,21 @@ import org.photonvision.common.dataflow.DataChangeSource;
public class IncomingWebSocketEvent<T> extends DataChangeEvent<T> {
public final Integer cameraIndex;
public final WsContext originContext;
public IncomingWebSocketEvent(DataChangeDestination destType, String propertyName, T newValue) {
this(destType, propertyName, newValue, null);
this(destType, propertyName, newValue, null, null);
}
public IncomingWebSocketEvent(
DataChangeDestination destType, String propertyName, T newValue, Integer cameraIndex) {
DataChangeDestination destType,
String propertyName,
T newValue,
Integer cameraIndex,
WsContext originContext) {
super(DataChangeSource.DCS_WEBSOCKET, destType, propertyName, newValue);
this.cameraIndex = cameraIndex;
this.originContext = originContext;
}
@SuppressWarnings("unchecked")

14
photon-server/src/main/java/org/photonvision/common/dataflow/events/OutgoingUIEvent.java
View File

@@ -17,6 +17,7 @@
package org.photonvision.common.dataflow.events;
import io.javalin.websocket.WsContext;
import java.util.HashMap;
import org.photonvision.common.dataflow.DataChangeDestination;
import org.photonvision.common.dataflow.DataChangeSource;
@@ -24,17 +25,24 @@ import org.photonvision.server.UIUpdateType;
public class OutgoingUIEvent<T> extends DataChangeEvent<T> {
public final UIUpdateType updateType;
public final WsContext originContext;
public OutgoingUIEvent(UIUpdateType updateType, String propertyName, T newValue) {
public OutgoingUIEvent(
UIUpdateType updateType, String propertyName, T newValue, WsContext originContext) {
super(DataChangeSource.DCS_WEBSOCKET, DataChangeDestination.DCD_UI, propertyName, newValue);
this.updateType = updateType;
this.originContext = originContext;
}
public static OutgoingUIEvent<HashMap<String, Object>> wrappedOf(
UIUpdateType uiUpdateType, String commandName, String propertyName, Object value) {
UIUpdateType uiUpdateType,
String commandName,
String propertyName,
Object value,
WsContext originContext) {
HashMap<String, Object> data = new HashMap<>();
data.put(propertyName, value);
return new OutgoingUIEvent<>(uiUpdateType, commandName, data);
return new OutgoingUIEvent<>(uiUpdateType, commandName, data, originContext);
}
}

81
photon-server/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java Normal file
View File

@@ -0,0 +1,81 @@
/*
* Copyright (C) 2020 Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.common.dataflow.websocket;
import com.fasterxml.jackson.core.JsonProcessingException;
import edu.wpi.first.wpilibj.MedianFilter;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import org.photonvision.common.dataflow.CVPipelineResultConsumer;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.server.SocketHandler;
import org.photonvision.vision.pipeline.result.CVPipelineResult;
public class UIDataPublisher implements CVPipelineResultConsumer {
private static final Logger logger = new Logger(UIDataPublisher.class, LogGroup.VisionModule);
// TODO check if this is the right spot to do FPS calculation
private final MedianFilter fpsAverager = new MedianFilter(10);
private final int index;
private long lastRunTime = 0;
private long lastUIResultUpdateTime = 0;
public UIDataPublisher(int index) {
this.index = index;
}
@Override
public void accept(CVPipelineResult result) {
var now = System.currentTimeMillis();
var fps = fpsAverager.calculate(1000.0 / (now - lastRunTime));
lastRunTime = now;
// only update the UI at 15hz
if (lastUIResultUpdateTime + 1000.0 / 15.0 > now) return;
var uiMap = new HashMap<Integer, HashMap<String, Object>>();
var dataMap = new HashMap<String, Object>();
dataMap.put("fps", fps);
dataMap.put("latency", result.getLatencyMillis());
var targets = result.targets;
var uiTargets = new ArrayList<HashMap<String, Object>>();
for (var t : targets) {
uiTargets.add(t.toHashMap());
}
dataMap.put("targets", uiTargets);
uiMap.put(index, dataMap);
var retMap = new HashMap<String, Object>();
retMap.put("updatePipelineResult", uiMap);
try {
SocketHandler.getInstance().broadcastMessage(retMap, null);
} catch (JsonProcessingException e) {
logger.error(e.getMessage());
logger.error(Arrays.toString(e.getStackTrace()));
}
lastUIResultUpdateTime = now;
}
}

18
photon-server/src/main/java/org/photonvision/common/logging/Logger.java
View File

@@ -30,6 +30,7 @@ import java.util.List;
import java.util.function.Supplier;
import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.OutgoingUIEvent;
import org.photonvision.server.SocketHandler;
import org.photonvision.server.UIUpdateType;
public class Logger {
@@ -122,7 +123,7 @@ public class Logger {
for (var a : currentAppenders) {
var shouldColor = a instanceof ConsoleLogAppender;
var formattedMessage = format(message, level, group, clazz, shouldColor);
a.log(formattedMessage);
a.log(formattedMessage, level);
}
}
@@ -183,23 +184,24 @@ public class Logger {
}
private interface LogAppender {
void log(String message);
void log(String message, LogLevel level);
}
private static class ConsoleLogAppender implements LogAppender {
@Override
public void log(String message) {
public void log(String message, LogLevel level) {
System.out.println(message);
}
}
private static class UILogAppender implements LogAppender {
@Override
public void log(String message) {
var message_ = new HashMap<>();
message_.put("logMessage", message);
public void log(String message, LogLevel level) {
var messageMap = new SocketHandler.UIMap();
messageMap.put("logMessage", message);
messageMap.put("logLevel", level.code);
DataChangeService.getInstance()
.publishEvent(new OutgoingUIEvent<>(UIUpdateType.BROADCAST, "log", message_));
.publishEvent(new OutgoingUIEvent<>(UIUpdateType.BROADCAST, "log", messageMap, null));
}
}
@@ -211,7 +213,7 @@ public class Logger {
}
@Override
public void log(String message) {
public void log(String message, LogLevel level) {
try (AsynchronousFileChannel asyncFile =
AsynchronousFileChannel.open(
filePath, StandardOpenOption.WRITE, StandardOpenOption.CREATE)) {

27
photon-server/src/main/java/org/photonvision/server/SocketHandler.java
View File

@@ -139,7 +139,8 @@ public class SocketHandler {
DataChangeDestination.DCD_ACTIVEMODULE,
"cameraNickname",
(String) entryValue,
cameraIndex);
cameraIndex,
context);
dcService.publishEvent(ccnEvent);
break;
}
@@ -150,7 +151,8 @@ public class SocketHandler {
DataChangeDestination.DCD_ACTIVEMODULE,
"pipelineName",
(String) entryValue,
cameraIndex);
cameraIndex,
context);
dcService.publishEvent(cpnEvent);
break;
}
@@ -169,7 +171,8 @@ public class SocketHandler {
DataChangeDestination.DCD_ACTIVEMODULE,
"newPipelineInfo",
Pair.of(name, type),
cameraIndex);
cameraIndex,
context);
dcService.publishEvent(newPipelineEvent);
break;
}
@@ -184,7 +187,8 @@ public class SocketHandler {
DataChangeDestination.DCD_ACTIVEMODULE,
"deleteCurrPipeline",
0,
cameraIndex);
cameraIndex,
context);
dcService.publishEvent(deleteCurrentPipelineEvent);
break;
}
@@ -213,7 +217,8 @@ public class SocketHandler {
DataChangeDestination.DCD_ACTIVEMODULE,
"changePipeline",
(Integer) entryValue,
cameraIndex);
cameraIndex,
context);
dcService.publishEvent(changePipelineEvent);
break;
}
@@ -224,7 +229,8 @@ public class SocketHandler {
DataChangeDestination.DCD_ACTIVEMODULE,
"changePipeline",
PipelineManager.CAL_3D_INDEX,
cameraIndex);
cameraIndex,
context);
dcService.publishEvent(changePipelineEvent);
break;
}
@@ -232,7 +238,11 @@ public class SocketHandler {
{
var takeCalSnapshotEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE, "takeCalSnapshot", 0, cameraIndex);
DataChangeDestination.DCD_ACTIVEMODULE,
"takeCalSnapshot",
0,
cameraIndex,
context);
dcService.publishEvent(takeCalSnapshotEvent);
break;
}
@@ -251,7 +261,8 @@ public class SocketHandler {
DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS,
dataEntry.getKey(),
dataEntry.getValue(),
cameraIndex2);
cameraIndex2,
context);
dcService.publishEvent(pipelineSettingChangeEvent);
}
} else {

4
photon-server/src/main/java/org/photonvision/server/UIInboundSubscriber.java
View File

@@ -43,7 +43,9 @@ public class UIInboundSubscriber extends DataChangeSubscriber {
|| incomingWSEvent.propertyName.equals("sendFullSettings")) {
// Send full settings
var settings = ConfigManager.getInstance().getConfig().toHashMap();
var message = new OutgoingUIEvent<>(UIUpdateType.BROADCAST, "fullsettings", settings);
var message =
new OutgoingUIEvent<>(
UIUpdateType.BROADCAST, "fullsettings", settings, incomingWSEvent.originContext);
DataChangeService.getInstance().publishEvent(message);
}
}

25
photon-server/src/main/java/org/photonvision/vision/pipe/impl/FilterContoursPipe.java
View File

@@ -21,7 +21,6 @@ import java.util.ArrayList;
import java.util.List;
import org.opencv.core.Rect;
import org.opencv.core.RotatedRect;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.common.util.numbers.DoubleCouple;
import org.photonvision.vision.frame.FrameStaticProperties;
import org.photonvision.vision.opencv.Contour;
@@ -42,18 +41,20 @@ public class FilterContoursPipe
}
private void filterContour(Contour contour) {
// Area Filtering.
double contourArea = contour.getArea();
double areaRatio = (contourArea / params.getFrameStaticProperties().imageArea);
double minArea = MathUtils.sigmoid(params.getArea().getFirst());
double maxArea = MathUtils.sigmoid(params.getArea().getSecond());
if (areaRatio < minArea || areaRatio > maxArea) return;
// Extent Filtering.
RotatedRect minAreaRect = contour.getMinAreaRect();
double minExtent = params.getFullness().getFirst() * minAreaRect.size.area() / 100;
double maxExtent = params.getFullness().getSecond() * minAreaRect.size.area() / 100;
if (contourArea <= minExtent || contourArea >= maxExtent) return;
// Area Filtering.
double areaPercentage =
minAreaRect.size.area() / params.getFrameStaticProperties().imageArea * 100.0;
double minAreaPercentage = params.getArea().getFirst();
double maxAreaPercentage = params.getArea().getSecond();
if (areaPercentage < minAreaPercentage || areaPercentage > maxAreaPercentage) return;
// Fullness Filtering.
double contourArea = contour.getArea();
double minFullness = params.getFullness().getFirst() * minAreaRect.size.area() / 100;
double maxFullness = params.getFullness().getSecond() * minAreaRect.size.area() / 100;
if (contourArea <= minFullness || contourArea >= maxFullness) return;
// Aspect Ratio Filtering.
Rect boundingRect = contour.getBoundingRect();

2
photon-server/src/main/java/org/photonvision/vision/pipe/impl/SortContoursPipe.java
View File

@@ -49,7 +49,7 @@ public class SortContoursPipe
}
return new ArrayList<>(
m_sortedContours.subList(0, Math.min(in.size(), params.getMaxTargets() - 1)));
m_sortedContours.subList(0, Math.min(in.size(), params.getMaxTargets())));
}
private double calcSquareCenterDistance(PotentialTarget rect) {

6
photon-server/src/main/java/org/photonvision/vision/pipeline/AdvancedPipelineSettings.java
View File

@@ -43,7 +43,7 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
public DoubleCouple contourArea = new DoubleCouple(0.0, 100.0);
public DoubleCouple contourRatio = new DoubleCouple(0.0, 20.0);
public DoubleCouple contourExtent = new DoubleCouple(0.0, 100.0);
public DoubleCouple contourFullness = new DoubleCouple(0.0, 100.0);
public int contourSpecklePercentage = 5;
// the order in which to sort contours to find the most desirable
@@ -86,7 +86,7 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
&& hsvValue.equals(that.hsvValue)
&& contourArea.equals(that.contourArea)
&& contourRatio.equals(that.contourRatio)
&& contourExtent.equals(that.contourExtent)
&& contourFullness.equals(that.contourFullness)
&& contourSortMode == that.contourSortMode
&& contourTargetOffsetPointEdge == that.contourTargetOffsetPointEdge
&& contourTargetOrientation == that.contourTargetOrientation
@@ -107,7 +107,7 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
dilate,
contourArea,
contourRatio,
contourExtent,
contourFullness,
contourSpecklePercentage,
contourSortMode,
contourTargetOffsetPointEdge,

9
photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
View File

@@ -43,8 +43,7 @@ public class CVPipelineSettings {
public int cameraBrightness = 50;
public int cameraGain = 50;
public int cameraVideoModeIndex = 0;
public FrameDivisor inputFrameDivisor = FrameDivisor.NONE;
public FrameDivisor outputFrameDivisor = FrameDivisor.NONE;
public FrameDivisor streamingFrameDivisor = FrameDivisor.NONE;
public boolean ledMode = false;
@Override
@@ -62,8 +61,7 @@ public class CVPipelineSettings {
&& inputImageFlipMode == that.inputImageFlipMode
&& inputImageRotationMode == that.inputImageRotationMode
&& pipelineNickname.equals(that.pipelineNickname)
&& inputFrameDivisor == that.inputFrameDivisor
&& outputFrameDivisor == that.outputFrameDivisor;
&& streamingFrameDivisor == that.streamingFrameDivisor;
}
@Override
@@ -78,8 +76,7 @@ public class CVPipelineSettings {
cameraBrightness,
cameraGain,
cameraVideoModeIndex,
inputFrameDivisor,
outputFrameDivisor,
streamingFrameDivisor,
ledMode);
}
}

5
photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
View File

@@ -127,7 +127,10 @@ public class ColoredShapePipeline
groupContoursPipe.setParams(groupContoursParams);
SortContoursPipe.SortContoursParams sortContoursParams =
new SortContoursPipe.SortContoursParams(settings.contourSortMode, frameStaticProperties, 5);
new SortContoursPipe.SortContoursParams(
settings.contourSortMode,
frameStaticProperties,
settings.outputShowMultipleTargets ? 5 : 1); // TODO don't hardcode?
sortContoursPipe.setParams(sortContoursParams);
Collect2dTargetsPipe.Collect2dTargetsParams collect2dTargetsParams =

16
photon-server/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
View File

@@ -24,7 +24,6 @@ import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameStaticProperties;
import org.photonvision.vision.opencv.CVMat;
import org.photonvision.vision.pipe.impl.Draw2dCrosshairPipe;
import org.photonvision.vision.pipe.impl.ResizeImagePipe;
import org.photonvision.vision.pipe.impl.RotateImagePipe;
import org.photonvision.vision.pipeline.result.DriverModePipelineResult;
@@ -32,9 +31,6 @@ public class DriverModePipeline
extends CVPipeline<DriverModePipelineResult, DriverModePipelineSettings> {
private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
private final ResizeImagePipe resizeImagePipe = new ResizeImagePipe();
private final Draw2dCrosshairPipe draw2dCrosshairPipe = new Draw2dCrosshairPipe();
public DriverModePipeline() {
@@ -48,10 +44,6 @@ public class DriverModePipeline
new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
rotateImagePipe.setParams(rotateImageParams);
ResizeImagePipe.ResizeImageParams resizeImageParams =
new ResizeImagePipe.ResizeImageParams(settings.inputFrameDivisor);
resizeImagePipe.setParams(resizeImageParams);
Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
new Draw2dCrosshairPipe.Draw2dCrosshairParams(
settings.offsetPointMode, settings.offsetPoint);
@@ -62,15 +54,11 @@ public class DriverModePipeline
public DriverModePipelineResult process(Frame frame, DriverModePipelineSettings settings) {
// apply pipes
var rotateImageResult = rotateImagePipe.apply(frame.image.getMat());
var resizeImageResult = resizeImagePipe.apply(rotateImageResult.result);
var draw2dCrosshairResult =
draw2dCrosshairPipe.apply(Pair.of(resizeImageResult.result, List.of()));
draw2dCrosshairPipe.apply(Pair.of(rotateImageResult.result, List.of()));
// calculate elapsed nanoseconds
long totalNanos =
rotateImageResult.nanosElapsed
+ resizeImageResult.nanosElapsed
+ draw2dCrosshairResult.nanosElapsed;
long totalNanos = rotateImageResult.nanosElapsed + draw2dCrosshairResult.nanosElapsed;
return new DriverModePipelineResult(
MathUtils.nanosToMillis(totalNanos),

13
photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
View File

@@ -105,7 +105,7 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
new FilterContoursPipe.FilterContoursParams(
settings.contourArea,
settings.contourRatio,
settings.contourExtent,
settings.contourFullness,
frameStaticProperties);
filterContoursPipe.setParams(filterContoursParams);
@@ -115,7 +115,10 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
groupContoursPipe.setParams(groupContoursParams);
SortContoursPipe.SortContoursParams sortContoursParams =
new SortContoursPipe.SortContoursParams(settings.contourSortMode, frameStaticProperties, 5);
new SortContoursPipe.SortContoursParams(
settings.contourSortMode,
frameStaticProperties,
settings.outputShowMultipleTargets ? 5 : 1); // TODO don't hardcode?
sortContoursPipe.setParams(sortContoursParams);
Collect2dTargetsPipe.Collect2dTargetsParams collect2dTargetsParams =
@@ -165,12 +168,12 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
long sumPipeNanosElapsed = 0L;
rawInputMat.release();
frame.image.getMat().copyTo(rawInputMat);
CVPipeResult<Mat> rotateImageResult = rotateImagePipe.apply(frame.image.getMat());
sumPipeNanosElapsed += rotateImageResult.nanosElapsed;
rawInputMat.release();
frame.image.getMat().copyTo(rawInputMat);
CVPipeResult<Mat> erodeDilateResult = erodeDilatePipe.apply(rotateImageResult.result);
sumPipeNanosElapsed += erodeDilateResult.nanosElapsed;

111
photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
View File

@@ -17,8 +17,7 @@
package org.photonvision.vision.processes;
import com.fasterxml.jackson.core.JsonProcessingException;
import edu.wpi.first.wpilibj.MedianFilter;
import io.javalin.websocket.WsContext;
import java.util.*;
import org.apache.commons.lang3.tuple.Pair;
import org.photonvision.common.configuration.CameraConfiguration;
@@ -31,12 +30,12 @@ import org.photonvision.common.dataflow.events.DataChangeEvent;
import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
import org.photonvision.common.dataflow.events.OutgoingUIEvent;
import org.photonvision.common.dataflow.networktables.NTDataPublisher;
import org.photonvision.common.dataflow.websocket.UIDataPublisher;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.SerializationUtils;
import org.photonvision.common.util.numbers.DoubleCouple;
import org.photonvision.common.util.numbers.IntegerCouple;
import org.photonvision.server.SocketHandler;
import org.photonvision.server.UIUpdateType;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameConsumer;
@@ -59,13 +58,12 @@ public class VisionModule {
private final LinkedList<CVPipelineResultConsumer> resultConsumers = new LinkedList<>();
private final LinkedList<FrameConsumer> frameConsumers = new LinkedList<>();
private final NTDataPublisher ntConsumer;
private final UIDataPublisher uiDataConsumer;
private final int moduleIndex;
private long lastUIResultUpdateTime = 0;
private long lastRunTime = 0;
private final MedianFilter fpsAverager = new MedianFilter(10);
private long lastSettingChangeTimestamp = 0;
private final MJPGFrameConsumer dashboardInputStreamer;
private MJPGFrameConsumer dashboardInputStreamer;
private MJPGFrameConsumer dashboardOutputStreamer;
public VisionModule(PipelineManager pipelineManager, VisionSource visionSource, int index) {
@@ -100,50 +98,22 @@ public class VisionModule {
pipelineManager::getCurrentPipelineIndex,
pipelineManager::setIndex,
pipelineManager::getDriverMode,
pipelineManager::setDriverMode);
this::setDriverMode);
uiDataConsumer = new UIDataPublisher(index);
addResultConsumer(ntConsumer);
addResultConsumer(
result -> {
var now = System.currentTimeMillis();
var fps = fpsAverager.calculate(1000.0 / (now - lastRunTime));
lastRunTime = now;
// only update the UI at 15hz
if (lastUIResultUpdateTime + 1000.0 / 15.0 > now) return;
var uiMap = new HashMap<Integer, HashMap<String, Object>>();
var dataMap = new HashMap<String, Object>();
dataMap.put("fps", fps);
dataMap.put("latency", result.getLatencyMillis());
var targets = result.targets;
var uiTargets = new ArrayList<HashMap<String, Object>>();
for (var t : targets) {
uiTargets.add(t.toHashMap());
}
dataMap.put("targets", uiTargets);
uiMap.put(index, dataMap);
var retMap = new HashMap<String, Object>();
retMap.put("updatePipelineResult", uiMap);
try {
SocketHandler.getInstance().broadcastMessage(retMap, null);
} catch (JsonProcessingException e) {
logger.error(e.getMessage());
logger.error(Arrays.toString(e.getStackTrace()));
}
lastUIResultUpdateTime = now;
});
addResultConsumer(uiDataConsumer);
setPipeline(visionSource.getSettables().getConfiguration().currentPipelineIndex);
dashboardInputStreamer.setFrameDivisor(
pipelineManager.getCurrentPipelineSettings().streamingFrameDivisor);
dashboardOutputStreamer.setFrameDivisor(
pipelineManager.getCurrentPipelineSettings().outputFrameDivisor);
pipelineManager.getCurrentPipelineSettings().streamingFrameDivisor);
}
private void setDriverMode(boolean isDriverMode) {
pipelineManager.setDriverMode(isDriverMode);
saveAndBroadcastAll();
}
public void start() {
@@ -182,13 +152,12 @@ public class VisionModule {
var newNickname = (String) newPropValue;
logger.info("Changing nickname to " + newNickname);
setCameraNickname(newNickname);
saveAndBroadcast();
saveAndBroadcastAll();
return;
case "pipelineName": // rename current pipeline
logger.info("Changing nick to " + newPropValue);
pipelineManager.getCurrentPipelineSettings().pipelineNickname = (String) newPropValue;
// TODO rename config file
saveAndBroadcast();
saveAndBroadcastAll();
return;
case "newPipelineInfo": // add new pipeline
var typeName = (Pair<String, PipelineType>) newPropValue;
@@ -199,13 +168,13 @@ public class VisionModule {
var addedSettings = pipelineManager.addPipeline(type);
addedSettings.pipelineNickname = name;
saveAndBroadcast();
saveAndBroadcastAll();
return;
case "deleteCurrPipeline":
var indexToDelete = pipelineManager.getCurrentPipelineIndex();
logger.info("Deleting current pipe at index " + indexToDelete);
pipelineManager.removePipeline(indexToDelete);
saveAndBroadcast();
saveAndBroadcastAll();
return;
case "changePipeline": // change active pipeline
var index = (Integer) newPropValue;
@@ -215,7 +184,7 @@ public class VisionModule {
}
logger.debug("Setting pipeline index to " + index);
setPipeline(index);
saveAndBroadcast();
saveAndBroadcastAll();
return;
}
@@ -266,9 +235,11 @@ public class VisionModule {
logger.trace("Set prop " + propName + " to value " + newPropValue);
// special case for extra tasks to perform after setting PipelineSettings
if (propName.equals("outputFrameDivisor")) {
if (propName.equals("streamingFrameDivisor")) {
dashboardInputStreamer.setFrameDivisor(
pipelineManager.getCurrentPipelineSettings().streamingFrameDivisor);
dashboardOutputStreamer.setFrameDivisor(
pipelineManager.getCurrentPipelineSettings().outputFrameDivisor);
pipelineManager.getCurrentPipelineSettings().streamingFrameDivisor);
}
} catch (NoSuchFieldException | IllegalAccessException e) {
@@ -284,7 +255,10 @@ public class VisionModule {
logger.error("Unknown exception when setting PSC prop!");
e.printStackTrace();
}
saveAndBroadcast(propName, newPropValue);
saveModule();
VisionModule.this.lastSettingChangeTimestamp = System.currentTimeMillis();
}
}
}
@@ -308,38 +282,47 @@ public class VisionModule {
pipelineManager.getCurrentPipelineIndex();
}
private void saveAndBroadcast() {
private void saveModule() {
ConfigManager.getInstance()
.saveModule(
getStateAsCameraConfig(), visionSource.getSettables().getConfiguration().uniqueName);
}
private void saveAndBroadcastAll() {
saveModule();
DataChangeService.getInstance()
.publishEvent(
new OutgoingUIEvent<>(
UIUpdateType.BROADCAST,
"fullsettings",
ConfigManager.getInstance().getConfig().toHashMap()));
ConfigManager.getInstance().getConfig().toHashMap(),
null));
}
private void saveAndBroadcast(String propertyName, Object value) {
private void saveAndBroadcastSelective(
WsContext originContext, String propertyName, Object value) {
logger.trace("Broadcasting PSC mutation - " + propertyName + ": " + value);
ConfigManager.getInstance()
.saveModule(
getStateAsCameraConfig(), visionSource.getSettables().getConfiguration().uniqueName);
saveModule();
DataChangeService.getInstance()
.publishEvent(
OutgoingUIEvent.wrappedOf(
UIUpdateType.BROADCAST, "mutatePipeline", propertyName, value));
UIUpdateType.BROADCAST, "mutatePipeline", propertyName, value, originContext));
}
private void setCameraNickname(String newName) {
visionSource.getSettables().getConfiguration().nickname = newName;
ntConsumer.updateCameraNickname(newName);
// rename streams
frameConsumers.remove(dashboardOutputStreamer);
frameConsumers.remove(dashboardInputStreamer);
dashboardOutputStreamer =
new MJPGFrameConsumer(visionSource.getSettables().getConfiguration().nickname);
new MJPGFrameConsumer(
visionSource.getSettables().getConfiguration().uniqueName + "-output");
dashboardInputStreamer =
new MJPGFrameConsumer(visionSource.getSettables().getConfiguration().uniqueName + "-input");
frameConsumers.add(dashboardOutputStreamer);
saveAndBroadcast();
frameConsumers.add(dashboardInputStreamer);
}
public PhotonConfiguration.UICameraConfiguration toUICameraConfig() {

2
photon-server/src/main/java/org/photonvision/vision/target/TrackedTarget.java
View File

@@ -115,7 +115,7 @@ public class TrackedTarget implements Releasable {
m_yaw =
TargetCalculations.calculateYaw(
m_targetOffsetPoint.x, m_robotOffsetPoint.x, params.horizontalFocalLength);
m_area = m_mainContour.getMinAreaRect().size.area() / params.imageArea;
m_area = m_mainContour.getMinAreaRect().size.area() / params.imageArea * 100;
m_skew = TargetCalculations.calculateSkew(params.isLandscape, getMinAreaRect());
}