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re did pipeline duplication

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ori agranat
2020-01-02 20:45:54 +02:00
parent bf54a2d53f
commit 7aa17e83b7
7 changed files with 56 additions and 51 deletions
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53
chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
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@@ -1,5 +1,6 @@
package com.chameleonvision.web;
import com.chameleonvision.Exceptions.DuplicatedKeyException;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.network.NetworkIPMode;
import com.chameleonvision.vision.VisionManager;
@@ -8,7 +9,10 @@ import com.chameleonvision.vision.camera.USBCameraCapture;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.chameleonvision.vision.pipeline.PipelineManager;
import com.chameleonvision.vision.pipeline.impl.Calibrate3dPipeline;
import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.JsonMappingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -47,41 +51,44 @@ public class RequestHandler {
public static void onDuplicatePipeline(Context ctx) {
ObjectMapper objectMapper = kObjectMapper;
try {
Map newPipelineData = objectMapper.readValue(ctx.body(), Map.class);
Map data = objectMapper.readValue(ctx.body(), Map.class);
int newCam = -1;
try {
newCam = (Integer) newPipelineData.get("camera");
} catch (Exception e) {
// ignored
}
int cameraIndex = (Integer) data.getOrDefault("camera", -1);
var pipeline = (CVPipelineSettings) newPipelineData.get("pipeline");
var pipelineIndex = (Integer) data.get("pipeline");
StandardCVPipelineSettings origPipeline = (StandardCVPipelineSettings) VisionManager.getCurrentUIVisionProcess().pipelineManager.getPipeline(pipelineIndex).settings;
String tmp = objectMapper.writeValueAsString(origPipeline);
StandardCVPipelineSettings newPipeline = objectMapper.readValue(tmp, StandardCVPipelineSettings.class);
if (newCam == -1) {
if (VisionManager.getCurrentCameraPipelineNicknames().contains(pipeline.nickname)) {
ctx.status(400); // BAD REQUEST
} else {
VisionManager.getCurrentUIVisionProcess().pipelineManager.addPipeline(pipeline);
if (cameraIndex == -1) { // same camera
VisionManager.getCurrentUIVisionProcess().pipelineManager.duplicatePipeline(newPipeline);
} else { // another camera
var cam = VisionManager.getVisionProcessByIndex(cameraIndex);
if (cam != null) {
if (cam.getCamera().getProperties().videoModes.size() < newPipeline.videoModeIndex) {
newPipeline.videoModeIndex = cam.getCamera().getProperties().videoModes.size() - 1;
}
if (newPipeline.is3D){
var calibration = cam.getCamera().getCalibration(cam.getCamera().getProperties().getVideoMode(newPipeline.videoModeIndex));
if (calibration == null){
newPipeline.is3D = false;
}
}
VisionManager.getCurrentUIVisionProcess().pipelineManager.duplicatePipeline(newPipeline, cam);
ctx.status(200);
}
} else {
var cam = VisionManager.getVisionProcessByIndex(newCam);
if (cam != null && cam.pipelineManager.pipelines.stream().anyMatch(c -> c.settings.nickname.equals(pipeline.nickname))) {
ctx.status(400); // BAD REQUEST
} else {
cam.pipelineManager.addPipeline(pipeline);
ctx.status(200);
ctx.status(500);
}
}
} catch (JsonProcessingException e) {
} catch (JsonProcessingException | DuplicatedKeyException ex) {
ctx.status(500);
}
}
public static void onCameraSettings(Context ctx) {
ObjectMapper objectMapper = kObjectMapper;
try {