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Added command handling for camera name, pipeline name pipeline duplication

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This commit is contained in:
Banks Troutman
2019-10-24 15:20:15 -04:00
parent 0ce7d7465c
commit 7b48c9f964
7 changed files with 86 additions and 27 deletions
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1
Main/src/main/java/com/chameleonvision/vision/Pipeline.java
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@@ -23,4 +23,5 @@ public class Pipeline {
public double m = 1;
public double b = 0;
public boolean isCalibrated = false;
public String nickname;
}

49
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -1,6 +1,8 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.Main;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.*;
@@ -9,6 +11,8 @@ import org.opencv.core.Mat;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.stream.Collectors;
import java.util.stream.IntStream;
public class Camera {
@@ -19,10 +23,13 @@ public class Camera {
private static final int MINIMUM_WIDTH = 320;
private static final int MINIMUM_HEIGHT = 200;
private static final int MAX_INIT_MS = 1500;
private static final List<VideoMode.PixelFormat> ALLOWED_PIXEL_FORMATS = Arrays.asList(VideoMode.PixelFormat.kYUYV, VideoMode.PixelFormat.kMJPEG);
public final String name;
public final String path;
private String nickname;
private final UsbCamera UsbCam;
private final VideoMode[] availableVideoModes;
@@ -64,7 +71,14 @@ public class Camera {
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor) {
FOV = fov;
name = cameraName;
path = usbCamInfo.path;
if (Platform.getCurrentPlatform().isWindows()) {
path = usbCamInfo.path;
} else {
var truePath = Arrays.stream(usbCamInfo.otherPaths).filter(x -> x.contains("/dev/v4l/by-path")).findFirst();
path = truePath.isPresent() ? truePath.toString() : null;
}
streamDivisor = divisor;
UsbCam = new UsbCamera(name, path);
@@ -83,7 +97,8 @@ public class Camera {
System.out.printf("Camera initialized in %.2fms\n", initTimeMs);
}
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);
availableVideoModes = Arrays.stream(trueVideoModes).filter(v ->
v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT && ALLOWED_PIXEL_FORMATS.contains(v.pixelFormat)).toArray(VideoMode[]::new);
if (availableVideoModes.length == 0) {
System.err.println("Camera not supported!");
throw new RuntimeException(new CameraException(CameraException.CameraExceptionType.BAD_CAMERA));
@@ -130,17 +145,31 @@ public class Camera {
addPipeline(pipelines.size());
}
public void addPipeline(Pipeline pipeline) {
int newPipelineIndex = pipelines.size();
addPipeline(newPipelineIndex, pipeline);
}
private void addPipeline(int pipelineNumber) {
if (pipelines.containsKey(pipelineNumber)) return;
pipelines.put(pipelineNumber, new Pipeline());
}
private void addPipeline(int pipelineIndex, Pipeline pipeline) {
if (pipelines.containsKey(pipelineIndex)) return;
pipelines.put(pipelineIndex, pipeline);
}
public void deleteCurrentPipeline() {
pipelines.remove(getCurrentPipelineIndex());
}
public Pipeline getCurrentPipeline() {
return pipelines.get(currentPipelineIndex);
return getPipelineByIndex(currentPipelineIndex);
}
public Pipeline getPipelineByIndex(int pipelineIndex) {
return pipelines.get(pipelineIndex);
}
public int getCurrentPipelineIndex() {
@@ -211,4 +240,18 @@ public class Camera {
cvSource.putFrame(image);
}
}
public List<String> getResolutionList() {
return Arrays.stream(availableVideoModes)
.map(res -> String.format("%sx%s@%sFPS, %s", res.width, res.height, res.fps, res.pixelFormat.toString()))
.collect(Collectors.toList());
}
public void setNickname(String newNickname) {
nickname = newNickname;
}
public String getNickname() {
return nickname == null ? name : nickname;
}
}

6
Main/src/main/java/com/chameleonvision/vision/camera/CameraDeserializer.java
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@@ -16,10 +16,10 @@ public class CameraDeserializer implements JsonDeserializer<Camera> {
var jsonObj = jsonElement.getAsJsonObject();
var camFOV = jsonObj.get("FOV").getAsDouble();
var camName = jsonObj.get("name").getAsString();
var camNickname = jsonObj.get("nickname").getAsString();
var videoModeIndex = jsonObj.get("resolution").getAsInt();
var divisor = StreamDivisor.values()[jsonObj.get("streamDivisor").getAsInt()];
var pipelines = jsonObj.get("pipelines");
HashMap<Integer, Pipeline> actualPipelines = new HashMap<>();
ObjectMapper mapper = new ObjectMapper();
@@ -31,6 +31,8 @@ public class CameraDeserializer implements JsonDeserializer<Camera> {
e.printStackTrace();
}
return actualPipelines != null ? new Camera(camName, camFOV, actualPipelines, videoModeIndex,divisor) : new Camera(camName, camFOV, videoModeIndex, divisor);
var newCamera = actualPipelines != null ? new Camera(camName, camFOV, actualPipelines, videoModeIndex, divisor) : new Camera(camName, camFOV, videoModeIndex, divisor);
newCamera.setNickname(camNickname != null ? camNickname : "");
return newCamera;
}
}

16
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -15,6 +15,7 @@ import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.Arrays;
import java.util.HashMap;
import java.util.LinkedHashMap;
import java.util.List;
import java.util.stream.Collectors;
@@ -22,7 +23,7 @@ public class CameraManager {
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "cameras");
private static HashMap<String, Camera> AllCamerasByName = new HashMap<>();
private static LinkedHashMap<String, Camera> AllCamerasByName = new LinkedHashMap<>();
private static HashMap<String, VisionProcess> AllVisionProcessesByName = new HashMap<>();
static HashMap<String, UsbCameraInfo> AllUsbCameraInfosByName = new HashMap<>() {{
@@ -88,6 +89,10 @@ public class CameraManager {
return AllCamerasByName.get(cameraName);
}
public static Camera getCameraByIndex(int index) {
return AllCamerasByName.get( (AllCamerasByName.keySet().toArray())[ index ] );
}
public static Camera getCurrentCamera() throws CameraException {
if (AllCamerasByName.size() == 0) throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
var curCam = AllCamerasByName.get(SettingsManager.GeneralSettings.currentCamera);
@@ -113,14 +118,7 @@ public class CameraManager {
SettingsManager.updatePipelineSetting(pipelineNumber);
}
public static List<String> getResolutionList() throws CameraException {
if (!SettingsManager.GeneralSettings.currentCamera.equals("")) {
return Arrays.stream(CameraManager.getCamera(SettingsManager.GeneralSettings.currentCamera).getAvailableVideoModes())
.map(res -> String.format("%s X %s at %s fps using %s ", res.width, res.height, res.fps, res.pixelFormat.toString())).collect(Collectors.toList());
}
throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
}
public static VisionProcess getCurrentCameraProcess() throws CameraException{
public static VisionProcess getCurrentCameraProcess() throws CameraException {
if (!SettingsManager.GeneralSettings.currentCamera.equals("")){
return AllVisionProcessesByName.get(SettingsManager.GeneralSettings.currentCamera);
}

1
Main/src/main/java/com/chameleonvision/vision/camera/CameraSerializer.java
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@@ -10,6 +10,7 @@ public class CameraSerializer implements JsonSerializer<Camera> {
obj.addProperty("FOV", camera.getFOV());
obj.addProperty("path", camera.path);
obj.addProperty("name", camera.name);
obj.addProperty("nickname", camera.getNickname());
obj.addProperty("streamDivisor", camera.getStreamDivisor().ordinal());
var pipelines = context.serialize(camera.getPipelines());

38
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -64,23 +64,36 @@ public class ServerHandler {
break;
}
case "changeCameraName": {
// needs to be implemented
CameraManager.getCurrentCamera().setNickname((String) entry.getValue());
break;
}
case "changePipelineName": {
// needs to be implemented
CameraManager.getCurrentPipeline().nickname = (String) entry.getValue();
break;
}
case "duplicatePipeline": {
// needs to be implemented
HashMap pipelineVals = (HashMap) entry.getValue();
int pipelineIndex = (int) pipelineVals.get("pipeline");
int cameraIndex = (int) pipelineVals.get("camera");
Pipeline origPipeline = CameraManager.getCurrentCamera().getPipelineByIndex(pipelineIndex);
if (cameraIndex != -1) {
CameraManager.getCameraByIndex(cameraIndex).addPipeline(origPipeline);
} else {
CameraManager.getCurrentCamera().addPipeline(origPipeline);
}
break;
}
case "command": {
var cam = CameraManager.getCurrentCamera();
switch ((String) entry.getValue()) {
case "addNewPipeline":
CameraManager.getCurrentCamera().addPipeline();
cam.addPipeline();
break;
case "deleteCurrentPipeline":
var cam = CameraManager.getCurrentCamera();
CameraManager.getCurrentCamera().deleteCurrentPipeline();
CameraManager.getCurrentCamera().setCurrentPipelineIndex(cam.getCurrentPipelineIndex() - 1);
cam.deleteCurrentPipeline();
cam.setCurrentPipelineIndex(cam.getCurrentPipelineIndex() - 1);
sendFullSettings();
break;
}
@@ -89,11 +102,12 @@ public class ServerHandler {
}
case "currentCamera": {
CameraManager.setCurrentCamera((String) entry.getValue());
var cam = CameraManager.getCurrentCamera();
HashMap<String, Object> tmp = new HashMap<>();
tmp.put("pipeline", CameraManager.getCurrentCamera().getCurrentPipeline());
tmp.put("pipelineList", CameraManager.getCurrentCamera().getPipelines().keySet());
tmp.put("port", CameraManager.getCurrentCamera().getStreamPort());
tmp.put("resolutionList", CameraManager.getResolutionList());
tmp.put("pipeline", cam.getCurrentPipeline());
tmp.put("pipelineList", cam.getPipelines().keySet());
tmp.put("port", cam.getStreamPort());
tmp.put("resolutionList", cam.getResolutionList());
broadcastMessage(tmp);
break;
}
@@ -212,7 +226,7 @@ public class ServerHandler {
var currentCamera = CameraManager.getCurrentCamera();
fullSettings.put("pipeline", getOrdinalPipeline());
fullSettings.put("pipelineList", currentCamera.getPipelines().keySet());
fullSettings.put("resolutionList", CameraManager.getResolutionList());
fullSettings.put("resolutionList", currentCamera.getResolutionList());
fullSettings.put("port", currentCamera.getStreamPort());
} catch (CameraException | IllegalAccessException e) {
System.err.println("No camera found!");