diff --git a/backend/app/classes/SettingsManager.py b/backend/app/classes/SettingsManager.py
index 80b89cb3f..9e74507cc 100644
--- a/backend/app/classes/SettingsManager.py
+++ b/backend/app/classes/SettingsManager.py
@@ -14,6 +14,7 @@ class SettingsManager(metaclass=Singleton):
usb_cameras_info = {}
general_settings = {}
cams_port = {}
+ cams_curr_pipeline = {}
default_pipeline = {
"exposure": 50,
@@ -217,7 +218,8 @@ class SettingsManager(metaclass=Singleton):
def create_new_cam(self, cam_name):
self.cams[cam_name] = {}
self.cams[cam_name]["pipelines"] = {}
- self.create_new_pipeline(cam_name=cam_name)
+ for i in range(10):
+ self.create_new_pipeline(cam_name=cam_name)
self.cams[cam_name]["path"] = self.usb_cameras_info[cam_name].otherPaths[0] if len(
self.usb_cameras_info[cam_name].otherPaths) == 1 else self.usb_cameras_info[cam_name].otherPaths[1]
diff --git a/backend/app/handlers/SocketHandler.py b/backend/app/handlers/SocketHandler.py
index bd018deb3..35c5750ee 100644
--- a/backend/app/handlers/SocketHandler.py
+++ b/backend/app/handlers/SocketHandler.py
@@ -11,16 +11,10 @@ web_socket_clients = []
def send_all_async(message):
for ws in web_socket_clients:
- try:
- if not ws.ws_connection.stream.socket:
- web_socket_clients.remove(ws)
- else:
- try:
- ws.write_message(json.dumps(message))
- except AssertionError as a:
- pass
- except AssertionError:
- pass
+ try:
+ ws.write_message(json.dumps(message))
+ except AssertionError as a:
+ pass
class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
@@ -119,6 +113,7 @@ class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
def change_curr_pipeline(self, dic):
self.settings_manager.set_curr_pipeline(pipe_name=dic["curr_pipeline"])
+ self.settings_manager.cams_curr_pipeline[self.settings_manager.general_settings['curr_camera']] = dic["curr_pipeline"]
self.send_curr_pipeline()
def change_pipeline_values(self, dic):
diff --git a/backend/app/handlers/VisionHandler.py b/backend/app/handlers/VisionHandler.py
index dc2bca4ef..faac557cd 100644
--- a/backend/app/handlers/VisionHandler.py
+++ b/backend/app/handlers/VisionHandler.py
@@ -257,8 +257,8 @@ class VisionHandler(metaclass=Singleton):
def thread_proc(self, cs, cam_name, port=5557):
asyncio.set_event_loop(asyncio.new_event_loop())
- pipeline_name = 'pipeline0'
- pipeline = SettingsManager().cams[cam_name]["pipelines"][pipeline_name]
+ SettingsManager.cams_curr_pipeline[cam_name] = "pipeline0"
+ pipeline = SettingsManager().cams[cam_name]["pipelines"][SettingsManager.cams_curr_pipeline[cam_name]]
FOV = SettingsManager().cams[cam_name]["FOV"]
def change_camera_values(pipline):
@@ -267,16 +267,23 @@ class VisionHandler(metaclass=Singleton):
SettingsManager.usb_cameras[cam_name].setWhiteBalanceAuto()
def pipeline_listener(table, key, value, is_new):
- global pipeline
- if is_new:
- pipeline = SettingsManager.cams[cam_name]["pipelines"][value]
- change_camera_values()
+ asyncio.set_event_loop(asyncio.new_event_loop())
+ SettingsManager.cams_curr_pipeline[cam_name] = value
+ change_camera_values(pipeline)
+ if cam_name == SettingsManager().general_settings['curr_camera']:
+ SettingsManager().general_settings['curr_pipeline'] = value
+ update_settings = SettingsManager().get_curr_pipeline()
+ update_settings['curr_pipeline'] = SettingsManager().general_settings["curr_pipeline"]
+ send_all_async(update_settings)
def mode_listener(table, key, value, is_new):
- pass
+ change_camera_values({
+ 'brightness': 25,
+ 'exposure': 15
+ })
table = NetworkTables.getTable("/Chameleon-Vision/" + cam_name)
-
+ table.putString('Pipeline', SettingsManager.cams_curr_pipeline[cam_name])
table.addEntryListenerEx(pipeline_listener, key="Pipeline",
flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
table.addEntryListenerEx(mode_listener, key="Driver_Mode",
@@ -306,21 +313,26 @@ class VisionHandler(metaclass=Singleton):
change_camera_values(pipeline)
while True:
+ pipeline = SettingsManager().cams[cam_name]["pipelines"][SettingsManager.cams_curr_pipeline[cam_name]]
_, image = cv_sink.grabFrame(image)
socket.send_json(dict(
pipeline=pipeline
- ))
+ ), zmq.SNDMORE)
socket.send_pyobj(image)
p_image = socket.recv_pyobj()
nt_data = socket.recv_json()
table.putBoolean('valid', nt_data['valid'])
# check if point is valid
+
+ # print(nt_data['fps'])
+
if nt_data['valid']:
#send the point using network tables
table.putNumber('pitch', nt_data['pitch'])
table.putNumber('yaw', nt_data['yaw'])
#if the selected camera in ui is this cam send the point to the ui
+
if SettingsManager().general_settings['curr_camera'] == cam_name:
try:
if nt_data['raw_point'] is not None:
@@ -371,6 +383,9 @@ class VisionHandler(metaclass=Singleton):
obj = socket.recv_json()
image = socket.recv_pyobj()
curr_pipeline = obj["pipeline"]
+ if curr_pipeline['orientation'] == "Inverted":
+ M = cv2.getRotationMatrix2D((width / 2, height / 2), 180, 1)
+ image = cv2.warpAffine(image, M, (width, height))
hsv_image = self._hsv_threshold(curr_pipeline["hue"],
curr_pipeline["saturation"], curr_pipeline["value"],
image, curr_pipeline["erode"], curr_pipeline["dilate"])
diff --git a/backend/settings/cams/USB Camera-B4.09.24.1.json b/backend/settings/cams/USB Camera-B4.09.24.1.json
index 3dc902d88..2dd7aa24f 100644
--- a/backend/settings/cams/USB Camera-B4.09.24.1.json
+++ b/backend/settings/cams/USB Camera-B4.09.24.1.json
@@ -1 +1 @@
-{"pipelines": {"pipeline0": {"exposure": 3, "brightness": 0, "orientation": "Normal", "hue": [85, 136], "saturation": [115, 175], "value": [190, 255], "erode": false, "dilate": false, "area": [0, 99], "ratio": [0, 94.4], "extent": [0, 100], "is_binary": 1, "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 187, "width": 320, "height": 240, "pixel_format": "kYUYV"}, "resolution": 0, "FOV": 56}
\ No newline at end of file
+{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 15, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": 0, "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline1": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": 0, "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline2": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline3": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline4": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline5": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline6": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline7": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline8": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}, "pipeline9": {"exposure": 50, "brightness": 50, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": 0, "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 187, "width": 320, "height": 240, "pixel_format": "kYUYV"}, "resolution": 0, "FOV": 60.8}
\ No newline at end of file
diff --git a/chameleon-client/src/components/ch-select.vue b/chameleon-client/src/components/ch-select.vue
index 244195dd2..5b0848a13 100644
--- a/chameleon-client/src/components/ch-select.vue
+++ b/chameleon-client/src/components/ch-select.vue
@@ -3,7 +3,7 @@
{{title.charAt(0).toUpperCase() + title.slice(1)}} :
-
+
{{item}}
diff --git a/chameleon-client/src/store.js b/chameleon-client/src/store.js
index 8ee4d5b0e..e42e35de3 100644
--- a/chameleon-client/src/store.js
+++ b/chameleon-client/src/store.js
@@ -52,7 +52,7 @@ export const store = new Vuex.Store({
state['curr_camera'] = value;
state['pipeline'] = "0";
},
- pipeline: set('curr_pipeline'),
+ curr_pipeline: set('curr_pipeline'),
brightness: set('brightness'),
exposure: set('exposure'),
orientation:set('orientation'),
@@ -83,7 +83,7 @@ export const store = new Vuex.Store({
},
getters:{
curr_camera: state => state.curr_camera,
- pipeline: state => state.pipeline,
+ curr_pipeline: state => state.curr_pipeline,
brightness: state => state.brightness,
exposure: state => state.exposure,
orientation: state => state.orientation,