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nt pipline listener with ui integration

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maybe socket bug fixed
This commit is contained in:
ori
2019-08-11 12:03:31 -07:00
parent f8e846dda0
commit 7cd7f4e57f
6 changed files with 36 additions and 24 deletions
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33
backend/app/handlers/VisionHandler.py
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@@ -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"])