nt pipline listener with ui integration

maybe socket bug fixed

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]

backend/app/handlers/SocketHandler.py

@@ -11,16 +11,10 @@ web_socket_clients = []
 
 def send_all_async(message):
     for ws in web_socket_clients:
-        try:
+            try:
-            if not ws.ws_connection.stream.socket:
+                ws.write_message(json.dumps(message))
-                web_socket_clients.remove(ws)
+            except AssertionError as a:
-            else:
+                pass
-                try:
-                    ws.write_message(json.dumps(message))
-                except AssertionError as a:
-                    pass
-        except AssertionError:
-            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):

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'
+        SettingsManager.cams_curr_pipeline[cam_name] = "pipeline0"
-        pipeline = SettingsManager().cams[cam_name]["pipelines"][pipeline_name]
+        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
+            asyncio.set_event_loop(asyncio.new_event_loop())
-            if is_new:
+            SettingsManager.cams_curr_pipeline[cam_name] = value
-                pipeline = SettingsManager.cams[cam_name]["pipelines"][value]
+            change_camera_values(pipeline)
-                change_camera_values()
+            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"])

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}
+{"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}

chameleon-client/src/components/ch-select.vue

@@ -3,7 +3,7 @@
         <Col span="4">
             <h4>{{title.charAt(0).toUpperCase() + title.slice(1)}} :</h4>
         </Col>
-        <Col span="4">
+        <Col span="12">
             <i-select v-model="value" size="small" @on-change="handleInput" :disabled="isDisabled" @on-query-change="$emit('change')">
                 <i-option v-for="item in list" :value="item" :key="item">{{item}}</i-option>
             </i-select>

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,