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Auto reconnect to unconnected cameras (#40)

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* Auto reconnect to unconnected cameras

* Refactor vision source manager to not suck

* Filter allowed video modes

* Run spotless

* Fix filtering

* Update VisionSourceManager.java

* Remove debug stuff

* Add unit tests, rebase

* run spotless

* Fix config test

* Fix settings not being saved

* run spotless

* oop

* kil debug prints if we have no usb cams to match

* whoooops

* add braudcast

* Actually save pipeline settings

* fix memes

* get right coeffs

* Run spotless

* run spotless

* rebase and add some prints

* Sorry min

* Oops reimpl matching

* Oops
This commit is contained in:
Matt
2020-08-29 16:30:33 -07:00
committed by GitHub
parent 8718be7a94
commit 7f4df2ff4d
7 changed files with 243 additions and 149 deletions
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94
photon-server/src/main/java/org/photonvision/Main.java
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@@ -34,9 +34,9 @@ import org.photonvision.common.networking.NetworkManager;
import org.photonvision.common.util.TestUtils;
import org.photonvision.server.Server;
import org.photonvision.vision.camera.FileVisionSource;
import org.photonvision.vision.camera.USBCameraSource;
import org.photonvision.vision.pipeline.CVPipelineSettings;
import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
import org.photonvision.vision.processes.VisionModule;
import org.photonvision.vision.processes.VisionModuleManager;
import org.photonvision.vision.processes.VisionSource;
import org.photonvision.vision.processes.VisionSourceManager;
@@ -84,58 +84,44 @@ public class Main {
return true;
}
private static HashMap<VisionSource, List<CVPipelineSettings>> gatherSources() {
private static void addTestModeSources() {
var collectedSources = new HashMap<VisionSource, List<CVPipelineSettings>>();
if (!isTestMode) {
var camConfigs = ConfigManager.getInstance().getConfig().getCameraConfigurations();
logger.info("Loaded " + camConfigs.size() + " configs from disk.");
var sources = VisionSourceManager.loadAllSources(camConfigs.values());
for (var src : sources) {
var usbSrc = (USBCameraSource) src;
collectedSources.put(usbSrc, usbSrc.configuration.pipelineSettings);
logger.debug(
() ->
"Matched config for camera \""
+ src.getFrameProvider().getName()
+ "\" and loaded "
+ usbSrc.configuration.pipelineSettings.size()
+ " pipelines");
}
} else {
var camConf2019 =
new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
camConf2019.FOV = TestUtils.WPI2019Image.FOV;
camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
var camConf2019 =
new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
camConf2019.FOV = TestUtils.WPI2019Image.FOV;
camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
var pipeline2019 = new ReflectivePipelineSettings();
pipeline2019.pipelineNickname = "CargoShip";
pipeline2019.targetModel = TargetModel.get2019Target();
var pipeline2019 = new ReflectivePipelineSettings();
pipeline2019.pipelineNickname = "CargoShip";
pipeline2019.targetModel = TargetModel.get2019Target();
var psList2019 = new ArrayList<CVPipelineSettings>();
psList2019.add(pipeline2019);
var psList2019 = new ArrayList<CVPipelineSettings>();
psList2019.add(pipeline2019);
var fvs2019 = new FileVisionSource(camConf2019);
var fvs2019 = new FileVisionSource(camConf2019);
var camConf2020 =
new CameraConfiguration("WPI2020", TestUtils.getTestMode2020ImagePath().toString());
camConf2020.FOV = TestUtils.WPI2020Image.FOV;
camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
var camConf2020 =
new CameraConfiguration("WPI2020", TestUtils.getTestMode2020ImagePath().toString());
camConf2020.FOV = TestUtils.WPI2020Image.FOV;
camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
var pipeline2020 = new ReflectivePipelineSettings();
pipeline2020.pipelineNickname = "OuterPort";
pipeline2020.targetModel = TargetModel.get2020Target();
camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
var pipeline2020 = new ReflectivePipelineSettings();
pipeline2020.pipelineNickname = "OuterPort";
pipeline2020.targetModel = TargetModel.get2020Target();
camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));
var psList2020 = new ArrayList<CVPipelineSettings>();
psList2020.add(pipeline2020);
var psList2020 = new ArrayList<CVPipelineSettings>();
psList2020.add(pipeline2020);
var fvs2020 = new FileVisionSource(camConf2020);
var fvs2020 = new FileVisionSource(camConf2020);
collectedSources.put(fvs2019, psList2019);
collectedSources.put(fvs2020, psList2020);
}
return collectedSources;
collectedSources.put(fvs2019, psList2019);
collectedSources.put(fvs2020, psList2020);
// logger.info("Adding " + allSources.size() + " configs to VMM.");
VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);
ConfigManager.getInstance().addCameraConfigurations(collectedSources);
}
public static void main(String[] args) {
@@ -145,7 +131,7 @@ public class Main {
logger.error("Failed to parse command-line options!", e);
}
System.out.println("Running in " + (isRelease ? "release" : "development") + " mode!");
logger.info("Running in " + (isRelease ? "release" : "development") + " mode!");
var logLevel = (isRelease || printDebugLogs) ? LogLevel.INFO : LogLevel.DEBUG;
Logger.setLevel(LogGroup.Camera, logLevel);
Logger.setLevel(LogGroup.WebServer, logLevel);
@@ -169,22 +155,32 @@ public class Main {
}
ConfigManager.getInstance().load(); // init config manager
ConfigManager.getInstance().requestSave();
NetworkManager.getInstance().initialize(false);
NetworkTablesManager.getInstance()
.setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
HashMap<VisionSource, List<CVPipelineSettings>> allSources = gatherSources();
// HashMap<VisionSource, List<CVPipelineSettings>> allSources = gatherSources();
logger.info("Adding " + allSources.size() + " configs to VMM.");
VisionModuleManager.getInstance().addSources(allSources);
ConfigManager.getInstance().addCameraConfigurations(allSources);
// logger.info("Adding " + allSources.size() + " configs to VMM.");
// VisionModuleManager.getInstance().addSources(allSources);
// ConfigManager.getInstance().addCameraConfigurations(allSources);
if (!isTestMode) {
VisionSourceManager.getInstance()
.registerLoadedConfigs(
ConfigManager.getInstance().getConfig().getCameraConfigurations().values());
VisionSourceManager.getInstance().registerTimedTask();
} else {
addTestModeSources();
}
// Add hardware config to hardware manager
HardwareManager.getInstance()
.setConfig(ConfigManager.getInstance().getConfig().getHardwareConfig());
VisionModuleManager.getInstance().startModules();
Server.main(DEFAULT_WEBPORT);
}
}