Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-22 01:11:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Auto reconnect to unconnected cameras (#40)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

1
photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java
View File

@@ -45,6 +45,7 @@ public class ConfigTest {
TestUtils.loadLibraries();
configMgr = new ConfigManager(Path.of("testconfigdir"));
configMgr.load();
Logger.setLevel(LogGroup.General, LogLevel.TRACE);
REFLECTIVE_PIPELINE_SETTINGS = new ReflectivePipelineSettings();

4
photon-server/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
View File

@@ -114,12 +114,12 @@ public class VisionModuleManagerTest {
TestUtils.WPI2019Image.FOV)),
List.of());
VisionModuleManager.getInstance().addSources(sources);
var modules = VisionModuleManager.getInstance().addSources(sources);
var module0DataConsumer = new TestDataConsumer();
VisionModuleManager.getInstance().visionModules.get(0).addResultConsumer(module0DataConsumer);
VisionModuleManager.getInstance().startModules();
modules.forEach(VisionModule::start);
sleep(500);

64
photon-server/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
View File

@@ -17,14 +17,15 @@
package org.photonvision.vision.processes;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.cscore.UsbCameraInfo;
import java.util.List;
import org.junit.jupiter.api.Assertions;
import java.util.ArrayList;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.util.TestUtils;
import org.photonvision.vision.camera.USBCameraSource;
public class VisionSourceManagerTest {
@BeforeEach
@@ -32,39 +33,32 @@ public class VisionSourceManagerTest {
TestUtils.loadLibraries();
}
final List<UsbCameraInfo> usbCameraInfos =
List.of(
new UsbCameraInfo(0, "/this-is-a-real-path", "cameraByPath", new String[] {""}, 1, 1),
new UsbCameraInfo(2, "/this-is-a-fake-path1", "cameraById", new String[] {""}, 420, 1),
new UsbCameraInfo(1, "/this-is-a-real-path2", "cameraByPath", new String[] {""}, 1, 1),
new UsbCameraInfo(3, "/this-is-a-fake-path2", "cameraById", new String[] {""}, 420, 1),
new UsbCameraInfo(4, "/fake-path420", "notExisting", new String[] {""}, 420, 1),
new UsbCameraInfo(5, "/fake-path421", "notExisting", new String[] {""}, 420, 1));
final List<CameraConfiguration> camConfig =
List.of(
new CameraConfiguration("cameraByPath", "dank meme", "good name", "/this-is-a-real-path"),
new CameraConfiguration(
"cameraByPath", "dank meme2", "very original", "/this-is-a-real-path2"),
new CameraConfiguration("cameraById", "camera", "my camera", "2"),
new CameraConfiguration("cameraById", "camera2", "my camera", "3"));
final List<USBCameraSource> usbCameraSources =
List.of(
new USBCameraSource(camConfig.get(0)),
new USBCameraSource(camConfig.get(1)),
new USBCameraSource(camConfig.get(2)),
new USBCameraSource(camConfig.get(3)),
new USBCameraSource(
new CameraConfiguration("notExisting", "notExisting", "notExisting", "4")),
new USBCameraSource(
new CameraConfiguration("notExisting", "notExisting (1)", "notExisting (1)", "5")));
@Test
public void visionSourceTest() {
List<VisionSource> i = VisionSourceManager.loadAllSources(camConfig, usbCameraInfos);
for (var source : i) {
Assertions.assertEquals(source, usbCameraSources.get(i.indexOf(source)));
}
var inst = new VisionSourceManager();
var infoList = new ArrayList<UsbCameraInfo>();
inst.cameraInfoSupplier = () -> infoList;
inst.tryMatchUSBCamImpl();
var config = new CameraConfiguration("secondTestVideo", "dev/video1");
UsbCameraInfo info1 = new UsbCameraInfo(0, "dev/video0", "testVideo", new String[0], 1, 2);
infoList.add(info1);
inst.registerLoadedConfigs(config);
inst.tryMatchUSBCamImpl();
inst.tryMatchUSBCamImpl();
assertTrue(inst.knownUsbCameras.contains(info1));
assertEquals(1, inst.unmatchedLoadedConfigs.size());
UsbCameraInfo info2 =
new UsbCameraInfo(0, "dev/video1", "secondTestVideo", new String[0], 2, 1);
infoList.add(info2);
inst.tryMatchUSBCamImpl();
assertTrue(inst.knownUsbCameras.contains(info2));
assertEquals(2, inst.knownUsbCameras.size());
assertEquals(0, inst.unmatchedLoadedConfigs.size());
}
}