Merge branch 'dev' into 'master'

v2 final

See merge request oriagranat9/Chameleon-Vision!8

.gitignore

@@ -11,3 +11,4 @@ Python/app/handlers/__pycache__/
 \.vscode/
 
 backend/settings/
+/.vscode/

.vscode/launch.json

@@ -1,70 +0,0 @@
-{
-    // Use IntelliSense to learn about possible attributes.
-    // Hover to view descriptions of existing attributes.
-    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
-    "version": "0.2.0",
-    "configurations": [
-        {
-            "name": "Python: Current File (Integrated Terminal)",
-            "type": "python",
-            "request": "launch",
-            "program": "${file}",
-            "console": "integratedTerminal"
-        },
-        {
-            "name": "Python: Remote Attach",
-            "type": "python",
-            "request": "attach",
-            "port": 5678,
-            "host": "localhost",
-            "pathMappings": [
-                {
-                    "localRoot": "${workspaceFolder}",
-                    "remoteRoot": "."
-                }
-            ]
-        },
-        {
-            "name": "Python: Module",
-            "type": "python",
-            "request": "launch",
-            "module": "enter-your-module-name-here",
-            "console": "integratedTerminal"
-        },
-        {
-            "name": "Python: Django",
-            "type": "python",
-            "request": "launch",
-            "program": "${workspaceFolder}/manage.py",
-            "console": "integratedTerminal",
-            "args": [
-                "runserver",
-                "--noreload",
-                "--nothreading"
-            ],
-            "django": true
-        },
-        {
-            "name": "Python: Flask",
-            "type": "python",
-            "request": "launch",
-            "module": "flask",
-            "env": {
-                "FLASK_APP": "app.py"
-            },
-            "args": [
-                "run",
-                "--no-debugger",
-                "--no-reload"
-            ],
-            "jinja": true
-        },
-        {
-            "name": "Python: Current File (External Terminal)",
-            "type": "python",
-            "request": "launch",
-            "program": "${file}",
-            "console": "externalTerminal"
-        }
-    ]
-}

README.md

@@ -1,84 +1,154 @@
 # Chameleon-Vision
-a free software for FRC teams to use for vision proccesing on their robots 
+
+a free software for FRC teams to use for vision proccesing on their robots
+
 ## getting started
+
 These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.
 
+  
+
 ### Prerequisites
 
+  
+
 so in order to run this project we will need to install python in order to run the backend and node.js with vue.js in order to run the fronted
+
 #### backend
+
 - python 3.7 and above
+
 - opencv 3.4.5
+
 - tornado web framework
+
 - robotpy-cscore
+
 - pynetworktables
+
 - pymq
 
-#### frontend
-- vue.js
-- vuex
-- vue-router
-- less and less-loader
-- iView
-- vue-native-websocket
- 
+  
+
+#### frontend
+
+- vue.js
+
+- vuex
+
+- vue-router
+
+- less and less-loader
+
+- iView
+
+- vue-native-websocket
+
+  
+
+### installing
 
-### installing 
 #### for the backend
-1. sudo apt-get update 
+
+1. sudo apt-get update
+
 2. apt-get dist-upgrade
-3. sudo apt-get upgrade 
+
+3. sudo apt-get upgrade
+
 4. sudo apt-get install python3-pip python3-dev cmake zip unzip build-essential git libnss-mdns --fix-missing
+
 5. sudo pip3 install numpy (if on raspberry pi do "sudo apt-get install python3-numpy")
-6. OPENCV_VERSION=3.4.5
-7. wget -O opencv.zip https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip
-8. unzip opencv.zip
-9. cd ~/opencv-${OPENCV_VERSION}/
-10. mkdir build
-11. cd build
-12. cmake -D BUILD_SHARED_LIBS=ON -D BUILD_opencv_python3=ON ..
-13. make -j $(python3 -c 'import multiprocessing as mp; print(int(mp.cpu_count() * 1.5))')
-14. make install
-15. ldconfig
-16. pip3 install robotpy-cscore pyzmq tornado  
+6. sudo apt-get install python3-opencv
+7. pip3 install robotpy-cscore 
+8. pip3 install pyzmq
+9. pip3 install tornado
+
+  
 
 to run the backend:
+
 ```
+
 sudo python3 Main.py
+
 ```
+
 if backed gets suck or no camera are recognized after a crash do:
+
 ```
+
 sudo pkill -9 python3
+
+```
+
+#### compiling:
+
+in order to compile the program for runtime run: (still needs to install dependencies)
+
+```
+
+python3 -m nuitka --follow-imports Main.py
+
 ```
 
 #### for the frontend
+
 1. sudo apt-get install nodejs npm
-2. cd chameleon-client 
+
+2. cd chameleon-client
+
 3. sudo npm install
+
 4. sudo npm install @vue/cli
 
-to run the front end you can open the cli ui by:
-```
-vue ui
-```
-of you can auto serve the ui by 
-```
-npm run serve
-```
-## Hardware
-this is important when choosing your sbc it is more important to have a good usb controller that a good cpu  
-on the odroid xu4 which is very fast i have got many bottlenecks from the usb controller and many times making the program crach
-#### networking
-it is very important to install Bonjour 
+  
 
+to run the front end you can open the cli ui by:
+
+```
+
+vue ui
+
+```
+
+of you can auto serve the ui by
+
+```
+
+npm run serve
+
+```
+
+## Hardware
+
+this is important when choosing your sbc it is more important to have a good usb controller that a good cpu
+
+on the odroid xu4 which is very fast i have got many bottlenecks from the usb controller and many times making the program crach
+
+#### networking
+
+it is very important to install Bonjour
+
+  
+  
 
 ## docs
+
 main docs can be found at [google docs](https://docs.google.com/document/d/1qDuwHtpIPJfyXGIL8PJG89LZwRWbn2J9f-5g19lWL9U/edit?usp=sharing)
 
+  
+
 ## Authors
-* **Sagi Frimer** - *initial work* - websocket, settings manager, UI
-* **Ori Agranat** - *main coder* - vision loop , UI, websocket, networktables
+
+*  **Sagi Frimer** - *initial work* - websocket, settings manager, UI
+
+*  **Ori Agranat** - *main coder* - vision loop , UI, websocket, networktables
+
+  
 
 ## Acknowledgments
+
 * the [robotpy project](https://github.com/robotpy) and mainly the cscore libs
-* basically all of stackoverflow
+
+* basically all of stackoverflow

backend/Main.py

@@ -1,4 +1,3 @@
-from datetime import timedelta
 from networktables import NetworkTables
 import tornado.ioloop
 import logging
@@ -7,7 +6,6 @@ from app.classes.SettingsManager import SettingsManager
 from tornado.options import options
 import threading
 import asyncio
-from app.handlers.SocketHandler import send_all_async
 from app.handlers.CameraHander import CameraHandler
 
 
@@ -18,13 +16,10 @@ def run_server():
     print(f"Serving on port {options.port}")
     app.listen(options.port)
     tornado.ioloop.IOLoop.current().start()
-    tornado.ioloop.IOLoop.instance().add_timeout(timedelta(seconds=1),
-                                                 send_all_async)
 
 
 def run():
     NetworkTables.startClientTeam(team=settings_manager.general_settings.get("team_number", 1577))
-    # NetworkTables.initialize("localhost")
     port = 5550
     for cam_name in settings_manager.usb_cameras:
         CameraHandler(cam_name, port).run()

backend/app/classes/SettingsManager.py

@@ -2,9 +2,11 @@ import os
 import json
 import cv2
 import cscore
+import subprocess
 from cscore._cscore import VideoMode
 from .Singleton import Singleton
 from .Exceptions import PipelineAlreadyExistsException, NoCameraConnectedException
+from ..handlers.IPHandler import ChangeIP
 
 
 class SettingsManager(metaclass=Singleton):
@@ -27,7 +29,7 @@ class SettingsManager(metaclass=Singleton):
         "area": [0, 100],
         "ratio": [0, 20],
         "extent": [0, 100],
-        "is_binary": "Normal",
+        "is_binary": 0,
         "sort_mode": "Largest",
         "target_group": 'Single',
         "target_intersection": 'Up',
@@ -39,7 +41,8 @@ class SettingsManager(metaclass=Singleton):
         "connection_type": "DHCP",
         "ip": "",
         "gateway": "",
-        "hostname": "",
+        "netmask": "",
+        "hostname": "Chameleon-Vision",
         "curr_camera": "",
         "curr_pipeline": ""
     }
@@ -48,6 +51,9 @@ class SettingsManager(metaclass=Singleton):
         self.settings_path = os.path.join(os.getcwd(), "settings")
         self.cams_path = os.path.join(self.settings_path, "cams")
         self._init_general_settings()
+        ChangeIP(connection_type=self.general_settings['connection_type'], hostname=self.general_settings['hostname'],
+                 ip=self.general_settings['ip'],
+                 netmask=self.general_settings['netmask'], gateway=self.general_settings['gateway'])
         self._init_cameras_info()
         self._init_usb_cameras()
         self._init_cameras()
@@ -72,13 +78,10 @@ class SettingsManager(metaclass=Singleton):
     # Initiate our camera's settings
     def _init_cameras(self):
         for cam_name in self.usb_cameras_info:
-            cam = self.usb_cameras_info[cam_name]
-            if os.path.exists(os.path.join(self.cams_path, cam.name + '.json')):
-
-                with open(os.path.join(self.cams_path, cam.name + '.json'), 'r') as camera:
+            if os.path.exists(os.path.join(self.cams_path, cam_name + '.json')):
+                with open(os.path.join(self.cams_path, cam_name + '.json'), 'r') as camera:
                     self.cams[cam_name] = json.load(camera)
-
-                if len(self.cams[cam.name]["pipelines"]) == 0:
+                if len(self.cams[cam_name]["pipelines"]) == 0:
                     self.create_new_pipeline(cam_name=cam_name)
             else:
                 self.create_new_cam(cam_name)
@@ -188,11 +191,12 @@ class SettingsManager(metaclass=Singleton):
 
     def change_general_settings_values(self, dic):
         for key in dic['change_general_settings_values']:
-            if self.default_general_settings[key]:
+            if key in self.default_general_settings.keys():
                 self.general_settings[key] = dic['change_general_settings_values'][key]
-        self.settings_manager.save_settings()
-        #after all values has been set change settings
-        self.change_general_settings()
+        self.save_settings()
+        subprocess.call(['reboot'])
+        # after all values has been set change settings
+
 
 
     # Creators
@@ -255,7 +259,5 @@ class SettingsManager(metaclass=Singleton):
         with open(os.path.join(self.settings_path, 'settings.json'), 'w+') as setting_file:
             json.dump(self.general_settings, setting_file)
 
-    def change_general_settings(self):
-        pass
 
 

backend/app/handlers/CameraHander.py

@@ -37,29 +37,37 @@ class CameraHandler:
         pipeline = self.settings_manager.cams[self.cam_name]["pipelines"][self.settings_manager.cams_curr_pipeline[self.cam_name]]
         FOV = self.settings_manager.cams[self.cam_name]["FOV"]
 
-        def change_camera_values(pipline):
+        def change_camera_values(pipeline):
             self.settings_manager.usb_cameras[self.cam_name].setBrightness(pipeline['brightness'])
             self.settings_manager.usb_cameras[self.cam_name].setExposureManual(pipeline['exposure'])
             self.settings_manager.usb_cameras[self.cam_name].setWhiteBalanceAuto()
 
         def pipeline_listener(table, key, value, is_new):
             asyncio.set_event_loop(asyncio.new_event_loop())
-            self.settings_manager.cams_curr_pipeline[self.cam_name] = value
-            change_camera_values(pipeline)
-            if self.cam_name == self.settings_manager.general_settings['curr_camera']:
-                self.settings_manager.general_settings['curr_pipeline'] = value
-                update_settings = self.settings_manager.get_curr_pipeline()
-                update_settings['curr_pipeline'] = self.settings_manager.general_settings["curr_pipeline"]
-                send_all_async(update_settings)
+            if value in self.settings_manager.cams[self.cam_name]['pipelines'].keys():
+                self.settings_manager.cams_curr_pipeline[self.cam_name] = value
+                change_camera_values(pipeline)
+                if self.cam_name == self.settings_manager.general_settings['curr_camera']:
+                    self.settings_manager.general_settings['curr_pipeline'] = value
+                    update_settings = self.settings_manager.get_curr_pipeline()
+                    update_settings['curr_pipeline'] = self.settings_manager.general_settings["curr_pipeline"]
+                    send_all_async(update_settings)
+            else:
+                self.table.putString('Pipeline', self.settings_manager.cams_curr_pipeline[self.cam_name])
 
         def mode_listener(table, key, value, is_new):
-            change_camera_values({
-                'brightness': 25,
-                'exposure': 15
-            })
+            if value:
+                change_camera_values({
+                    'brightness': 25,
+                    'exposure': 15
+                })
+            else:
+                change_camera_values(pipeline)
         #setting up network table
         self.table = NetworkTables.getTable("/Chameleon-Vision/" + self.cam_name)
+        #init values for pipeline and driver mode
         self.table.putString('Pipeline', self.settings_manager.cams_curr_pipeline[self.cam_name])
+        self.table.putBoolean('Driver_Mode', False)
         self.table.addEntryListenerEx(pipeline_listener, key="Pipeline",
                                  flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
         self.table.addEntryListenerEx(mode_listener, key="Driver_Mode",
@@ -101,8 +109,8 @@ class CameraHandler:
                         # send the point using network tables
                         self.table.putNumber('pitch', self.nt_data['pitch'])
                         self.table.putNumber('yaw', self.nt_data['yaw'])
-                        self.table.putNumber('fps', self.nt_data['fps'])
-                        self.table.putNumber('time_stamp', self.time_stamp)
+                    self.table.putNumber('time_stamp', self.nt_data['time_stamp'])
+                    self.table.putNumber('fps', self.nt_data['fps'])
                         # if the selected camera in ui is this cam send the point to the ui
                 except:
                     pass
@@ -132,11 +140,13 @@ class CameraHandler:
             #sending and reciving data from opencv sub process
             pipeline = self.settings_manager.cams[self.cam_name]["pipelines"][
                 self.settings_manager.cams_curr_pipeline[self.cam_name]]
+
             socket.send_json(dict(
-                pipeline=pipeline
+                pipeline=pipeline,
+                driver_mode=self.table.getBoolean('Driver_Mode', False)
             ), zmq.SNDMORE)
 
-            socket.send_pyobj(self.image)
+            socket.send_pyobj((self.time_stamp,self.image))
             self.p_image = socket.recv_pyobj()
             self.nt_data = socket.recv_json()
 
@@ -174,49 +184,62 @@ class CameraHandler:
 
         while True:
             obj = socket.recv_json()
-            image = socket.recv_pyobj()
-            curr_pipeline = obj["pipeline"]
+            curr_pipeline = obj['pipeline']
+            driver_mode = obj['driver_mode']
+            time_stamp, image = socket.recv_pyobj()
             if curr_pipeline['orientation'] == "Inverted":
                 M = cv2.getRotationMatrix2D((width / 2, height / 2), 180, 1)
                 image = cv2.warpAffine(image, M, (width, height))
-            hsv_image = self.vision_handler._hsv_threshold(curr_pipeline["hue"],
-                                            curr_pipeline["saturation"], curr_pipeline["value"],
-                                            image, curr_pipeline["erode"], curr_pipeline["dilate"])
-            # if table.getBoolean("Driver_Mode", False):
-            contours = self.vision_handler.find_contours(hsv_image)
-            filtered_contours = filter_contours.filter_contours(input_contours=contours, area=curr_pipeline['area'],
-                                                                ratio=curr_pipeline['ratio'],
-                                                                extent=curr_pipeline['extent'],
-                                                                sort_mode=curr_pipeline['sort_mode'], cam_area=cam_area,
-                                                                target_grouping=curr_pipeline['target_group'],
-                                                                target_intersection=
-                                                                curr_pipeline['target_intersection'])
-            final_contour = self.vision_handler.output_contour(filtered_contours)
-            try:
-                center = final_contour[0]
-                center_x = (center[1] - curr_pipeline['B']) / curr_pipeline["M"]
-                center_y = (center[0] * curr_pipeline["M"]) + curr_pipeline["B"]
-                pitch = self.vision_handler.calculate_pitch(pixel_y=center[1], center_y=center_y, v_focal_length=V_FOCAL_LENGTH)
-                yaw = self.vision_handler.calculate_yaw(pixel_x=center[0], center_x=center_x, h_focal_length=H_FOCAL_LENGTH)
-                valid = True
-            except IndexError:
+            if not driver_mode:
+                hsv_image = self.vision_handler._hsv_threshold(curr_pipeline["hue"],
+                                                curr_pipeline["saturation"], curr_pipeline["value"],
+                                                image, curr_pipeline["erode"], curr_pipeline["dilate"])
+                # if table.getBoolean("Driver_Mode", False):
+                contours = self.vision_handler.find_contours(hsv_image)
+                filtered_contours = filter_contours.filter_contours(input_contours=contours, area=curr_pipeline['area'],
+                                                                    ratio=curr_pipeline['ratio'],
+                                                                    extent=curr_pipeline['extent'],
+                                                                    sort_mode=curr_pipeline['sort_mode'], cam_area=cam_area,
+                                                                    target_grouping=curr_pipeline['target_group'],
+                                                                    target_intersection=
+                                                                    curr_pipeline['target_intersection'])
+
+                final_contour = self.vision_handler.output_contour(filtered_contours)
+
+                try:
+                    center = final_contour[0]
+                    center_x = (center[1] - curr_pipeline['B']) / curr_pipeline["M"]
+                    center_y = (center[0] * curr_pipeline["M"]) + curr_pipeline["B"]
+                    pitch = self.vision_handler.calculate_pitch(pixel_y=center[1], center_y=center_y, v_focal_length=V_FOCAL_LENGTH)
+                    yaw = self.vision_handler.calculate_yaw(pixel_x=center[0], center_x=center_x, h_focal_length=H_FOCAL_LENGTH)
+                    valid = True
+                except IndexError:
+                    center = None
+                    pitch = None
+                    yaw = None
+                    valid = False
+
+                if curr_pipeline['is_binary']:
+                    draw_image = hsv_image
+                else:
+                    draw_image = image
+
+                res = self.vision_handler.draw_image(input_image=draw_image, contour=final_contour)
+            else:
+                res = image
                 center = None
                 pitch = None
                 yaw = None
                 valid = False
 
-            if curr_pipeline['is_binary']:
-                draw_image = hsv_image
-            else:
-                draw_image = image
-            res = self.vision_handler.draw_image(input_image=draw_image, contour=final_contour)
             socket.send_pyobj(res)
             socket.send_json(dict(
                 pitch=pitch,
                 yaw=yaw,
                 valid=valid,
                 raw_point=center,
-                fps=fps
+                fps=fps,
+                time_stamp=time_stamp
             ))
             counter += 1
             if (time.time() - start_time) > x:

backend/app/handlers/IPHandler.py

@@ -0,0 +1,49 @@
+import subprocess
+import netifaces
+
+
+class ChangeIP:
+    def __init__(self, connection_type, ip, netmask, gateway, hostname):
+
+        adapter = self.find_adapter()
+        if adapter is not None:
+            self.shutdown_adapter(adapter)
+
+            if connection_type == "DHCP":
+                self.change_to_dhcp(adapter=adapter)
+
+            elif connection_type == "Static":
+                self.change_to_static(adapter=adapter, ip=ip, netmask=netmask, gateway=gateway)
+
+            self.start_adapter(adapter)
+        else:
+            print("not connected to robot radio cannot set ip")
+        self.change_hostname(hostname=hostname)
+
+    @staticmethod
+    def change_to_dhcp(adapter):
+        subprocess.call(['dhclient',"-r", adapter])
+
+    @staticmethod
+    def change_to_static(adapter, ip, netmask, gateway):
+        subprocess.call(['ifconfig', adapter, ip, 'netmask', netmask])
+        subprocess.call(['route', 'add', 'default', 'gw', gateway, adapter])
+
+    @staticmethod
+    def shutdown_adapter(adapter):
+        subprocess.call(['ifconfig', adapter, 'down'])
+    @staticmethod
+    def start_adapter(adapter):
+        subprocess.call(['ifconfig', adapter, 'up'])
+
+    @staticmethod
+    def find_adapter():
+        for i_name in netifaces.interfaces():
+            interface = netifaces.ifaddresses(i_name)[netifaces.AF_INET][0]
+            address = interface['addr'].split('.')[0]
+            if address == "10":
+                return str(i_name)
+
+    @staticmethod
+    def change_hostname(hostname):
+        subprocess.call(['hostnamectl', 'set-hostname', hostname])

backend/app/handlers/SocketHandler.py

@@ -48,8 +48,8 @@ class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
             for key in message_dic:
                 self.actions.get(key, self.actions["change_pipeline_values"])(message_dic)
             print(message)
-        except:
-            print("crash " + message)
+        except Exception as e:
+            print("crash " + e)
 
     def on_close(self):
         self.settings_manager.save_settings()

backend/app/handlers/VisionHandler.py

@@ -10,17 +10,16 @@ class VisionHandler():
 
     def _hsv_threshold(self, hue: list, saturation: list, value: list, img: numpy.ndarray, is_erode: bool,
                        is_dilate: bool):
-        blur = cv2.blur(img, (3, 3))
-        hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
-        lower = numpy.array([hue[0], saturation[0], value[0]])
-        upper = numpy.array([hue[1], saturation[1], value[1]])
-        thresh = cv2.inRange(hsv, lower, upper)
+
+        hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+        thresh = cv2.inRange(hsv, (hue[0], saturation[0], value[0]), (hue[1], saturation[1], value[1]))
         erode_img = cv2.erode(thresh, kernel=self.kernel, iterations=is_erode)
         dilate_img = cv2.dilate(erode_img, kernel=self.kernel, iterations=is_dilate)
         return dilate_img
 
     def find_contours(self, binary_img: numpy.ndarray):
-        _, contours, _ = cv2.findContours(binary_img, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
+
+        _,contours, _ = cv2.findContours(binary_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_TC89_L1)
         return contours
 
     class Filter_Contours:
@@ -192,24 +191,14 @@ class VisionHandler():
                 sorted_contours = []
             return sorted_contours
 
-    @unique
-    class Region(Enum):
-        UP_MOST = 0
-        RIGHT_MOST = 1
-        DOWN_MOST = 2
-        LEFT_MOST = 3
-        CENTER_MOST = 4
-        
     def output_contour(self, sorted_contours):
         if len(sorted_contours) > 0:
             selected_contour = sorted_contours[0]
             rect = cv2.minAreaRect(selected_contour)
         else:
             return []
-
-        # crosshair_calibration function to "put" camera in the middle
         return rect
-            
+
     def draw_image(self, input_image, contour):
         if len(input_image.shape)<3:
             input_image = cv2.cvtColor(input_image, cv2.COLOR_GRAY2RGB)
@@ -224,7 +213,6 @@ class VisionHandler():
 
     def calculate_pitch(self, pixel_y, center_y, v_focal_length):
         pitch = math.degrees(math.atan((pixel_y - center_y) / v_focal_length))
-        # Just stopped working have to do this:
         pitch *= -1
         return pitch
 

backend/app/site/index.html

@@ -1 +1 @@
-<!DOCTYPE html><html lang=en><head><meta charset=utf-8><meta http-equiv=X-UA-Compatible content="IE=edge"><meta name=viewport content="width=device-width,initial-scale=1"><link rel=icon href=/favicon.ico><title>Chameleon Vision</title><link href=/css/app.bd8aa8d9.css rel=preload as=style><link href=/js/app.d1ab8cb6.js rel=preload as=script><link href=/js/chunk-vendors.a3ecb371.js rel=preload as=script><link href=/css/app.bd8aa8d9.css rel=stylesheet></head><body><noscript><strong>We're sorry but Chameleon Vision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id=app></div><script src=/js/chunk-vendors.a3ecb371.js></script><script src=/js/app.d1ab8cb6.js></script></body></html>
+<!DOCTYPE html><html lang=en><head><meta charset=utf-8><meta http-equiv=X-UA-Compatible content="IE=edge"><meta name=viewport content="width=device-width,initial-scale=1"><link rel=icon href=/favicon.ico><title>Chameleon Vision</title><link href=/css/app.bd8aa8d9.css rel=preload as=style><link href=/js/app.894d02a9.js rel=preload as=script><link href=/js/chunk-vendors.a3ecb371.js rel=preload as=script><link href=/css/app.bd8aa8d9.css rel=stylesheet></head><body><noscript><strong>We're sorry but Chameleon Vision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id=app></div><script src=/js/chunk-vendors.a3ecb371.js></script><script src=/js/app.894d02a9.js></script></body></html>

backend/requirement.txt

@@ -1,3 +1,4 @@
 tornado
 pyzmq
-robotpy-cscore
+robotpy-cscore
+netifaces

backend/settings/cams/USB Camera-B4.09.24.1.json

@@ -1 +0,0 @@
-{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 15, "orientation": "Normal", "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": true, "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}

backend/settings/cams/USB2.0 PC CAMERA.json

@@ -1 +0,0 @@
-{"pipelines": {"pipeline0": {"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"}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:2:1.0-video-index0", "video_mode": {"fps": 30, "width": 640, "height": 480, "pixel_format": "kYUYV"}, "resolution": 0, "FOV": 60.8}

backend/settings/settings.json

@@ -1 +0,0 @@
-{"team_number": 1567, "connection_type": "DHCP", "ip": "", "gateway": "", "hostname": "Chameleon-Vision", "curr_camera": "USB Camera-B4.09.24.1", "curr_pipeline": "pipeline0"}

chameleon-client/src/components/SystemTab.vue

@@ -25,6 +25,14 @@
                             <Input v-model="ip" size="small" :disabled="isConnection"></Input>
                         </Col>
                     </row>
+                    <row type="flex" justify="start" align="middle" class="spacing">
+                        <Col span="4">
+                            <h4>Netmask:</h4>
+                        </Col>
+                        <Col span="10">
+                            <Input v-model="netmask" size="small" :disabled="isConnection"></Input>
+                        </Col>
+                    </row>
                     <row type="flex" justify="start" align="middle" class="spacing">
                         <Col span="4">
                             <h4>Gateway:</h4>
@@ -39,7 +47,6 @@
                         </Col>
                         <Col span="10">
                             <Input v-model="hostname" size="small">
-                                <span slot="prepend">http://Chameleon-Vision</span>
                                 <span slot="append">.local</span>
                             </Input>
                         </Col>
@@ -74,6 +81,7 @@
                         'team_number':this.team_number,
                         'connection_type':this.connection_type,
                         'ip':this.ip,
+                        'netmask':this.netmask,
                         'gateway':this.gateway,
                         'hostname':this.hostname}});
             }
@@ -103,6 +111,14 @@
                     this.$store.commit('ip',value);
                 }
             },
+            netmask:{
+                get: function(){
+                    return this.$store.state.netmask;
+                },
+                set: function(value){
+                    this.$store.commit('netmask',value);
+                }
+            },
             gateway:{
                 get: function(){
                     return this.$store.state.gateway;
@@ -120,7 +136,7 @@
                 }
             },
             isConnection: function(){
-                if(this.connectionType == "DHCP"){
+                if(this.connection_type == "DHCP"){
                     return true
                 } else{
                     return false

chameleon-client/src/store.js

@@ -30,14 +30,15 @@ export const store = new Vuex.Store({
         area:[0,100],
         ratio:[0,20],
         extent:[0,100],
-        sort_mode:'Largest', //
-        target_group:'Single', //
-        target_intersection:'Up', //
+        sort_mode:'Largest', 
+        target_group:'Single', 
+        target_intersection:'Up',
         //Settings
         team_number:0,
         connection_type:"DHCP",
-        ip:0,
-        gateWay:0,
+        ip:"",
+        gateway:"",
+        netmask:"",
         hostname:"",
         //live info
         port:1181,
@@ -68,7 +69,8 @@ export const store = new Vuex.Store({
         team_number: set('team_number'),
         connection_type: set('connection_type'),
         ip: set('ip'),
-        gateWay : set('gateway'),
+        netmask: set('netmask'),
+        gateway : set('gateway'),
         hostname : set('hostname'),
         is_binary: set('is_binary'),
         cameraList : set('cameraList'),
@@ -99,7 +101,8 @@ export const store = new Vuex.Store({
         team_number: state => state.teamValue,
         connection_type: state => state.connectionType,
         ip: state => state.ip,
-        gateWay: state => state.gateWay,
+        netmask: state => state.netmask,
+        gateway: state => state.gateway,
         hostname: state => state.hostName,
         is_binary: state => state.is_binary,
         cameraList: state => state.cameraList,

install.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+apt-get update
+apt-get dist-upgrade
+apt-get upgrade
+apt-get install python3-pip python3-dev cmake zip unzip build-essential git libnss-mdns --fix-missing
+apt-get install python3-numpy
+apt-get install python3-opencv
+pip3 install robotpy-cscore
+pip3 install pyzmq
+pip3 install tornado