mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
Cleaned up server.java and creeated a server handler
This commit is contained in:
Omer
@@ -210,7 +210,7 @@ public class CameraProcess implements Runnable {
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point.put("fps", fps);
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WebSend.put("point", point);
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WebSend.put("raw_point", center);
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Server.broadcastMessage(WebSend);
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Server.handler.broadcastMessage(WebSend);
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}
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//camera.putFrame(streamOutputMat);
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@@ -16,175 +16,27 @@ import org.springframework.beans.BeanUtils;
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public class Server {
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private static List<WsContext> users = new ArrayList<>();
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public static ServerHandler handler;
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public static void main(int port) {
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handler = new ServerHandler();
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Javalin app = Javalin.create();
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app.config.addStaticFiles("web");
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app.ws("/websocket", ws -> {
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ws.onConnect(ctx -> {
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users.add(ctx);
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handler.onConnect(ctx);
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System.out.println("Socket Connected");
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sendFullSettings();
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});
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ws.onClose(ctx -> {
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users.remove(ctx);
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handler.onClose(ctx);
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System.out.println("Socket Disconnected");
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SettingsManager.saveSettings();
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});
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ws.onMessage(ctx -> {
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broadcastMessage(ctx.message(), ctx);
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JSONObject jsonObject = new JSONObject(ctx.message());
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String key = null;
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var jsonKeySetArray = jsonObject.keySet().toArray();
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try {
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key = jsonKeySetArray[0].toString();
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} catch (Exception ex) {
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System.err.println("WebSocket JSON data was empty!");
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}
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if (key == null) return;
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Object value = jsonObject.get(key);
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// System.out.printf("Got websocket json data: [%s, %s]\n", key, value);
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if (!allFieldsToMap(CameraManager.getCurrentPipeline()).containsKey(key)) {
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//If field not in pipeline
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switch (key) {
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case "change_general_settings_values":
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JSONObject newSettings = (JSONObject) value;
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setFields(SettingsManager.GeneralSettings, newSettings);
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break;
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case "curr_camera":
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String newCamera = (String) value;
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System.out.printf("Changing camera to %s\n", newCamera);
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CameraManager.setCurrentCamera(newCamera);
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//broadcastMessage((Map<String, Object>) new HashMap<String, Object>(){}.put("port",SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera)));
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broadcastMessage(CameraManager.getCurrentCamera()); //TODO CHECK JSON FOR CAMERA CHANGE
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break;
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case "curr_pipeline":
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String newPipeline = (String) value;
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var pipelineNumber = Integer.parseInt(newPipeline.replace("pipeline", ""));
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System.out.printf("Changing pipeline to %s\n", newPipeline);
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CameraManager.setCurrentPipeline(pipelineNumber);
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broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
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break;
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case "resolution":
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int newVideoMode = (int) value;
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System.out.printf("Changing video mode to %d\n", newVideoMode);
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CameraManager.getCurrentCamera().setCamVideoMode(newVideoMode);
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break;
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case "FOV":
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double newFov = (double) value;
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System.out.printf("Changing FOV to %f\n", newFov);
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CameraManager.getCurrentCamera().setFOV(newFov);
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break;
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default:
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System.out.printf("Unexpected value from websocket: [%s, %s]\n", key, value);
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break;
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}
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} else {
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setField(CameraManager.getCurrentPipeline(), key, value);
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//Special cases for exposure and brightness
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//TODO maybe add listener for value changes instead of this special case
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switch (key) {
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case "exposure":
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int newExposure = (int) value;
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System.out.printf("Changing exposure to %d\n", newExposure);
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try {
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CameraManager.getCurrentCamera().setExposure(newExposure);
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}
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catch ( VideoException e)
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{
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System.out.println("Exposure changes is not supported on your webcam/webcam's driver");
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}
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//TODO check if this crash occurs on linux
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break;
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case "brightness":
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int newBrightness = (int) value;
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System.out.printf("Changing brightness to %d\n", newBrightness);
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CameraManager.getCurrentCamera().setBrightness(newBrightness);
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break;
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}
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}
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handler.onMessage(ctx);
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});
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});
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app.start(port);
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}
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private static void setField(Object obj, String fieldName, Object value) {
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try {
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Field[] fields = obj.getClass().getFields();
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for (Field f : fields) {
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if (f.getName().equals(fieldName)) {
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if (BeanUtils.isSimpleValueType(value.getClass())) {
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f.set(obj, value);
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} else if (value.getClass() == JSONArray.class) {
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f.set(obj, ((JSONArray) value).toList());
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}
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}
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}
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} catch (IllegalAccessException e) {
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System.out.println("IllegalAccessException ");
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e.printStackTrace();
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}
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}
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private static void setFields(Object obj, JSONObject data) {
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Map<String,Object> map = data.toMap();
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map.forEach((s, o) -> setField(obj,s,o));
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}
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private static void broadcastMessage(Object obj, WsContext userToSkip) {//TODO chekc if session id is a good way to differentiate users
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for (var user : users) {
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if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
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continue;
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}
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if (obj.getClass() == String.class)
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user.send((String) obj);
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else if (obj.getClass() == HashMap.class)
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user.send(new JSONObject((HashMap<String, Object>) obj).toString());
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else
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user.send(new JSONObject(obj).toString());
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}
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}
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public static void broadcastMessage(Object obj) {
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broadcastMessage(obj, null);//Broadcasts the message to ever user
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}
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private static Map<String, Object> allFieldsToMap(Object obj) {
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Map map = new HashMap<String, Object>();
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try {
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Field[] fields = obj.getClass().getFields();
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for (Field field : fields) {
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map.put(field.getName(), field.get(obj));
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}
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} catch (IllegalAccessException e) {
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System.err.println("Illegal Access error:" + e.getStackTrace());
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}
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return map;
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}
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private static void sendFullSettings() {
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//General settings
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Map<String, Object> fullSettings = new HashMap<>(allFieldsToMap(SettingsManager.GeneralSettings));
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fullSettings.put("cameraList", CameraManager.getAllCamerasByName().keySet());
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try {
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var currentCamera = CameraManager.getCurrentCamera();
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fullSettings.putAll(allFieldsToMap(currentCamera.getCurrentPipeline()));
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fullSettings.put("pipelineList", currentCamera.getPipelines().keySet());
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fullSettings.put("resolutionList", CameraManager.getResolutionList());
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fullSettings.put("resolution", currentCamera.getVideoModeIndex());
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fullSettings.put("FOV", currentCamera.getFOV());
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// fullSettings.put("port", SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera));
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} catch (CameraException e) {
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System.err.println("No camera found!");
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//TODO: add message to ui to inform that there are no cameras
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}
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broadcastMessage(fullSettings);
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}
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}
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192
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
Normal file
192
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
Normal file
@@ -0,0 +1,192 @@
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package com.chameleonvision.web;
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import com.chameleonvision.CameraException;
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import com.chameleonvision.settings.SettingsManager;
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import com.chameleonvision.vision.Pipeline;
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import com.chameleonvision.vision.camera.CameraManager;
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import edu.wpi.cscore.VideoException;
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import io.javalin.websocket.WsCloseContext;
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import io.javalin.websocket.WsConnectContext;
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import io.javalin.websocket.WsContext;
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import io.javalin.websocket.WsMessageContext;
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import org.json.JSONArray;
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import org.json.JSONObject;
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import org.springframework.beans.BeanUtils;
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import java.lang.reflect.Field;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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public class ServerHandler {
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private static List<WsContext> users;
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public ServerHandler() {
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this.users = new ArrayList<>();
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}
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public void onConnect(WsConnectContext context) {
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users.add(context);
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sendFullSettings();
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}
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public void onClose(WsCloseContext context) {
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users.remove(context);
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}
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public void onMessage(WsMessageContext data) throws CameraException {
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broadcastMessage(data.message(), data);
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JSONObject jsonObject = new JSONObject(data.message());
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String key = null;
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var jsonKeySetArray = jsonObject.keySet().toArray();
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try {
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key = jsonKeySetArray[0].toString();
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} catch (Exception ex) {
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System.err.println("WebSocket JSON data was empty!");
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}
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if (key == null) return;
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Object value = jsonObject.get(key);
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System.out.printf("Got websocket json data: [%s, %s]\n", key, value);
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if (hasField(CameraManager.getCurrentPipeline(), key)) {
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setField(CameraManager.getCurrentPipeline(), key, value);
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//Special cases for exposure and brightness
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//TODO maybe add listener for value changes instead of this special case
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switch (key) {
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case "exposure":
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int newExposure = (int) value;
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System.out.printf("Changing exposure to %d\n", newExposure);
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try {
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CameraManager.getCurrentCamera().setExposure(newExposure);
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} catch (VideoException e) {
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System.out.println("Exposure changes is not supported on your webcam/webcam's driver");
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}
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//TODO check if this crash occurs on linux
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break;
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case "brightness":
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int newBrightness = (int) value;
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System.out.printf("Changing brightness to %d\n", newBrightness);
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CameraManager.getCurrentCamera().setBrightness(newBrightness);
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break;
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}
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} else {
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switch (key) {
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case "change_general_settings_values":
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JSONObject newSettings = (JSONObject) value;
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// setFields(SettingsManager.GeneralSettings, newSettings);
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Map<String, Object> map = newSettings.toMap();
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map.forEach((s, o) -> setField(SettingsManager.GeneralSettings, s, o));
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break;
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case "curr_camera":
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String newCamera = (String) value;
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System.out.printf("Changing camera to %s\n", newCamera);
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CameraManager.setCurrentCamera(newCamera);
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//broadcastMessage((Map<String, Object>) new HashMap<String, Object>(){}.put("port",SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera)));
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broadcastMessage(CameraManager.getCurrentCamera()); //TODO CHECK JSON FOR CAMERA CHANGE
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break;
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case "curr_pipeline":
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String newPipeline = (String) value;
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var pipelineNumber = Integer.parseInt(newPipeline.replace("pipeline", ""));
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System.out.printf("Changing pipeline to %s\n", newPipeline);
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CameraManager.setCurrentPipeline(pipelineNumber);
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// broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
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broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
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break;
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case "resolution":
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int newVideoMode = (int) value;
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System.out.printf("Changing video mode to %d\n", newVideoMode);
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CameraManager.getCurrentCamera().setCamVideoMode(newVideoMode);
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break;
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case "FOV":
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double newFov = (double) value;
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System.out.printf("Changing FOV to %f\n", newFov);
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CameraManager.getCurrentCamera().setFOV(newFov);
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break;
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default:
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System.out.printf("Unexpected value from websocket: [%s, %s]\n", key, value);
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break;
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}
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}
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}
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private void setField(Object obj, String fieldName, Object value) {
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try {
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Field[] fields = obj.getClass().getFields();
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for (Field f : fields) {
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if (f.getName().equals(fieldName)) {
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if (BeanUtils.isSimpleValueType(value.getClass())) {
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f.set(obj, value);
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} else if (value.getClass() == JSONArray.class) {
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f.set(obj, ((JSONArray) value).toList());
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}
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}
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}
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} catch (IllegalAccessException e) {
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System.out.println("IllegalAccessException ");
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e.printStackTrace();
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}
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}
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private static void broadcastMessage(Object obj, WsContext userToSkip) {//TODO check if session id is a good way to differentiate users
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for (var user : users) {
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if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
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continue;
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}
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if (obj.getClass() == String.class)
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user.send((String) obj);
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else if (obj.getClass() == HashMap.class)
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user.send(new JSONObject((HashMap<String, Object>) obj).toString());
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else
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user.send(new JSONObject(obj).toString());
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}
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}
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public static void broadcastMessage(Object obj) {
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broadcastMessage(obj, null);//Broadcasts the message to ever user
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}
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private boolean hasField(Object obj, String fieldName) {
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Field[] fields = obj.getClass().getFields();
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for (Field field : fields) {
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if (fieldName.equals(field.getName()))
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return true;
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}
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return false;
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}
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private static Map<String, Object> allFieldsToMap(Object obj) {
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Map map = new HashMap<String, Object>();
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try {
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Field[] fields = obj.getClass().getFields();
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for (Field field : fields) {
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map.put(field.getName(), field.get(obj));
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}
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} catch (IllegalAccessException e) {
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System.err.println("Illegal Access error:" + e.getStackTrace());
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}
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return map;
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}
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private static void sendFullSettings() {
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//General settings
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Map<String, Object> fullSettings = new HashMap<>(allFieldsToMap(SettingsManager.GeneralSettings));
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fullSettings.put("cameraList", CameraManager.getAllCamerasByName().keySet());
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try {
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var currentCamera = CameraManager.getCurrentCamera();
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fullSettings.putAll(allFieldsToMap(currentCamera.getCurrentPipeline()));
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fullSettings.put("pipelineList", currentCamera.getPipelines().keySet());
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fullSettings.put("resolutionList", CameraManager.getResolutionList());
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fullSettings.put("resolution", currentCamera.getVideoModeIndex());
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fullSettings.put("FOV", currentCamera.getFOV());
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// fullSettings.put("port", SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera));
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} catch (CameraException e) {
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System.err.println("No camera found!");
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//TODO: add message to ui to inform that there are no cameras
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}
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broadcastMessage(fullSettings);
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}
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}
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