mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
working communication between client and backend with message pack with working data flow
This commit is contained in:
ori agranat
@@ -1,9 +1,11 @@
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package com.chameleonvision.web;
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import com.chameleonvision.settings.GeneralSettings;
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import com.chameleonvision.vision.Orientation;
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import com.chameleonvision.vision.SortMode;
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import com.chameleonvision.vision.TargetGroup;
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import com.chameleonvision.vision.TargetIntersection;
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import com.chameleonvision.vision.camera.Camera;
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import com.chameleonvision.vision.camera.CameraException;
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import com.chameleonvision.settings.SettingsManager;
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import com.chameleonvision.vision.camera.CameraManager;
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@@ -14,15 +16,8 @@ import edu.wpi.cscore.VideoException;
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import io.javalin.websocket.*;
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import org.apache.commons.lang3.ArrayUtils;
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import org.eclipse.jetty.util.ArrayUtil;
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import org.msgpack.core.MessagePack;
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import org.msgpack.core.MessagePacker;
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import org.msgpack.core.MessageUnpacker;
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import org.msgpack.core.buffer.MessageBufferOutput;
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import org.msgpack.jackson.dataformat.MessagePackFactory;
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import org.msgpack.value.ImmutableArrayValue;
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import org.msgpack.value.ImmutableValue;
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import org.msgpack.value.Value;
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import org.springframework.beans.BeanUtils;
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import java.io.IOException;
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import java.lang.reflect.Field;
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@@ -55,95 +50,59 @@ public class ServerHandler {
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try {
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switch (entry.getKey()) {
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case "generalSettings": {
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System.out.println("asdds");
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//change general settings using a general settings object
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break;
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}
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case "cameraSettings": {
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System.out.println("sadfsdf");
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//change camera settings using a camera settings object
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break;
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}
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case "command": {
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System.err.println("not implemented");
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// used to define all incoming commands
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break;
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}
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case "currentCamera": {
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//camera name by string
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CameraManager.setCurrentCamera((String) entry.getValue());
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HashMap<String,Object> tmp = new HashMap<>();
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tmp.put("pipeline",CameraManager.getCurrentCamera().getCurrentPipeline());
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broadcastMessage(tmp);
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break;
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}
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case "currentPipeline": {
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// camera pipeline by index
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CameraManager.getCurrentCamera().setCurrentPipelineIndex((Integer) entry.getValue());
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HashMap<String,Object> tmp = new HashMap<>();
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tmp.put("pipeline",CameraManager.getCurrentCamera().getCurrentPipeline());
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//TODO Add cam settings to the map
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broadcastMessage(tmp);
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break;
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}
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default: {//Change pipeline values
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//Two special cases for exposure and brightness changes
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if (entry.getKey().equals("exposure"))
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try {
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// CameraManager.getCurrentCamera().setExposure(value.asIntegerValue().toInt());
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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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else if (entry.getKey().equals("brightness")) try {
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// CameraManager.getCurrentCamera().setBrightness(value.asIntegerValue().toInt());
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} catch (VideoException e) {
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e.printStackTrace();
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}
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else
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// setValue(CameraManager.getCurrentPipeline(), entry.getKey(), entry.getValue());//All of the other assignments fields
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default: {
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setField(CameraManager.getCurrentCamera().getCurrentPipeline(),entry.getKey(),entry.getValue());
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break;
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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// unexpectedData(key, value);
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}
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}
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}
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private void setValue(Object obj, String fieldName, ImmutableValue value) {
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private void setField(Object obj, String fieldName, Object value) {
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try {
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boolean found = false;
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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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found = true;
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if (f.getType().isEnum())//Field is enum like Orientation
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f.set(obj, f.getType().getEnumConstants()[value.asIntegerValue().toInt()]);
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else if (value.isBooleanValue()) {//Field is boolean like erode
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f.set(obj, value.asBooleanValue().getBoolean());
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} else if (value.isIntegerValue()) {//Field is int like M and B
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f.set(obj, value.asIntegerValue().toInt());
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} else if (f.get(obj) instanceof List<?>) {
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List<Value> valLst = ((ImmutableArrayValue) value).list();
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if (((List) f.get(obj)).get(0).getClass().equals(Float.class)) {//Field is List of Floats like area in pipeline
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List<Float> lst = new ArrayList<>();
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for (Value v : valLst) {
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lst.add(v.isFloatValue() ? v.asFloatValue().toFloat() : (float) v.asIntegerValue().toInt());//Adds float if value is float, casts value to float from int otherwise
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}
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f.set(obj, lst);
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} else if (((List) f.get(obj)).get(0).getClass().equals(Integer.class)) {//Fields is List of Integers like hue in pipeline
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List<Integer> lst = new ArrayList<>();
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for (Value v : valLst) {
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lst.add(v.asIntegerValue().toInt());
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}
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f.set(obj, lst);
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}
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}
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}
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Field field = obj.getClass().getField(fieldName);
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if (BeanUtils.isSimpleValueType(field.getType())){
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//if enum needs to convert
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field.set(obj,value);
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} else if(field.getType() == List.class){
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field.set(obj,value);
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}
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if (!found)
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unexpectedData(fieldName, value);
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} catch (Exception e) {
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System.out.println("Exception setting field");
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e.printStackTrace();
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} catch (NoSuchFieldException | IllegalAccessException ex) {
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ex.printStackTrace();
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}
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}
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public void unexpectedData(String key, ImmutableValue v) {
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System.err.println("Unexpected key or value, key=" + key + " Value=" + v.toString());
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//TODO send a error message to the user
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//TODO in the very far future send a bug report?
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}
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private static void broadcastMessage(Object obj, WsContext userToSkip) {
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if (users != null)
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for (var user : users) {
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@@ -163,35 +122,22 @@ public class ServerHandler {
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broadcastMessage(obj, null);//Broadcasts the message to every 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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public 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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Map<String, Object> fullSettings = new HashMap<String, Object>();
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fullSettings.put("settings", 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("pipeline",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", currentCamera.getStreamPort());
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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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broadcastMessage(fullSettings);
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}
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}
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