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Continue plumbing ServerHandler

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This commit is contained in:
Banks Troutman
2019-11-23 04:05:37 -05:00
parent b19ae1f43b
commit 9b3e611eaa
21 changed files with 362 additions and 280 deletions
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115
Main/src/main/java/com/chameleonvision/classabstraction/VisionProcess.java
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@@ -5,6 +5,7 @@ import com.chameleonvision.classabstraction.camera.CameraStreamer;
import com.chameleonvision.classabstraction.config.ConfigManager;
import com.chameleonvision.classabstraction.pipeline.*;
import com.chameleonvision.classabstraction.util.LoopingRunnable;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.ServerHandler;
import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
@@ -26,11 +27,13 @@ public class VisionProcess {
private final CameraFrameRunnable cameraRunnable;
private final CameraStreamerRunnable streamRunnable;
private final VisionProcessRunnable visionRunnable;
private final CameraStreamer cameraStreamer;
public final CameraStreamer cameraStreamer;
private CVPipeline currentPipeline;
private int currentPipelineIndex = 0;
private final CVPipelineSettings driverVisionSettings = new CVPipelineSettings();
private final CVPipelineSettings driverModeSettings = new CVPipelineSettings();
private CVPipeline driverModePipeline = new DriverVisionPipeline(driverModeSettings);
// shitty stuff
private volatile Mat lastCameraFrame = new Mat();
@@ -38,27 +41,27 @@ public class VisionProcess {
private volatile CVPipelineResult lastPipelineResult;
// network table stuff
public NetworkTableEntry ntPipelineEntry;
public NetworkTableEntry ntDriverModeEntry;
private NetworkTableEntry ntPipelineEntry;
private NetworkTableEntry ntDriverModeEntry;
private int ntDriveModeListenerID;
private int ntPipelineListenerID;
private NetworkTableEntry ntYawEntry;
private NetworkTableEntry ntPitchEntry;
private NetworkTableEntry ntAuxListEntry;
private NetworkTableEntry ntDistanceEntry;
private NetworkTableEntry ntAreaEntry;
private NetworkTableEntry ntTimeStampEntry;
private NetworkTableEntry ntValidEntry;
Gson gson = new GsonBuilder().setPrettyPrinting().create();
private Gson gson = new GsonBuilder().setPrettyPrinting().create();
public VisionProcess(CameraProcess cameraProcess, String name) {
VisionProcess(CameraProcess cameraProcess, String name) {
this.cameraProcess = cameraProcess;
pipelines.add(new DriverVisionPipeline(() -> driverVisionSettings));
pipelines.add(new CVPipeline2d("New Pipeline"));
setPipeline(0);
// Thread to grab frames from the camera
// TODO: fix video modes!!!
// TODO: FIX FPS!!!!!!!
// TODO: (HIGH) fix video modes!!!
// TODO: (HIGH) FIX FPS!!!!!!!
this.cameraRunnable = new CameraFrameRunnable(cameraProcess.getProperties().videoModes.get(0).fps);
lastPipelineResult = new DriverVisionPipeline.DriverPipelineResult(
@@ -106,7 +109,7 @@ public class VisionProcess {
ntDriverModeEntry = newTable.getEntry("driver_mode");
ntPitchEntry = newTable.getEntry("pitch");
ntYawEntry = newTable.getEntry("yaw");
ntDistanceEntry = newTable.getEntry("distance");
ntAreaEntry = newTable.getEntry("area");
ntTimeStampEntry = newTable.getEntry("timestamp");
ntValidEntry = newTable.getEntry("is_valid");
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::setDriverMode, EntryListenerFlags.kUpdate);
@@ -115,8 +118,16 @@ public class VisionProcess {
ntPipelineEntry.setNumber(0);
}
private void setDriverMode(EntryNotification ignored) {
setPipeline(0);
private void setDriverMode(EntryNotification driverModeEntryNotification) {
setDriverMode(driverModeEntryNotification.value.getBoolean());
}
public void setDriverMode(boolean driverMode) {
if (driverMode) {
setPipelineInternal(driverModePipeline);
} else {
setPipeline(currentPipelineIndex);
}
}
/**
@@ -135,25 +146,23 @@ public class VisionProcess {
}
public void setPipeline(int pipelineIndex) {
CVPipeline newPipeline = pipelines.get(pipelineIndex);
if (newPipeline != null) {
setPipelineInternal(newPipeline);
}
currentPipelineIndex = pipelineIndex;
// update the configManager
if(ConfigManager.settings.currentCamera.equals(cameraProcess.getProperties().name)) {
ConfigManager.settings.currentPipeline = pipelineIndex;
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("currentPipeline", pipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
ServerHandler.sendFullSettings();
// update the configManager
if(ConfigManager.settings.currentCamera.equals(cameraProcess.getProperties().name)) {
ConfigManager.settings.currentPipeline = pipelineIndex;
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("currentPipeline", pipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
ServerHandler.sendFullSettings();
}
}
}
private void setPipelineInternal(CVPipeline pipeline) {
pipelines.add(pipeline);
currentPipeline = pipeline;
currentPipeline.initPipeline(cameraProcess);
}
@@ -165,14 +174,15 @@ public class VisionProcess {
HashMap<String, Object> calculated = new HashMap<>();
List<Double> center = new ArrayList<>();
if (data.hasTarget) {
if(data instanceof CVPipeline2d.CVPipeline2dResult) {
CVPipeline2d.CVPipeline2dResult result = (CVPipeline2d.CVPipeline2dResult) data;
CVPipeline2d.Target bestTarget = result.targets.get(0);
CVPipeline2d.Target2d bestTarget = result.targets.get(0);
center.add(bestTarget.rawPoint.center.x);
center.add(bestTarget.rawPoint.center.y);
calculated.put("pitch", bestTarget.pitch);
calculated.put("yaw", bestTarget.yaw);
} else if (data instanceof CVPipeline3d.CVPipeline3dResult) {
// TODO: (2.1) 3d stuff in UI
} else {
center.add(0.0);
center.add(0.0);
@@ -200,19 +210,19 @@ public class VisionProcess {
ntTimeStampEntry.setDouble(data.processTime);
//noinspection unchecked
List<CVPipeline2d.Target> targets = (List<CVPipeline2d.Target>) data.targets;
List<CVPipeline2d.Target2d> targets = (List<CVPipeline2d.Target2d>) data.targets;
ntPitchEntry.setDouble(targets.get(0).pitch);
ntYawEntry.setDouble(targets.get(0).yaw);
ntDistanceEntry.setDouble(targets.get(0).area);
ntAreaEntry.setDouble(targets.get(0).area);
ntAuxListEntry.setString(gson.toJson(targets));
} else if(data instanceof CVPipeline3d.CVPipeline3dResult) {
// TODO implement
} else if (data instanceof CVPipeline3d.CVPipeline3dResult) {
// TODO: (2.1) 3d stuff...
}
} else {
ntPitchEntry.setDouble(0.0);
ntYawEntry.setDouble(0.0);
ntDistanceEntry.setDouble(0.0);
ntAreaEntry.setDouble(0.0);
ntTimeStampEntry.setDouble(0.0);
}
}
@@ -222,10 +232,43 @@ public class VisionProcess {
cameraStreamer.setNewVideoMode(newMode);
}
public List<CVPipeline> getPipelines() {
return pipelines;
}
public CVPipeline getCurrentPipeline() {
return currentPipeline;
}
public int getCurrentPipelineIndex() {
return currentPipelineIndex;
}
public void addPipeline() {
// TODO: (2.1) add to UI option between 2d and 3d pipeline
pipelines.add(new CVPipeline2d());
}
public void addPipeline(CVPipeline pipeline) {
pipelines.add(pipeline);
}
public CameraProcess getCamera() {
return cameraProcess;
}
public boolean getDriverMode() {
return (currentPipeline == driverModePipeline);
}
public CVPipelineSettings getDriverModeSettings() {
return driverModePipeline.settings;
}
public CVPipeline getPipelineByIndex(int pipelineIndex) {
return pipelines.get(pipelineIndex);
}
/**
* CameraFrameRunnable grabs images from the cameraProcess
* at a specified loopTime
@@ -243,7 +286,7 @@ public class VisionProcess {
*/
CameraFrameRunnable(int cameraFPS) {
// add 2 FPS to allow for a bit of overhead
// TODO: test the affect of this
// TODO: (low) test the effect of this
super(1000L/(cameraFPS + 2));
}
@@ -281,7 +324,7 @@ public class VisionProcess {
*/
private class VisionProcessRunnable implements Runnable {
public Double fps = 0.0; // TODO update or average or something
public Double fps = 0.0; // TODO: (HIGH) update or average or something
private CVPipelineResult result;
private Mat streamBuffer = new Mat();
@@ -311,19 +354,19 @@ public class VisionProcess {
} else {
// System.err.println("Bad streambuffer mat");
}
// TODO do something with the result
// TODO: (HIGH) do something with the result
}
}
}
private class CameraStreamerRunnable extends LoopingRunnable {
private final CameraStreamer streamer;
public final CameraStreamer streamer;
private Mat streamBuffer = new Mat();
private CameraStreamerRunnable(int cameraFPS, CameraStreamer streamer) {
// add 2 FPS to allow for a bit of overhead
// TODO: test the affect of this
// TODO: (low) test the effect of this
super(1000L/(cameraFPS + 2));
this.streamer = streamer;
}