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https://github.com/PhotonVision/photonvision
synced 2026-06-21 01:01:41 +00:00
Continue plumbing ServerHandler
This commit is contained in:
Banks Troutman
@@ -1,8 +1,13 @@
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package com.chameleonvision.web;
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import com.chameleonvision.classabstraction.VisionManager;
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import com.chameleonvision.classabstraction.VisionProcess;
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import com.chameleonvision.classabstraction.camera.CameraProcess;
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import com.chameleonvision.classabstraction.config.ConfigManager;
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import com.chameleonvision.classabstraction.pipeline.CVPipeline;
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import com.chameleonvision.classabstraction.pipeline.CVPipelineSettings;
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import com.chameleonvision.vision.*;
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import com.chameleonvision.vision.camera.StreamDivisor;
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import com.chameleonvision.vision.camera.USBCamera;
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import com.chameleonvision.vision.camera.CameraException;
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import com.chameleonvision.settings.SettingsManager;
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@@ -43,9 +48,14 @@ public class ServerHandler {
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});
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for (Map.Entry<String, Object> entry : deserialized.entrySet()) {
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try {
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var data = (HashMap<String, Object>) entry.getValue();
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VisionProcess currentProcess = VisionManager.getCurrentUIVisionProcess();
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CameraProcess currentCamera = currentProcess.getCamera();
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CVPipeline currentPipeline = currentProcess.getCurrentPipeline();
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switch (entry.getKey()) {
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case "generalSettings": {
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for (HashMap.Entry<String, Object> e : ((HashMap<String, Object>) entry.getValue()).entrySet()) {
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for (HashMap.Entry<String, Object> e : data.entrySet()) {
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setField(ConfigManager.settings, e.getKey(), e.getValue());
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}
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SettingsManager.saveSettings();
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@@ -53,45 +63,47 @@ public class ServerHandler {
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break;
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}
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case "driverMode": {
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for (HashMap.Entry<String, Object> e : ((HashMap<String, Object>) entry.getValue()).entrySet()) {
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setField(VisionManager.getCurrentCamera(), e.getKey(), e.getValue());
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for (HashMap.Entry<String, Object> e : data.entrySet()) {
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setField(VisionManager.getCurrentUIVisionProcess(), e.getKey(), e.getValue());
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}
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VisionManager.getCurrentCamera().setDriverMode((Boolean) ((HashMap<String, Object>) entry.getValue()).get("isDriver"));
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VisionManager.saveCameras();
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VisionManager.getCurrentUIVisionProcess().setDriverMode((Boolean) data.get("isDriver"));
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// TODO: (HIGH) create saveCameras() function in VisionManager
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// VisionManager.saveCameras();
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break;
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}
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case "cameraSettings": {
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HashMap camSettings = (HashMap) entry.getValue();
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var curCam = VisionManager.getCurrentCamera();
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Number newFOV = (Number) camSettings.get("fov");
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Integer newStreamDivisor = (Integer) camSettings.get("streamDivisor");
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StreamDivisor newStreamDivisor = StreamDivisor.values()[(Integer) camSettings.get("streamDivisor")];
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Integer newResolution = (Integer) camSettings.get("resolution");
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curCam.setFOV(newFOV);
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currentCamera.getProperties().FOV = (double) newFOV;
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var currentStreamDivisorOrdinal = curCam.getStreamDivisor().ordinal();
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if (currentStreamDivisorOrdinal != newStreamDivisor) {
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curCam.setStreamDivisor(newStreamDivisor, true);
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if (currentProcess.cameraStreamer.getDivisor() != newStreamDivisor) {
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currentProcess.cameraStreamer.setDivisor(newStreamDivisor);
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}
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var currentResolutionIndex = curCam.getVideoModeIndex();
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if (currentResolutionIndex != newResolution) {
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curCam.setCamVideoMode(newResolution, true);
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}
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// TODO (HIGH) get and set video modes!
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// var currentResolutionIndex = currentPipeline.getVideoModeIndex();
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// if (currentResolutionIndex != newResolution) {
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// currentCamera.getProperties().setCamVideoMode(newResolution, true);
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// }
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VisionManager.saveCameras();
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// TODO: (HIGH) create saveCameras() function in VisionManager
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// VisionManager.saveCameras();
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sendFullSettings();
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break;
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}
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case "changeCameraName": {
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VisionManager.getCurrentCamera().setNickname((String) entry.getValue());
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currentCamera.getProperties().setNickname((String) entry.getValue());
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sendFullSettings();
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SettingsManager.saveSettings();
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break;
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}
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case "changePipelineName": {
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VisionManager.getCurrentPipeline().nickname = (String) entry.getValue();
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currentPipeline.settings.nickname = ((String) entry.getValue());
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sendFullSettings();
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SettingsManager.saveSettings();
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break;
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@@ -101,38 +113,44 @@ public class ServerHandler {
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int pipelineIndex = (int) pipelineVals.get("pipeline");
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int cameraIndex = (int) pipelineVals.get("camera");
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Pipeline origPipeline = VisionManager.getCurrentCamera().getPipelineByIndex(pipelineIndex);
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CVPipeline origPipeline = currentProcess.getPipelineByIndex(pipelineIndex);
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if (cameraIndex != -1) {
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VisionManager.getCameraByIndex(cameraIndex).addPipeline(origPipeline);
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VisionProcess newProcess = VisionManager.getVisionProcessByIndex(cameraIndex);
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if(newProcess != null) {
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newProcess.addPipeline(origPipeline);
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}
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} else {
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VisionManager.getCurrentCamera().addPipeline(origPipeline);
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currentProcess.addPipeline(origPipeline);
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}
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// TODO: (HIGH) switch to ConfigManager
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SettingsManager.saveSettings();
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break;
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}
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case "command": {
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var cam = VisionManager.getCurrentCamera();
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switch ((String) entry.getValue()) {
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case "addNewPipeline":
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cam.addPipeline();
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currentProcess.addPipeline();
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sendFullSettings();
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// TODO: (HIGH) switch to ConfigManager
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SettingsManager.saveSettings();
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break;
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// TODO: (HIGH) this never worked before, re-visit now that VisionProcess is written sanely
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case "deleteCurrentPipeline":
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int currentIndex = cam.getCurrentPipelineIndex();
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int nextIndex;
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if (currentIndex == cam.getPipelines().size() - 1) {
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nextIndex = currentIndex - 1;
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} else {
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nextIndex = currentIndex;
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}
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cam.deletePipeline();
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cam.setCurrentPipelineIndex(nextIndex);
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sendFullSettings();
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SettingsManager.saveSettings();
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// int currentIndex = currentProcess.getCurrentPipelineIndex();
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// int nextIndex;
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// if (currentIndex == currentProcess.getPipelines().size() - 1) {
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// nextIndex = currentIndex - 1;
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// } else {
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// nextIndex = currentIndex;
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// }
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// cam.deletePipeline();
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// cam.setCurrentPipelineIndex(nextIndex);
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// sendFullSettings();
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// SettingsManager.saveSettings();
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break;
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case "save":
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// TODO: (HIGH) switch to ConfigManager
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SettingsManager.saveSettings();
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System.out.println("saved Settings");
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break;
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@@ -141,30 +159,31 @@ public class ServerHandler {
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break;
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}
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case "currentCamera": {
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VisionManager.setCurrentCamera((Integer) entry.getValue());
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// TODO: (HIGH) find way to map cameras to indexes
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VisionManager.setCurrentProcessByIndex((Integer) entry.getValue());
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sendFullSettings();
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break;
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}
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case "currentPipeline": {
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var cam = VisionManager.getCurrentCamera();
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cam.setCurrentPipelineIndex((Integer) entry.getValue());
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currentProcess.setPipeline((Integer) entry.getValue());
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sendFullSettings();
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try {
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cam.setBrightness(cam.getCurrentPipeline().brightness);
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cam.setExposure(cam.getCurrentPipeline().exposure);
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currentCamera.setBrightness((int) currentPipeline.settings.brightness);
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currentCamera.setExposure((int) currentPipeline.settings.exposure);
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} catch (Exception e) {
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continue;
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}
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break;
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}
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default: {
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setField(VisionManager.getCurrentCamera().getCurrentPipeline(), entry.getKey(), entry.getValue());
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setField(currentPipeline.settings, entry.getKey(), entry.getValue());
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switch (entry.getKey()) {
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case "exposure": {
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VisionManager.getCurrentCamera().setExposure((Integer) entry.getValue());
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currentCamera.setExposure((Integer) entry.getValue());
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}
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case "brightness": {
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VisionManager.getCurrentCamera().setBrightness((Integer) entry.getValue());
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currentCamera.setBrightness((Integer) entry.getValue());
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}
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}
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break;
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@@ -180,7 +199,9 @@ public class ServerHandler {
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private void setField(Object obj, String fieldName, Object value) {
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try {
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if (obj instanceof USBCamera) {
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var cam = (USBCamera)obj;
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// TODO: (HIGH) FIXXX!!!! this won't work anymore
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// the UI should instead understand that DriverMode is a pipeline (?)
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USBCamera cam = (USBCamera)obj;
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if (fieldName.equals("driverBrightness")) {
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cam.setDriverBrightness((Integer)value);
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} else if (fieldName.equals("driverExposure")) {
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@@ -199,7 +220,7 @@ public class ServerHandler {
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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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for (WsContext 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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@@ -220,9 +241,9 @@ public class ServerHandler {
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HashMap<String, Object> tmp = new HashMap<>();
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for (Field f : Pipeline.class.getFields()) {
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if (!f.getType().isEnum()) {
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tmp.put(f.getName(), f.get(VisionManager.getCurrentCamera().getCurrentPipeline()));
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tmp.put(f.getName(), f.get(VisionManager.getCurrentUIVisionProcess().getCurrentPipeline()));
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} else {
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var i = (Enum) f.get(VisionManager.getCurrentCamera().getCurrentPipeline());
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var i = (Enum) f.get(VisionManager.getCurrentUIVisionProcess().getCurrentPipeline());
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tmp.put(f.getName(), i.ordinal());
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}
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}
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@@ -242,27 +263,22 @@ public class ServerHandler {
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private static HashMap<String, Object> getOrdinalCameraSettings() {
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HashMap<String, Object> tmp = new HashMap<>();
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try {
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var currentCamera = VisionManager.getCurrentCamera();
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tmp.put("fov", currentCamera.getFOV());
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tmp.put("streamDivisor", currentCamera.getStreamDivisor().ordinal());
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tmp.put("resolution", currentCamera.getVideoModeIndex());
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} catch (CameraException e) {
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e.printStackTrace();
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}
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VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
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CameraProcess currentCamera = VisionManager.getCurrentUIVisionProcess().getCamera();
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tmp.put("fov", currentCamera.getProperties().FOV);
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tmp.put("streamDivisor", currentVisionProcess.cameraStreamer.getDivisor().ordinal());
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// TODO: (HIGH) get videomode index!
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// tmp.put("resolution", currentCamera.getVideoModeIndex());
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return tmp;
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}
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private static HashMap<String, Object> getOrdinalDriver() {
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HashMap<String, Object> tmp = new HashMap<>();
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try {
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var currentCamera = VisionManager.getCurrentCamera();
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tmp.put("isDriver", currentCamera.getDriverMode());
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tmp.put("driverBrightness", currentCamera.getDriverBrightness());
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tmp.put("driverExposure", currentCamera.getDriverExposure());
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} catch (CameraException e) {
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e.printStackTrace();
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}
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VisionProcess currentProcess = VisionManager.getCurrentUIVisionProcess();
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CVPipelineSettings driverModeSettings = currentProcess.getDriverModeSettings();
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tmp.put("isDriver", currentProcess.getDriverMode());
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tmp.put("driverBrightness", driverModeSettings.brightness);
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tmp.put("driverExposure", driverModeSettings.exposure);
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return tmp;
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}
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@@ -272,15 +288,16 @@ public class ServerHandler {
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try {
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fullSettings.put("settings", getOrdinalSettings());
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fullSettings.put("cameraSettings", getOrdinalCameraSettings());
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fullSettings.put("cameraList", VisionManager.getAllCameraByNickname());
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fullSettings.put("cameraList", VisionManager.getAllCameraNicknames());
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fullSettings.put("pipeline", getOrdinalPipeline());
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var currentCamera = VisionManager.getCurrentCamera();
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var currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
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fullSettings.put("driverMode",getOrdinalDriver());
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fullSettings.put("pipelineList", currentCamera.getPipelinesNickname());
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fullSettings.put("resolutionList", currentCamera.getResolutionList());
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fullSettings.put("port", currentCamera.getStreamPort());
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fullSettings.put("currentPipelineIndex", VisionManager.getCurrentCamera().getCurrentPipelineIndex());
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fullSettings.put("currentCameraIndex", VisionManager.getCurrentCameraIndex());
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// TODO (HIGH) all of these settings!
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// fullSettings.put("pipelineList", currentVisionProcess.getPipelinesNickname());
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// fullSettings.put("resolutionList", currentVisionProcess.getResolutionList());
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// fullSettings.put("port", currentVisionProcess.getStreamPort());
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fullSettings.put("currentPipelineIndex", VisionManager.getCurrentUIVisionProcess().getCurrentPipelineIndex());
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// fullSettings.put("currentCameraIndex", VisionManager.getCurrentCameraIndex());
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} catch (CameraException | IllegalAccessException e) {
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System.err.println("No camera found!");
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}
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