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Add calibdb upload button (#735)

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* Add calibdb upload

* Fix distortion coefficients size
This commit is contained in:
Matt
2023-01-18 16:29:58 -05:00
committed by GitHub
parent a985c6cf3a
commit 9d6997180d
6 changed files with 185 additions and 1 deletions
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46
photon-server/src/main/java/org/photonvision/server/RequestHandler.java
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@@ -18,6 +18,7 @@
package org.photonvision.server;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.ObjectMapper;
import io.javalin.http.Context;
import java.io.File;
@@ -33,6 +34,9 @@ import java.util.Map;
import org.apache.commons.io.FileUtils;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.configuration.NetworkConfig;
import org.photonvision.common.dataflow.DataChangeDestination;
import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
import org.photonvision.common.hardware.HardwareManager;
import org.photonvision.common.hardware.Platform;
@@ -42,6 +46,7 @@ import org.photonvision.common.networking.NetworkManager;
import org.photonvision.common.util.ShellExec;
import org.photonvision.common.util.TimedTaskManager;
import org.photonvision.common.util.file.ProgramDirectoryUtilities;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
import org.photonvision.vision.processes.VisionModuleManager;
import org.photonvision.vision.target.TargetModel;
@@ -274,6 +279,44 @@ public class RequestHandler {
}
}
public static void importCalibrationFromCalibdb(Context ctx) {
var file = ctx.body();
if (file != null) {
// check if it's a JSON file
// Load using Jackson
try {
ObjectMapper mapper = new ObjectMapper();
JsonNode actualObj = mapper.readTree(file);
int cameraIndex = actualObj.get("cameraIndex").asInt();
String filename = actualObj.get("filename").asText();
var payload = mapper.readTree(actualObj.get("payload").asText());
var coeffs = CameraCalibrationCoefficients.parseFromCalibdbJson(payload);
var uploadCalibrationEvent =
new IncomingWebSocketEvent<CameraCalibrationCoefficients>(
DataChangeDestination.DCD_ACTIVEMODULE,
"calibrationUploaded",
coeffs,
(Integer) cameraIndex,
null);
DataChangeService.getInstance().publishEvent(uploadCalibrationEvent);
ctx.status(200);
logger.info("Calibration added!");
} catch (Exception e) {
logger.warn("Could not parse cal metaJSON!");
e.printStackTrace();
return;
}
} else {
ctx.status(500);
return;
}
}
public static void setCameraNickname(Context ctx) {
try {
var data = kObjectMapper.readValue(ctx.body(), HashMap.class);
@@ -304,7 +347,8 @@ public class RequestHandler {
public static void sendMetrics(Context ctx) {
HardwareManager.getInstance().publishMetrics();
// TimedTaskManager.getInstance().addOneShotTask(() -> RoborioFinder.getInstance().findRios(),
// TimedTaskManager.getInstance().addOneShotTask(() ->
// RoborioFinder.getInstance().findRios(),
// 0);
ctx.status(200);
}