UI 3d mode, ConfigManager bugfixes (#103)

* stupid bugs I guess idk where else to put this commit * Run spotless * Fix config file loading Splits load into own method * Run spotless
2026-06-23 01:21:40 +00:00 · 2020-08-26 10:03:56 -07:00
parent fea72e18bf
commit 9f0e89ea29
13 changed files with 105 additions and 36 deletions
--- a/photon-client/src/assets/FRCtargets.json
+++ b/photon-client/src/assets/FRCtargets.json
@@ -1,20 +1,52 @@
 {
-  "2020 Hex Goal": [
-    [-19.625, 0],
-    [-9.819867, -17],
-    [9.819867, -17],
-    [19.625,0]
-  ],
-  "2020 Loading Station": [
-    [-3.54,5.5],
-    [-3.54,-5.5],
-    [3.54,-5.5],
-    [3.54,5.5]
-  ],
-  "2019 Dual Target": [
-    [-7.75, 3],
-    [-7.75, -3],
-    [7.75, -3],
-    [7.75, 3]
-  ]
+  "2020 Hex Goal": {
+    "realWorldCoordinatesArray": [
+      {
+        "x": -0.49847498536109924,
+        "y": 0.0,
+        "z": 0.0
+      },
+      {
+        "x": -0.24942462146282196,
+        "y": -0.4318000078201294,
+        "z": 0.0
+      },
+      {
+        "x": 0.24942462146282196,
+        "y": -0.4318000078201294,
+        "z": 0.0
+      },
+      {
+        "x": 0.49847498536109924,
+        "y": 0.0,
+        "z": 0.0
+      }
+    ],
+    "boxHeight": 0.30479999999999996
+  },
+  "2019 Dual Target": {
+    "realWorldCoordinatesArray": [
+      {
+        "x": -0.15077440440654755,
+        "y": 0.06761480122804642,
+        "z": 0.0
+      },
+      {
+        "x": -0.18575020134449005,
+        "y": -0.06761480122804642,
+        "z": 0.0
+      },
+      {
+        "x": 0.18575020134449005,
+        "y": -0.06761480122804642,
+        "z": 0.0
+      },
+      {
+        "x": 0.15077440440654755,
+        "y": 0.06761480122804642,
+        "z": 0.0
+      }
+    ],
+    "boxHeight": 0.1
+  }
 }
--- a/photon-client/src/components/pipeline/3D/MiniMap.vue
+++ b/photon-client/src/components/pipeline/3D/MiniMap.vue
@@ -94,7 +94,7 @@
                // move the rotation point to the center of the rect
                this.ctx.translate(y + this.targetWidth / 2, x + this.targetHeight / 2); // wpi lib makes x forward and back and y left to right
                // rotate the rect
-                this.ctx.rotate(target.rotation.radians * -1);
+                this.ctx.rotate(target.rot * -1 * Math.PI / 180.0);

                // draw the rect on the transformed context
                // Note: after transforming [0,0] is visually [x,y]
--- a/photon-client/src/store/index.js
+++ b/photon-client/src/store/index.js
@@ -93,7 +93,7 @@ export default new Vuex.Store({
                    skew: 0,
                    area: 0,
                    // 3D only
-                    pose: {x: 0, y: 0, rotation: 0},
+                    pose: {x: 0, y: 0, rot: 0},
                }]
            },
        settings: {
--- a/photon-client/src/views/PipelineViews/PnPTab.vue
+++ b/photon-client/src/views/PipelineViews/PnPTab.vue
@@ -66,7 +66,10 @@
                    color: "Success",
                    text: ""
                },
-                snack: false
+                snack: false,
+                selectedModel: {
+                    isCustom: false
+                }
            }
        },
        computed: {
@@ -164,7 +167,10 @@
                this.uploadModel(this.selectedModel, true);
            },
            uploadModel(model, premade = false) {
-                this.axios.post("http://" + this.$address + "/api/vision/pnpModel", model).then(() => {
+                this.axios.post("http://" + this.$address + "/api/vision/pnpModel", {
+                    ['targetModel']: model,
+                    ['index']: this.$store.getters.currentCameraIndex
+                }).then(() => {
                    this.snackbar = {
                        color: "success",
                        text: premade ? "Target model changed successfully" : "Custom target model uploaded and selected successfully"
--- a/photon-client/src/views/PipelineViews/ThresholdTab.vue
+++ b/photon-client/src/views/PipelineViews/ThresholdTab.vue
@@ -195,7 +195,6 @@
                            'hsvHue': s.hsvHue,
                            'hsvSaturation': s.hsvSaturation,
                            'hsvValue': s.hsvValue,
-                            'outputShowThresholded': this.showThresholdState,
                            'cameraIndex': this.$store.state.currentCameraIndex
                        }
                    });
@@ -208,6 +207,7 @@
                    case 0:
                        this.currentFunction = undefined;
                        this.$store.state.colorPicking = false;
+                        this.handlePipelineUpdate("outputShouldDraw", true);
                        return;
                    case 1:
                        this.currentFunction = this.colorPicker.eyeDrop;
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -162,12 +162,13 @@ public class Main {

        try {
            CameraServerCvJNI.forceLoad();
+            TestUtils.loadLibraries();
            logger.info("Native libraries loaded.");
        } catch (Exception e) {
            logger.error("Failed to load native libraries!", e);
        }

-        ConfigManager.getInstance(); // init config manager
+        ConfigManager.getInstance().load(); // init config manager
        NetworkManager.getInstance().initialize(false);

        NetworkTablesManager.getInstance()
--- a/photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java
+++ b/photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java
@@ -87,11 +87,9 @@ public class ConfigManager {
        this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri());

        TimedTaskManager.getInstance().addTask("ConfigManager", this::checkSaveAndWrite, 1000);
-
-        load();
    }

-    private void load() {
+    public void load() {
        logger.info("Loading settings...");
        if (!configDirectoryFile.exists()) {
            if (configDirectoryFile.mkdirs()) {
@@ -163,6 +161,9 @@ public class ConfigManager {
    public void saveToDisk() {
        logger.info("Saving settings...");

+        // Delete old configs
+        FileUtils.deleteDirectory(camerasFolder.toPath());
+
        try {
            JacksonUtils.serialize(hardwareConfigFile.toPath(), config.getHardwareConfig());
        } catch (IOException e) {
@@ -174,9 +175,6 @@ public class ConfigManager {
            logger.error("Could not save network config!", e);
        }

-        // Delete old configs
-        FileUtils.deleteDirectory(camerasFolder.toPath());
-
        // save all of our cameras
        var cameraConfigMap = config.getCameraConfigurations();
        for (var subdirName : cameraConfigMap.keySet()) {
--- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -36,6 +36,7 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.vision.processes.VisionModuleManager;
+import org.photonvision.vision.target.TargetModel;

 public class RequestHandler {
    private static final Logger logger = new Logger(RequestHandler.class, LogGroup.WebServer);
@@ -149,4 +150,23 @@ public class RequestHandler {
        ctx.status(200);
        System.exit(0);
    }
+
+    public static void uploadPnpModel(Context ctx) {
+        UITargetData data;
+        try {
+            data = kObjectMapper.readValue(ctx.body(), UITargetData.class);
+        } catch (JsonProcessingException e) {
+            e.printStackTrace();
+            ctx.status(500);
+            return;
+        }
+
+        VisionModuleManager.getInstance().getModule(data.index).setTargetModel(data.targetModel);
+        ctx.status(200);
+    }
+
+    public static class UITargetData {
+        public int index;
+        public TargetModel targetModel;
+    }
 }
--- a/photon-server/src/main/java/org/photonvision/server/Server.java
+++ b/photon-server/src/main/java/org/photonvision/server/Server.java
@@ -79,6 +79,7 @@ public class Server {
        app.post("/api/settings/endCalibration", RequestHandler::onCalibrationEnd);
        app.post("/api/restartDevice", RequestHandler::restartDevice);
        app.post("api/restartProgram", RequestHandler::restartProgram);
+        app.post("api/vision/pnpModel", RequestHandler::uploadPnpModel);

        app.start(port);
    }
--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -38,8 +38,10 @@ import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.camera.USBCameraSource;
 import org.photonvision.vision.frame.consumer.MJPGFrameConsumer;
+import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
 import org.photonvision.vision.pipeline.UICalibrationData;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
+import org.photonvision.vision.target.TargetModel;

 /**
 * This is the God Class
@@ -345,4 +347,14 @@ public class VisionModule {
            lastFrameConsumeMillis = System.currentTimeMillis();
        }
    }
+
+    public void setTargetModel(TargetModel targetModel) {
+        var settings = pipelineManager.getCurrentUserPipeline().getSettings();
+        if (settings instanceof ReflectivePipelineSettings) {
+            ((ReflectivePipelineSettings) settings).targetModel = targetModel;
+            saveAndBroadcastAll();
+        } else {
+            logger.error("Cannot set target model of non-reflective pipe! Ignoring...");
+        }
+    }
 }
--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
@@ -169,7 +169,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                        var actual = new IntegerCouple(orig.get(0), orig.get(1));
                        propField.set(currentSettings, actual);
                    } else if (propType.equals(Double.TYPE)) {
-                        propField.setDouble(currentSettings, (Double) newPropValue);
+                        propField.setDouble(currentSettings, ((Number) newPropValue).doubleValue());
                    } else if (propType.equals(Integer.TYPE)) {
                        propField.setInt(currentSettings, (Integer) newPropValue);
                    } else if (propType.equals(Boolean.TYPE)) {
--- a/photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java
+++ b/photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java
@@ -34,10 +34,6 @@ import org.photonvision.vision.target.TargetModel;

 public class ConfigTest {

-    static {
-        TestUtils.loadLibraries();
-    }
-
    private static ConfigManager configMgr;
    private static final CameraConfiguration cameraConfig =
            new CameraConfiguration("TestCamera", "/dev/video420");
@@ -48,6 +44,7 @@ public class ConfigTest {
    public static void init() {
        TestUtils.loadLibraries();
        configMgr = new ConfigManager(Path.of("testconfigdir"));
+        configMgr.load();
        Logger.setLevel(LogGroup.General, LogLevel.TRACE);

        REFLECTIVE_PIPELINE_SETTINGS = new ReflectivePipelineSettings();
@@ -65,7 +62,7 @@ public class ConfigTest {

    @Test
    @Order(1)
-    public void serializeConfig() throws IOException {
+    public void serializeConfig() {
        TestUtils.loadLibraries();

        Logger.setLevel(LogGroup.General, LogLevel.TRACE);
--- a/photon-server/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -23,6 +23,7 @@ import java.util.HashMap;
 import java.util.List;
 import org.junit.jupiter.api.*;
 import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.frame.FrameProvider;
@@ -103,6 +104,7 @@ public class VisionModuleManagerTest {

    @Test
    public void setupManager() {
+        ConfigManager.getInstance().load();
        var sources = new HashMap<VisionSource, List<CVPipelineSettings>>();
        sources.put(
                new TestSource(