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Merge branch 'dev' of https://github.com/chameleon-vision/Chameleon-Vision into dev

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Matt
2020-01-02 11:11:39 -08:00
parent 6366ca6296 7aa17e83b7
commit a1c54db1be
7 changed files with 56 additions and 51 deletions
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7
chameleon-server/src/main/java/com/chameleonvision/Exceptions/DuplicatedKeyException.java Normal file
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@@ -0,0 +1,7 @@
package com.chameleonvision.Exceptions;
public class DuplicatedKeyException extends Exception{
public DuplicatedKeyException(String message){
super(message);
}
}

4
chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCaptureProperties.java
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@@ -101,6 +101,10 @@ public class USBCaptureProperties extends CaptureProperties {
return videoModes;
}
public VideoMode getVideoMode(int index){
return videoModes.get(index);
}
public VideoMode getCurrentVideoMode() { return staticProperties.mode; }
public int getCurrentVideoModeIndex(){

11
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
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@@ -1,5 +1,6 @@
package com.chameleonvision.vision.pipeline;
import com.chameleonvision.Exceptions.DuplicatedKeyException;
import com.chameleonvision.config.CameraConfig;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.vision.VisionManager;
@@ -188,14 +189,18 @@ public class PipelineManager {
return pipelines.get(index);
}
public void duplicatePipeline(CVPipelineSettings pipeline) {
public void duplicatePipeline(CVPipelineSettings pipeline) throws DuplicatedKeyException {
duplicatePipeline(pipeline, parentProcess);
}
public void duplicatePipeline(CVPipelineSettings pipeline, VisionProcess destinationProcess) {
public void duplicatePipeline(CVPipelineSettings pipeline, VisionProcess destinationProcess) throws DuplicatedKeyException {
pipeline.index = destinationProcess.pipelineManager.pipelines.size();
pipeline.nickname += "(Copy)";
destinationProcess.pipelineManager.addPipeline(pipeline);
if (destinationProcess.pipelineManager.pipelines.stream().anyMatch(c -> c.settings.nickname.equals(pipeline.nickname))){
throw new DuplicatedKeyException("key Already exists");
} else{
destinationProcess.pipelineManager.addPipeline(pipeline);
}
}
public void renameCurrentPipeline(String newName) {

53
chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
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@@ -1,5 +1,6 @@
package com.chameleonvision.web;
import com.chameleonvision.Exceptions.DuplicatedKeyException;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.network.NetworkIPMode;
import com.chameleonvision.vision.VisionManager;
@@ -8,7 +9,10 @@ import com.chameleonvision.vision.camera.USBCameraCapture;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.chameleonvision.vision.pipeline.PipelineManager;
import com.chameleonvision.vision.pipeline.impl.Calibrate3dPipeline;
import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.JsonMappingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -47,41 +51,44 @@ public class RequestHandler {
public static void onDuplicatePipeline(Context ctx) {
ObjectMapper objectMapper = kObjectMapper;
try {
Map newPipelineData = objectMapper.readValue(ctx.body(), Map.class);
Map data = objectMapper.readValue(ctx.body(), Map.class);
int newCam = -1;
try {
newCam = (Integer) newPipelineData.get("camera");
} catch (Exception e) {
// ignored
}
int cameraIndex = (Integer) data.getOrDefault("camera", -1);
var pipeline = (CVPipelineSettings) newPipelineData.get("pipeline");
var pipelineIndex = (Integer) data.get("pipeline");
StandardCVPipelineSettings origPipeline = (StandardCVPipelineSettings) VisionManager.getCurrentUIVisionProcess().pipelineManager.getPipeline(pipelineIndex).settings;
String tmp = objectMapper.writeValueAsString(origPipeline);
StandardCVPipelineSettings newPipeline = objectMapper.readValue(tmp, StandardCVPipelineSettings.class);
if (newCam == -1) {
if (VisionManager.getCurrentCameraPipelineNicknames().contains(pipeline.nickname)) {
ctx.status(400); // BAD REQUEST
} else {
VisionManager.getCurrentUIVisionProcess().pipelineManager.addPipeline(pipeline);
if (cameraIndex == -1) { // same camera
VisionManager.getCurrentUIVisionProcess().pipelineManager.duplicatePipeline(newPipeline);
} else { // another camera
var cam = VisionManager.getVisionProcessByIndex(cameraIndex);
if (cam != null) {
if (cam.getCamera().getProperties().videoModes.size() < newPipeline.videoModeIndex) {
newPipeline.videoModeIndex = cam.getCamera().getProperties().videoModes.size() - 1;
}
if (newPipeline.is3D){
var calibration = cam.getCamera().getCalibration(cam.getCamera().getProperties().getVideoMode(newPipeline.videoModeIndex));
if (calibration == null){
newPipeline.is3D = false;
}
}
VisionManager.getCurrentUIVisionProcess().pipelineManager.duplicatePipeline(newPipeline, cam);
ctx.status(200);
}
} else {
var cam = VisionManager.getVisionProcessByIndex(newCam);
if (cam != null && cam.pipelineManager.pipelines.stream().anyMatch(c -> c.settings.nickname.equals(pipeline.nickname))) {
ctx.status(400); // BAD REQUEST
} else {
cam.pipelineManager.addPipeline(pipeline);
ctx.status(200);
ctx.status(500);
}
}
} catch (JsonProcessingException e) {
} catch (JsonProcessingException | DuplicatedKeyException ex) {
ctx.status(500);
}
}
public static void onCameraSettings(Context ctx) {
ObjectMapper objectMapper = kObjectMapper;
try {

1
chameleon-server/src/main/java/com/chameleonvision/web/Server.java
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@@ -30,6 +30,7 @@ public class Server {
});
app.post("/api/settings/general", RequestHandler::onGeneralSettings);
app.post("/api/settings/camera", RequestHandler::onCameraSettings);
app.post("/api/vision/duplicate", RequestHandler::onDuplicatePipeline);
app.post("/api/settings/startCalibration", RequestHandler::onCalibrationStart);
app.post("/api/settings/snapshot", RequestHandler::onSnapshot);
app.post("/api/settings/endCalibration", RequestHandler::onCalibrationEnding);

24
chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java
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@@ -83,30 +83,6 @@ public class SocketHandler {
VisionManager.saveCurrentCameraPipelines();
break;
}
case "duplicatePipeline": {
HashMap pipelineVals = (HashMap) entry.getValue();
int pipelineIndex = (int) pipelineVals.get("pipeline");
int cameraIndex = (int) pipelineVals.get("camera");
ObjectMapper mapper = new ObjectMapper();
CVPipelineSettings origPipeline = currentProcess.pipelineManager.getPipeline(pipelineIndex).settings;
String val = mapper.writeValueAsString(origPipeline);
CVPipelineSettings newPipeline = mapper.readValue(val, origPipeline.getClass());
if (cameraIndex != -1) {
VisionProcess newProcess = VisionManager.getVisionProcessByIndex(cameraIndex);
if (newProcess != null) {
currentProcess.pipelineManager.duplicatePipeline(newPipeline, newProcess);
} else {
System.err.println("Failed to get destination camera for pipeline duplication!");
}
} else {
currentProcess.pipelineManager.duplicatePipeline(newPipeline);
}
VisionManager.saveCurrentCameraPipelines();
sendFullSettings();
break;
}
case "addNewPipeline": {
// HashMap<String, Object> data = (HashMap<String, Object>) entry.getValue();
String pipeName = (String) entry.getValue();