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Remove camera index in ui (#1677)

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With the new camera matching, this is SUPER BAD! Convert to using camera
uuid.

---------

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Cameron (3539)
2025-01-03 18:50:25 -05:00
committed by GitHub
parent 6c7a174424
commit ab844a77b8
19 changed files with 271 additions and 250 deletions
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10
photon-core/src/main/java/org/photonvision/common/dataflow/events/IncomingWebSocketEvent.java
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@@ -23,7 +23,7 @@ import org.photonvision.common.dataflow.DataChangeDestination;
import org.photonvision.common.dataflow.DataChangeSource;
public class IncomingWebSocketEvent<T> extends DataChangeEvent<T> {
public final Integer cameraIndex;
public final String cameraUniqueName;
public final WsContext originContext;
public IncomingWebSocketEvent(DataChangeDestination destType, String propertyName, T newValue) {
@@ -34,10 +34,10 @@ public class IncomingWebSocketEvent<T> extends DataChangeEvent<T> {
DataChangeDestination destType,
String propertyName,
T newValue,
Integer cameraIndex,
String cameraUniqueName,
WsContext originContext) {
super(DataChangeSource.DCS_WEBSOCKET, destType, propertyName, newValue);
this.cameraIndex = cameraIndex;
this.cameraUniqueName = cameraUniqueName;
this.originContext = originContext;
}
@@ -50,8 +50,8 @@ public class IncomingWebSocketEvent<T> extends DataChangeEvent<T> {
@Override
public String toString() {
return "IncomingWebSocketEvent{"
+ "cameraIndex="
+ cameraIndex
+ "cameraUniqueName="
+ cameraUniqueName
+ ", sourceType="
+ sourceType
+ ", destType="

8
photon-core/src/main/java/org/photonvision/common/dataflow/statusLEDs/StatusLEDConsumer.java
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@@ -22,14 +22,14 @@ import org.photonvision.common.hardware.HardwareManager;
import org.photonvision.vision.pipeline.result.CVPipelineResult;
public class StatusLEDConsumer implements CVPipelineResultConsumer {
private final int index;
private final String uniqueName;
public StatusLEDConsumer(int index) {
this.index = index;
public StatusLEDConsumer(String uniqueName) {
this.uniqueName = uniqueName;
}
@Override
public void accept(CVPipelineResult t) {
HardwareManager.getInstance().setTargetsVisibleStatus(this.index, t.hasTargets());
HardwareManager.getInstance().setTargetsVisibleStatus(this.uniqueName, t.hasTargets());
}
}

10
photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
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@@ -31,11 +31,11 @@ import org.photonvision.vision.pipeline.result.CalibrationPipelineResult;
public class UIDataPublisher implements CVPipelineResultConsumer {
private static final Logger logger = new Logger(UIDataPublisher.class, LogGroup.VisionModule);
private final int index;
private final String uniqueName;
private long lastUIResultUpdateTime = 0;
public UIDataPublisher(int index) {
this.index = index;
public UIDataPublisher(String uniqueName) {
this.uniqueName = uniqueName;
}
@Override
@@ -74,8 +74,8 @@ public class UIDataPublisher implements CVPipelineResultConsumer {
dataMap.put("multitagResult", multitagData);
}
var uiMap = new HashMap<Integer, HashMap<String, Object>>();
uiMap.put(index, dataMap);
var uiMap = new HashMap<String, HashMap<String, Object>>();
uiMap.put(uniqueName, dataMap);
DataChangeService.getInstance()
.publishEvent(OutgoingUIEvent.wrappedOf("updatePipelineResult", uiMap));

6
photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
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@@ -167,13 +167,13 @@ public class HardwareManager {
// API's supporting status LEDs
private Map<Integer, Boolean> pipelineTargets = new HashMap<Integer, Boolean>();
private Map<String, Boolean> pipelineTargets = new HashMap<String, Boolean>();
private boolean ntConnected = false;
private boolean systemRunning = false;
private int blinkCounter = 0;
public void setTargetsVisibleStatus(int pipelineIdx, boolean hasTargets) {
pipelineTargets.put(pipelineIdx, hasTargets);
public void setTargetsVisibleStatus(String uniqueName, boolean hasTargets) {
pipelineTargets.put(uniqueName, hasTargets);
}
public void setNTConnected(boolean isConnected) {

11
photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
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@@ -80,7 +80,6 @@ public class VisionModule {
private final NTDataPublisher ntConsumer;
private final UIDataPublisher uiDataConsumer;
private final StatusLEDConsumer statusLEDsConsumer;
protected final int moduleIndex;
protected final QuirkyCamera cameraQuirks;
protected TrackedTarget lastPipelineResultBestTarget;
@@ -94,7 +93,7 @@ public class VisionModule {
MJPGFrameConsumer inputVideoStreamer;
MJPGFrameConsumer outputVideoStreamer;
public VisionModule(PipelineManager pipelineManager, VisionSource visionSource, int index) {
public VisionModule(PipelineManager pipelineManager, VisionSource visionSource) {
logger =
new Logger(
VisionModule.class,
@@ -133,8 +132,6 @@ public class VisionModule {
this.cameraQuirks,
getChangeSubscriber());
this.streamRunnable = new StreamRunnable(new OutputStreamPipeline());
this.moduleIndex = index;
changeSubscriberHandle = DataChangeService.getInstance().addSubscriber(changeSubscriber);
createStreams();
@@ -148,8 +145,9 @@ public class VisionModule {
this::setPipeline,
pipelineManager::getDriverMode,
this::setDriverMode);
uiDataConsumer = new UIDataPublisher(index);
statusLEDsConsumer = new StatusLEDConsumer(index);
uiDataConsumer = new UIDataPublisher(visionSource.getSettables().getConfiguration().uniqueName);
statusLEDsConsumer =
new StatusLEDConsumer(visionSource.getSettables().getConfiguration().uniqueName);
addResultConsumer(ntConsumer);
addResultConsumer(uiDataConsumer);
addResultConsumer(statusLEDsConsumer);
@@ -531,7 +529,6 @@ public class VisionModule {
HashMap<String, Object> map = new HashMap<>();
HashMap<String, Object> subMap = new HashMap<>();
subMap.put(propertyName, value);
map.put("cameraIndex", this.moduleIndex);
map.put("mutatePipelineSettings", subMap);
DataChangeService.getInstance()

4
photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
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@@ -57,8 +57,8 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
public void onDataChangeEvent(DataChangeEvent<?> event) {
if (event instanceof IncomingWebSocketEvent wsEvent) {
// Camera index -1 means a "multicast event" (i.e. the event is received by all cameras)
if (wsEvent.cameraIndex != null
&& (wsEvent.cameraIndex == parentModule.moduleIndex || wsEvent.cameraIndex == -1)) {
if (wsEvent.cameraUniqueName != null
&& wsEvent.cameraUniqueName.equals(parentModule.uniqueName())) {
logger.trace("Got PSC event - propName: " + wsEvent.propertyName);
changeListLock.lock();
try {

12
photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java
View File

@@ -35,24 +35,18 @@ public class VisionModuleManager {
return visionModules;
}
public VisionModule getModule(String nickname) {
public VisionModule getModule(String uniqueName) {
for (var module : visionModules) {
if (module.getStateAsCameraConfig().nickname.equals(nickname)) return module;
if (module.getStateAsCameraConfig().uniqueName.equals(uniqueName)) return module;
}
return null;
}
public VisionModule getModule(int i) {
return visionModules.get(i);
}
public synchronized VisionModule addSource(VisionSource visionSource) {
visionSource.cameraConfiguration.streamIndex = newCameraIndex();
var pipelineManager = new PipelineManager(visionSource.getCameraConfiguration());
var module =
new VisionModule(
pipelineManager, visionSource, visionSource.cameraConfiguration.streamIndex);
var module = new VisionModule(pipelineManager, visionSource);
visionModules.add(module);
return module;