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3d, camera calibration, backend settings hookup (#80)

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* Implement new UI backend stuff

* Kinda partially add resolution accuracy list

* camera calibration go brrrrrrrr

* ayyyy calibration works

* Maybe fix grouping

* Reorganize camera view

* Fix settings not getting sent

* Make pretty (#4)

* Reorganize camera view

* Apply some cosmetic layout changes to the cameras page

* Fix pipeline rollback bug when starting on non-dashboard pages

Co-authored-by: Matt <matthew.morley.ca@gmail.com>

* Fix naming mismatch

* Mostly make stuff work

* rename robot-relative pose to camera-relative pose

* SolvePNP memes, fix isFovConfigurable

* Change config path to photonvision_config

* netmask go poof, fix zip download?

* Update index.js

* Fix multi cam stuff?

* Use LinearFilter instead

* Fix multicam

* aaa

* start adding restart device and restart program, fix square size bug

* Add some debug stuff

* oop

* Start fixing tests

* Fix tests

* Make target box proportinal

* run spotless

* Make crosshair h o t p i n k

* Address review comments

* Address review 2 electric booaloo

* Possibly implement vendor FOV?

* Make centroid crosshair gren

* actually use FOV

* Fix tests

* actually fix tests

Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
This commit is contained in:
Matt
2020-08-14 12:39:21 -07:00
committed by GitHub
parent 86ea661ed9
commit b3436765e1
86 changed files with 2106 additions and 1173 deletions
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24
photon-server/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
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@@ -20,6 +20,7 @@ package org.photonvision.common.configuration;
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnore;
import com.fasterxml.jackson.annotation.JsonProperty;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import java.util.ArrayList;
import java.util.List;
import org.photonvision.common.logging.LogGroup;
@@ -47,9 +48,10 @@ public class CameraConfiguration {
public CameraType cameraType = CameraType.UsbCamera;
public double FOV = 70;
public CameraCalibrationCoefficients calibration;
public final List<CameraCalibrationCoefficients> calibrations;
public List<Integer> cameraLeds = new ArrayList<>();
public int currentPipelineIndex = -1;
public int currentPipelineIndex = 0;
public Rotation2d camPitch = new Rotation2d();
@JsonIgnore // this ignores the pipes as we serialize them to their own subfolder
public List<CVPipelineSettings> pipelineSettings = new ArrayList<>();
@@ -66,6 +68,7 @@ public class CameraConfiguration {
this.uniqueName = uniqueName;
this.nickname = nickname;
this.path = path;
this.calibrations = new ArrayList<>();
logger.debug(
"Creating USB camera configuration for "
@@ -85,18 +88,20 @@ public class CameraConfiguration {
@JsonProperty("FOV") double FOV,
@JsonProperty("path") String path,
@JsonProperty("cameraType") CameraType cameraType,
@JsonProperty("calibration") CameraCalibrationCoefficients calibration,
@JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
@JsonProperty("cameraLEDs") List<Integer> cameraLeds,
@JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
@JsonProperty("currentPipelineIndex") int currentPipelineIndex,
@JsonProperty("camPitch") Rotation2d camPitch) {
this.baseName = baseName;
this.uniqueName = uniqueName;
this.nickname = nickname;
this.FOV = FOV;
this.path = path;
this.cameraType = cameraType;
this.calibration = calibration;
this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
this.cameraLeds = cameraLeds;
this.currentPipelineIndex = currentPipelineIndex;
this.camPitch = camPitch;
logger.debug(
"Creating camera configuration for "
@@ -134,4 +139,13 @@ public class CameraConfiguration {
public void setPipelineSettings(List<CVPipelineSettings> settings) {
pipelineSettings = settings;
}
public void addCalibration(CameraCalibrationCoefficients calibration) {
logger.info("adding calibration " + calibration.resolution);
calibrations.stream()
.filter(it -> it.resolution.equals(calibration.resolution))
.findAny()
.ifPresent(calibrations::remove);
calibrations.add(calibration);
}
}

104
photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java
View File

@@ -22,25 +22,30 @@ import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.util.*;
import java.util.stream.Collectors;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.file.FileUtils;
import org.photonvision.common.util.file.JacksonUtils;
import org.photonvision.vision.pipeline.CVPipelineSettings;
import org.photonvision.vision.pipeline.DriverModePipelineSettings;
import org.photonvision.vision.processes.VisionSource;
import org.zeroturnaround.zip.ZipUtil;
public class ConfigManager {
private static final Logger logger = new Logger(ConfigManager.class, LogGroup.General);
private static ConfigManager INSTANCE;
private PhotonConfiguration config;
final File rootFolder;
private final File hardwareConfigFile;
private final File networkConfigFile;
private final File camerasFolder;
final File configDirectoryFile;
public static ConfigManager getInstance() {
if (INSTANCE == null) {
INSTANCE = new ConfigManager(getRootFolder());
@@ -48,34 +53,58 @@ public class ConfigManager {
return INSTANCE;
}
public static void saveUploadedSettingsZip(File uploadPath) {
logger.info(uploadPath.getAbsolutePath());
var folderPath = Path.of(System.getProperty("java.io.tmpdir"), "photonvision").toFile();
folderPath.mkdirs();
ZipUtil.unpack(uploadPath, folderPath);
FileUtils.deleteDirectory(getRootFolder());
try {
org.apache.commons.io.FileUtils.copyDirectory(folderPath, getRootFolder().toFile());
} catch (IOException e) {
e.printStackTrace();
}
System.exit(666);
}
public PhotonConfiguration getConfig() {
return config;
}
private static Path getRootFolder() {
return Path.of("photonvision");
return Path.of("photonvision_config");
}
ConfigManager(Path rootFolder) {
this.rootFolder = new File(rootFolder.toUri());
ConfigManager(Path configDirectoryFile) {
this.configDirectoryFile = new File(configDirectoryFile.toUri());
this.hardwareConfigFile =
new File(Path.of(rootFolder.toString(), "hardwareConfig.json").toUri());
new File(Path.of(configDirectoryFile.toString(), "hardwareConfig.json").toUri());
this.networkConfigFile =
new File(Path.of(rootFolder.toString(), "networkSettings.json").toUri());
this.camerasFolder = new File(Path.of(rootFolder.toString(), "cameras").toUri());
new File(Path.of(configDirectoryFile.toString(), "networkSettings.json").toUri());
this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri());
load();
}
private void load() {
logger.info("Loading settings...");
if (!rootFolder.exists()) {
if (rootFolder.mkdirs()) {
if (!configDirectoryFile.exists()) {
if (configDirectoryFile.mkdirs()) {
logger.debug("Root config folder did not exist. Created!");
} else {
logger.error("Failed to create root config folder!");
}
}
if (!configDirectoryFile.canWrite()) {
logger.debug("Making root dir writeable...");
try {
var success = configDirectoryFile.setWritable(true);
if (success) logger.debug("Set root dir writeable!");
else logger.error("Could not make root dir writeable!");
} catch (SecurityException e) {
logger.error("Could not make root dir writeable!", e);
}
}
HardwareConfig hardwareConfig;
NetworkConfig networkConfig;
@@ -130,16 +159,19 @@ public class ConfigManager {
logger.info("Saving settings...");
try {
JacksonUtils.serializer(hardwareConfigFile.toPath(), config.getHardwareConfig());
JacksonUtils.serialize(hardwareConfigFile.toPath(), config.getHardwareConfig());
} catch (IOException e) {
logger.error("Could not save hardware config!", e);
}
try {
JacksonUtils.serializer(networkConfigFile.toPath(), config.getNetworkConfig());
JacksonUtils.serialize(networkConfigFile.toPath(), config.getNetworkConfig());
} catch (IOException e) {
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()) {
@@ -152,25 +184,16 @@ public class ConfigManager {
}
try {
JacksonUtils.serializer(Path.of(subdir.toString(), "config.json"), camConfig);
JacksonUtils.serialize(Path.of(subdir.toString(), "config.json"), camConfig);
} catch (IOException e) {
logger.error("Could not save config.json for " + subdir);
logger.error("Could not save config.json for " + subdir, e);
}
try {
JacksonUtils.serializer(
JacksonUtils.serialize(
Path.of(subdir.toString(), "drivermode.json"), camConfig.driveModeSettings);
} catch (IOException e) {
logger.error("Could not save drivermode.json for " + subdir);
}
// Delete old pipe configs so that we don't get any conflicts
try {
var pipelineFolder = Path.of(subdir.toString(), "pipelines");
if (pipelineFolder.toFile().exists())
Files.list(pipelineFolder).map(Path::toFile).filter(File::exists).forEach(File::delete);
} catch (IOException e) {
logger.error("Exception while deleting old configs!", e);
logger.error("Could not save drivermode.json for " + subdir, e);
}
for (var pipe : camConfig.pipelineSettings) {
@@ -182,7 +205,7 @@ public class ConfigManager {
}
try {
JacksonUtils.serializer(pipePath, pipe);
JacksonUtils.serialize(pipePath, pipe);
} catch (IOException e) {
logger.error("Could not save " + pipe.pipelineNickname + ".json!", e);
}
@@ -207,6 +230,7 @@ public class ConfigManager {
cameraConfigPath.toAbsolutePath(), CameraConfiguration.class);
} catch (JsonProcessingException e) {
logger.error("Camera config deserialization failed!", e);
e.printStackTrace();
}
if (loadedConfig == null) { // If the file could not be deserialized
logger.warn("Could not load camera " + subdir + "'s config.json! Loading " + "default");
@@ -243,7 +267,11 @@ public class ConfigManager {
.map(
p -> {
var relativizedFilePath =
rootFolder.toPath().toAbsolutePath().relativize(p).toString();
configDirectoryFile
.toPath()
.toAbsolutePath()
.relativize(p)
.toString();
try {
return JacksonUtils.deserialize(p, CVPipelineSettings.class);
} catch (JsonProcessingException e) {
@@ -284,4 +312,28 @@ public class ConfigManager {
getConfig().addCameraConfig(uniqueName, config);
save();
}
public File getSettingsFolderAsZip() {
File out = Path.of(System.getProperty("java.io.tmpdir"), "photonvision-settings.zip").toFile();
try {
ZipUtil.pack(configDirectoryFile, out);
} catch (Exception e) {
e.printStackTrace();
}
return out;
}
public void setNetworkSettings(NetworkConfig networkConfig) {
getConfig().setNetworkConfig(networkConfig);
save();
}
public Path getLogPath() {
var dateString = DateTimeFormatter.ofPattern("yyyy-M-d_hh-mm-ss").format(LocalDateTime.now());
var logFile =
Path.of(configDirectoryFile.toString(), "logs", "photonvision-" + dateString + ".log")
.toFile();
if (!logFile.getParentFile().exists()) logFile.getParentFile().mkdirs();
return logFile.toPath();
}
}

70
photon-server/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
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@@ -17,12 +17,8 @@
package org.photonvision.common.configuration;
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonProperty;
import java.util.ArrayList;
import java.util.Map;
@SuppressWarnings("unused")
public class HardwareConfig {
public final String deviceName;
@@ -47,6 +43,10 @@ public class HardwareConfig {
public final String gpuTempCommand;
public final String ramUtilCommand;
// Device stuff
public final String restartHardwareCommand;
public final double vendorFOV; // -1 for unmanaged
public HardwareConfig() {
deviceName = "";
deviceLogoPath = "";
@@ -66,32 +66,54 @@ public class HardwareConfig {
gpuTempCommand = "";
ramUtilCommand = "";
ledBlinkCommand = "";
restartHardwareCommand = "";
vendorFOV = -1;
}
@JsonCreator
@SuppressWarnings("unused")
public HardwareConfig(
@JsonProperty("deviceName") String deviceName,
@JsonProperty("deviceLogoPath") String deviceLogoPath,
@JsonProperty("supportURL") String supportURL,
@JsonProperty("hardware") Map<String, ?> hardware,
@JsonProperty("metrics") Map<String, ?> metrics) {
String deviceName,
String deviceLogoPath,
String supportURL,
ArrayList<Integer> ledPins,
String ledSetCommand,
boolean ledsCanDim,
ArrayList<Integer> ledPWMRange,
String ledPWMSetRange,
int ledPWMFrequency,
String ledDimCommand,
String ledBlinkCommand,
String cpuTempCommand,
String cpuMemoryCommand,
String cpuUtilCommand,
String gpuMemoryCommand,
String gpuTempCommand,
String ramUtilCommand,
String restartHardwareCommand,
double vendorFOV) {
this.deviceName = deviceName;
this.deviceLogoPath = deviceLogoPath;
this.supportURL = supportURL;
this.ledPins = (ArrayList<Integer>) hardware.get("leds");
this.ledSetCommand = (String) hardware.get("ledSetCommand");
this.ledsCanDim = (Boolean) hardware.get("ledsCanDim");
this.ledPWMRange = (ArrayList<Integer>) hardware.get("ledPWMRange");
this.ledPWMSetRange = (String) hardware.get("ledPWMSetRange");
this.ledPWMFrequency = (Integer) hardware.get("ledPWMFrequency");
this.ledDimCommand = (String) hardware.get("ledDimCommand");
this.ledBlinkCommand = (String) hardware.get("ledBlinkCommand");
this.ledPins = ledPins;
this.ledSetCommand = ledSetCommand;
this.ledsCanDim = ledsCanDim;
this.ledPWMRange = ledPWMRange;
this.ledPWMSetRange = ledPWMSetRange;
this.ledPWMFrequency = ledPWMFrequency;
this.ledDimCommand = ledDimCommand;
this.ledBlinkCommand = ledBlinkCommand;
this.cpuTempCommand = cpuTempCommand;
this.cpuMemoryCommand = cpuMemoryCommand;
this.cpuUtilCommand = cpuUtilCommand;
this.gpuMemoryCommand = gpuMemoryCommand;
this.gpuTempCommand = gpuTempCommand;
this.ramUtilCommand = ramUtilCommand;
this.restartHardwareCommand = restartHardwareCommand;
this.vendorFOV = vendorFOV;
}
this.cpuTempCommand = (String) metrics.get("cpuTemp");
this.cpuMemoryCommand = (String) metrics.get("cpuMemory");
this.cpuUtilCommand = (String) metrics.get("cpuUtil");
this.gpuMemoryCommand = (String) metrics.get("gpuMemory");
this.gpuTempCommand = (String) metrics.get("gpuUtil");
this.ramUtilCommand = (String) metrics.get("ramUtil");
public final boolean hasPresetFOV() {
return vendorFOV > 0;
}
}

42
photon-server/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
View File

@@ -18,23 +18,57 @@
package org.photonvision.common.configuration;
import java.util.HashMap;
import java.util.Map;
import org.photonvision.common.networking.NetworkMode;
public class NetworkConfig {
public int teamNumber = 1;
public NetworkMode connectionType = NetworkMode.DHCP;
public String ip = "";
public String gateway = "";
public String staticIp = "";
public String netmask = "";
public String hostname = "photonvision";
// TODO implement networking
public boolean shouldManage;
public NetworkConfig() {}
public NetworkConfig(
int teamNumber,
NetworkMode connectionType,
String staticIp,
String netmask,
String hostname,
boolean shouldManage) {
this.teamNumber = teamNumber;
this.connectionType = connectionType;
this.staticIp = staticIp;
this.netmask = netmask;
this.hostname = hostname;
this.shouldManage = shouldManage;
}
public static NetworkConfig fromHashMap(Map<String, Object> map) {
// teamNumber (int), supported (bool), connectionType (int),
// staticIp (str), netmask (str), hostname (str)
var ret = new NetworkConfig();
ret.teamNumber = Integer.parseInt(map.get("teamNumber").toString());
ret.shouldManage = (Boolean) map.get("supported");
ret.connectionType = NetworkMode.values()[(Integer) map.get("connectionType")];
ret.staticIp = (String) map.get("staticIp");
ret.netmask = (String) map.get("netmask");
ret.hostname = (String) map.get("hostname");
return ret;
}
public HashMap<String, Object> toHashMap() {
HashMap<String, Object> tmp = new HashMap<>();
tmp.put("teamNumber", teamNumber);
tmp.put("supported", shouldManage);
tmp.put("connectionType", connectionType.ordinal());
tmp.put("ip", ip);
tmp.put("gateway", gateway);
tmp.put("staticIp", staticIp);
tmp.put("netmask", netmask);
tmp.put("hostname", hostname);
return tmp;
}
}

22
photon-server/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
View File

@@ -21,6 +21,7 @@ import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
import org.photonvision.PhotonVersion;
import org.photonvision.common.util.SerializationUtils;
import org.photonvision.vision.processes.VisionModule;
import org.photonvision.vision.processes.VisionModuleManager;
@@ -35,6 +36,10 @@ public class PhotonConfiguration {
return networkConfig;
}
public void setNetworkConfig(NetworkConfig networkConfig) {
this.networkConfig = networkConfig;
}
public HashMap<String, CameraConfiguration> getCameraConfigurations() {
return cameraConfigurations;
}
@@ -54,6 +59,7 @@ public class PhotonConfiguration {
}
private HardwareConfig hardwareConfig;
private NetworkConfig networkConfig;
private HashMap<String, CameraConfiguration> cameraConfigurations;
@@ -73,8 +79,9 @@ public class PhotonConfiguration {
public Map<String, Object> toHashMap() {
Map<String, Object> map = new HashMap<>();
var settingsSubmap = new HashMap<String, Object>();
map.put("networkSettings", networkConfig.toHashMap());
settingsSubmap.put("networkSettings", networkConfig.toHashMap());
map.put(
"cameraSettings",
VisionModuleManager.getInstance().getModules().stream()
@@ -82,6 +89,17 @@ public class PhotonConfiguration {
.map(SerializationUtils::objectToHashMap)
.collect(Collectors.toList()));
settingsSubmap.put("lighting", SerializationUtils.objectToHashMap(hardwareConfig));
var generalSubmap = new HashMap<String, Object>();
generalSubmap.put("version", PhotonVersion.versionString);
generalSubmap.put("gpuAcceleration", false); // TODO gpu accel and accel type
generalSubmap.put("gpuAccelerationType", "Unknown");
generalSubmap.put("hardwareModel", "Unknown"); // TODO hardware model and platform
generalSubmap.put("hardwarePlatform", "Unknown");
settingsSubmap.put("general", generalSubmap);
map.put("settings", settingsSubmap);
return map;
}
@@ -95,5 +113,7 @@ public class PhotonConfiguration {
public HashMap<Integer, HashMap<String, Object>> videoFormatList;
public int outputStreamPort;
public int inputStreamPort;
public List<HashMap<String, Object>> calibrations;
public boolean isFovConfigurable = true;
}
}

1
photon-server/src/main/java/org/photonvision/common/dataflow/DataChangeService.java
View File

@@ -68,6 +68,7 @@ public class DataChangeService {
}
} catch (Exception e) {
logger.error("Exception when dispatching event!", e);
e.printStackTrace();
}
}
}

10
photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
View File

@@ -52,8 +52,6 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
private final Supplier<Integer> pipelineIndexSupplier;
private final BooleanSupplier driverModeSupplier;
private String currentCameraNickname;
public NTDataPublisher(
String cameraNickname,
Supplier<Integer> pipelineIndexSupplier,
@@ -65,7 +63,6 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
this.driverModeSupplier = driverModeSupplier;
this.driverModeConsumer = driverModeConsumer;
currentCameraNickname = cameraNickname;
updateCameraNickname(cameraNickname);
updateEntries();
}
@@ -146,7 +143,6 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
removeEntries();
subTable = rootTable.getSubTable(newCameraNickname);
updateEntries();
currentCameraNickname = newCameraNickname;
}
@Override
@@ -170,9 +166,9 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
targetAreaEntry.forceSetDouble(bestTarget.getArea());
targetSkewEntry.forceSetDouble(bestTarget.getSkew());
var poseX = bestTarget.getRobotRelativePose().getTranslation().getX();
var poseY = bestTarget.getRobotRelativePose().getTranslation().getY();
var poseRot = bestTarget.getRobotRelativePose().getRotation().getDegrees();
var poseX = bestTarget.getCameraToTarget().getTranslation().getX();
var poseY = bestTarget.getCameraToTarget().getTranslation().getY();
var poseRot = bestTarget.getCameraToTarget().getRotation().getDegrees();
targetPoseEntry.forceSetDoubleArray(new double[] {poseX, poseY, poseRot});
} else {
targetPitchEntry.forceSetDouble(0);

1
photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
View File

@@ -27,6 +27,7 @@ import org.photonvision.common.logging.Logger;
import org.photonvision.common.scripting.ScriptEventType;
import org.photonvision.common.scripting.ScriptManager;
// TODO refactor this to be a singleton
public class NetworkTablesManager {
private NetworkTablesManager() {}

10
photon-server/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
View File

@@ -18,7 +18,6 @@
package org.photonvision.common.dataflow.websocket;
import com.fasterxml.jackson.core.JsonProcessingException;
import edu.wpi.first.wpilibj.MedianFilter;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
@@ -31,10 +30,7 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
public class UIDataPublisher implements CVPipelineResultConsumer {
private static final Logger logger = new Logger(UIDataPublisher.class, LogGroup.VisionModule);
// TODO check if this is the right spot to do FPS calculation
private final MedianFilter fpsAverager = new MedianFilter(10);
private final int index;
private long lastRunTime = 0;
private long lastUIResultUpdateTime = 0;
public UIDataPublisher(int index) {
@@ -45,16 +41,12 @@ public class UIDataPublisher implements CVPipelineResultConsumer {
public void accept(CVPipelineResult result) {
var now = System.currentTimeMillis();
var fps = fpsAverager.calculate(1000.0 / (now - lastRunTime));
lastRunTime = now;
// only update the UI at 15hz
if (lastUIResultUpdateTime + 1000.0 / 15.0 > now) return;
if (lastUIResultUpdateTime + 1000.0 / 10.0 > now) return;
var uiMap = new HashMap<Integer, HashMap<String, Object>>();
var dataMap = new HashMap<String, Object>();
dataMap.put("fps", fps);
dataMap.put("latency", result.getLatencyMillis());
var targets = result.targets;

3
photon-server/src/main/java/org/photonvision/common/hardware/GPIO/GPIOBase.java
View File

@@ -26,6 +26,7 @@ import org.photonvision.common.util.ShellExec;
public abstract class GPIOBase {
private static final Logger logger = new Logger(GPIOBase.class, LogGroup.General);
private static final ShellExec runCommand = new ShellExec(true, true);
public static HashMap<String, String> commands =
new HashMap<>() {
@@ -39,8 +40,6 @@ public abstract class GPIOBase {
}
};
private static final ShellExec runCommand = new ShellExec(true, true);
public static String execute(String command) {
try {
runCommand.executeBashCommand(command);

27
photon-server/src/main/java/org/photonvision/common/hardware/HardwareManager.java
View File

@@ -17,6 +17,7 @@
package org.photonvision.common.hardware;
import java.io.IOException;
import java.util.HashMap;
import org.photonvision.common.configuration.HardwareConfig;
import org.photonvision.common.hardware.GPIO.CustomGPIO;
@@ -24,12 +25,20 @@ import org.photonvision.common.hardware.GPIO.GPIOBase;
import org.photonvision.common.hardware.GPIO.PiGPIO;
import org.photonvision.common.hardware.metrics.MetricsBase;
import org.photonvision.common.hardware.metrics.MetricsPublisher;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.ShellExec;
public class HardwareManager {
HardwareConfig hardwareConfig;
private static final HashMap<Integer, GPIOBase> LEDs = new HashMap<>();
private final HashMap<Integer, GPIOBase> LEDs = new HashMap<>();
private final ShellExec shellExec = new ShellExec(true, false);
private final Logger logger = new Logger(HardwareManager.class, LogGroup.General);
public static HardwareManager getInstance() {
if (Singleton.INSTANCE == null) {
Singleton.INSTANCE = new HardwareManager();
}
return Singleton.INSTANCE;
}
@@ -52,6 +61,7 @@ public class HardwareManager {
// Start hardware metrics thread
MetricsPublisher.getInstance().startTask();
}
/** Example: HardwareManager.getInstance().getPWM(port).dimLEDs(int dimValue); */
public GPIOBase getGPIO(int pin) {
return LEDs.get(pin);
@@ -81,7 +91,20 @@ public class HardwareManager {
LEDs.values().forEach(GPIOBase::shutdown);
}
public boolean restartDevice() {
try {
return shellExec.executeBashCommand(hardwareConfig.restartHardwareCommand) == 0;
} catch (IOException e) {
logger.error("Could not restart device!", e);
return false;
}
}
public HardwareConfig getConfig() {
return hardwareConfig;
}
private static class Singleton {
private static final HardwareManager INSTANCE = new HardwareManager();
private static HardwareManager INSTANCE;
}
}

15
photon-server/src/main/java/org/photonvision/common/hardware/Platform.java
View File

@@ -36,8 +36,9 @@ public enum Platform {
// Completely unsupported
UNSUPPORTED("Unsupported Platform");
private static final ShellExec shell = new ShellExec(true, false);
public final String value;
public final boolean isRoot = checkForRoot();
public static final boolean isRoot = checkForRoot();
Platform(String value) {
this.value = value;
@@ -54,21 +55,21 @@ public enum Platform {
return this == WINDOWS_64 || this == WINDOWS_32;
}
public boolean isLinux() {
return this == LINUX_64 || this == LINUX_RASPBIAN || this == LINUX_ARM64;
public static boolean isLinux() {
return getCurrentPlatform() == LINUX_64
|| getCurrentPlatform() == LINUX_RASPBIAN
|| getCurrentPlatform() == LINUX_ARM64;
}
public static boolean isRaspberryPi() {
return CurrentPlatform.equals(LINUX_RASPBIAN);
}
private static ShellExec shell = new ShellExec(true, false);
@SuppressWarnings("StatementWithEmptyBody")
private boolean checkForRoot() {
private static boolean checkForRoot() {
if (isLinux()) {
try {
shell.execute("id", null, true, "-u");
shell.executeBashCommand("id -u");
} catch (IOException e) {
e.printStackTrace();
}

14
photon-server/src/main/java/org/photonvision/common/hardware/metrics/CPU.java → photon-server/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java
View File

@@ -17,28 +17,22 @@
package org.photonvision.common.hardware.metrics;
public class CPU extends MetricsBase {
public class CPUMetrics extends MetricsBase {
private CPU() {}
public static CPU getInstance() {
return Singleton.INSTANCE;
}
public CPUMetrics() {}
public double getMemory() {
if (cpuMemoryCommand.isEmpty()) return 0;
return execute(cpuMemoryCommand);
}
// TODO: Command should return in Celsius
public double getTemp() {
if (cpuTemperatureCommand.isEmpty()) return 0;
return execute(cpuTemperatureCommand) / 1000;
}
public double getUtilization() {
return execute(cpuUtilizationCommand);
}
private static class Singleton {
public static final CPU INSTANCE = new CPU();
}
}

13
photon-server/src/main/java/org/photonvision/common/hardware/metrics/GPU.java → photon-server/src/main/java/org/photonvision/common/hardware/metrics/GPUMetrics.java
View File

@@ -17,14 +17,7 @@
package org.photonvision.common.hardware.metrics;
public class GPU extends MetricsBase {
private GPU() {}
public static GPU getInstance() {
return Singleton.INSTANCE;
}
public class GPUMetrics extends MetricsBase {
public double getMemory() {
return execute(gpuMemoryCommand);
}
@@ -32,8 +25,4 @@ public class GPU extends MetricsBase {
public double getTemp() {
return execute(gpuTemperatureCommand) / 10;
}
private static class Singleton {
public static final GPU INSTANCE = new GPU();
}
}

24
photon-server/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java
View File

@@ -28,18 +28,18 @@ import org.photonvision.server.UIUpdateType;
public class MetricsPublisher {
private final HashMap<String, Double> metrics;
private static final Logger logger = new Logger(MetricsPublisher.class, LogGroup.General);
private static CPU cpu;
private static GPU gpu;
private static RAM ram;
private static CPUMetrics cpuMetrics;
private static GPUMetrics gpuMetrics;
private static RAMMetrics ramMetrics;
public static MetricsPublisher getInstance() {
return Singleton.INSTANCE;
}
private MetricsPublisher() {
cpu = CPU.getInstance();
gpu = GPU.getInstance();
ram = RAM.getInstance();
cpuMetrics = new CPUMetrics();
gpuMetrics = new GPUMetrics();
ramMetrics = new RAMMetrics();
metrics = new HashMap<>();
}
@@ -49,12 +49,12 @@ public class MetricsPublisher {
.addTask(
"Metrics",
() -> {
metrics.put("cpuTemp", cpu.getTemp());
metrics.put("cpuUtil", cpu.getUtilization());
metrics.put("cpuMem", cpu.getMemory());
metrics.put("gpuTemp", gpu.getTemp());
metrics.put("gpuMem", gpu.getMemory());
metrics.put("ramUtil", ram.getUsedRam());
metrics.put("cpuTemp", cpuMetrics.getTemp());
metrics.put("cpuUtil", cpuMetrics.getUtilization());
metrics.put("cpuMem", cpuMetrics.getMemory());
metrics.put("gpuTemp", gpuMetrics.getTemp());
metrics.put("gpuMem", gpuMetrics.getMemory());
metrics.put("ramUtil", ramMetrics.getUsedRam());
DataChangeService.getInstance()
.publishEvent(

13
photon-server/src/main/java/org/photonvision/common/hardware/metrics/RAM.java → photon-server/src/main/java/org/photonvision/common/hardware/metrics/RAMMetrics.java
View File

@@ -17,19 +17,10 @@
package org.photonvision.common.hardware.metrics;
public class RAM extends MetricsBase {
private RAM() {}
public static RAM getInstance() {
return Singleton.INSTANCE;
}
public class RAMMetrics extends MetricsBase {
// TODO: Output in MBs for consistency
public double getUsedRam() {
if (ramUsageCommand.isEmpty()) return 0;
return execute(ramUsageCommand) / 1000;
}
private static class Singleton {
public static final RAM INSTANCE = new RAM();
}
}

49
photon-server/src/main/java/org/photonvision/common/logging/Logger.java
View File

@@ -17,21 +17,18 @@
package org.photonvision.common.logging;
import java.io.IOException;
import java.io.PrintWriter;
import java.io.StringWriter;
import java.nio.ByteBuffer;
import java.nio.channels.AsynchronousFileChannel;
import java.io.*;
import java.nio.file.Path;
import java.nio.file.StandardOpenOption;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.function.Supplier;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.OutgoingUIEvent;
import org.photonvision.common.util.TimedTaskManager;
import org.photonvision.server.SocketHandler;
import org.photonvision.server.UIUpdateType;
@@ -102,6 +99,7 @@ public class Logger {
static {
currentAppenders.add(new ConsoleLogAppender());
currentAppenders.add(new UILogAppender());
addFileAppender(ConfigManager.getInstance().getLogPath());
}
@SuppressWarnings("ResultOfMethodCallIgnored")
@@ -115,7 +113,7 @@ public class Logger {
e.printStackTrace();
}
}
currentAppenders.add(new AsyncFileLogAppender(logFilePath));
currentAppenders.add(new FileLogAppender(logFilePath));
}
public static void setLevel(LogGroup group, LogLevel newLevel) {
@@ -177,7 +175,7 @@ public class Logger {
*/
public void error(String message, Throwable t) {
log(message, LogLevel.ERROR);
log(convertStackTraceToString(t), LogLevel.ERROR, LogLevel.TRACE);
log(convertStackTraceToString(t), LogLevel.ERROR, LogLevel.DEBUG);
}
public void warn(Supplier<String> messageSupplier) {
@@ -239,25 +237,40 @@ public class Logger {
var messageMap = new SocketHandler.UIMap();
messageMap.put("logMessage", message);
messageMap.put("logLevel", level.code);
var superMap = new SocketHandler.UIMap();
superMap.put("logMessage", messageMap);
DataChangeService.getInstance()
.publishEvent(new OutgoingUIEvent<>(UIUpdateType.BROADCAST, "log", messageMap, null));
.publishEvent(new OutgoingUIEvent<>(UIUpdateType.BROADCAST, "log", superMap, null));
}
}
private static class AsyncFileLogAppender implements LogAppender {
private final Path filePath;
private static class FileLogAppender implements LogAppender {
private OutputStream out;
public AsyncFileLogAppender(Path logFilePath) {
this.filePath = logFilePath;
public FileLogAppender(Path logFilePath) {
try {
this.out = new FileOutputStream(logFilePath.toFile());
TimedTaskManager.getInstance()
.addTask(
"FileLogAppender",
() -> {
try {
out.flush();
} catch (IOException ignored) {
}
},
30000L);
} catch (FileNotFoundException e) {
out = null;
System.err.println("Unable to log to file " + logFilePath.toString());
}
}
@Override
public void log(String message, LogLevel level) {
try (AsynchronousFileChannel asyncFile =
AsynchronousFileChannel.open(
filePath, StandardOpenOption.WRITE, StandardOpenOption.CREATE)) {
asyncFile.write(ByteBuffer.wrap(message.getBytes()), 0);
message += "\n";
try {
out.write(message.getBytes());
} catch (IOException e) {
e.printStackTrace();
}

3
photon-server/src/main/java/org/photonvision/common/networking/LinuxNetworking.java
View File

@@ -84,7 +84,7 @@ public class LinuxNetworking extends SysNetworking {
}
@Override
public boolean setStatic(String ipAddress, String netmask, String gateway) {
public boolean setStatic(String ipAddress, String netmask) {
setDHCP(); // clean up old static interface
File dhcpConf = new File(PATH);
try {
@@ -93,7 +93,6 @@ public class LinuxNetworking extends SysNetworking {
InetAddress iNetMask = InetAddress.getByName(netmask);
int prefix = convertNetmaskToCIDR(iNetMask);
lines.add("static ip_address=" + ipAddress + "/" + prefix);
lines.add("static routers=" + gateway);
FileUtils.writeLines(dhcpConf, lines);
return true;
} catch (IOException e) {

16
photon-server/src/main/java/org/photonvision/common/networking/NetworkInterface.java
View File

@@ -27,25 +27,23 @@ public class NetworkInterface {
public final String name;
public final String displayName;
public final String IPAddress;
public final String Netmask;
public final String Gateway;
public final String Broadcast;
public final String ipAddress;
public final String netmask;
public final String broadcast;
public NetworkInterface(java.net.NetworkInterface inetface, InterfaceAddress ifaceAddress) {
name = inetface.getName();
displayName = inetface.getDisplayName();
var inetAddress = ifaceAddress.getAddress();
IPAddress = inetAddress.getHostAddress();
Netmask = getIPv4LocalNetMask(ifaceAddress);
ipAddress = inetAddress.getHostAddress();
netmask = getIPv4LocalNetMask(ifaceAddress);
// TODO: (low) hack to "get" gateway, this is gross and bad, pls fix
var splitIPAddr = IPAddress.split("\\.");
var splitIPAddr = ipAddress.split("\\.");
splitIPAddr[3] = "1";
Gateway = String.join(".", splitIPAddr);
splitIPAddr[3] = "255";
Broadcast = String.join(".", splitIPAddr);
broadcast = String.join(".", splitIPAddr);
}
private static String getIPv4LocalNetMask(InterfaceAddress interfaceAddress) {

33
photon-server/src/main/java/org/photonvision/common/networking/NetworkManager.java
View File

@@ -17,7 +17,17 @@
package org.photonvision.common.networking;
import java.io.IOException;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.hardware.Platform;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.ShellExec;
public class NetworkManager {
private static final Logger logger = new Logger(NetworkManager.class, LogGroup.General);
private NetworkManager() {}
private static class SingletonHolder {
@@ -35,5 +45,28 @@ public class NetworkManager {
if (!isManaged) {
return;
}
var config = ConfigManager.getInstance().getConfig().getNetworkConfig();
if (Platform.isLinux()) {
if (!Platform.isRoot) {
logger.error("Cannot manage network without root!");
return;
}
if (config.connectionType == NetworkMode.DHCP) {
return; // TODO do we need to reconnect or something?
} else if (config.connectionType == NetworkMode.STATIC) {
try {
new ShellExec()
.executeBashCommand("ip addr add " + config.staticIp + "/24" + " dev eth0");
} catch (IOException e) {
e.printStackTrace();
}
}
}
}
public void reinitialize() {
initialize(ConfigManager.getInstance().getConfig().getNetworkConfig().shouldManage);
}
}

2
photon-server/src/main/java/org/photonvision/common/networking/SysNetworking.java
View File

@@ -78,7 +78,7 @@ public abstract class SysNetworking {
public abstract boolean setHostname(String hostname);
public abstract boolean setStatic(String ipAddress, String netmask, String gateway);
public abstract boolean setStatic(String ipAddress, String netmask);
public abstract List<java.net.NetworkInterface> getNetworkInterfaces() throws SocketException;
}

3
photon-server/src/main/java/org/photonvision/common/scripting/ScriptManager.java
View File

@@ -102,8 +102,7 @@ public class ScriptManager {
}
try {
JacksonUtils.serializer(
scriptConfigPath, eventsConfig.toArray(new ScriptConfig[0]), true);
JacksonUtils.serialize(scriptConfigPath, eventsConfig.toArray(new ScriptConfig[0]), true);
} catch (IOException e) {
logger.error("Failed to initialize!", e);
}

20
photon-server/src/main/java/org/photonvision/common/util/file/FileUtils.java
View File

@@ -24,6 +24,7 @@ import java.nio.file.Path;
import java.nio.file.attribute.PosixFileAttributes;
import java.nio.file.attribute.PosixFilePermission;
import java.util.Arrays;
import java.util.Comparator;
import java.util.HashSet;
import java.util.Set;
import org.photonvision.common.hardware.Platform;
@@ -38,6 +39,25 @@ public class FileUtils {
private static final Set<PosixFilePermission> allReadWriteExecutePerms =
new HashSet<>(Arrays.asList(PosixFilePermission.values()));
public static void deleteDirectory(Path path) {
try {
// create a stream
var files = Files.walk(path);
// delete directory including files and sub-folders
files
.sorted(Comparator.reverseOrder())
.map(Path::toFile)
.filter(File::isFile)
.forEach(File::delete);
// close the stream
files.close();
} catch (IOException e) {
logger.error("Exception deleting files in " + path + "!", e);
}
}
public static void setFilePerms(Path path) throws IOException {
if (!Platform.CurrentPlatform.isWindows()) {
File thisFile = path.toFile();

18
photon-server/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
View File

@@ -32,11 +32,11 @@ import java.io.IOException;
import java.nio.file.Path;
public class JacksonUtils {
public static <T> void serializer(Path path, T object) throws IOException {
serializer(path, object, false);
public static <T> void serialize(Path path, T object) throws IOException {
serialize(path, object, false);
}
public static <T> void serializer(Path path, T object, boolean forceSync) throws IOException {
public static <T> void serialize(Path path, T object, boolean forceSync) throws IOException {
PolymorphicTypeValidator ptv =
BasicPolymorphicTypeValidator.builder().allowIfBaseType(object.getClass()).build();
ObjectMapper objectMapper =
@@ -93,7 +93,17 @@ public class JacksonUtils {
}
private static void saveJsonString(String json, Path path, boolean forceSync) throws IOException {
FileOutputStream fileOutputStream = new FileOutputStream(path.toFile());
var file = path.toFile();
if (file.getParentFile() != null && !file.getParentFile().exists()) {
file.getParentFile().mkdirs();
}
if (!file.exists()) {
if (!file.canWrite()) {
file.setWritable(true);
}
file.createNewFile();
}
FileOutputStream fileOutputStream = new FileOutputStream(file);
fileOutputStream.write(json.getBytes());
fileOutputStream.flush();
if (forceSync) {