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https://github.com/PhotonVision/photonvision
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3d, camera calibration, backend settings hookup (#80)
* 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
@@ -17,46 +17,136 @@
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package org.photonvision.server;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import edu.wpi.first.wpilibj.geometry.Rotation2d;
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import io.javalin.http.Context;
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import java.io.File;
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import java.io.FileInputStream;
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import java.io.IOException;
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import java.nio.file.Path;
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import java.util.HashMap;
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import java.util.Map;
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import org.apache.commons.io.FileUtils;
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import org.photonvision.common.configuration.ConfigManager;
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import org.photonvision.common.configuration.NetworkConfig;
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import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
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import org.photonvision.common.hardware.HardwareManager;
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import org.photonvision.common.logging.LogGroup;
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import org.photonvision.common.logging.Logger;
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import org.photonvision.common.networking.NetworkManager;
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import org.photonvision.vision.processes.VisionModuleManager;
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public class RequestHandler {
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private static final Logger logger = new Logger(RequestHandler.class, LogGroup.WebServer);
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private static final ObjectMapper kObjectMapper = new ObjectMapper();
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/** Parses and saves general settings to the config manager. */
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public static void onGeneralSettings(Context context) {
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return;
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public static void onSettingUpload(Context ctx) {
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var file = ctx.uploadedFile("zipData");
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if (file != null) {
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var tempZipPath =
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new File(Path.of(System.getProperty("java.io.tmpdir"), file.getFilename()).toString());
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tempZipPath.getParentFile().mkdirs();
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try {
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FileUtils.copyInputStreamToFile(file.getContent(), tempZipPath);
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} catch (IOException e) {
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logger.error("Exception uploading settings file!");
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e.printStackTrace();
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}
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ConfigManager.saveUploadedSettingsZip(tempZipPath);
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// restartDevice();
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} else {
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logger.error("Couldn't read uploaded settings ZIP! Ignoring.");
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}
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}
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/** Parses and saves camera settings (FOV and tilt) to the current camera. */
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public static void onCameraSettings(Context context) {
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return;
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@SuppressWarnings("unchecked")
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public static void onGeneralSettings(Context context) throws JsonProcessingException {
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Map<String, Object> map =
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(Map<String, Object>) kObjectMapper.readValue(context.body(), Map.class);
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var networking =
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(Map<String, Object>)
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map.get("networkSettings"); // teamNumber (int), supported (bool), connectionType (int),
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// staticIp (str), netmask (str), gateway (str), hostname (str)
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var lighting =
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(Map<String, Object>) map.get("lighting"); // supported (true/false), brightness (int)
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// TODO do stuff with lighting
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var networkConfig = NetworkConfig.fromHashMap(networking);
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ConfigManager.getInstance().setNetworkSettings(networkConfig);
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ConfigManager.getInstance().save();
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NetworkManager.getInstance().reinitialize();
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NetworkTablesManager.setClientMode(null); // TODO
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logger.info("Responding to general settings with http 200");
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context.status(200);
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}
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/** Duplicates the selected camera */
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public static void onDuplicatePipeline(Context context) {
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return;
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@SuppressWarnings("unchecked")
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public static void onCameraSettingsSave(Context context) {
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try {
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var settingsAndIndex = kObjectMapper.readValue(context.body(), Map.class);
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logger.info("Got cam setting json from frontend!\n" + settingsAndIndex.toString());
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var settings = (HashMap<String, Object>) settingsAndIndex.get("settings");
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int index = (Integer) settingsAndIndex.get("index");
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// The only settings we actually care about are FOV and pitch
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var fov = Double.parseDouble(settings.get("fov").toString());
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var pitch =
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Rotation2d.fromDegrees(Double.parseDouble(settings.get("tiltDegrees").toString()));
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logger.info(
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String.format(
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"Setting camera %s's fov to %s w/pitch %s", index, fov, pitch.getDegrees()));
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var module = VisionModuleManager.getInstance().getModule(index);
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module.setFovAndPitch(fov, pitch);
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module.saveModule();
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} catch (JsonProcessingException e) {
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logger.error("Got invalid camera setting JSON from frontend!");
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e.printStackTrace();
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}
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}
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public static void onCalibrationStart(Context context) {
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return;
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public static void onSettingsDownload(Context ctx) {
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logger.info("exporting settings to download...");
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try {
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var zip = ConfigManager.getInstance().getSettingsFolderAsZip();
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var stream = new FileInputStream(zip);
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logger.info("Uploading settings with size " + stream.available());
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ctx.result(stream);
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ctx.contentType("application/zip");
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ctx.header("Content-Disposition: attachment; filename=\"photonvision-settings-export.zip\"");
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ctx.status(200);
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} catch (IOException e) {
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e.printStackTrace();
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ctx.status(501);
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logger.error("Got bad recode from zip to byte");
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}
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}
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public static void onSnapshot(Context context) {
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return;
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public static void onCalibrationEnd(Context ctx) {
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var index = Integer.parseInt(ctx.body());
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var calData = VisionModuleManager.getInstance().getModule(index).endCalibration();
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if (calData == null) {
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ctx.status(500);
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return;
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}
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ctx.result(String.valueOf(calData.standardDeviation));
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ctx.status(200);
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}
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public static void onCalibrationEnding(Context context) {
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return;
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public static void restartDevice(Context ctx) {
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ctx.status(HardwareManager.getInstance().restartDevice() ? 200 : 500);
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}
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/** Parses and saves the current 3d settings to the current pipeline. */
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public static void onPnpModel(Context context) {
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return;
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}
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public static void onInstallOrUpdate(Context context) {
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return;
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/**
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* Note that this doesn't actually restart the program itself -- instead, it relies on systemd or
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* an equivalent.
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*/
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public static void restartProgram(Context ctx) {
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ctx.status(200);
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System.exit(0);
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}
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}
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