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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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32
photon-server/src/main/java/org/photonvision/server/SocketHandler.java
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@@ -20,10 +20,15 @@ package org.photonvision.server;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import io.javalin.websocket.*;
import io.javalin.websocket.WsBinaryMessageContext;
import io.javalin.websocket.WsCloseContext;
import io.javalin.websocket.WsConnectContext;
import io.javalin.websocket.WsContext;
import java.io.IOException;
import java.nio.ByteBuffer;
import java.util.*;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.CopyOnWriteArrayList;
import org.apache.commons.lang3.tuple.Pair;
import org.msgpack.jackson.dataformat.MessagePackFactory;
@@ -33,7 +38,6 @@ import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.vision.pipeline.PipelineType;
import org.photonvision.vision.processes.PipelineManager;
@SuppressWarnings("rawtypes")
public class SocketHandler {
@@ -177,6 +181,22 @@ public class SocketHandler {
dcService.publishEvent(newPipelineEvent);
break;
}
case SMT_DUPLICATEPIPELINE:
{
var pipeIndex = (Integer) entryValue;
logger.info("Duplicating pipe@index" + pipeIndex + " for camera " + cameraIndex);
var newPipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"duplicatePipeline",
pipeIndex,
cameraIndex,
context);
dcService.publishEvent(newPipelineEvent);
break;
}
case SMT_COMMAND:
{
var cmd = SocketMessageCommandType.fromEntryKey((String) entryValue);
@@ -223,13 +243,13 @@ public class SocketHandler {
dcService.publishEvent(changePipelineEvent);
break;
}
case SMT_ISPNPCALIBRATION:
case SMT_STARTPNPCALIBRATION:
{
var changePipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"changePipeline",
PipelineManager.CAL_3D_INDEX,
"startcalibration",
(Map) entryValue,
cameraIndex,
context);
dcService.publishEvent(changePipelineEvent);