Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-20 00:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Robot offset point (#98)

Browse Source 
* Add offset point calculation in backend

* Add pipeline result caching

* Add dual offset unit test
This commit is contained in:
Banks T
2020-08-27 14:41:03 -04:00
committed by GitHub
parent 9f0e89ea29
commit b6d9fe216a
22 changed files with 415 additions and 218 deletions
Download Patch File Download Diff File Expand all files Collapse all files

46
photon-server/src/main/java/org/photonvision/server/SocketHandler.java
View File

@@ -52,8 +52,6 @@ public class SocketHandler {
public static class UIMap extends HashMap<String, Object> {}
abstract static class SelectiveBroadcastPair extends Pair<UIMap, WsContext> {}
private static class ThreadSafeSingleton {
private static final SocketHandler INSTANCE = new SocketHandler();
}
@@ -199,30 +197,28 @@ public class SocketHandler {
dcService.publishEvent(newPipelineEvent);
break;
}
case SMT_COMMAND:
case SMT_DELETECURRENTPIPELINE:
{
var cmd = SocketMessageCommandType.fromEntryKey((String) entryValue);
switch (cmd) {
case SMCT_DELETECURRENTPIPELINE:
{
var deleteCurrentPipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"deleteCurrPipeline",
0,
cameraIndex,
context);
dcService.publishEvent(deleteCurrentPipelineEvent);
break;
}
case SMCT_SAVE:
{
var saveEvent =
new IncomingWebSocketEvent<>(DataChangeDestination.DCD_OTHER, "save", 0);
dcService.publishEvent(saveEvent);
break;
}
}
var deleteCurrentPipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"deleteCurrPipeline",
0,
cameraIndex,
context);
dcService.publishEvent(deleteCurrentPipelineEvent);
break;
}
case SMT_ROBOTOFFSETPOINT:
{
var robotOffsetPointEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"robotOffsetPoint",
(Integer) entryValue,
cameraIndex,
null);
dcService.publishEvent(robotOffsetPointEvent);
break;
}
case SMT_CURRENTCAMERA:

34
photon-server/src/main/java/org/photonvision/server/SocketMessageCommandType.java
View File

@@ -1,34 +0,0 @@
/*
* Copyright (C) 2020 Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.server;
public enum SocketMessageCommandType {
SMCT_DELETECURRENTPIPELINE("deleteCurrentPipeline"),
SMCT_SAVE("save");
public final String entryValue;
SocketMessageCommandType(String entryValue) {
this.entryValue = entryValue;
}
public static SocketMessageCommandType fromEntryKey(String entryValue) {
if (entryValue.equalsIgnoreCase(SMCT_SAVE.entryValue)) return SMCT_SAVE;
else return SMCT_DELETECURRENTPIPELINE;
}
}

5
photon-server/src/main/java/org/photonvision/server/SocketMessageType.java
View File

@@ -27,13 +27,14 @@ public enum SocketMessageType {
SMT_CHANGECAMERANAME("changeCameraName"),
SMT_CHANGEPIPELINENAME("changePipelineName"),
SMT_ADDNEWPIPELINE("addNewPipeline"),
SMT_COMMAND("command"),
SMT_DELETECURRENTPIPELINE("deleteCurrentPipeline"),
SMT_CURRENTCAMERA("currentCamera"),
SMT_PIPELINESETTINGCHANGE("changePipelineSetting"),
SMT_CURRENTPIPELINE("currentPipeline"),
SMT_STARTPNPCALIBRATION("startPnpCalibration"),
SMT_TAKECALIBRATIONSNAPSHOT("takeCalibrationSnapshot"),
SMT_DUPLICATEPIPELINE("duplicatePipeline");
SMT_DUPLICATEPIPELINE("duplicatePipeline"),
SMT_ROBOTOFFSETPOINT("robotOffsetPoint");
public final String entryKey;