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Robot offset point (#98)

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* 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
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46
photon-server/src/main/java/org/photonvision/server/SocketHandler.java
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@@ -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: