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Merge branch 'dev' into 'V2.0/single-point-calibration'

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# Conflicts:
#   Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
#   Main/src/main/java/com/chameleonvision/web/Server.java
This commit is contained in:
ori agranat
2019-10-29 20:30:42 +00:00
parent e24cc5564a a7f306d0b9
commit bddb9c0935
6 changed files with 74 additions and 33 deletions
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8
Main/src/main/java/com/chameleonvision/Main.java
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@@ -128,22 +128,22 @@ public class Main {
try {
CameraServerJNI.forceLoad();
CameraServerCvJNI.forceLoad();
} catch (IOException e) {
} catch (UnsatisfiedLinkError | IOException e) {
if(Platform.getCurrentPlatform().isWindows())
System.err.println("Try to download the VC++ Redistributable, see announcements in discord");
throw new RuntimeException("Failed to load JNI Libraries!");
}
if (CameraManager.initializeCameras()) {
SettingsManager.initialize();
NetworkManager.initialize(manageNetwork);
CameraManager.initializeThreads();
if (ntServerMode) {
System.out.println("Starting NT Server");
NetworkTableInstance.getDefault().startServer();
} else {
NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
if (ntClientModeServer != null) {
NetworkTableInstance.getDefault().startClient(ntClientModeServer);
NetworkTableInstance.getDefault().startClient(ntClientModeServer);
} else {
NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.teamNumber);
}

27
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -7,6 +7,8 @@ import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import org.opencv.core.Mat;
import java.nio.channels.Pipe;
@@ -65,9 +67,11 @@ public class Camera {
public Camera(String cameraName, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex, divisor);
}
public Camera(String cameraName, double fov, int videoModeIndex, StreamDivisor divisor) {
this(cameraName, fov, new ArrayList<>(), videoModeIndex, divisor);
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor) {
FOV = fov;
name = cameraName;
@@ -140,18 +144,21 @@ public class Camera {
ServerHandler.sendFullSettings();
}
}
public void addPipeline() {
Pipeline p = new Pipeline();
p.nickname = "New pipeline " + pipelines.size();
addPipeline(p);
}
public void addPipeline(Pipeline p){
public void addPipeline(Pipeline p) {
this.pipelines.add(p);
}
public void deletePipeline(int index) {
pipelines.remove(index);
}
public void deletePipeline() {
deletePipeline(getCurrentPipelineIndex());
}
@@ -184,7 +191,8 @@ public class Camera {
public List<Pipeline> getPipelines() {
return pipelines;
}
public List<String> getPipelinesNickname(){
public List<String> getPipelinesNickname() {
var pipelines = getPipelines();
return pipelines.stream().map(pipeline -> pipeline.nickname).collect(Collectors.toList());
}
@@ -220,7 +228,13 @@ public class Camera {
public void setExposure(int exposure) {
getCurrentPipeline().exposure = exposure;
UsbCam.setExposureManual(exposure);
try {
UsbCam.setExposureManual(exposure);
}
catch (VideoException e)
{
System.err.println("Camera Does not support exposure change");
}
}
public long grabFrame(Mat image) {
@@ -244,10 +258,17 @@ public class Camera {
}
public void setNickname(String newNickname) {
//Deletes old camera nt table
NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + this.nickname).getInstance().deleteAllEntries();
nickname = newNickname;
if (CameraManager.AllVisionProcessesByName.containsKey(this.name)) {
NetworkTable newNT = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + this.nickname);
CameraManager.AllVisionProcessesByName.get(this.name).resetNT(newNT);
}
}
public String getNickname() {
return nickname == null ? name : nickname;
}
}

2
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -22,7 +22,7 @@ public class CameraManager {
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "cameras");
private static LinkedHashMap<String, Camera> AllCamerasByName = new LinkedHashMap<>();
private static HashMap<String, VisionProcess> AllVisionProcessesByName = new HashMap<>();
public static HashMap<String, VisionProcess> AllVisionProcessesByName = new HashMap<>();
static HashMap<String, UsbCameraInfo> AllUsbCameraInfosByName = new HashMap<>() {{
var suffix = 0;

55
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -23,6 +23,8 @@ public class VisionProcess implements Runnable {
// NetworkTables
public NetworkTableEntry ntPipelineEntry;
public NetworkTableEntry ntDriverModeEntry;
private int ntDriveModeListenerID;
private int ntPipelineListenerID;
private NetworkTableEntry ntYawEntry;
private NetworkTableEntry ntPitchEntry;
private NetworkTableEntry ntDistanceEntry;
@@ -48,18 +50,9 @@ public class VisionProcess implements Runnable {
this.cameraName = camera.name;
// NetworkTables
NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
ntPipelineEntry = ntTable.getEntry("pipeline");
ntDriverModeEntry = ntTable.getEntry("driver_mode");
ntPitchEntry = ntTable.getEntry("pitch");
ntYawEntry = ntTable.getEntry("yaw");
ntDistanceEntry = ntTable.getEntry("distance");
ntTimeStampEntry = ntTable.getEntry("timestamp");
ntValidEntry = ntTable.getEntry("is_valid");
ntDriverModeEntry.addListener(this::driverModeListener, EntryListenerFlags.kUpdate);
ntPipelineEntry.addListener(this::pipelineListener, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
// NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
// NetworkTable ntTable = camera.getNtTable();
initNT(NetworkTableInstance.getDefault().getTable("/chameleon-vision/"+processCam.getNickname()));
// camera settings
cvProcess = new CVProcess(camera.getCamVals());
@@ -79,9 +72,9 @@ public class VisionProcess implements Runnable {
private void pipelineListener(EntryNotification entryNotification) {
var ntPipelineIndex = (int) entryNotification.value.getDouble();
if (ntPipelineIndex >= camera.getPipelines().size()){
if (ntPipelineIndex >= camera.getPipelines().size()) {
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
} else{
} else {
var pipeline = camera.getCurrentPipeline();
camera.setCurrentPipelineIndex(ntPipelineIndex);
try {
@@ -159,7 +152,7 @@ public class VisionProcess implements Runnable {
filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
if (filteredContours.size() > 0) {
deSpeckledContours = cvProcess.rejectSpeckles(filteredContours, currentPipeline.speckle.doubleValue());
if (deSpeckledContours.size() > 0){
if (deSpeckledContours.size() > 0) {
groupedContours = cvProcess.groupTargets(deSpeckledContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
if (groupedContours.size() > 0) {
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
@@ -271,5 +264,37 @@ public class VisionProcess implements Runnable {
// System.out.printf("%s - Process time: %-5.2fms, FPS: %-5.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n", cameraName, processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
}
}
}
/**
* Removes the old value change listeners
* calls {@link #initNT}
* @param newTable passed to {@link #initNT}
*
*/
public void resetNT(NetworkTable newTable)
{
ntDriverModeEntry.removeListener(ntDriveModeListenerID);
ntPipelineEntry.removeListener(ntPipelineListenerID);
initNT(newTable);
}
/**
* Rebases the writing location for the vision process - pipeline output
* @param newTable the new writing location
*/
private void initNT(NetworkTable newTable)
{
ntPipelineEntry = newTable.getEntry("pipeline");
ntDriverModeEntry = newTable.getEntry("driver_mode");
ntPitchEntry = newTable.getEntry("pitch");
ntYawEntry = newTable.getEntry("yaw");
ntDistanceEntry = newTable.getEntry("distance");
ntTimeStampEntry = newTable.getEntry("timestamp");
ntValidEntry = newTable.getEntry("is_valid");
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::driverModeListener, EntryListenerFlags.kUpdate);
ntPipelineListenerID = ntPipelineEntry.addListener(this::pipelineListener, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
}
}

3
Main/src/main/java/com/chameleonvision/web/Server.java
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@@ -10,8 +10,7 @@ public class Server {
public static void main(int port) {
handler = new ServerHandler();
Javalin app = Javalin.create();
Javalin app = Javalin.create(javalinConfig -> javalinConfig.showJavalinBanner=false);
app.config.addStaticFiles("web");
app.ws("/websocket", ws -> {
ws.onConnect(ctx -> {

12
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -103,7 +103,7 @@ public class ServerHandler {
case "deleteCurrentPipeline":
int currentIndex = cam.getCurrentPipelineIndex();
int nextIndex;
if (currentIndex == cam.getPipelines().size() - 1){
if (currentIndex == cam.getPipelines().size() - 1) {
nextIndex = currentIndex - 1;
} else {
nextIndex = currentIndex;
@@ -132,7 +132,7 @@ public class ServerHandler {
try {
cam.setBrightness(cam.getCurrentPipeline().brightness);
cam.setExposure(cam.getCurrentPipeline().exposure);
}catch (Exception e){
} catch (Exception e) {
continue;
}
break;
@@ -141,11 +141,7 @@ public class ServerHandler {
setField(CameraManager.getCurrentCamera().getCurrentPipeline(), entry.getKey(), entry.getValue());
switch (entry.getKey()) {
case "exposure": {
try {
CameraManager.getCurrentCamera().setExposure((Integer) entry.getValue());
} catch (Exception e) {
System.err.println("Camera Does not support exposure change");
}
CameraManager.getCurrentCamera().setExposure((Integer) entry.getValue());
}
case "brightness": {
CameraManager.getCurrentCamera().setBrightness((Integer) entry.getValue());
@@ -247,7 +243,7 @@ public class ServerHandler {
fullSettings.put("pipelineList", currentCamera.getPipelinesNickname());
fullSettings.put("resolutionList", currentCamera.getResolutionList());
fullSettings.put("port", currentCamera.getStreamPort());
fullSettings.put("currentPipelineIndex",CameraManager.getCurrentCamera().getCurrentPipelineIndex());
fullSettings.put("currentPipelineIndex", CameraManager.getCurrentCamera().getCurrentPipelineIndex());
fullSettings.put("currentCameraIndex", CameraManager.getCurrentCameraIndex());
} catch (CameraException | IllegalAccessException e) {
System.err.println("No camera found!");