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Add NetworkTablesManager (#48)

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* Add NetworkTablesManager, various cleanups

* Add auto-restart when team number changes.
This commit is contained in:
Banks T
2020-01-16 00:21:00 -05:00
committed by GitHub
parent b935113eb1
commit c5a1694012
5 changed files with 102 additions and 54 deletions
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32
chameleon-server/src/main/java/com/chameleonvision/Main.java
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@@ -2,20 +2,17 @@ package com.chameleonvision;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.network.NetworkManager;
import com.chameleonvision.networktables.NetworkTablesManager;
import com.chameleonvision.scripting.ScriptEventType;
import com.chameleonvision.scripting.ScriptManager;
import com.chameleonvision.util.Platform;
import com.chameleonvision.util.ShellExec;
import com.chameleonvision.util.Utilities;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.web.Server;
import edu.wpi.cscore.CameraServerCvJNI;
import edu.wpi.cscore.CameraServerJNI;
import edu.wpi.first.networktables.LogMessage;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.io.IOException;
import java.util.function.Consumer;
import static com.chameleonvision.util.Platform.CurrentPlatform;
@@ -37,21 +34,6 @@ public class Main {
public static boolean testMode = false;
public static int uiPort = DEFAULT_PORT;
private static class NTLogger implements Consumer<LogMessage> {
private boolean hasReportedConnectionFailure = false;
@Override
public void accept(LogMessage logMessage) {
if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
System.err.println("NT Connection has failed!");
hasReportedConnectionFailure = true;
} else if (logMessage.message.contains("connected")) {
ScriptManager.queueEvent(ScriptEventType.kNTConnected);
}
}
}
private static void handleArgs(String[] args) {
for (int i = 0; i < args.length; i++) {
var key = args[i].toLowerCase();
@@ -165,20 +147,12 @@ public class Main {
System.out.println("Scripts not yet supported on Windows. ScriptEvents will be ignored.");
}
NetworkManager.initialize(manageNetwork);
if (ntServerMode) {
System.out.println("Starting NT Server");
NetworkTableInstance.getDefault().startServer();
NetworkTablesManager.setServerMode();
} else {
NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
if (ntClientModeServer != null) {
NetworkTableInstance.getDefault().startClient(ntClientModeServer);
} else {
NetworkTableInstance.getDefault().startClientTeam(ConfigManager.settings.teamNumber);
}
// NetworkTableInstance.getDefault().startClient("localhost");
NetworkTablesManager.setClientMode(ntClientModeServer);
}
ScriptManager.queueEvent(ScriptEventType.kProgramInit);

69
chameleon-server/src/main/java/com/chameleonvision/networktables/NetworkTablesManager.java Normal file
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@@ -0,0 +1,69 @@
package com.chameleonvision.networktables;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.scripting.ScriptEventType;
import com.chameleonvision.scripting.ScriptManager;
import edu.wpi.first.networktables.LogMessage;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.util.function.Consumer;
public class NetworkTablesManager {
private NetworkTablesManager() {}
private static final NetworkTableInstance NTInst = NetworkTableInstance.getDefault();
public static final String kRootTableName = "/chameleon-vision";
public static final NetworkTable kRootTable = NetworkTableInstance.getDefault().getTable(kRootTableName);
public static boolean isServer = false;
private static int getTeamNumber() {
return ConfigManager.settings.teamNumber;
}
private static class NTLogger implements Consumer<LogMessage> {
private boolean hasReportedConnectionFailure = false;
@Override
public void accept(LogMessage logMessage) {
if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
System.err.println("NT Connection has failed! Will retry in background.");
hasReportedConnectionFailure = true;
} else if (logMessage.message.contains("connected")) {
System.out.println("NT Connected!");
hasReportedConnectionFailure = false;
ScriptManager.queueEvent(ScriptEventType.kNTConnected);
}
}
}
static {
NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
}
public static void setClientMode(String host) {
isServer = false;
System.out.println("Starting NT Client");
NTInst.stopServer();
if (host != null) {
NTInst.startClient(host);
} else {
NTInst.startClientTeam(getTeamNumber());
}
}
public static void setTeamClientMode() {
setClientMode(null);
}
public static void setServerMode() {
isServer = true;
System.out.println("Starting NT Server");
NTInst.stopClient();
NTInst.startServer();
}
}

4
chameleon-server/src/main/java/com/chameleonvision/vision/VisionManager.java
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@@ -15,9 +15,9 @@ import org.opencv.videoio.VideoCapture;
import java.util.*;
import java.util.stream.Collectors;
@SuppressWarnings("rawtypes")
public class VisionManager {
private VisionManager() {
}
private VisionManager() {}
private static final LinkedHashMap<String, UsbCameraInfo> usbCameraInfosByCameraName = new LinkedHashMap<>();
private static final LinkedList<FullCameraConfiguration> loadedCameraConfigs = new LinkedList<>();

43
chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -4,6 +4,7 @@ import com.chameleonvision.Debug;
import com.chameleonvision.config.CameraCalibrationConfig;
import com.chameleonvision.config.CameraConfig;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.networktables.NetworkTablesManager;
import com.chameleonvision.scripting.ScriptEventType;
import com.chameleonvision.scripting.ScriptManager;
import com.chameleonvision.config.FullCameraConfiguration;
@@ -33,6 +34,7 @@ import java.util.concurrent.LinkedBlockingDeque;
import java.util.stream.Collectors;
@SuppressWarnings("rawtypes")
public class VisionProcess {
private final USBCameraCapture cameraCapture;
@@ -117,26 +119,26 @@ public class VisionProcess {
public void setCameraNickname(String newName) {
getCamera().getProperties().setNickname(newName);
var newTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + newName);
resetNT(newTable);
NetworkTable camTable = NetworkTablesManager.kRootTable.getSubTable(newName);
resetNT(camTable);
}
private void initNT(NetworkTable newTable) {
tableInstance = newTable.getInstance();
ntPipelineEntry = newTable.getEntry("pipeline");
ntDriverModeEntry = newTable.getEntry("driverMode");
ntPitchEntry = newTable.getEntry("targetPitch");
ntYawEntry = newTable.getEntry("targetYaw");
ntAreaEntry = newTable.getEntry("targetArea");
ntLatencyEntry = newTable.getEntry("latency");
ntValidEntry = newTable.getEntry("isValid");
ntAuxListEntry = newTable.getEntry("auxTargets");
ntPoseEntry = newTable.getEntry("targetPose");
ntFittedHeightEntry = newTable.getEntry("targetFittedHeight");
ntFittedWidthEntry = newTable.getEntry("targetFittedWidth");
ntBoundingHeightEntry = newTable.getEntry("targetBoundingHeight");
ntBoundingWidthEntry = newTable.getEntry("targetBoundingWidth");
ntTargetRotation = newTable.getEntry("targetRotation");
private void initNT(NetworkTable camTable) {
tableInstance = camTable.getInstance();
ntPipelineEntry = camTable.getEntry("pipeline");
ntDriverModeEntry = camTable.getEntry("driverMode");
ntPitchEntry = camTable.getEntry("targetPitch");
ntYawEntry = camTable.getEntry("targetYaw");
ntAreaEntry = camTable.getEntry("targetArea");
ntLatencyEntry = camTable.getEntry("latency");
ntValidEntry = camTable.getEntry("isValid");
ntAuxListEntry = camTable.getEntry("auxTargets");
ntPoseEntry = camTable.getEntry("targetPose");
ntFittedHeightEntry = camTable.getEntry("targetFittedHeight");
ntFittedWidthEntry = camTable.getEntry("targetFittedWidth");
ntBoundingHeightEntry = camTable.getEntry("targetBoundingHeight");
ntBoundingWidthEntry = camTable.getEntry("targetBoundingWidth");
ntTargetRotation = camTable.getEntry("targetRotation");
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::setDriverMode, EntryListenerFlags.kUpdate);
ntPipelineListenerID = ntPipelineEntry.addListener(this::setPipeline, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
@@ -169,7 +171,6 @@ public class VisionProcess {
}
public void setDriverModeEntry(boolean isDriverMode) {
// if it's null, we haven't even started the program yet, so just return
// otherwise, set it.
if (ntDriverModeEntry != null) {
@@ -188,7 +189,7 @@ public class VisionProcess {
HashMap<String, Object> WebSend = new HashMap<>();
HashMap<String, Object> point = new HashMap<>();
HashMap<String, Object> pointMap = new HashMap<>();
ArrayList<Object> webTargets = new ArrayList<Object>();
ArrayList<Object> webTargets = new ArrayList<>();
List<Double> center = new ArrayList<>();
@@ -390,7 +391,6 @@ public class VisionProcess {
temp /= 7.0;
return temp;
}
}
private class CameraStreamerRunnable extends LoopingRunnable {
@@ -408,7 +408,6 @@ public class VisionProcess {
protected void process() {
if (!streamFrameQueue.isEmpty()) {
try {
bufferMat = streamFrameQueue.take();
try {

8
chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
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@@ -3,6 +3,7 @@ package com.chameleonvision.web;
import com.chameleonvision.Exceptions.DuplicatedKeyException;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.network.NetworkIPMode;
import com.chameleonvision.networktables.NetworkTablesManager;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.vision.VisionProcess;
import com.chameleonvision.vision.camera.USBCameraCapture;
@@ -18,6 +19,7 @@ import edu.wpi.cscore.VideoMode;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import io.javalin.http.Context;
import io.javalin.http.Handler;
import org.apache.commons.math3.ml.neuralnet.Network;
import org.opencv.core.Point;
import org.opencv.core.Point3;
@@ -37,7 +39,11 @@ public class RequestHandler {
Map map = objectMapper.readValue(ctx.body(), Map.class);
// TODO: change to function, to restart NetworkTables
ConfigManager.settings.teamNumber = (int) map.get("teamNumber");
int newTeamNumber = (int) map.get("teamNumber");
if (newTeamNumber != ConfigManager.settings.teamNumber && !NetworkTablesManager.isServer) {
NetworkTablesManager.setTeamClientMode();
}
ConfigManager.settings.teamNumber = newTeamNumber;
ConfigManager.settings.connectionType = NetworkIPMode.values()[(int) map.get("connectionType")];
ConfigManager.settings.ip = (String) map.get("ip");