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Camera de/serialization, folder management

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This commit is contained in:
Banks Troutman
2019-11-19 12:43:38 -05:00
parent 5f535f68da
commit cab2e759e4
11 changed files with 222 additions and 25 deletions
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8
Main/src/main/java/com/chameleonvision/Main.java
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@@ -15,6 +15,8 @@ import edu.wpi.first.networktables.NetworkTableInstance;
import java.io.IOException;
import java.util.function.Consumer;
import static com.chameleonvision.settings.Platform.CurrentPlatform;
public class Main {
private static final String NT_SERVERMODE_KEY = "--nt-servermode"; // no args for this setting
@@ -44,8 +46,6 @@ public class Main {
}
}
private static final Platform CurrentPlatform = Platform.getCurrentPlatform();
private static void handleArgs(String[] args) {
for (int i = 0; i < args.length; i++) {
var key = args[i].toLowerCase();
@@ -127,13 +127,13 @@ public class Main {
CameraServerJNI.forceLoad();
CameraServerCvJNI.forceLoad();
} catch (UnsatisfiedLinkError | IOException e) {
if(Platform.getCurrentPlatform().isWindows())
if(CurrentPlatform.isWindows()) {
System.err.println("Try to download the VC++ Redistributable, https://aka.ms/vs/16/release/vc_redist.x64.exe");
}
throw new RuntimeException("Failed to load JNI Libraries!");
}
if (testMode) {
// todo: boot in to the new classabstraction stuff
boolean visionSourcesOk = VisionManager.initializeSources();
if (!visionSourcesOk) {
System.out.println("No cameras connected!");

38
Main/src/main/java/com/chameleonvision/classabstraction/VisionManager.java
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@@ -2,6 +2,8 @@ package com.chameleonvision.classabstraction;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.util.FileHelper;
import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.UsbCameraInfo;
import org.opencv.videoio.VideoCapture;
@@ -46,19 +48,39 @@ public class VisionManager {
UsbCameraInfosByCameraName.forEach((cameraName, cameraInfo) -> {
Path cameraConfigFolder = Paths.get(CamConfigPath.toString(), String.format("%s\\", cameraName));
Path cameraConfigPath = Paths.get(cameraConfigFolder.toString(), String.format("%s.json", cameraName));
Path cameraPipelinesPath = Paths.get(cameraConfigFolder.toString(), "pipelines.json");
Path cameraDrivermodePath = Paths.get(cameraConfigFolder.toString(), "drivermode.json");
if (Files.exists(cameraConfigFolder)) {
if (Files.exists(cameraConfigPath)) {
File cameraConfigFile = new File(cameraConfigPath.toString());
try {
}
} else {
try {
boolean cameraFolderExists = Files.exists(cameraConfigFolder);
if (!cameraFolderExists) {
Files.createDirectory(cameraConfigFolder);
} catch (IOException e) {
e.printStackTrace();
}
boolean cameraConfigExists = cameraFolderExists && Files.exists(cameraConfigPath);
if (Files.exists(cameraConfigFolder)) {
if (Files.exists(cameraConfigPath)) {
File cameraConfigFile = new File(cameraConfigPath.toString());
if (cameraConfigFile.length() != 0) {
try {
Gson gson = new GsonBuilder().create();
} catch (Exception e) {
e.printStackTrace();
}
}
} else {
Files.createFile(cameraConfigPath);
}
} else {
Files.createDirectory(cameraConfigFolder);
}
} catch (IOException ex) {
}
});
// FileHelper.CheckPath(CamConfigPath);

27
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraProperties.java
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@@ -1,6 +1,9 @@
package com.chameleonvision.classabstraction.camera;
import com.chameleonvision.Main;
import com.chameleonvision.settings.Platform;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.UsbCameraInfo;
import edu.wpi.cscore.VideoMode;
import org.apache.commons.math3.util.FastMath;
@@ -25,12 +28,36 @@ public class CameraProperties {
private static final Predicate<VideoMode> kPixelFormatPredicate = (videoMode -> ALLOWED_PIXEL_FORMATS.contains(videoMode.pixelFormat));
public CameraStaticProperties staticProperties;
public final String name;
public final String path;
public final double FOV;
public final List<VideoMode> videoModes;
private String nickname;
public CameraProperties(UsbCamera baseCamera, double fov) {
FOV = fov;
videoModes = filterVideoModes(baseCamera.enumerateVideoModes());
name = baseCamera.getName();
UsbCameraInfo baseCamInfo = baseCamera.getInfo();
if (Platform.CurrentPlatform.isWindows()) {
path = baseCamInfo.path;
} else {
var truePath = Arrays.stream(baseCamInfo.otherPaths).filter(x -> x.contains("/dev/v4l/by-path")).findFirst();
path = truePath.orElse(baseCamInfo.path);
}
nickname = name;
}
public void setNickname(String nickname) {
this.nickname = nickname;
}
public String getNickname() {
return nickname;
}
private List<VideoMode> filterVideoModes(VideoMode[] videoModes) {

2
Main/src/main/java/com/chameleonvision/classabstraction/camera/USBCameraProcess.java
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@@ -13,7 +13,7 @@ public class USBCameraProcess implements CameraProcess {
private final UsbCamera baseCamera;
private final CvSink cvSink;
private Mat imageBuffer = new Mat();
public CameraProperties properties;
private CameraProperties properties;
public USBCameraProcess(UsbCamera camera, CameraConfig config) {
baseCamera = camera;

3
Main/src/main/java/com/chameleonvision/classabstraction/config/CameraConfig.java
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@@ -5,6 +5,5 @@ public class CameraConfig {
public String Path;
public String Name;
public String Nickname;
public com.chameleonvision.vision.camera.StreamDivisor StreamDivisor;
// public
}

25
Main/src/main/java/com/chameleonvision/classabstraction/config/CameraSerializer.java Normal file
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@@ -0,0 +1,25 @@
package com.chameleonvision.classabstraction.config;
import com.chameleonvision.classabstraction.camera.CameraProperties;
import com.chameleonvision.classabstraction.camera.USBCameraProcess;
import com.fasterxml.jackson.core.JsonGenerator;
import com.fasterxml.jackson.databind.SerializerProvider;
import com.fasterxml.jackson.databind.ser.std.StdSerializer;
import java.io.IOException;
public class CameraSerializer extends StdSerializer<USBCameraProcess> {
public CameraSerializer(Class<USBCameraProcess> t) {
super(t);
}
@Override
public void serialize(USBCameraProcess value, JsonGenerator gen, SerializerProvider provider) throws IOException {
gen.writeStartObject();
CameraProperties camProps = value.getProperties();
gen.writeNumberField("FOV", camProps.FOV);
gen.writeStringField("Name", camProps.name);
gen.writeStringField("Path", camProps.path);
gen.writeStringField("Nickname", camProps.getNickname());
}
}

74
Main/src/main/java/com/chameleonvision/classabstraction/config/ConfigManager.java Normal file
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@@ -0,0 +1,74 @@
package com.chameleonvision.classabstraction.config;
import com.chameleonvision.classabstraction.util.ProgramDirectoryUtilities;
import com.chameleonvision.settings.GeneralSettings;
import com.chameleonvision.util.FileHelper;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.List;
public class ConfigManager {
private ConfigManager() {}
private static final Path SettingsPath = Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "settings");
private static final Path CamConfigPath = Paths.get(SettingsPath.toString(), "cameras");
public static GeneralSettings settings = new GeneralSettings();
public static void initializeSettings() {
boolean settingsFolderExists = Files.exists(SettingsPath);
if (!settingsFolderExists) {
try {
Files.createDirectory(SettingsPath);
} catch (IOException e) {
e.printStackTrace();
}
}
Path settingsFilePath = Paths.get(SettingsPath.toString(), "settings.json");
boolean settingsFileExists = Files.exists(settingsFilePath);
if (!settingsFileExists) {
try {
FileHelper.Serializer(settings, settingsFilePath);
} catch (IOException e) {
e.printStackTrace();
}
} else {
try {
settings = FileHelper.DeSerializer(settingsFilePath, GeneralSettings.class);
} catch (IOException e) {
System.err.println("Failed to load settings.json, using defaults.");
}
}
}
public static List<CameraConfig> initializeCameraConfig(List<String> cameraNames) {
cameraNames.forEach((cameraName) -> {
final Path cameraConfigFolder = Paths.get(CamConfigPath.toString(), String.format("%s\\", cameraName));
final Path cameraConfigPath = Paths.get(cameraConfigFolder.toString(), String.format("%s.json", cameraName));
final Path cameraPipelinesPath = Paths.get(cameraConfigFolder.toString(), "pipelines.json");
final Path cameraDrivermodePath = Paths.get(cameraConfigFolder.toString(), "drivermode.json");
boolean cameraConfigFolderExists = Files.exists(cameraConfigFolder);
if (!cameraConfigFolderExists) {
try {
Files.createDirectory(cameraConfigFolder);
} catch (IOException e) {
e.printStackTrace();
}
}
});
return new ArrayList<>();
}
}

51
Main/src/main/java/com/chameleonvision/classabstraction/util/ProgramDirectoryUtilities.java Normal file
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@@ -0,0 +1,51 @@
package com.chameleonvision.classabstraction.util;
import java.io.File;
import java.net.URISyntaxException;
public class ProgramDirectoryUtilities
{
private static String getJarName()
{
return new File(ProgramDirectoryUtilities.class.getProtectionDomain()
.getCodeSource()
.getLocation()
.getPath())
.getName();
}
private static boolean runningFromJAR()
{
String jarName = getJarName();
return jarName.contains(".jar");
}
public static String getProgramDirectory()
{
if (runningFromJAR())
{
return getCurrentJARDirectory();
} else
{
return getCurrentProjectDirectory();
}
}
private static String getCurrentProjectDirectory()
{
return new File("").getAbsolutePath();
}
private static String getCurrentJARDirectory()
{
try
{
return new File(ProgramDirectoryUtilities.class.getProtectionDomain().getCodeSource().getLocation().toURI().getPath()).getParent();
} catch (URISyntaxException exception)
{
exception.printStackTrace();
}
return null;
}
}

3
Main/src/main/java/com/chameleonvision/settings/Platform.java
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@@ -23,6 +23,7 @@ public enum Platform {
private static final String OS_NAME = System.getProperty("os.name");
private static final String OS_ARCH = System.getProperty("os.arch");
public static final Platform CurrentPlatform = getCurrentPlatform();
public boolean isWindows() {
return this == WINDOWS_64;
@@ -70,7 +71,7 @@ public enum Platform {
}
}
public static Platform getCurrentPlatform() {
private static Platform getCurrentPlatform() {
if (OS_NAME.contains("Windows")) {
if (OS_ARCH.equals("amd64")) return Platform.WINDOWS_64;
}

10
Main/src/main/java/com/chameleonvision/util/FileHelper.java
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@@ -27,18 +27,16 @@ public class FileHelper {
}
}
}
public static void Serializer(Object object, Path path) throws IOException {
File file = new File(path.toString());
PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(Object.class).build();
ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT).build();
objectMapper.writeValue(file,object);
objectMapper.writeValue(new File(path.toString()), object);
}
public static Object DeSerializer(Path path,Class<?> ref) throws IOException {
File file = new File(path.toString());
public static <T> T DeSerializer(Path path, Class<T> ref) throws IOException {
PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(Object.class).build();
ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT).build();
Object o = objectMapper.readValue(file, ref);
return o;
return objectMapper.readValue(new File(path.toString()), ref);
}
}

6
Main/src/main/java/com/chameleonvision/vision/camera/USBCamera.java
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@@ -77,11 +77,11 @@ public class USBCamera {
FOV = fov;
name = cameraName;
if (Platform.getCurrentPlatform().isWindows()) {
if (Platform.CurrentPlatform.isWindows()) {
path = usbCamInfo.path;
} else {
var truePath = Arrays.stream(usbCamInfo.otherPaths).filter(x -> x.contains("/dev/v4l/by-path")).findFirst();
path = truePath.orElse(null);
path = truePath.orElse(usbCamInfo.path);
}
streamDivisor = divisor;
@@ -90,7 +90,7 @@ public class USBCamera {
this.pipelines = pipelines;
// set up video modes according to minimums
if (Platform.getCurrentPlatform() == Platform.WINDOWS_64 && !UsbCam.isConnected()) {
if (Platform.CurrentPlatform == Platform.WINDOWS_64 && !UsbCam.isConnected()) {
System.out.print("Waiting on camera... ");
long initTimeout = System.nanoTime();
while (!UsbCam.isConnected()) {