Merge branch 'master' into dev

backend/Main.py

@@ -10,7 +10,8 @@ if __name__ == "__main__":
     # SettingsManager()
     CamerasHandler.init_camera()
 
-    VisionHandler().run()
+    #VisionHandler().run()
+    SettingsManager().save_settings()
 
     tornado.options.parse_command_line()
     app = ChameleonApplication()

backend/app/classes/SettingsManager.py

@@ -1,5 +1,8 @@
 import os
 import json
+
+from cscore._cscore import VideoMode
+
 from .Singleton import Singleton
 from ..handlers.CamerasHandler import CamerasHandler
 from .Exceptions import PipelineAlreadyExistsException, NoCameraConnectedException
@@ -67,6 +70,14 @@ class SettingsManager(metaclass=Singleton):
 
             if "path" not in self.cams[cam.name]:
                 self.cams[cam.name]["path"] = cam.otherPaths[0] if len(cam.otherPaths) == 1 else cam.otherPaths[1]
+            if "video_mode" not in self.cams[cam.name]:
+                video_mode: VideoMode = CamerasHandler.get_usb_camera_by_name(cam.name).enumerateVideoModes()[0]
+                self.cams[cam.name]["video_mode"] = {
+                    "fps": video_mode.fps,
+                    "width": video_mode.width,
+                    "height": video_mode.height,
+                    "pixel_format": str(video_mode.pixelFormat).split('.')[1]
+                }
 
     # Access methods
 
@@ -85,6 +96,7 @@ class SettingsManager(metaclass=Singleton):
     def set_curr_camera(self, cam_name):
         if cam_name in self.cams:
             self.general_settings["curr_camera"] = cam_name
+            self.general_settings["curr_pipeline"] = self.get_curr_cam()["pipelines"].keys()[0]
 
     def set_curr_pipeline(self, pipe_name):
         if pipe_name in self.get_curr_cam()["pipelines"]:
@@ -134,14 +146,21 @@ class SettingsManager(metaclass=Singleton):
     # Savers
 
     def save_settings(self):
-        self._save_cameras()
         self._save_general_settings()
+        self._save_cameras()
 
     def _save_cameras(self):
+
+        if not os.path.exists(self.cams_path):
+            os.mkdir(self.cams_path)
+
         for cam in self.cams:
             with open(os.path.join(self.cams_path, cam + '.json'), 'w+') as camera:
                 json.dump(self.cams[cam], camera)
 
     def _save_general_settings(self):
+        if not os.path.exists(self.settings_path):
+            os.mkdir(self.settings_path)
+
         with open(os.path.join(self.settings_path, 'settings.json'), 'w+') as setting_file:
             json.dump(self.general_settings, setting_file)

backend/app/handlers/CamerasHandler.py

@@ -66,6 +66,13 @@ class CamerasHandler:
         return CamerasHandler.get_or_start_cameras(CamerasHandler.get_cameras_info())[cam_name]
 
     @staticmethod
-    def change_camera_values(usb_camera: cscore.UsbCamera, dic):
-        usb_camera.setBrightness(dic["brightness"] or 50)
-        usb_camera.setExposureManual(dic["exposure"] or 50)
+    def set_camera_settings(usb_camera: cscore.UsbCamera, dic):
+
+        if "brightness" in dic:
+            usb_camera.setBrightness(dic["brightness"])
+
+        if "exposure" in dic:
+            usb_camera.setExposureManual(dic["exposure"])
+
+        if "video_mode" in dic:
+            usb_camera.setVideoMode(dic["video_mode"])

backend/app/handlers/SocketHandler.py

@@ -7,9 +7,10 @@ from ..classes.SettingsManager import SettingsManager
 
 
 class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
-
     actions = {}
 
+    set_this_camera_settings = ["exposure", "brightness", "video_mode"]
+
     def __init__(self, application, request, **kwargs):
         super().__init__(application, request, **kwargs)
         self.settings_manager = SettingsManager()
@@ -44,12 +45,19 @@ class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
     def check_origin(self, origin):
         return True
 
-    def send_curr_cam(self):
+    def send_curr_pipeline(self):
         try:
             self.write_message(self.settings_manager.get_curr_pipeline())
         except NoCameraConnectedException:
             # TODO: return something if no camera connected
-            self.write_message(None)
+            self.write_message("No camera connected")
+
+    def send_curr_cam(self):
+        try:
+            self.write_message(self.settings_manager.get_curr_cam())
+        except NoCameraConnectedException:
+            # TODO: return something if no camera connected
+            self.write_message("No camera connected")
 
     def send_full_settings(self):
         full_settings = self.settings_manager.general_settings.copy()
@@ -64,15 +72,17 @@ class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
 
     def change_curr_camera(self, dic):
         self.settings_manager.set_curr_camera(cam_name=dic["cam"])
+        self.send_curr_cam()
 
     def change_curr_pipeline(self, dic):
         self.settings_manager.set_curr_pipeline(pipe_name=dic["pipeline"])
+        self.send_curr_pipeline()
 
     def change_pipeline_values(self, dic):
         self.settings_manager.change_pipeline_values(dic)
 
-        CamerasHandler.change_camera_values(CamerasHandler.get_usb_camera_by_name(self.settings_manager.general_settings["curr_camera"]), dic)
-
-
-
-
+        for key in self.set_this_camera_settings:
+            if key in dic:
+                CamerasHandler.set_camera_settings(
+                    CamerasHandler.get_usb_camera_by_name(self.settings_manager.general_settings["curr_camera"]),
+                    dic[key])

backend/settings/cams/USB Camera-B4.09.24.1.json

@@ -0,0 +1 @@
+{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 50, "orientation": "Normal", "resolution": [320, 160], "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100]}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 187, "width": 320, "height": 240, "pixel_format": "kYUYV"}}

backend/settings/settings.json

@@ -0,0 +1 @@
+{"team_number": 1577, "connection_type": "DHCP", "ip": "", "gateway": "", "hostname": "Chameleon-Vision", "curr_camera": "USB Camera-B4.09.24.1", "curr_pipeline": "pipeline0"}