From ceffd68e851ba64a2410f008d9ecffd5cf7f57be Mon Sep 17 00:00:00 2001
From: Banks Troutman <btrout.dhrs@gmail.com>
Date: Sun, 8 Dec 2019 22:57:30 -0500
Subject: [PATCH] Add speed limit to UI Updates

---
 .../chameleonvision/vision/VisionProcess.java | 62 +++++++++++--------
 1 file changed, 35 insertions(+), 27 deletions(-)

diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
index c99e5af0b..af1c163f5 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
@@ -51,6 +51,8 @@ public class VisionProcess {
     private NetworkTableEntry ntValidEntry;
     private ObjectMapper objectMapper = new ObjectMapper();
 
+    private long lastUIUpdateMs = 0;
+
     VisionProcess(USBCameraCapture cameraCapture, String name, List<CVPipelineSettings> loadedPipelineSettings) {
         this.cameraCapture = cameraCapture;
 
@@ -144,22 +146,34 @@ public class VisionProcess {
     }
 
     private void updateUI(CVPipelineResult data) {
-        if(cameraCapture.getProperties().name.equals(ConfigManager.settings.currentCamera)) {
-            HashMap<String, Object> WebSend = new HashMap<>();
-            HashMap<String, Object> point = new HashMap<>();
-            HashMap<String, Object> calculated = new HashMap<>();
-            List<Double> center = new ArrayList<>();
-            if (data.hasTarget) {
-                if(data instanceof CVPipeline2d.CVPipeline2dResult) {
-                    CVPipeline2d.CVPipeline2dResult result = (CVPipeline2d.CVPipeline2dResult) data;
-                    CVPipeline2d.Target2d bestTarget = result.targets.get(0);
-                    center.add(bestTarget.rawPoint.center.x);
-                    center.add(bestTarget.rawPoint.center.y);
-                    calculated.put("pitch", bestTarget.pitch);
-                    calculated.put("yaw", bestTarget.yaw);
-                    calculated.put("area", bestTarget.area);
-                } else if (data instanceof CVPipeline3d.CVPipeline3dResult) {
-                    // TODO: (2.1) 3d stuff in UI
+        // 30 "FPS" update rate
+        long currentMillis = System.currentTimeMillis();
+        if (currentMillis - lastUIUpdateMs > 1000/30) {
+            lastUIUpdateMs = currentMillis;
+
+            if(cameraCapture.getProperties().name.equals(ConfigManager.settings.currentCamera)) {
+                HashMap<String, Object> WebSend = new HashMap<>();
+                HashMap<String, Object> point = new HashMap<>();
+                HashMap<String, Object> calculated = new HashMap<>();
+                List<Double> center = new ArrayList<>();
+                if (data.hasTarget) {
+                    if(data instanceof CVPipeline2d.CVPipeline2dResult) {
+                        CVPipeline2d.CVPipeline2dResult result = (CVPipeline2d.CVPipeline2dResult) data;
+                        CVPipeline2d.Target2d bestTarget = result.targets.get(0);
+                        center.add(bestTarget.rawPoint.center.x);
+                        center.add(bestTarget.rawPoint.center.y);
+                        calculated.put("pitch", bestTarget.pitch);
+                        calculated.put("yaw", bestTarget.yaw);
+                        calculated.put("area", bestTarget.area);
+                    } else if (data instanceof CVPipeline3d.CVPipeline3dResult) {
+                        // TODO: (2.1) 3d stuff in UI
+                    } else {
+                        center.add(null);
+                        center.add(null);
+                        calculated.put("pitch", null);
+                        calculated.put("yaw", null);
+                        calculated.put("area", null);
+                    }
                 } else {
                     center.add(null);
                     center.add(null);
@@ -167,18 +181,12 @@ public class VisionProcess {
                     calculated.put("yaw", null);
                     calculated.put("area", null);
                 }
-            } else {
-                center.add(null);
-                center.add(null);
-                calculated.put("pitch", null);
-                calculated.put("yaw", null);
-                calculated.put("area", null);
+                point.put("fps", visionRunnable.fps);
+                point.put("calculated", calculated);
+                point.put("rawPoint", center);
+                WebSend.put("point", point);
+                SocketHandler.broadcastMessage(WebSend);
             }
-            point.put("fps", visionRunnable.fps);
-            point.put("calculated", calculated);
-            point.put("rawPoint", center);
-            WebSend.put("point", point);
-            SocketHandler.broadcastMessage(WebSend);
         }
     }