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Add speed limit to UI Updates

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This commit is contained in:
Banks Troutman
2019-12-08 22:57:30 -05:00
parent 192e8834f0
commit ceffd68e85
1 changed files with 35 additions and 27 deletions
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62
chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -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);
}
}