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Code Issues Packages Projects Releases Wiki Activity

Cleanups, fixed isValid glitch

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This commit is contained in:
Banks Troutman
2019-10-10 15:07:56 -04:00
parent 8748dd2503
commit d56a27c017
16 changed files with 77 additions and 157 deletions
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8
Main/src/main/java/com/chameleonvision/Main.java
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@@ -24,7 +24,6 @@ public class Main {
private static final int DEFAULT_PORT = 8888;
private static int webserverPort = DEFAULT_PORT;
private static boolean ntServerMode = false;
private static boolean manageNetwork = true;
private static boolean ignoreRoot = false;
@@ -43,7 +42,7 @@ public class Main {
}
}
public static final Platform CurrentPlatform = Platform.getCurrentPlatform();
private static final Platform CurrentPlatform = Platform.getCurrentPlatform();
private static void handleArgs(String[] args) {
for (int i = 0; i < args.length; i++) {
@@ -127,12 +126,10 @@ public class Main {
// Attempt to load the JNI Libraries
try {
if (CurrentPlatform.equals(Platform.LINUX_ARM64))
CameraServerJNI.forceLoad();
CameraServerCvJNI.forceLoad();
} catch (IOException e) {
var errorStr = CurrentPlatform.equals(Platform.UNSUPPORTED) ? "Unsupported platform!" : "Failed to load JNI Libraries!";
throw new RuntimeException(errorStr);
throw new RuntimeException("Failed to load JNI Libraries!");
}
if (CameraManager.initializeCameras()) {
@@ -152,6 +149,7 @@ public class Main {
}
}
int webserverPort = DEFAULT_PORT;
System.out.printf("Starting Webserver at port %d\n", webserverPort);
Server.main(webserverPort);
} else {

9
Main/src/main/java/com/chameleonvision/network/LinuxNetworking.java
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@@ -1,22 +1,13 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.NetworkSettings;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.util.ShellExec;
import java.io.BufferedOutputStream;
import java.io.IOException;
import java.net.InetAddress;
import java.net.SocketException;
import java.net.UnknownHostException;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
public class LinuxNetworking extends SysNetworking {
private ShellExec shell = new ShellExec(true, true);
@Override
public boolean setDHCP() {
String[] clearArgs = { "addr", "flush", "dev", networkInterface.name };

9
Main/src/main/java/com/chameleonvision/network/NetworkInterface.java
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@@ -1,10 +1,8 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.GeneralSettings;
import java.net.InetAddress;
import java.net.InterfaceAddress;
@SuppressWarnings("WeakerAccess")
public class NetworkInterface {
public final String name;
public final String displayName;
@@ -43,9 +41,8 @@ public class NetworkInterface {
}
// Transform the resulting value in xxx.xxx.xxx.xxx format, like if
/// it was a standard address...
String maskString = ((shiftby >> 24) & 255) + "." + ((shiftby >> 16) & 255) + "." + ((shiftby >> 8) & 255) + "." + (shiftby & 255);
// Return the address thus created...
return maskString;
// Return the address thus created...
return ((shiftby >> 24) & 255) + "." + ((shiftby >> 16) & 255) + "." + ((shiftby >> 8) & 255) + "." + (shiftby & 255);
// return InetAddress.getByName(maskString);
}
catch(Exception e) {

13
Main/src/main/java/com/chameleonvision/network/NetworkManager.java
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@@ -1,20 +1,17 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.NetworkSettings;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
import java.net.SocketException;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
public class NetworkManager {
private NetworkManager() {}
protected static SysNetworking networking;
protected static NetworkInterface botInterface = null;
private static SysNetworking networking;
private static boolean isManaged = false;
public static void initialize(boolean manage) {
@@ -46,7 +43,7 @@ public class NetworkManager {
e.printStackTrace();
}
var teamBytes = NetworkSettings.GetTeamNumberIPBytes(SettingsManager.GeneralSettings.team_number);
var teamBytes = NetworkManager.GetTeamNumberIPBytes(SettingsManager.GeneralSettings.team_number);
if (interfaces.size() > 0) {
for (var inetface : interfaces) {
@@ -65,7 +62,7 @@ public class NetworkManager {
return;
}
botInterface = goodInterfaces.get(0);
NetworkInterface botInterface = goodInterfaces.get(0);
networking.setNetworkInterface(botInterface);
} else {
isManaged = false;
@@ -79,6 +76,10 @@ public class NetworkManager {
}
}
private static byte[] GetTeamNumberIPBytes(int teamNumber) {
return new byte[]{(byte) (teamNumber / 100), (byte) (teamNumber % 100)};
}
private static boolean loadFromGeneralSettings() {
if (!isManaged) {
return true;

1
Main/src/main/java/com/chameleonvision/network/SysNetworking.java
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@@ -5,7 +5,6 @@ import com.chameleonvision.util.ShellExec;
import java.io.IOException;
import java.net.SocketException;
import java.util.List;
import java.util.Scanner;
public abstract class SysNetworking {

3
Main/src/main/java/com/chameleonvision/network/WindowsNetworking.java
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@@ -1,8 +1,5 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.NetworkSettings;
import com.chameleonvision.settings.SettingsManager;
import java.net.SocketException;
import java.util.ArrayList;
import java.util.Collections;

80
Main/src/main/java/com/chameleonvision/settings/NetworkSettings.java
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@@ -1,80 +0,0 @@
package com.chameleonvision.settings;
import java.net.*;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Enumeration;
import com.chameleonvision.util.Utilities;
import org.apache.commons.lang3.StringUtils;
import org.apache.commons.lang3.SystemUtils;
public class NetworkSettings {
public String connectionType, ip, netmask, gateway, hostname;
public void run() {
// String adapter = getAdapter();
if (SystemUtils.IS_OS_LINUX) {//TODO check linux commands
String adapter = getAdapter();
if (!adapter.equals("")) {
executeCommand("ifconfig " + adapter + " down");
if (connectionType.equals("DHCP"))
executeCommand("dhclient -r " + adapter);
else if (connectionType.equals("Static")) {
executeCommand("ifconfig " + adapter + " " + this.ip + " netmask " + this.netmask);
executeCommand("route add default gw " + this.gateway + " " + adapter);
}
executeCommand("ifconfig " + adapter + " up");
}
executeCommand("hostnamectl set-hostname " + this.hostname);
}
// //TODO check windows commands
// else if (SystemUtils.IS_OS_WINDOWS) {
// if (!adapter.equals("")) {
// if (connectionType.equals("DHCP")){
// executeCommand("cmd /c interface ip set address \"" + adapter + "\" dhcp");
// }
// else if (connectionType.equals("Static")) {
// executeCommand("cmd /c netsh interface ip set address \"" + adapter + "\" static " + this.ip + " " + this.netmask + " " + this.gateway + "1");
// }
// }
// //TODO find a way to change hostname in windows
// }
}
private void executeCommand(String command) {
try {
Process p = Runtime.getRuntime().exec(command);
System.out.println("Executing "+ command);
p.waitFor();
p.destroy();
} catch (Exception e) {
System.err.println("Error while executing command!");
e.printStackTrace();
}
}
public static byte[] GetTeamNumberIPBytes(int teamNumber) {
return new byte[]{(byte) (teamNumber / 100), (byte) (teamNumber % 100)};
}
public static String getAdapter() {
try {//TODO fix windows get adapter
Enumeration<NetworkInterface> nets = NetworkInterface.getNetworkInterfaces();
for (NetworkInterface netint : Collections.list(nets)) {
Enumeration<InetAddress> ee = netint.getInetAddresses();
for (InetAddress addr : Collections.list(ee))
if (addr instanceof Inet4Address) {
var addrString = addr.toString();
if ((addr.getAddress()[0] & 0xFF) == 10 && (addr.getAddress()[1] & 0xFF) == 168) {
System.out.println("found robot network interface at " + netint.getName() + " ip: " + addr.getHostAddress());
return netint.getName();
}
}
}
} catch (SocketException e) {
System.err.println("Socket exception while trying to find current IP");
}
return "";
}
}

4
Main/src/main/java/com/chameleonvision/settings/Platform.java
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@@ -45,7 +45,9 @@ public enum Platform {
} catch (IOException e) {
e.printStackTrace();
}
while (!shell.isOutputCompleted()) {}
while (!shell.isOutputCompleted()) {
// ignored
}
if (shell.getExitCode() == 0) {
var out = shell.getOutput();
out = out.split("\n")[0];

11
Main/src/main/java/com/chameleonvision/settings/SettingsManager.java
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@@ -1,6 +1,5 @@
package com.chameleonvision.settings;
import com.chameleonvision.network.NetworkManager;
import com.chameleonvision.util.FileHelper;
import com.chameleonvision.vision.camera.CameraManager;
import com.google.gson.Gson;
@@ -21,16 +20,6 @@ public class SettingsManager {
public static void initialize() {
initGeneralSettings();
// if (manageNetwork) {
// NetworkSettings netSettings = new NetworkSettings();
// netSettings.hostname = GeneralSettings.hostname;
// netSettings.gateway = GeneralSettings.gateway;
// netSettings.netmask = GeneralSettings.netmask;
// netSettings.connectionType = GeneralSettings.connection_type;
// netSettings.ip = GeneralSettings.ip;
// netSettings.run();
// }
var allCameras = CameraManager.getAllCamerasByName();
if (!allCameras.containsKey(GeneralSettings.curr_camera) && allCameras.size() > 0) {
var cam = allCameras.entrySet().stream().findFirst().get().getValue();

2
Main/src/main/java/com/chameleonvision/util/ShellExec.java
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@@ -101,7 +101,7 @@ public class ShellExec {
* http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4
*/
@SuppressWarnings("WeakerAccess")
private class StreamGobbler extends Thread {
private static class StreamGobbler extends Thread {
private InputStream is;
private StringBuilder output;
private volatile boolean completed; // mark volatile to guarantee a thread safety

2
Main/src/main/java/com/chameleonvision/util/Utilities.java
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@@ -26,7 +26,7 @@ public class Utilities {
}
public static List<Integer> getDigits(int num) {
List<Integer> digits = new ArrayList<Integer>();
List<Integer> digits = new ArrayList<>();
collectDigits(num, digits);
return digits;
}

9
Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
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@@ -70,14 +70,13 @@ public class CVProcess {
}
var rect = Imgproc.minAreaRect(new MatOfPoint2f(Contour.toArray()));
var targetFullness = contourArea;
double minExtent = (double) (extent.get(0) * rect.size.area()) / 100;
double maxExtent = (double) (extent.get(1) * rect.size.area()) / 100;
if (targetFullness <= minExtent || contourArea >= maxExtent) {
double minExtent = (extent.get(0) * rect.size.area()) / 100;
double maxExtent = (extent.get(1) * rect.size.area()) / 100;
if (contourArea <= minExtent || contourArea >= maxExtent) {
continue;
}
Rect bb = Imgproc.boundingRect(Contour);
double aspectRatio = (bb.width / bb.height);
double aspectRatio = ((double)bb.width / bb.height);
if (aspectRatio < ratio.get(0) || aspectRatio > ratio.get(1)) {
continue;
}

35
Main/src/main/java/com/chameleonvision/vision/process/PipelineResult.java
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@@ -2,12 +2,33 @@ package com.chameleonvision.vision.process;
import org.opencv.core.RotatedRect;
@SuppressWarnings("WeakerAccess")
public class PipelineResult {
public boolean IsValid = false;
public double CalibratedX = 0.0;
public double CalibratedY = 0.0;
public double Pitch = 0.0;
public double Yaw = 0.0;
public double Area = 0.0;
RotatedRect RawPoint;
public final boolean IsValid;
public final double CalibratedX;
public final double CalibratedY;
public final double Pitch;
public final double Yaw;
public final double Area;
public final RotatedRect RawPoint;
public PipelineResult() {
IsValid = false;
CalibratedX = 0.0;
CalibratedY = 0.0;
Pitch = 0.0;
Yaw = 0.0;
Area = 0.0;
RawPoint = new RotatedRect();
}
public PipelineResult(double calX, double calY, double pitch, double yaw, double area, RotatedRect rawPoint) {
IsValid = true;
CalibratedX = calX;
CalibratedY = calY;
Pitch = pitch;
Yaw = yaw;
Area = area;
RawPoint = rawPoint;
}
}

39
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -20,7 +20,7 @@ public class VisionProcess implements Runnable {
private final CameraProcess cameraProcess;
// NetworkTables
public NetworkTableEntry ntPipelineEntry;
public NetworkTableEntry ntDriverModeEntry;
private NetworkTableEntry ntDriverModeEntry;
private NetworkTableEntry ntYawEntry;
private NetworkTableEntry ntPitchEntry;
private NetworkTableEntry ntDistanceEntry;
@@ -112,7 +112,11 @@ public class VisionProcess implements Runnable {
Imgproc.rectangle(inputMat,new Point(box.x, box.y), new Point((box.x + box.width),(box.y + box.height)), BoxRectColor,2);
}
private boolean wasValid = false;
private void updateNetworkTables(PipelineResult pipelineResult) {
boolean isValid = pipelineResult.IsValid;
if (pipelineResult.IsValid) {
ntValidEntry.setBoolean(true);
ntYawEntry.setNumber(pipelineResult.Yaw);
@@ -127,20 +131,25 @@ public class VisionProcess implements Runnable {
ntTimeStampEntry.setNumber(timeStamp);
ntValidEntry.setBoolean(false);
}
// on validity state change, force a flush
if (isValid != wasValid) {
// System.out.printf("Validity changed from %b to %b\n", wasValid, isValid);
NetworkTableInstance.getDefault().flush();
wasValid = isValid;
}
}
private PipelineResult runVisionProcess(Mat inputImage, Mat outputImage) {
var pipelineResult = new PipelineResult();
if (currentPipeline == null) {
return pipelineResult;
return new PipelineResult();
}
if (!currentPipeline.orientation.equals("Normal")) {
Core.flip(inputImage, inputImage, -1);
}
if (ntDriverModeEntry.getBoolean(false)) {
inputImage.copyTo(outputImage);
return pipelineResult;
return new PipelineResult();
}
Scalar hsvLower = new Scalar(currentPipeline.hue.get(0), currentPipeline.saturation.get(0), currentPipeline.value.get(0));
Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1), currentPipeline.saturation.get(1), currentPipeline.value.get(1));
@@ -159,25 +168,25 @@ public class VisionProcess implements Runnable {
groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.target_intersection, currentPipeline.target_group);
if (groupedContours.size() > 0) {
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sort_mode);
// System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area());
pipelineResult.RawPoint = finalRect;
pipelineResult.IsValid = true;
double calX, calY;
if (!currentPipeline.is_calibrated) {
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
calX = camera.getCamVals().CenterX;
calY = camera.getCamVals().CenterY;
} else {
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.M) + currentPipeline.B;
calX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
calY = (finalRect.center.x * currentPipeline.M) + currentPipeline.B;
}
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
pipelineResult.Area = finalRect.size.area();
var pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, calY);
var yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, calX);
var area = finalRect.size.area();
drawContour(outputImage, finalRect);
return new PipelineResult(calX, calY, pitch, yaw, area, finalRect);
}
}
}
return pipelineResult;
return new PipelineResult();
}
@Override

7
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -13,10 +13,7 @@ import org.json.JSONObject;
import org.springframework.beans.BeanUtils;
import java.lang.reflect.Field;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;
public class ServerHandler {
@@ -175,7 +172,7 @@ public class ServerHandler {
map.put(field.getName(), field.get(obj));
}
} catch (IllegalAccessException e) {
System.err.println("Illegal Access error:" + e.getStackTrace());
System.err.println("Illegal Access error:" + Arrays.toString(e.getStackTrace()));
}
return map;
}