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Code Issues Packages Projects Releases Wiki Activity

UI now partially running, but errors still getting thrown

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This commit is contained in:
Banks Troutman
2019-11-23 20:02:21 -05:00
parent bca207fc3f
commit d6e435a124
7 changed files with 98 additions and 61 deletions
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4
Main/src/main/java/com/chameleonvision/util/Helpers.java
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@@ -1,5 +1,6 @@
package com.chameleonvision.util;
import edu.wpi.cscore.VideoMode;
import org.opencv.core.Scalar;
import java.awt.*;
@@ -11,4 +12,7 @@ public class Helpers {
return new Scalar(color.getRed(), color.getGreen(), color.getBlue());
}
public static String VideoModeToString(VideoMode videoMode) {
return String.format("%dx%d@%dFPS in %s", videoMode.width, videoMode.height, videoMode.fps, videoMode.pixelFormat.toString());
}
}

63
Main/src/main/java/com/chameleonvision/vision/VisionManager.java
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@@ -2,13 +2,14 @@ package com.chameleonvision.vision;
import com.chameleonvision.config.CameraConfig;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.util.Helpers;
import com.chameleonvision.util.Platform;
import com.chameleonvision.vision.camera.CameraProcess;
import com.chameleonvision.vision.camera.USBCameraProcess;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.UsbCameraInfo;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.videoio.VideoCapture;
import java.io.IOException;
@@ -21,7 +22,19 @@ public class VisionManager {
private static final LinkedHashMap<String, UsbCameraInfo> UsbCameraInfosByCameraName = new LinkedHashMap<>();
private static final LinkedList<CameraConfig> LoadedCameraConfigs = new LinkedList<>();
private static final LinkedHashMap<Integer, Pair<VisionProcess, String>> VisionProcessesByIndex = new LinkedHashMap<>();
private static final LinkedList<VisionProcessManageable> VisionProcesses = new LinkedList<>();
private static class VisionProcessManageable {
public final int index;
public final String name;
public final VisionProcess visionProcess;
public VisionProcessManageable(int index, String name, VisionProcess visionProcess) {
this.index = index;
this.name = name;
this.visionProcess = visionProcess;
}
}
private static VisionProcess currentUIVisionProcess;
@@ -76,16 +89,17 @@ public class VisionManager {
CameraConfig config = LoadedCameraConfigs.get(i);
CameraProcess camera = new USBCameraProcess(config);
VisionProcess process = new VisionProcess(camera, config.name);
VisionProcessesByIndex.put(i, Pair.of(process, config.name));
VisionProcesses.add(new VisionProcessManageable(i, config.name, process));
}
currentUIVisionProcess = VisionProcessesByIndex.get(0).getLeft();
currentUIVisionProcess = getVisionProcessByIndex(0);
return true;
}
public static void startProcesses() {
VisionProcessesByIndex.forEach((index, processNamePair) -> {
processNamePair.getLeft().start();
VisionProcesses.forEach((vpm) -> {
vpm.visionProcess.start();
});
ServerHandler.sendFullSettings();
}
public static VisionProcess getCurrentUIVisionProcess() {
@@ -93,32 +107,38 @@ public class VisionManager {
}
public static void setCurrentProcessByIndex(int processIndex) {
if (processIndex > VisionProcessesByIndex.size() - 1) {
if (processIndex > VisionProcesses.size() - 1) {
return;
}
currentUIVisionProcess = VisionProcessesByIndex.get(processIndex).getLeft();
currentUIVisionProcess = getVisionProcessByIndex(0);
}
public static VisionProcess getVisionProcessByIndex(int processIndex) {
if (processIndex > VisionProcessesByIndex.size() - 1) {
if (processIndex > VisionProcesses.size() - 1) {
return null;
}
return VisionProcessesByIndex.get(0).getLeft();
VisionProcessManageable vpm = VisionProcesses.stream().filter(manageable -> manageable.index == processIndex).findFirst().orElse(null);
return vpm != null ? vpm.visionProcess : null;
}
public static List<String> getAllCameraNicknames() {
return VisionProcessesByIndex.values().stream().map(processNamePair -> processNamePair.getLeft().getCamera().getProperties().getNickname()).collect(Collectors.toList());
return VisionProcesses.stream().map(vpm -> vpm.visionProcess.getCamera()
.getProperties().getNickname()).collect(Collectors.toList());
}
public static List<String> getCurrentCameraPipelineNicknames() {
return currentUIVisionProcess.getPipelines().stream().map(cvPipeline -> cvPipeline.settings.nickname).collect(Collectors.toList());
}
public static void saveCameras() {
VisionProcessesByIndex.forEach((index, process) -> {
VisionProcess p = process.getLeft();
String cameraName = process.getRight();
List<CVPipelineSettings> pipelines = p.getPipelines().stream().map(cvPipeline -> cvPipeline.settings).collect(Collectors.toList());
CVPipelineSettings driverMode = p.getDriverModeSettings();
CameraConfig config = CameraConfig.fromUSBCameraProcess((USBCameraProcess) p.getCamera());
VisionProcesses.forEach((vpm) -> {
VisionProcess process = vpm.visionProcess;
String cameraName = process.getCamera().getProperties().name;
List<CVPipelineSettings> pipelines = process.getPipelines().stream().map(cvPipeline -> cvPipeline.settings).collect(Collectors.toList());
CVPipelineSettings driverMode = process.getDriverModeSettings();
CameraConfig config = CameraConfig.fromUSBCameraProcess((USBCameraProcess) process.getCamera());
try {
ConfigManager.saveCameraPipelines(cameraName, pipelines);
ConfigManager.saveCameraDriverMode(cameraName, driverMode);
@@ -128,4 +148,13 @@ public class VisionManager {
}
});
}
public static List<String> getCurrentCameraResolutionList() {
return currentUIVisionProcess.getCamera().getProperties().getVideoModes().stream().map(Helpers::VideoModeToString).collect(Collectors.toList());
}
public static int getCurrentUIVisionProcessIndex() {
VisionProcessManageable vpm = VisionProcesses.stream().filter(v -> v.visionProcess == currentUIVisionProcess).findFirst().orElse(null);
return vpm != null ? vpm.index : -1;
}
}

19
Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -57,7 +57,7 @@ public class VisionProcess {
this.cameraProcess = cameraProcess;
pipelines.add(new CVPipeline2d("New Pipeline"));
setPipeline(0);
setPipeline(0, false);
// Thread to grab frames from the camera
// TODO: (HIGH) fix video modes!!!
@@ -125,7 +125,7 @@ public class VisionProcess {
if (driverMode) {
setPipelineInternal(driverModePipeline);
} else {
setPipeline(currentPipelineIndex);
setPipeline(currentPipelineIndex, true);
}
}
@@ -140,11 +140,11 @@ public class VisionProcess {
ntPipelineEntry.setNumber(currentPipelineIndex);
} else {
currentPipelineIndex = wantedPipelineIndex;
setPipeline(wantedPipelineIndex);
setPipeline(wantedPipelineIndex, true);
}
}
public void setPipeline(int pipelineIndex) {
public void setPipeline(int pipelineIndex, boolean updateUI) {
CVPipeline newPipeline = pipelines.get(pipelineIndex);
if (newPipeline != null) {
setPipelineInternal(newPipeline);
@@ -153,10 +153,13 @@ public class VisionProcess {
// update the configManager
if(ConfigManager.settings.currentCamera.equals(cameraProcess.getProperties().name)) {
ConfigManager.settings.currentPipeline = pipelineIndex;
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("currentPipeline", pipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
ServerHandler.sendFullSettings();
if (updateUI) {
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("currentPipeline", pipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
ServerHandler.sendFullSettings();
}
}
}
}

16
Main/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java
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@@ -3,6 +3,7 @@ package com.chameleonvision.vision.camera;
import com.chameleonvision.vision.enums.StreamDivisor;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.CvSource;
import edu.wpi.cscore.MjpegServer;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.cameraserver.CameraServer;
import org.opencv.core.CvType;
@@ -22,10 +23,10 @@ public class CameraStreamer {
this.cvSource = CameraServer.getInstance().putVideo(name,
cameraProcess.getProperties().staticProperties.imageWidth / divisor.value,
cameraProcess.getProperties().staticProperties.imageHeight / divisor.value);
setDivisor(divisor);
setDivisor(divisor, false);
}
public void setDivisor(StreamDivisor newDivisor) {
public void setDivisor(StreamDivisor newDivisor, boolean updateUI) {
this.divisor = newDivisor;
var camValues = cameraProcess.getProperties();
var newWidth = camValues.staticProperties.imageWidth / newDivisor.value;
@@ -36,7 +37,9 @@ public class CameraStreamer {
cameraProcess.getProperties().staticProperties.imageWidth / divisor.value,
cameraProcess.getProperties().staticProperties.imageHeight / divisor.value);
}
ServerHandler.sendFullSettings();
if (updateUI) {
ServerHandler.sendFullSettings();
}
}
public StreamDivisor getDivisor() {
@@ -46,7 +49,12 @@ public class CameraStreamer {
public void setNewVideoMode(VideoMode newVideoMode) {
// Trick to update cvSource and streamBuffer to the new resolution
// Must change the cameraProcess resolution first
setDivisor(divisor);
setDivisor(divisor, true);
}
public int getStreamPort() {
var s = (MjpegServer) CameraServer.getInstance().getServer("serve_" + name);
return s.getPort();
}
public void runStream(Mat image) {

4
Main/src/main/java/com/chameleonvision/vision/camera/USBCameraProperties.java
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@@ -98,4 +98,8 @@ public class USBCameraProperties {
public double calculateYaw(double PixelX, double centerX) {
return FastMath.toDegrees(FastMath.atan((PixelX - centerX) / staticProperties.horizontalFocalLength));
}
public List<VideoMode> getVideoModes() {
return videoModes;
}
}

8
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java
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@@ -2,8 +2,6 @@ package com.chameleonvision.vision.pipeline.pipes;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.core.Size;
import org.opencv.imgproc.Imgproc;
public class BlurPipe implements Pipe<Mat, Mat> {
@@ -19,9 +17,9 @@ public class BlurPipe implements Pipe<Mat, Mat> {
public Pair<Mat, Long> run(Mat input) {
long processStartNanos = System.nanoTime();
if (blurSize > 0) {
Imgproc.blur(outputMat, outputMat, new Size(blurSize, blurSize));
}
// if (blurSize > 0) {
// Imgproc.blur(outputMat, outputMat, new Size(blurSize, blurSize));
// }
long processTime = processStartNanos - System.nanoTime();
Pair<Mat, Long> output = Pair.of(outputMat, processTime);

45
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -59,13 +59,11 @@ public class ServerHandler {
break;
}
case "driverMode": {
for (HashMap.Entry<String, Object> e : data.entrySet()) {
setField(VisionManager.getCurrentUIVisionProcess(), e.getKey(), e.getValue());
}
VisionManager.getCurrentUIVisionProcess().setDriverMode((Boolean) data.get("isDriver"));
currentProcess.getDriverModeSettings().exposure = (Integer) data.get("exposure");
currentProcess.getDriverModeSettings().brightness = (Integer) data.get("brightness");
currentProcess.setDriverMode((Boolean) data.get("isDriver"));
// TODO: (HIGH) create saveCameras() function in VisionManager
// VisionManager.saveCameras();
VisionManager.saveCameras();
break;
}
case "cameraSettings": {
@@ -78,7 +76,7 @@ public class ServerHandler {
currentCamera.getProperties().FOV = (double) newFOV;
if (currentProcess.cameraStreamer.getDivisor() != newStreamDivisor) {
currentProcess.cameraStreamer.setDivisor(newStreamDivisor);
currentProcess.cameraStreamer.setDivisor(newStreamDivisor, false);
}
// TODO (HIGH) get and set video modes!
@@ -87,8 +85,7 @@ public class ServerHandler {
// currentCamera.getProperties().setCamVideoMode(newResolution, true);
// }
// TODO: (HIGH) create saveCameras() function in VisionManager
// VisionManager.saveCameras();
VisionManager.saveCameras();
sendFullSettings();
break;
}
@@ -161,7 +158,7 @@ public class ServerHandler {
break;
}
case "currentPipeline": {
currentProcess.setPipeline((Integer) entry.getValue());
currentProcess.setPipeline((Integer) entry.getValue(), true);
sendFullSettings();
try {
currentCamera.setBrightness((int) currentPipeline.settings.brightness);
@@ -194,16 +191,6 @@ public class ServerHandler {
private void setField(Object obj, String fieldName, Object value) {
try {
if (obj instanceof USBCamera) {
// TODO: (HIGH) FIXXX!!!! this won't work anymore
// the UI should instead understand that DriverMode is a pipeline (?)
USBCamera cam = (USBCamera)obj;
if (fieldName.equals("driverBrightness")) {
cam.setDriverBrightness((Integer)value);
} else if (fieldName.equals("driverExposure")) {
cam.setDriverExposure((Integer)value);
}
}
Field field = obj.getClass().getField(fieldName);
if (field.getType().isEnum())
field.set(obj, field.getType().getEnumConstants()[(Integer) value]);
@@ -281,20 +268,24 @@ public class ServerHandler {
public static void sendFullSettings() {
//General settings
Map<String, Object> fullSettings = new HashMap<>();
VisionProcess currentProcess = VisionManager.getCurrentUIVisionProcess();
CameraProcess currentCamera = currentProcess.getCamera();
CVPipeline currentPipeline = currentProcess.getCurrentPipeline();
try {
fullSettings.put("settings", getOrdinalSettings());
fullSettings.put("cameraSettings", getOrdinalCameraSettings());
fullSettings.put("cameraList", VisionManager.getAllCameraNicknames());
fullSettings.put("pipeline", getOrdinalPipeline());
var currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
fullSettings.put("driverMode",getOrdinalDriver());
fullSettings.put("driverMode", getOrdinalDriver());
// TODO (HIGH) all of these settings!
// fullSettings.put("pipelineList", currentVisionProcess.getPipelinesNickname());
// fullSettings.put("resolutionList", currentVisionProcess.getResolutionList());
// fullSettings.put("port", currentVisionProcess.getStreamPort());
fullSettings.put("pipelineList", VisionManager.getCurrentCameraPipelineNicknames());
fullSettings.put("resolutionList", VisionManager.getCurrentCameraResolutionList());
fullSettings.put("port", currentProcess.cameraStreamer.getStreamPort());
fullSettings.put("currentPipelineIndex", VisionManager.getCurrentUIVisionProcess().getCurrentPipelineIndex());
// fullSettings.put("currentCameraIndex", VisionManager.getCurrentCameraIndex());
} catch (CameraException | IllegalAccessException e) {
fullSettings.put("currentCameraIndex", VisionManager.getCurrentUIVisionProcessIndex());
} catch (IllegalAccessException e) {
System.err.println("No camera found!");
}
broadcastMessage(fullSettings);