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Add CameraDeserializer, fix empty camera.json crash

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This commit is contained in:
Banks Troutman
2019-09-20 15:42:13 -04:00
parent c5568e4296
commit d733995ac6
6 changed files with 73 additions and 30 deletions
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15
Main/src/main/java/com/chameleonvision/Main.java
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@@ -7,12 +7,15 @@ import com.chameleonvision.web.Server;
public class Main {
public static void main(String[] args) {
CameraManager.initializeCameras();
SettingsManager manager = SettingsManager.getInstance();
for (var camSet : CameraManager.getAllCamerasByName().entrySet()) {
new Thread(new CameraProcess(camSet.getValue())).start();
if (CameraManager.initializeCameras()) {
SettingsManager manager = SettingsManager.getInstance();
for (var camSet : CameraManager.getAllCamerasByName().entrySet()) {
new Thread(new CameraProcess(camSet.getValue())).start();
}
// NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
Server.main(8888);
} else {
System.err.println("No cameras connected!");
}
// NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
Server.main(8888);
}
}

22
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -15,8 +15,7 @@ public class Camera {
public final String name;
public final String path;
public final UsbCamera UsbCam;
private final UsbCameraInfo UsbCamInfo;
final UsbCamera UsbCam;
private final VideoMode[] availableVideoModes;
private final CameraServer cs = CameraServer.getInstance();
@@ -29,7 +28,7 @@ public class Camera {
private CamVideoMode camVideoMode;
private int currentPipelineIndex;
private HashMap<Integer, Pipeline> pipelines = new HashMap<>();
private HashMap<Integer, Pipeline> pipelines;
public Camera(String cameraName) {
this(cameraName, defaultFOV);
@@ -44,13 +43,22 @@ public class Camera {
}
public Camera(UsbCameraInfo usbCamInfo, double fov) {
UsbCamInfo = usbCamInfo;
this(usbCamInfo, fov, new HashMap<>());
}
public Camera(String cameraName, double fov, HashMap<Integer, Pipeline> pipelines) {
this(CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines);
}
public Camera(UsbCameraInfo usbCamInfo, double fov, HashMap<Integer, Pipeline> pipelines) {
FOV = fov;
name = usbCamInfo.name;
path = usbCamInfo.path;
UsbCam = new UsbCamera(name, path);
this.pipelines = pipelines;
// set up video mode
availableVideoModes = UsbCam.enumerateVideoModes();
setCamVideoMode(new CamVideoMode(availableVideoModes[0]));
@@ -81,7 +89,7 @@ public class Camera {
}
}
public void addPipeline() {
void addPipeline() {
addPipeline(pipelines.size());
}
@@ -98,7 +106,7 @@ public class Camera {
return currentPipelineIndex;
}
public void setCurrentPipelineIndex(int pipelineNumber) {
void setCurrentPipelineIndex(int pipelineNumber) {
if (pipelineNumber - 1 > pipelines.size()) return;
currentPipelineIndex = pipelineNumber;
}
@@ -106,7 +114,7 @@ public class Camera {
return pipelines;
}
public CamVideoMode getVideoMode() {
CamVideoMode getVideoMode() {
return camVideoMode;
}

34
Main/src/main/java/com/chameleonvision/vision/camera/CameraDeserializer.java Normal file
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@@ -0,0 +1,34 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.vision.Pipeline;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.fasterxml.jackson.databind.type.MapType;
import com.fasterxml.jackson.databind.type.TypeFactory;
import com.google.gson.*;
import java.lang.reflect.Type;
import java.util.HashMap;
public class CameraDeserializer implements JsonDeserializer<Camera> {
@Override
public Camera deserialize(JsonElement jsonElement, Type type, JsonDeserializationContext context) throws JsonParseException {
var jsonObj = jsonElement.getAsJsonObject();
var camFOV = jsonObj.get("FOV").getAsDouble();
var camPath = jsonObj.get("path").getAsString();
var camName = jsonObj.get("name").getAsString();
var pipelines = jsonObj.get("pipelines");
HashMap<Integer, Pipeline> actualPipelines = new HashMap<>();
ObjectMapper mapper = new ObjectMapper();
TypeFactory typeFactory = mapper.getTypeFactory();
MapType mapType = typeFactory.constructMapType(HashMap.class, Integer.class, Pipeline.class);
try {
actualPipelines = mapper.readValue(pipelines.toString(), mapType);
} catch (JsonProcessingException e) {
e.printStackTrace();
}
return actualPipelines != null ? new Camera(camName, camFOV, actualPipelines) : new Camera(camName, camFOV);
}
}

22
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -10,11 +10,7 @@ import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.UsbCameraInfo;
import org.opencv.videoio.VideoCapture;
import java.io.FileNotFoundException;
import java.io.FileReader;
import java.io.FileWriter;
import java.io.IOException;
import java.nio.file.Files;
import java.io.*;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
@@ -25,7 +21,6 @@ public class CameraManager {
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "Cams");
// TODO: throw a camera Exception if no camera is connected
static HashMap<String, UsbCameraInfo> AllUsbCameraInfosByName = new HashMap<>() {{
var suffix = 0;
for (var info : UsbCamera.enumerateUsbCameras()) {
@@ -46,25 +41,28 @@ public class CameraManager {
public static HashMap<String, Camera> getAllCamerasByName() { return AllCamerasByName; }
public static void initializeCameras() {
public static boolean initializeCameras() {
if (AllUsbCameraInfosByName.size() == 0) return false;
FileHelper.CheckPath(CamConfigPath);
for (var entry : AllUsbCameraInfosByName.entrySet()) {
var camPath = Paths.get(CamConfigPath.toString(), String.format("%s.json", entry.getKey()));
if (Files.exists(camPath)) {
File camJsonFile = new File(camPath.toString());
if (camJsonFile.exists() && camJsonFile.length() != 0) {
try {
// TODO: Check if deserializing correctly, if not, add CameraDeserializer
var camJsonFile = new FileReader(camPath.toString());
var gsonRead = new Gson().fromJson(camJsonFile, Camera.class);
Gson gson = new GsonBuilder().registerTypeAdapter(Camera.class, new CameraDeserializer()).create();
var camJsonFileReader = new FileReader(camPath.toString());
var gsonRead = gson.fromJson(camJsonFileReader, Camera.class);
AllCamerasByName.put(entry.getKey(), gsonRead);
} catch (FileNotFoundException ex) {
ex.printStackTrace();
}
} else {
if (!addCamera(new Camera(entry.getKey()),entry.getKey())) {
if (!addCamera(new Camera(entry.getKey()), entry.getKey())) {
System.err.println("Failed to add camera! Already exists!");
}
}
}
return true;
}
private static boolean addCamera(Camera camera, String cameraName) {

1
Main/src/main/java/com/chameleonvision/vision/camera/CameraSerializer.java
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@@ -14,6 +14,7 @@ public class CameraSerializer implements JsonSerializer<Camera> {
var pipelines = context.serialize(camera.getPipelines());
obj.add("pipelines", pipelines);
var videoModeIndex = camera.getVideoModeIndex();
obj.addProperty("resolution", camera.getVideoModeIndex());
obj.add("camVideoMode", context.serialize(camera.getVideoMode()));

9
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -60,9 +60,10 @@ public class CameraProcess implements Runnable {
}
private void PipelineListener(EntryNotification entryNotification) {
if (camera.getPipelines().containsKey(entryNotification.value.getString())) {
// camera.setPntryNotification.value.getString());
Pipeline pipeline = camera.getCurrentPipeline();
var ntPipelineIndex = Integer.parseInt(entryNotification.value.getString().replace("pipeline", ""));
if (camera.getPipelines().containsKey(ntPipelineIndex)) {
// camera.setEntryNotification.value.getString());
var pipeline = camera.getCurrentPipeline();
camera.setExposure(pipeline.exposure);
camera.setBrightness(pipeline.brightness);
@@ -206,8 +207,6 @@ public class CameraProcess implements Runnable {
cameraInputMat.release();
hsvThreshMat.release();
memManager.run(true);
}
}
}