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V2.3.2 (#67)

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bug fixed settings not saving
This commit is contained in:
Ori agranat
2020-03-04 23:12:02 +02:00
committed by GitHub
parent 321a90ac08
commit da6f0e8a81
14 changed files with 239 additions and 64 deletions
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8
chameleon-server/src/main/java/com/chameleonvision/Main.java
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@@ -129,6 +129,7 @@ public class Main {
}
// Attempt to load the JNI Libraries
System.out.println("Loading CameraServer...");
try {
CameraServerJNI.forceLoad();
CameraServerCvJNI.forceLoad();
@@ -139,9 +140,11 @@ public class Main {
throw new RuntimeException("Failed to load JNI Libraries!");
}
System.out.println("Checking Settings...");
ConfigManager.initializeSettings();
if (!CurrentPlatform.isWindows()) {
System.out.println("Initializing Script Manager...");
ScriptManager.initialize();
} else {
System.out.println("Scripts not yet supported on Windows. ScriptEvents will be ignored.");
@@ -159,16 +162,17 @@ public class Main {
boolean visionSourcesOk = VisionManager.initializeSources();
if (!visionSourcesOk) {
System.out.println("No cameras connected!");
System.err.println("No cameras connected!");
return;
}
boolean visionProcessesOk = VisionManager.initializeProcesses();
if (!visionProcessesOk) {
System.err.println("Failed to start threads!");
System.err.println("Failed to initialize vision processes!");
return;
}
System.out.println("Starting vision processes...");
VisionManager.startProcesses();
System.out.printf("Starting Web server at port %d\n", uiPort);

14
chameleon-server/src/main/java/com/chameleonvision/config/CameraConfig.java
View File

@@ -84,7 +84,7 @@ public class CameraConfig {
void saveConfig(CameraJsonConfig config) {
try {
JacksonHelper.serializer(configPath, config);
JacksonHelper.serializer(configPath, config, true);
FileHelper.setFilePerms(configPath);
} catch (IOException e) {
System.err.println("Failed to save camera config file: " + configPath.toString());
@@ -97,7 +97,7 @@ public class CameraConfig {
public void saveDriverMode(CVPipelineSettings driverMode) {
try {
JacksonHelper.serializer(driverModePath, driverMode);
JacksonHelper.serializer(driverModePath, driverMode, true);
FileHelper.setFilePerms(driverModePath);
} catch (IOException e) {
System.err.println("Failed to save camera drivermode file: " + driverModePath.toString());
@@ -108,7 +108,7 @@ public class CameraConfig {
public void saveCalibration(List<CameraCalibrationConfig> cal) {
CameraCalibrationConfig[] configs = cal.toArray(new CameraCalibrationConfig[0]);
try {
JacksonHelper.serializer(calibrationPath, configs);
JacksonHelper.serializer(calibrationPath, configs, true);
FileHelper.setFilePerms(calibrationPath);
} catch (IOException e) {
System.err.println("Failed to save camera calibration file: " + calibrationPath.toString());
@@ -122,7 +122,7 @@ public class CameraConfig {
System.err.println("Failed to create camera config folder: " + configFolderPath.toString());
}
FileHelper.setFilePerms(configFolderPath);
} catch(Exception e) {
} catch (Exception e) {
System.err.println("Failed to create camera config folder: " + configFolderPath.toString());
}
}
@@ -131,7 +131,7 @@ public class CameraConfig {
private void checkConfig() {
if (!configExists()) {
try {
JacksonHelper.serializer(configPath, preliminaryConfig);
JacksonHelper.serializer(configPath, preliminaryConfig, true);
FileHelper.setFilePerms(configPath);
} catch (IOException e) {
System.err.println("Failed to create camera config file: " + configPath.toString());
@@ -144,7 +144,7 @@ public class CameraConfig {
try {
CVPipelineSettings newDriverModeSettings = new CVPipelineSettings();
newDriverModeSettings.nickname = "DRIVERMODE";
JacksonHelper.serializer(driverModePath, newDriverModeSettings);
JacksonHelper.serializer(driverModePath, newDriverModeSettings, true);
FileHelper.setFilePerms(driverModePath);
} catch (IOException e) {
System.err.println("Failed to create camera drivermode file: " + driverModePath.toString());
@@ -156,7 +156,7 @@ public class CameraConfig {
if (!calibrationExists()) {
try {
List<CameraCalibrationConfig> calibrations = new ArrayList<>();
JacksonHelper.serializer(calibrationPath, calibrations.toArray());
JacksonHelper.serializer(calibrationPath, calibrations.toArray(), true);
} catch (IOException e) {
System.err.println("Failed to create camera calibration file: " + calibrationPath.toString());
}

20
chameleon-server/src/main/java/com/chameleonvision/config/ConfigManager.java
View File

@@ -13,7 +13,8 @@ import java.util.LinkedHashMap;
import java.util.List;
public class ConfigManager {
private ConfigManager() {}
private ConfigManager() {
}
public static final Path SettingsPath = Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "settings");
private static final Path settingsFilePath = Paths.get(SettingsPath.toString(), "settings.json");
@@ -22,13 +23,18 @@ public class ConfigManager {
public static GeneralSettings settings = new GeneralSettings();
private static boolean settingsFolderExists() { return Files.exists(SettingsPath); }
private static boolean settingsFileExists() { return settingsFolderExists() && Files.exists(settingsFilePath); }
private static boolean settingsFolderExists() {
return Files.exists(SettingsPath);
}
private static boolean settingsFileExists() {
return settingsFolderExists() && Files.exists(settingsFilePath);
}
private static void checkSettingsFolder() {
if (!settingsFolderExists()) {
try {
if( !(new File(SettingsPath.toUri()).mkdirs()) ) {
if (!(new File(SettingsPath.toUri()).mkdirs())) {
System.err.println("Failed to create settings folder: " + SettingsPath.toString());
}
Files.createDirectory(SettingsPath);
@@ -36,7 +42,7 @@ public class ConfigManager {
new ShellExec().executeBashCommand("sudo chmod -R 0777 " + SettingsPath.toString());
}
} catch (IOException e) {
if(!(e instanceof java.nio.file.FileAlreadyExistsException))
if (!(e instanceof java.nio.file.FileAlreadyExistsException))
e.printStackTrace();
}
}
@@ -46,7 +52,7 @@ public class ConfigManager {
boolean settingsFileEmpty = settingsFileExists() && new File(settingsFilePath.toString()).length() == 0;
if (settingsFileEmpty || !settingsFileExists()) {
try {
JacksonHelper.serializer(settingsFilePath, settings);
JacksonHelper.serializer(settingsFilePath, settings, true);
FileHelper.setFilePerms(settingsFilePath);
} catch (IOException e) {
e.printStackTrace();
@@ -69,7 +75,7 @@ public class ConfigManager {
private static void saveSettingsFile() {
try {
JacksonHelper.serializer(settingsFilePath, settings);
JacksonHelper.serializer(settingsFilePath, settings, true);
FileHelper.setFilePerms(settingsFilePath);
} catch (IOException e) {
System.err.println("Failed to save settings.json!");

29
chameleon-server/src/main/java/com/chameleonvision/config/PipelineConfig.java
View File

@@ -21,6 +21,7 @@ public class PipelineConfig {
/**
* Construct a new PipelineConfig
*
* @param cameraConfig the CameraConfig (parent folder, kinda?)
*/
PipelineConfig(CameraConfig cameraConfig) {
@@ -28,7 +29,7 @@ public class PipelineConfig {
}
private void checkFolder() {
if ( !(new File(cameraConfig.pipelineFolderPath.toUri()).mkdirs())) {
if (!(new File(cameraConfig.pipelineFolderPath.toUri()).mkdirs())) {
if (Files.notExists(cameraConfig.pipelineFolderPath)) {
System.err.println("Failed to create pipelines folder.");
}
@@ -46,7 +47,7 @@ public class PipelineConfig {
private boolean folderHasPipelines() {
File[] folderContents = getPipelineFiles();
if(folderContents == null) return false;
if (folderContents == null) return false;
return folderContents.length > 0;
}
@@ -75,14 +76,14 @@ public class PipelineConfig {
if (settings instanceof StandardCVPipelineSettings) {
try {
JacksonHelper.serialize(path, (StandardCVPipelineSettings)settings, StandardCVPipelineSettings.class, new StandardCVPipelineSettingsSerializer());
JacksonHelper.serialize(path, (StandardCVPipelineSettings) settings, StandardCVPipelineSettings.class, new StandardCVPipelineSettingsSerializer(), true);
FileHelper.setFilePerms(path);
} catch (IOException e) {
e.printStackTrace();
}
} else {
try {
JacksonHelper.serializer(path, settings);
JacksonHelper.serializer(path, settings, true);
FileHelper.setFilePerms(path);
} catch (IOException e) {
e.printStackTrace();
@@ -91,13 +92,13 @@ public class PipelineConfig {
}
public void save(List<CVPipelineSettings> settings) {
for(CVPipelineSettings setting : settings) {
for (CVPipelineSettings setting : settings) {
save(setting);
}
}
public void delete(CVPipelineSettings setting) {
if(pipelineExists(setting)) {
if (pipelineExists(setting)) {
try {
Files.delete(getPipelinePath(setting));
} catch (IOException e) {
@@ -124,17 +125,17 @@ public class PipelineConfig {
File[] pipelineFiles = getPipelineFiles();
List<CVPipelineSettings> deserializedList = new ArrayList<>();
if(pipelineFiles == null || pipelineFiles.length < 1) {
if (pipelineFiles == null || pipelineFiles.length < 1) {
// TODO handle no pipelines to load
System.err.println("no pipes to load! loading default");
} else {
for(File pipelineFile : pipelineFiles) {
try {
var pipe = JacksonHelper.deserialize(Paths.get(pipelineFile.getPath()), StandardCVPipelineSettings.class, new StandardCVPipelineSettingsDeserializer());
deserializedList.add(pipe);
} catch (IOException e) {
System.err.println("couldn't load cvpipeline2d");
}
for (File pipelineFile : pipelineFiles) {
try {
var pipe = JacksonHelper.deserialize(Paths.get(pipelineFile.getPath()), StandardCVPipelineSettings.class, new StandardCVPipelineSettingsDeserializer());
deserializedList.add(pipe);
} catch (IOException e) {
System.err.println("couldn't load cvpipeline2d");
}
}
}

17
chameleon-server/src/main/java/com/chameleonvision/networktables/NetworkTablesManager.java
View File

@@ -13,7 +13,7 @@ public class NetworkTablesManager {
private NetworkTablesManager() {}
private static final NetworkTableInstance NTInst = NetworkTableInstance.getDefault();
private static final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
public static final String kRootTableName = "/chameleon-vision";
public static final NetworkTable kRootTable = NetworkTableInstance.getDefault().getTable(kRootTableName);
@@ -48,11 +48,16 @@ public class NetworkTablesManager {
public static void setClientMode(String host) {
isServer = false;
System.out.println("Starting NT Client");
NTInst.stopServer();
ntInstance.stopServer();
if (host != null) {
NTInst.startClient(host);
ntInstance.startClient(host);
} else {
NTInst.startClientTeam(getTeamNumber());
ntInstance.startClientTeam(getTeamNumber());
if(ntInstance.isConnected()) {
System.out.println("[NetworkTablesManager] Connected to the robot!");
} else {
System.out.println("[NetworkTablesManager] Could NOT to the robot! Will retry in the background...");
}
}
}
@@ -63,7 +68,7 @@ public class NetworkTablesManager {
public static void setServerMode() {
isServer = true;
System.out.println("Starting NT Server");
NTInst.stopClient();
NTInst.startServer();
ntInstance.stopClient();
ntInstance.startServer();
}
}

12
chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptManager.java
View File

@@ -16,7 +16,8 @@ import java.util.concurrent.LinkedBlockingDeque;
public class ScriptManager {
private ScriptManager() {}
private ScriptManager() {
}
private static final List<ScriptEvent> events = new ArrayList<>();
private static final LinkedBlockingDeque<ScriptEventType> queuedEvents = new LinkedBlockingDeque<>(25);
@@ -67,9 +68,12 @@ public class ScriptManager {
protected static final Path scriptConfigPath = Paths.get(ConfigManager.SettingsPath.toString(), "scripts.json");
private ScriptConfigManager() {}
private ScriptConfigManager() {
}
static boolean fileExists() { return Files.exists(scriptConfigPath); }
static boolean fileExists() {
return Files.exists(scriptConfigPath);
}
public static void initialize() {
if (!fileExists()) {
@@ -79,7 +83,7 @@ public class ScriptManager {
}
try {
JacksonHelper.serializer(scriptConfigPath, eventsConfig.toArray(new ScriptConfig[0]));
JacksonHelper.serializer(scriptConfigPath, eventsConfig.toArray(new ScriptConfig[0]), true);
} catch (IOException e) {
e.printStackTrace();
}

3
chameleon-server/src/main/java/com/chameleonvision/util/Helpers.java
View File

@@ -27,6 +27,8 @@ public class Helpers {
"WantedBy=multi-user.target\n" +
"\n";
private Helpers() {
}
@@ -55,4 +57,5 @@ public class Helpers {
Process p = Runtime.getRuntime().exec("systemctl enable chameleonVision.service");
p.waitFor();
}
}

30
chameleon-server/src/main/java/com/chameleonvision/util/JacksonHelper.java
View File

@@ -9,16 +9,24 @@ import com.fasterxml.jackson.databind.module.SimpleModule;
import com.fasterxml.jackson.databind.ser.std.StdSerializer;
import java.io.File;
import java.io.FileDescriptor;
import java.io.FileOutputStream;
import java.io.IOException;
import java.nio.file.Path;
public class JacksonHelper {
private JacksonHelper() {} // no construction, utility class
private JacksonHelper() {
} // no construction, utility class
public static <T> void serializer(Path path, T object) throws IOException {
serializer(path, object, false);
}
public static <T> void serializer(Path path, T object, boolean forceSync) throws IOException {
PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(object.getClass()).build();
ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT).build();
objectMapper.writerWithDefaultPrettyPrinter().writeValue(new File(path.toString()), object);
String json = objectMapper.writerWithDefaultPrettyPrinter().writeValueAsString(object);
saveJsonString(json, path, forceSync);
}
public static <T> T deserialize(Path path, Class<T> ref) throws IOException {
@@ -43,13 +51,27 @@ public class JacksonHelper {
}
return null;
}
public static <T> void serialize(Path path, T object, Class<T> ref, StdSerializer<T> serializer) throws IOException {
serialize(path, object, ref, serializer, false);
}
public static <T> void serialize(Path path, T object, Class<T> ref, StdSerializer<T> serializer, boolean forceSync) throws IOException {
ObjectMapper objectMapper = new ObjectMapper();
SimpleModule module = new SimpleModule();
module.addSerializer(ref, serializer);
objectMapper.registerModule(module);
String json = objectMapper.writerWithDefaultPrettyPrinter().writeValueAsString(object);
saveJsonString(json, path, forceSync);
}
objectMapper.writerWithDefaultPrettyPrinter().writeValue(new File(path.toString()), object);
private static void saveJsonString(String json, Path path, boolean forceSync) throws IOException {
FileOutputStream fileOutputStream = new FileOutputStream(path.toFile());
fileOutputStream.write(json.getBytes());
fileOutputStream.flush();
if (forceSync) {
FileDescriptor fileDescriptor = fileOutputStream.getFD();
fileDescriptor.sync();
}
fileOutputStream.close();
}
}

5
chameleon-server/src/main/java/com/chameleonvision/vision/VisionManager.java
View File

@@ -57,6 +57,7 @@ public class VisionManager {
if (usbCameraInfosByCameraName.isEmpty()) {
return false;
}
System.out.printf("[VisionManager] Found %s cameras!\n", usbCameraInfosByCameraName.size());
// load the config
List<CameraJsonConfig> preliminaryConfigs = new ArrayList<>();
@@ -74,7 +75,7 @@ public class VisionManager {
});
loadedCameraConfigs.addAll(ConfigManager.initializeCameras(preliminaryConfigs));
System.out.printf("[VisionManager] Loaded %s cameras!\n", loadedCameraConfigs.size());
return true;
}
@@ -91,6 +92,8 @@ public class VisionManager {
}
currentUIVisionProcess = getVisionProcessByIndex(0);
ConfigManager.settings.currentCamera = visionProcesses.get(0).name;
System.out.printf("[VisionManager] Loaded %s vision processes! Current process: %s\n", visionProcesses.size(), visionProcesses.get(0).name);
return true;
}

29
chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
View File

@@ -86,18 +86,13 @@ public class VisionProcess {
}
public void start() {
System.out.println("Starting NetworkTables.");
System.out.printf("[%s Process] Creating network table...\n", getCamera().getProperties().getNickname());
initNT(defaultTable);
System.out.println("Starting vision thread.");
System.out.printf("[%s Process] Starting vision thread...\n", getCamera().getProperties().getNickname());
var visionThread = new Thread(visionRunnable);
visionThread.setName(getCamera().getProperties().name + " - Vision Thread");
visionThread.start();
// System.out.println("Starting stream thread.");
// var streamThread = new Thread(streamRunnable);
// streamThread.setName(getCamera().getProperties().name + " - Stream Thread");
// streamThread.start();
}
/**
@@ -299,7 +294,7 @@ public class VisionProcess {
public void addCalibration(CameraCalibrationConfig cal) {
cameraCapture.addCalibrationData(cal);
System.out.println("saving to file");
fileConfig.saveCalibration(cameraCapture.getConfig());
fileConfig.saveCalibration(cameraCapture.getAllCalibrationData());
}
public void setIs3d(Boolean value) {
@@ -329,6 +324,9 @@ public class VisionProcess {
public void run() {
var lastUpdateTimeNanos = System.nanoTime();
var lastStreamTimeMs = System.currentTimeMillis();
System.out.printf("[%s Process] Vision Process Thread -- first run!\n", getCamera().getProperties().getNickname());
while (!Thread.interrupted()) {
// blocking call, will block until camera has a new frame.
@@ -357,14 +355,19 @@ public class VisionProcess {
try {
var currentTime = System.currentTimeMillis();
if ((currentTime - lastStreamTimeMs) / 1000d > 1.0 / 30.0) {
cameraStreamer.runStream(lastPipelineResult.outputMat);
// System.out.println("Ran stream in " + (System.currentTimeMillis() - currentTime) + "ms!");
lastStreamTimeMs = currentTime;
lastPipelineResult.outputMat.release();
if(lastPipelineResult != null) {
cameraStreamer.runStream(lastPipelineResult.outputMat);
lastStreamTimeMs = currentTime;
lastPipelineResult.outputMat.release();
} else {
System.err.printf("[%s Process] Last pipeline result was null!\n", getCamera().getProperties().getNickname());
}
}
} catch (Exception e) {
Debug.printInfo("Vision running faster than stream.");
// Debug.printInfo("Vision running faster than stream.");
System.err.printf("[%s Process] Exception in vision thread!\n", getCamera().getProperties().getNickname());
e.printStackTrace();
}
var deltaTimeNanos = System.nanoTime() - lastUpdateTimeNanos;

4
chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java
View File

@@ -58,10 +58,6 @@ public class USBCameraCapture implements CameraCapture {
calibrationList.add(newConfig);
}
public List<CameraCalibrationConfig> getConfig() {
return calibrationList;
}
@Override
public USBCaptureProperties getProperties() {
return properties;