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Code Issues Packages Projects Releases Wiki Activity

Fix snapshot methods not working (#1815)

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This commit is contained in:
Gold856
2025-03-19 02:02:18 -04:00
committed by GitHub
parent 30645803e6
commit de98f5f02d
3 changed files with 167 additions and 19 deletions
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5
photon-client/src/components/app/photon-camera-stream.vue
View File

@@ -1,6 +1,7 @@
<script setup lang="ts">
import { computed, inject, ref, onBeforeUnmount } from "vue";
import { useStateStore } from "@/stores/StateStore";
import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
import loadingImage from "@/assets/images/loading-transparent.svg";
import type { StyleValue } from "vue/types/jsx";
import PvIcon from "@/components/common/pv-icon.vue";
@@ -58,9 +59,9 @@ const overlayStyle = computed<StyleValue>(() => {
const handleCaptureClick = () => {
if (props.streamType === "Raw") {
props.cameraSettings.pipelineSettings[props.cameraSettings.currentPipelineIndex].saveInputSnapshot();
useCameraSettingsStore().saveInputSnapshot();
} else {
props.cameraSettings.pipelineSettings[props.cameraSettings.currentPipelineIndex].saveOutputSnapshot();
useCameraSettingsStore().saveOutputSnapshot();
}
};
const handlePopoutClick = () => {

43
photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
View File

@@ -17,11 +17,11 @@
package org.photonvision.vision.frame.consumer;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.networktables.IntegerEntry;
import edu.wpi.first.networktables.IntegerSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.StringSubscriber;
import edu.wpi.first.wpilibj.DriverStation.MatchType;
import java.io.File;
import java.text.DateFormat;
import java.text.SimpleDateFormat;
@@ -38,21 +38,18 @@ import org.photonvision.vision.opencv.CVMat;
public class FileSaveFrameConsumer implements Consumer<CVMat> {
private final Logger logger = new Logger(FileSaveFrameConsumer.class, LogGroup.General);
// match type's values from the FMS.
private static final String[] matchTypes = {"N/A", "P", "Q", "E", "EV"};
// Formatters to generate unique, timestamped file names
private static final String FILE_PATH = ConfigManager.getInstance().getImageSavePath().toString();
private static final String FILE_EXTENSION = ".jpg";
static final String FILE_EXTENSION = ".jpg";
private static final String NT_SUFFIX = "SaveImgCmd";
DateFormat df = new SimpleDateFormat("yyyy-MM-dd");
DateFormat tf = new SimpleDateFormat("hhmmssSS");
static final DateFormat df = new SimpleDateFormat("yyyy-MM-dd");
static final DateFormat tf = new SimpleDateFormat("hhmmssSS");
private final NetworkTable rootTable;
private NetworkTable subTable;
private final String ntEntryName;
private IntegerEntry saveFrameEntry;
IntegerEntry saveFrameEntry;
private StringSubscriber ntEventName;
private IntegerSubscriber ntMatchNum;
@@ -74,21 +71,27 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
NetworkTable fmsTable = NetworkTablesManager.getInstance().getNTInst().getTable("FMSInfo");
this.ntEventName = fmsTable.getStringTopic("EventName").subscribe("UNKNOWN");
this.ntMatchNum = fmsTable.getIntegerTopic("MatchNumber").subscribe(-1);
this.ntMatchNum = fmsTable.getIntegerTopic("MatchNumber").subscribe(0);
this.ntMatchType = fmsTable.getIntegerTopic("MatchType").subscribe(0);
updateCameraNickname(camNickname);
}
public void accept(CVMat image) {
accept(image, new Date());
}
public void accept(CVMat image, Date now) {
long currentCount = saveFrameEntry.get();
System.out.println("currentCount: " + currentCount + " savedImagesCount: " + savedImagesCount);
// Await save request
if (currentCount == -1) return;
// The requested count is greater than the actual count
if (savedImagesCount < currentCount) {
Date now = new Date();
String matchData = getMatchData();
String fileName =
cameraNickname
@@ -99,7 +102,7 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
+ "T"
+ tf.format(now)
+ "_"
+ getMatchData();
+ matchData;
// Check if the Unique Camera directory exists and create it if it doesn't
String cameraPath = FILE_PATH + File.separator + this.cameraUniqueName;
@@ -110,6 +113,7 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
String saveFilePath = cameraPath + File.separator + fileName + FILE_EXTENSION;
logger.info("Saving image to: " + saveFilePath);
if (image == null || image.getMat() == null || image.getMat().empty()) {
Imgcodecs.imwrite(saveFilePath, StaticFrames.LOST_MAT);
} else {
@@ -146,18 +150,18 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
/**
* Returns the match Data collected from the NT. eg : Q58 for qualification match 58. If not in
* event, returns N/A-0-EVENTNAME
* event, returns None-0-Unknown
*/
private String getMatchData() {
var matchType = ntMatchType.getAtomic();
if (matchType.timestamp == 0) {
// no NT info yet
logger.warn("Did not receive match type, defaulting to 0");
logger.warn("Did not receive match type, defaulting to None");
}
var matchNum = ntMatchNum.getAtomic();
if (matchNum.timestamp == 0) {
logger.warn("Did not receive match num, defaulting to -1");
logger.warn("Did not receive match num, defaulting to 0");
}
var eventName = ntEventName.getAtomic();
@@ -165,9 +169,14 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
logger.warn("Did not receive event name, defaulting to 'UNKNOWN'");
}
String matchTypeStr =
matchTypes[MathUtil.clamp((int) matchType.value, 0, matchTypes.length - 1)];
return matchTypeStr + "-" + matchNum.value + "-" + eventName.value;
MatchType wpiMatchType = MatchType.None; // Default is to be unknown
if (matchType.value < 0 || matchType.value >= MatchType.values().length) {
logger.error("Invalid match type from FMS: " + matchType.value);
} else {
wpiMatchType = MatchType.values()[(int) matchType.value];
}
return wpiMatchType.name() + "-" + matchNum.value + "-" + eventName.value;
}
public void close() {

138
photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java Normal file
View File

@@ -0,0 +1,138 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.vision.frame.consumer;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertNull;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.Assertions.fail;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.MatchType;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.io.File;
import java.io.IOException;
import java.util.Date;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.BeforeEach;
import org.junitpioneer.jupiter.cartesian.CartesianTest;
import org.junitpioneer.jupiter.cartesian.CartesianTest.Enum;
import org.junitpioneer.jupiter.cartesian.CartesianTest.Values;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
import org.photonvision.common.util.TestUtils;
import org.photonvision.jni.PhotonTargetingJniLoader;
import org.photonvision.jni.WpilibLoader;
import org.photonvision.vision.frame.provider.FileFrameProvider;
public class FileSaveFrameConsumerTest {
NetworkTableInstance inst = null;
@BeforeAll
public static void init() throws UnsatisfiedLinkError, IOException {
if (!WpilibLoader.loadLibraries()) {
fail();
}
try {
if (!PhotonTargetingJniLoader.load()) fail();
} catch (UnsatisfiedLinkError | IOException e) {
e.printStackTrace();
fail(e);
}
}
@BeforeEach
public void setup() {
assertNull(inst);
HAL.initialize(500, 0);
inst = NetworkTablesManager.getInstance().getNTInst();
inst.stopClient();
inst.stopServer();
inst.startLocal();
SmartDashboard.setNetworkTableInstance(inst);
// DriverStation uses the default instance internally
assertEquals(NetworkTableInstance.getDefault(), inst);
}
@AfterEach
public void teardown() {
SimHooks.resumeTiming();
HAL.shutdown();
}
@CartesianTest
public void testNoMatch(
@Enum(MatchType.class) MatchType matchType, @Values(ints = {0, 1, 0xffff}) int matchNumber) {
String camNickname = "foobar";
String cameraUniqueName = "some_unique";
String streamPrefix = "input";
// GIVEN an input consumer
FileSaveFrameConsumer consumer =
new FileSaveFrameConsumer(camNickname, cameraUniqueName, streamPrefix);
// AND a frameProvider giving a random test mode image
var frameProvider =
new FileFrameProvider(
TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoSideStraightDark72in, false),
TestUtils.WPI2019Image.FOV);
// AND fake FMS data
String eventName = "CASJ";
DriverStationSim.setMatchType(matchType);
DriverStationSim.setMatchNumber(matchNumber);
DriverStationSim.setEventName(eventName);
DriverStation.refreshData();
// WHEN we save the image
var currentTime = new Date();
var counterPublisher = consumer.saveFrameEntry.getTopic().publish();
counterPublisher.accept(1);
consumer.accept(frameProvider.get().colorImage, currentTime);
// THEN an image will be created on disk
File expectedSnapshot =
ConfigManager.getInstance()
.getImageSavePath()
.resolve(cameraUniqueName)
.resolve(
camNickname
+ "_"
+ streamPrefix
+ "_"
+ FileSaveFrameConsumer.df.format(currentTime)
+ "T"
+ FileSaveFrameConsumer.tf.format(currentTime)
+ "_"
+ (matchType.name() + "-" + matchNumber + "-" + eventName)
+ FileSaveFrameConsumer.FILE_EXTENSION)
.toFile();
System.out.println("Checking that file exists: " + expectedSnapshot.getAbsolutePath());
assertTrue(expectedSnapshot.exists());
}
}