Team2890/PhotonVision
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added time stamp and removed websocket

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This commit is contained in:
ori
2019-08-15 09:07:52 -07:00
parent 771958fb71
commit e068fe3cb2
2 changed files with 9 additions and 17 deletions
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5
backend/app/handlers/SocketHandler.py
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@@ -6,7 +6,7 @@ from ..classes.Exceptions import NoCameraConnectedException
from ..classes.SettingsManager import SettingsManager
web_socket_clients = []
web_socket_clients = set()
def send_all_async(message):
@@ -17,6 +17,7 @@ def send_all_async(message):
pass
class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
actions = {}
@@ -39,7 +40,7 @@ class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
def open(self):
self.send_full_settings()
if self not in web_socket_clients:
web_socket_clients.append(self)
web_socket_clients.add(self)
print("WebSocket opened")

21
backend/app/handlers/VisionHandler.py
View File

@@ -247,8 +247,8 @@ class VisionHandler(metaclass=Singleton):
return yaw
def run(self):
NetworkTables.startClientTeam(team=self.settings_manager.general_settings.get("team_number", 1577))
# NetworkTables.initialize("localhost")
# NetworkTables.startClientTeam(team=self.settings_manager.general_settings.get("team_number", 1577))
NetworkTables.initialize("localhost")
port = 5550
@@ -318,10 +318,11 @@ class VisionHandler(metaclass=Singleton):
def _image_thread():
global image
global p_image
global time_stamp
image = numpy.zeros(shape=(width, height, 3), dtype=numpy.uint8)
p_image = image
while True:
_, image = cv_sink.grabFrame(image)
time_stamp, image = cv_sink.grabFrame(image)
def _publish_thread():
# asyncio.set_event_loop(asyncio.new_event_loop())
@@ -334,19 +335,9 @@ class VisionHandler(metaclass=Singleton):
#send the point using network tables
table.putNumber('pitch', nt_data['pitch'])
table.putNumber('yaw', nt_data['yaw'])
table.putNumber('fps', nt_data['fps'])
table.putNumber('time_stamp', time_stamp)
#if the selected camera in ui is this cam send the point to the ui
if self.settings_manager.general_settings['curr_camera'] == cam_name:
try:
send_all_async({
'raw_point': nt_data['raw_point'],
'point': {
'pitch': nt_data['pitch'],
'yaw': nt_data['yaw'],
'fps': nt_data['fps']
}
})
except:
pass
except:
pass