From e068fe3cb249b53ff8b04e776618ac9dc003f4a2 Mon Sep 17 00:00:00 2001
From: ori <oriagranat9@gmail.com>
Date: Thu, 15 Aug 2019 09:07:52 -0700
Subject: [PATCH] added time stamp and removed websocket

---
 backend/app/handlers/SocketHandler.py |  5 +++--
 backend/app/handlers/VisionHandler.py | 21 ++++++---------------
 2 files changed, 9 insertions(+), 17 deletions(-)

diff --git a/backend/app/handlers/SocketHandler.py b/backend/app/handlers/SocketHandler.py
index 75096dfd6..228cbc30d 100644
--- a/backend/app/handlers/SocketHandler.py
+++ b/backend/app/handlers/SocketHandler.py
@@ -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")
 
diff --git a/backend/app/handlers/VisionHandler.py b/backend/app/handlers/VisionHandler.py
index 50127e068..823dc24e2 100644
--- a/backend/app/handlers/VisionHandler.py
+++ b/backend/app/handlers/VisionHandler.py
@@ -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