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Merge remote-tracking branch 'origin/Java' into Java

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ori
2019-09-21 09:42:27 -07:00
parent 4160b2aba7 305bd65e43
commit e45b679dc9
9 changed files with 93 additions and 7 deletions
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2
Main/src/main/java/com/chameleonvision/Main.java
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@@ -8,7 +8,7 @@ import com.chameleonvision.web.Server;
public class Main {
public static void main(String[] args) {
if (CameraManager.initializeCameras()) {
SettingsManager.intialize();
SettingsManager.initialize();
for (var camSet : CameraManager.getAllCamerasByName().entrySet()) {
new Thread(new CameraProcess(camSet.getValue())).start();
}

64
Main/src/main/java/com/chameleonvision/settings/NetworkSettings.java Normal file
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@@ -0,0 +1,64 @@
package com.chameleonvision.settings;
import java.net.*;
import java.util.Collections;
import java.util.Enumeration;
import org.apache.commons.lang3.SystemUtils;
public class NetworkSettings {
public String connectionType, ip, netmask, gateway, hostname;
public void run() {
String adapter = getAdapter();
if (SystemUtils.IS_OS_LINUX) {//TODO check linux commands
if (!adapter.equals("")) {
executeCommand("ifconfig " + adapter + " down");
if (connectionType.equals("DHCP"))
executeCommand("dhclient -r " + adapter);
else if (connectionType.equals("Static")) {
executeCommand("ifconfig " + adapter + " " + this.ip + " netmask " + this.netmask);
executeCommand("route add default gw " + this.gateway + " " + adapter);
}
executeCommand("ifconfig " + adapter + " up");
}
executeCommand("hostnamectl set-hostname " + this.hostname);
}
//TODO add windows networking commands
// else
// if (SystemUtils.IS_OS_WINDOWS)
// {
// executeCommand("cmd /c COMMAND HERE");
// }
}
private void executeCommand(String command) {
try {
Process p = Runtime.getRuntime().exec(command);
p.waitFor();
p.destroy();
} catch (Exception e) {
System.err.println("Error while executing command!");
e.printStackTrace();
}
}
public static String getAdapter() {
try {
Enumeration<NetworkInterface> nets = NetworkInterface.getNetworkInterfaces();
for (NetworkInterface netint : Collections.list(nets)) {
Enumeration<InetAddress> ee = netint.getInetAddresses();
for (InetAddress addr : Collections.list(ee))
if (addr instanceof Inet4Address)
if ((addr.getAddress()[0] & 0xFF) == 10 && (addr.getAddress()[1] & 0xFF) == SettingsManager.GeneralSettings.team_number) {
System.out.println("found robot network interface at " + netint.getName() + " ip: " + addr.getHostAddress());
return netint.getName();
}
}
} catch (SocketException e) {
System.err.println("Socket exception while trying to find current ip");
}
return "";
}
}

12
Main/src/main/java/com/chameleonvision/settings/SettingsManager.java
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@@ -12,16 +12,24 @@ import java.io.FileWriter;
import java.io.IOException;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.HashMap;
public class SettingsManager {
public static final Path SettingsPath = Paths.get(System.getProperty("user.dir"), "Settings");
public static com.chameleonvision.vision.GeneralSettings GeneralSettings;
// public static HashMap<String, String> CameraPorts = new HashMap<>();//TODO Implement ports
public static HashMap<String, Integer> CameraPorts = new HashMap<>();
private SettingsManager() {}
public static void intialize() {
public static void initialize() {
initGeneralSettings();
NetworkSettings netSettings = new NetworkSettings();
netSettings.hostname=GeneralSettings.hostname;
netSettings.gateway=GeneralSettings.gateway;
netSettings.netmask=GeneralSettings.netmask;
netSettings.connectionType=GeneralSettings.connection_type;
netSettings.ip=GeneralSettings.ip;
netSettings.run();
var allCameras = CameraManager.getAllCamerasByName();
if (!allCameras.containsKey(GeneralSettings.curr_camera) && allCameras.size() > 0) {

3
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -1,5 +1,6 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
@@ -68,6 +69,8 @@ public class Camera {
cvSink = cs.getVideo(UsbCam);
cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight);
var s = (MjpegServer) cs.getServer("serve_" + name);
SettingsManager.CameraPorts.put(name, s.getPort());
}
public void setCamVideoMode(int videoMode) {

6
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -65,7 +65,10 @@ public class CameraProcess implements Runnable {
camera.setExposure(pipeline.exposure);
camera.setBrightness(pipeline.brightness);
//TODO Send Pipeline change using websocket to client
HashMap<String,Object> pipeChange = new HashMap<>();
pipeChange.put("curr_pipeline",ntPipelineIndex);
Server.handler.broadcastMessage(pipeChange);
} else {
ntPipelineEntry.setString("pipeline" + camera.getCurrentPipelineIndex());
}
@@ -113,7 +116,6 @@ public class CameraProcess implements Runnable {
ntTimeStampEntry.setNumber(TimeStamp);
}
// TODO: Separate video output to separate function, maybe even second thread
private PipelineResult runVisionProcess(Mat inputImage, Mat outputImage) {
var pipelineResult = new PipelineResult();

5
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -83,8 +83,9 @@ public class ServerHandler {
String newCamera = (String) value;
System.out.printf("Changing camera to %s\n", newCamera);
CameraManager.setCurrentCamera(newCamera);
//broadcastMessage((Map<String, Object>) new HashMap<String, Object>(){}.put("port",SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera)));
broadcastMessage(new HashMap<String, Object>(){}.put("port",SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera)));
broadcastMessage(CameraManager.getCurrentCamera()); //TODO CHECK JSON FOR CAMERA CHANGE
break;
case "curr_pipeline":
String newPipeline = (String) value;
@@ -182,7 +183,7 @@ public class ServerHandler {
fullSettings.put("resolutionList", CameraManager.getResolutionList());
fullSettings.put("resolution", currentCamera.getVideoModeIndex());
fullSettings.put("FOV", currentCamera.getFOV());
// fullSettings.put("port", SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera));
fullSettings.put("port", SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera));
} catch (CameraException e) {
System.err.println("No camera found!");
//TODO: add message to ui to inform that there are no cameras