From ea660ea639126b092d82f272ad8a5ab2166d940c Mon Sep 17 00:00:00 2001
From: ori <oriagranat9@gmail.com>
Date: Mon, 17 Jun 2019 12:37:41 -0700
Subject: [PATCH] sending current pipline using zmq

---
 backend/app/handlers/VisionHandler.py         | 25 +++++++++++--------
 .../settings/cams/USB Camera-B4.09.24.1.json  |  2 +-
 2 files changed, 15 insertions(+), 12 deletions(-)

diff --git a/backend/app/handlers/VisionHandler.py b/backend/app/handlers/VisionHandler.py
index 94d21735b..7157fbde4 100644
--- a/backend/app/handlers/VisionHandler.py
+++ b/backend/app/handlers/VisionHandler.py
@@ -1,15 +1,12 @@
-import cscore
 from networktables import NetworkTables
 import networktables
 import cv2
 import numpy
 from cscore import CameraServer
-# from .app.classes.SettingsManager import SettingsManager
 from app.classes.SettingsManager import SettingsManager
 from ..classes.Singleton import Singleton
 import time
 from multiprocessing import Process
-import multiprocessing
 import threading
 import zmq
 
@@ -97,22 +94,27 @@ class VisionHandler(metaclass=Singleton):
         context = zmq.Context()
         socket = context.socket(zmq.REQ)
         socket.bind("tcp://*:%s" % port)
-
         p = Process(target=self.camera_process, args=(cam_name, port))
         p.start()
-
+        pipeline = SettingsManager().cams[cam_name]["pipelines"]["pipeline0"]
         while True:
-            start = time.time()
+            # start = time.time()
+            if(pipeline != SettingsManager().cams[cam_name]["pipelines"]["pipeline0"]):
+
+                pipeline = SettingsManager().cams[cam_name]["pipelines"]["pipeline0"]
+
             _, image = cv_sink.grabFrame(image)
-            socket.send_pyobj(image)
+            socket.send_pyobj({'image': image,
+                               'pipeline': pipeline})
+            # end = time.time()
             image = socket.recv_pyobj()
             cv_publish.putFrame(image)
-            end = time.time()
+
             # print(cam_name + "  " + str(1 / (end - start)))
 
     def camera_process(self, cam_name, port):
 
-        curr_pipeline = list(SettingsManager.cams[cam_name]["pipelines"].values())[0]
+
 
         # def change_camera_values():
         #     camera.setBrightness(0)
@@ -143,8 +145,9 @@ class VisionHandler(metaclass=Singleton):
         socket.connect("tcp://localhost:%s" % port)
 
         while True:
-            image = socket.recv_pyobj()
-
+            obj = socket.recv_pyobj()
+            image = obj['image']
+            curr_pipeline = obj["pipeline"]
             hsv_image = self._hsv_threshold(curr_pipeline["hue"],
                                             curr_pipeline["saturation"], curr_pipeline["value"],
                                             image, curr_pipeline["erode"], curr_pipeline["dilate"])
diff --git a/backend/settings/cams/USB Camera-B4.09.24.1.json b/backend/settings/cams/USB Camera-B4.09.24.1.json
index 128e2c3fc..bdad9b57d 100644
--- a/backend/settings/cams/USB Camera-B4.09.24.1.json	
+++ b/backend/settings/cams/USB Camera-B4.09.24.1.json	
@@ -1 +1 @@
-{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 50, "orientation": "Normal", "resolution": 14, "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal"}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 15, "width": 640, "height": 480, "pixel_format": "kYUYV"}}
\ No newline at end of file
+{"pipelines": {"pipeline0": {"exposure": 25, "brightness": 19, "orientation": "Normal", "resolution": 11, "hue": [0, 10], "saturation": [58, 69], "value": [61, 87], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal"}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 50, "width": 640, "height": 480, "pixel_format": "kYUYV"}}
\ No newline at end of file