[PhotonClient] Vite and Typescript complete refactor (#884)

photon-client/src/types/PhotonTrackingTypes.ts

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+export interface Pose {
+    x: number,
+    y: number,
+    z: number,
+    angle_z: number,
+    qw: number,
+    qx: number,
+    qy: number,
+    qz: number
+}
+
+export interface PhotonTarget {
+    yaw: number,
+    pitch: number,
+    skew: number,
+    area: number,
+    // -1 if not set
+    ambiguity: number,
+    // -1 if not set
+    fiducialId: number,
+    // undefined if 3d isn't enabled
+    pose?: Pose
+}
+
+export interface PipelineResult {
+    fps: number,
+    latency: number,
+    targets: PhotonTarget[]
+}

photon-client/src/types/PipelineTypes.ts

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+import type { WebsocketNumberPair } from "@/types/WebsocketDataTypes";
+
+export enum PipelineType {
+    DriverMode=1,
+    Reflective=2,
+    ColoredShape=3,
+    AprilTag=4,
+    Aruco=5
+}
+
+export enum AprilTagFamily {
+    Family36h11=0,
+    Family25h9=1,
+    Family16h5=2
+}
+
+export enum RobotOffsetPointMode {
+    None=0,
+    Single=1,
+    Dual=2
+}
+
+export enum TargetModel {
+    InfiniteRechargeHighGoalOuter=0,
+    InfiniteRechargeHighGoalInner=1,
+    DeepSpaceDualTarget=2,
+    CircularPowerCell7in=3,
+    RapidReactCircularCargoBall=4,
+    StrongholdHighGoal=5,
+    Apriltag_200mm=6,
+    Aruco6in_16h5=7,
+    Apriltag6in_16h5=8
+}
+
+export interface PipelineSettings {
+    offsetRobotOffsetMode: RobotOffsetPointMode
+    streamingFrameDivisor: number
+    offsetDualPointBArea: number
+    contourGroupingMode: number
+    hsvValue: WebsocketNumberPair | [number, number]
+    cameraGain: number
+    cameraBlueGain: number
+    cameraRedGain: number
+    cornerDetectionSideCount: number
+    contourRatio: WebsocketNumberPair | [number, number]
+    contourTargetOffsetPointEdge: number
+    pipelineNickname: string
+    inputImageRotationMode: number
+    contourArea: WebsocketNumberPair | [number, number]
+    solvePNPEnabled: boolean
+    contourFullness: WebsocketNumberPair | [number, number]
+    pipelineIndex: number
+    inputShouldShow: boolean
+    cameraAutoExposure: boolean
+    contourSpecklePercentage: number
+    contourTargetOrientation: number
+    targetModel: TargetModel
+    cornerDetectionUseConvexHulls: boolean
+    outputShouldShow: boolean
+    outputShouldDraw: boolean
+    offsetDualPointA: {x: number, y: number}
+    offsetDualPointB: {x: number, y: number}
+    hsvHue: WebsocketNumberPair | [number, number]
+    ledMode: boolean
+    hueInverted: boolean
+    outputShowMultipleTargets: boolean
+    contourSortMode: number
+    cameraExposure: number
+    offsetSinglePoint: {x: number, y: number}
+    cameraBrightness: number
+    offsetDualPointAArea: number
+    cornerDetectionExactSideCount: boolean
+    cameraVideoModeIndex: number
+    cornerDetectionStrategy: number
+    cornerDetectionAccuracyPercentage: number
+    hsvSaturation: WebsocketNumberPair | [number, number]
+    pipelineType: PipelineType
+    contourIntersection: number
+}
+export type ConfigurablePipelineSettings = Partial<Omit<PipelineSettings, "offsetDualPointAArea" | "cornerDetectionSideCount" | "pipelineNickname" | "pipelineIndex" | "pipelineType" | "cornerDetectionUseConvexHulls" | "offsetDualPointA" | "offsetDualPointB" | "ledMode" | "offsetSinglePoint" | "offsetDualPointBArea" | "cornerDetectionExactSideCount" | "cornerDetectionStrategy">>
+export const DefaultPipelineSettings: PipelineSettings = {
+    offsetRobotOffsetMode: RobotOffsetPointMode.None,
+    streamingFrameDivisor: 0,
+    offsetDualPointBArea: 0,
+    contourGroupingMode: 0,
+    hsvValue: { first: 50, second: 255 },
+    cameraBlueGain: 20,
+    cameraRedGain: 11,
+    cornerDetectionSideCount: 4,
+    contourRatio: { first: 0, second: 20 },
+    contourTargetOffsetPointEdge: 0,
+    pipelineNickname: "Placeholder Pipeline",
+    inputImageRotationMode: 0,
+    contourArea: { first: 0, second: 100 },
+    solvePNPEnabled: false,
+    contourFullness: { first: 0, second: 100 },
+    pipelineIndex: 0,
+    inputShouldShow: false,
+    cameraAutoExposure: false,
+    contourSpecklePercentage: 5,
+    contourTargetOrientation: 1,
+    cornerDetectionUseConvexHulls: true,
+    outputShouldShow: true,
+    outputShouldDraw: true,
+    offsetDualPointA: { x: 0, y: 0 },
+    offsetDualPointB: { x: 0, y: 0 },
+    hsvHue: { first: 50, second: 180 },
+    hueInverted: false,
+    contourSortMode: 0,
+    offsetSinglePoint: { x: 0, y: 0 },
+    cameraBrightness: 50,
+    offsetDualPointAArea: 0,
+    cornerDetectionExactSideCount: false,
+    cameraVideoModeIndex: 0,
+    cornerDetectionStrategy: 0,
+    cornerDetectionAccuracyPercentage: 10,
+    hsvSaturation: { first: 50, second: 255 },
+    contourIntersection: 1,
+
+    // These settings will be overridden by different pipeline types
+    cameraGain: -1,
+    targetModel: -1,
+    ledMode: false,
+    outputShowMultipleTargets: false,
+    cameraExposure: -1,
+    pipelineType: -1
+};
+
+export interface ReflectivePipelineSettings extends PipelineSettings {
+    pipelineType: PipelineType.Reflective
+    contourFilterRangeY: number
+    contourFilterRangeX: number
+}
+export type ConfigurableReflectivePipelineSettings = Partial<Omit<ReflectivePipelineSettings, "pipelineType">> & ConfigurablePipelineSettings
+export const DefaultReflectivePipelineSettings: ReflectivePipelineSettings = {
+    ...DefaultPipelineSettings,
+    cameraGain: 20,
+    targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
+    ledMode: true,
+    outputShowMultipleTargets: false,
+    cameraExposure: 6,
+    pipelineType: PipelineType.Reflective,
+
+    contourFilterRangeY: 2,
+    contourFilterRangeX: 2
+};
+
+export interface ColoredShapePipelineSettings extends PipelineSettings {
+    pipelineType: PipelineType.ColoredShape
+    erode: boolean
+    cameraCalibration: null
+    dilate: boolean
+    circleAccuracy: number
+    contourRadius: WebsocketNumberPair | [number, number]
+    circleDetectThreshold: number
+    accuracyPercentage: number
+    contourShape: number
+    contourPerimeter: WebsocketNumberPair | [number, number]
+    minDist: number
+    maxCannyThresh: number
+}
+export type ConfigurableColoredShapePipelineSettings = Partial<Omit<ColoredShapePipelineSettings, "pipelineType" | "erode" | "cameraCalibration" | "dilate" | "minDist" >> & ConfigurablePipelineSettings
+export const DefaultColoredShapePipelineSettings: ColoredShapePipelineSettings = {
+    ...DefaultPipelineSettings,
+    cameraGain: 75,
+    targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
+    ledMode: true,
+    outputShowMultipleTargets: false,
+    cameraExposure: 20,
+    pipelineType: PipelineType.ColoredShape,
+
+    erode: false,
+    cameraCalibration: null,
+    dilate: false,
+    circleAccuracy: 20,
+    contourRadius: { first: 0, second: 100 },
+    circleDetectThreshold: 5,
+    accuracyPercentage: 10,
+    contourShape: 2,
+    contourPerimeter: { first: 0, second: 1.7976931348623157e+308 },
+    minDist: 20,
+    maxCannyThresh: 90
+};
+
+export interface AprilTagPipelineSettings extends PipelineSettings {
+    pipelineType: PipelineType.AprilTag
+    hammingDist: number
+    numIterations: number
+    decimate: number
+    blur: number
+    decisionMargin: number
+    refineEdges: boolean
+    debug: boolean
+    threads: number
+    tagFamily: AprilTagFamily
+}
+export type ConfigurableAprilTagPipelineSettings = Partial<Omit<AprilTagPipelineSettings, "pipelineType" | "hammingDist" | "debug">> & ConfigurablePipelineSettings
+export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
+    ...DefaultPipelineSettings,
+    cameraGain: 75,
+    targetModel: TargetModel.Apriltag6in_16h5,
+    ledMode: false,
+    outputShowMultipleTargets: true,
+    cameraExposure: 20,
+    pipelineType: PipelineType.AprilTag,
+
+    hammingDist: 0,
+    numIterations: 40,
+    decimate: 1,
+    blur: 0,
+    decisionMargin: 35,
+    refineEdges: true,
+    debug: false,
+    threads: 4,
+    tagFamily: AprilTagFamily.Family16h5
+};
+
+export interface ArucoPipelineSettings extends PipelineSettings {
+    pipelineType: PipelineType.Aruco
+    decimate: number
+    threads: number
+    numIterations: number
+    cornerAccuracy: number
+    useAruco3: boolean
+}
+export type ConfigurableArucoPipelineSettings = Partial<Omit<ArucoPipelineSettings, "pipelineType">> & ConfigurablePipelineSettings
+export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
+    ...DefaultPipelineSettings,
+    outputShowMultipleTargets: true,
+    targetModel: TargetModel.Aruco6in_16h5,
+    cameraExposure: -1,
+    cameraAutoExposure: true,
+    ledMode: false,
+    pipelineType: PipelineType.Aruco,
+
+    decimate: 1,
+    threads: 2,
+    numIterations: 100,
+    cornerAccuracy: 25,
+    useAruco3: true
+};
+
+export type ActivePipelineSettings = ReflectivePipelineSettings | ColoredShapePipelineSettings | AprilTagPipelineSettings | ArucoPipelineSettings
+export type ActiveConfigurablePipelineSettings = ConfigurableReflectivePipelineSettings | ConfigurableColoredShapePipelineSettings | ConfigurableAprilTagPipelineSettings | ConfigurableArucoPipelineSettings

photon-client/src/types/SettingTypes.ts

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+import { type ActivePipelineSettings, DefaultAprilTagPipelineSettings } from "@/types/PipelineTypes";
+
+export interface GeneralSettings {
+    version?: string
+    gpuAcceleration?: string
+    hardwareModel?: string
+    hardwarePlatform?: string
+}
+
+export interface MetricData {
+    cpuTemp?: string,
+    cpuUtil?: string,
+    cpuMem?: string,
+    gpuMem?: string,
+    ramUtil?: string
+    gpuMemUtil?: string,
+    cpuThr?: string,
+    cpuUptime?: string,
+    diskUtilPct?: string,
+}
+
+export enum NetworkConnectionType {
+    DHCP = 0,
+    Static = 1
+}
+
+export interface NetworkSettings {
+    ntServerAddress: string
+    connectionType: NetworkConnectionType,
+    staticIp: string,
+    hostname: string,
+    runNTServer: boolean
+    shouldMange: boolean,
+    networkManagerIface?: string,
+    physicalInterface?: string,
+    setStaticCommand?: string,
+    setDHCPcommand?: string
+}
+
+export interface LightingSettings {
+    supported: boolean,
+    brightness: number
+}
+
+export enum LogLevel {
+    ERROR=0,
+    WARN=1,
+    INFO=2,
+    DEBUG=3,
+    TRACE=4
+}
+
+export interface LogMessage {
+    level: LogLevel,
+    message: string
+}
+
+export interface Resolution {
+    width: number,
+    height: number
+}
+
+export interface VideoFormat {
+    resolution: Resolution
+    fps: number,
+    pixelFormat: string,
+    index?: number,
+    diagonalFOV?: number,
+    horizontalFOV?: number,
+    verticalFOV?: number,
+    standardDeviation?: number,
+    mean?: number
+}
+
+export interface CameraCalibrationResult {
+    resolution: Resolution
+    distCoeffs: number[],
+    standardDeviation: number,
+    perViewErrors: number[],
+    intrinsics: number[],
+}
+
+export interface ConfigurableCameraSettings {
+    fov: number
+}
+
+export interface CameraSettings {
+    nickname: string
+
+    fov: {
+        value: number,
+        managedByVendor: boolean
+    }
+    stream: {
+        inputPort: number,
+        outputPort: number
+    }
+
+    validVideoFormats: VideoFormat[]
+    completeCalibrations: CameraCalibrationResult[]
+
+    lastPipelineIndex?: number,
+    currentPipelineIndex: number,
+    pipelineNicknames: string[],
+    pipelineSettings: ActivePipelineSettings
+}
+
+export const PlaceholderCameraSettings: CameraSettings = {
+    nickname: "Placeholder Camera",
+    fov: {
+        value: 70,
+        managedByVendor: true
+    },
+    stream: {
+        inputPort: 0,
+        outputPort: 0
+    },
+    validVideoFormats: [
+        {
+            resolution: { width: 1920, height: 1080 },
+            fps: 60,
+            pixelFormat: "RGB"
+        },
+        {
+            resolution: { width: 1280, height: 720 },
+            fps: 60,
+            pixelFormat: "RGB"
+        },
+        {
+            resolution: { width: 640, height: 480 },
+            fps: 30,
+            pixelFormat: "RGB"
+        }
+    ],
+    completeCalibrations: [],
+    pipelineNicknames: ["Placeholder Pipeline"],
+    lastPipelineIndex: 0,
+    currentPipelineIndex: 0,
+    pipelineSettings: DefaultAprilTagPipelineSettings
+};
+
+export enum CalibrationBoardTypes {
+    Chessboard=0,
+    DotBoard=1
+}
+
+export enum RobotOffsetType {
+    Clear=0,
+    Single=1,
+    DualFirst=2,
+    DualSecond=3
+}

photon-client/src/types/WebsocketDataTypes.ts

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+import type { GeneralSettings, LightingSettings, MetricData, NetworkSettings } from "@/types/SettingTypes";
+import type { ActivePipelineSettings } from "@/types/PipelineTypes";
+import type { LogLevel } from "@/types/SettingTypes";
+
+export interface WebsocketLogMessage {
+    logMessage: {
+        logLevel: LogLevel,
+        logMessage: string
+    }
+}
+export interface WebsocketSettingsUpdate {
+    general: Required<GeneralSettings>,
+    lighting: Required<LightingSettings>,
+    networkSettings: NetworkSettings
+}
+
+export interface WebsocketNumberPair {
+    first: number,
+    second: number
+}
+
+export interface WebsocketCompleteCalib {
+    distCoeffs: number[],
+    height: number,
+    width: number,
+    standardDeviation: number,
+    perViewErrors: number[],
+    intrinsics: number[]
+}
+
+export type WebsocketVideoFormat = Record<number, {
+    fps: number,
+    height: number,
+    width: number,
+    pixelFormat: string,
+    index?: number,
+    diagonalFOV?: number,
+    horizontalFOV?: number,
+    verticalFOV?: number,
+    standardDeviation?: number,
+    mean?: number
+}>
+
+export interface WebsocketCameraSettingsUpdate {
+    calibrations: WebsocketCompleteCalib[],
+    currentPipelineIndex: number,
+    currentPipelineSettings: ActivePipelineSettings,
+    fov: number,
+    inputStreamPort: number,
+    isFovConfigurable: boolean,
+    nickname: string,
+    outputStreamPort: number,
+    pipelineNicknames: string[],
+    videoFormatList: WebsocketVideoFormat
+}
+export interface WebsocketNTUpdate {
+    connected: boolean,
+    address?: string,
+    clients?: number
+}
+export type WebsocketPipelineResultUpdate = Record<number, {
+    fps: number,
+    latency: number,
+    targets: {
+        yaw: number,
+        pitch: number,
+        skew: number,
+        area: number,
+        ambiguity: number,
+        fiducialId: number,
+        pose: {
+            "angle_z": number,
+            "qw": number,
+            "qx": number,
+            "x": number,
+            "qy": number,
+            "y": number,
+            "qz": number,
+            "z": number
+        },
+    }[]
+}>
+
+export interface WebsocketCalibrationData {
+    "patternWidth": number,
+    "boardType": number,
+    "hasEnough": boolean,
+    "count": number,
+    "minCount": number,
+    "videoModeIndex": number,
+    "patternHeight": number,
+    "squareSizeIn": number
+}
+
+export interface IncomingWebsocketData {
+    log?: WebsocketLogMessage,
+    settings?: WebsocketSettingsUpdate,
+    cameraSettings?: WebsocketCameraSettingsUpdate[],
+    ntConnectionInfo?: WebsocketNTUpdate,
+    metrics?: Required<MetricData>,
+    updatePipelineResult?: WebsocketPipelineResultUpdate,
+    networkInfo?: {
+        possibleRios: string[],
+        deviceips: string[]
+    }
+    mutatePipelineSettings?: Partial<ActivePipelineSettings>,
+    cameraIndex?: number // Sent when mutating pipeline settings to check against currently active
+    calibrationData?: WebsocketCalibrationData,
+}
+
+export enum WebsocketPipelineType {
+    Calib3d=-2,
+    DriverMode=-1,
+    Reflective=0,
+    ColoredShape=1,
+    AprilTag=2,
+    Aruco=3
+}