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all settings manager are now in self

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ori
2019-08-14 10:15:44 -07:00
parent 6120325121
commit fec97959d8
1 changed files with 23 additions and 24 deletions
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47
backend/app/handlers/VisionHandler.py
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@@ -247,35 +247,34 @@ class VisionHandler(metaclass=Singleton):
return yaw
def run(self):
NetworkTables.startClientTeam(team=SettingsManager.general_settings.get("team_number", 1577))
NetworkTables.startClientTeam(team=self.settings_manager.general_settings.get("team_number", 1577))
# NetworkTables.initialize("localhost")
port = 5550
for cam_name in SettingsManager().usb_cameras:
for cam_name in self.settings_manager.usb_cameras:
threading.Thread(target=self.thread_proc, args=(cam_name, port)).start()
port += 1
def thread_proc(self, cam_name, port=5557):
asyncio.set_event_loop(asyncio.new_event_loop())
SettingsManager.cams_curr_pipeline[cam_name] = "pipeline0"
pipeline = SettingsManager().cams[cam_name]["pipelines"][SettingsManager.cams_curr_pipeline[cam_name]]
FOV = SettingsManager().cams[cam_name]["FOV"]
self.settings_manager.cams_curr_pipeline[cam_name] = "pipeline0"
pipeline = self.settings_manager.cams[cam_name]["pipelines"][self.settings_manager.cams_curr_pipeline[cam_name]]
FOV = self.settings_manager.cams[cam_name]["FOV"]
def change_camera_values(pipline):
SettingsManager.usb_cameras[cam_name].setBrightness(pipeline['brightness'])
SettingsManager.usb_cameras[cam_name].setExposureManual(pipeline['exposure'])
SettingsManager.usb_cameras[cam_name].setWhiteBalanceAuto()
self.settings_manager.usb_cameras[cam_name].setBrightness(pipeline['brightness'])
self.settings_manager.usb_cameras[cam_name].setExposureManual(pipeline['exposure'])
self.settings_manager.usb_cameras[cam_name].setWhiteBalanceAuto()
def pipeline_listener(table, key, value, is_new):
asyncio.set_event_loop(asyncio.new_event_loop())
SettingsManager.cams_curr_pipeline[cam_name] = value
self.settings_manager.cams_curr_pipeline[cam_name] = value
change_camera_values(pipeline)
if cam_name == SettingsManager().general_settings['curr_camera']:
SettingsManager().general_settings['curr_pipeline'] = value
update_settings = SettingsManager().get_curr_pipeline()
update_settings['curr_pipeline'] = SettingsManager().general_settings["curr_pipeline"]
if cam_name == self.settings_manager.general_settings['curr_camera']:
self.settings_manager.general_settings['curr_pipeline'] = value
update_settings = self.settings_manager.get_curr_pipeline()
update_settings['curr_pipeline'] = self.settings_manager.general_settings["curr_pipeline"]
send_all_async(update_settings)
def mode_listener(table, key, value, is_new):
@@ -285,23 +284,23 @@ class VisionHandler(metaclass=Singleton):
})
table = NetworkTables.getTable("/Chameleon-Vision/" + cam_name)
table.putString('Pipeline', SettingsManager.cams_curr_pipeline[cam_name])
table.putString('Pipeline', self.settings_manager.cams_curr_pipeline[cam_name])
table.addEntryListenerEx(pipeline_listener, key="Pipeline",
flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
table.addEntryListenerEx(mode_listener, key="Driver_Mode",
flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
#gettings video from curent camera
cv_sink = self.cs.getVideo(camera=SettingsManager.usb_cameras[cam_name])
cv_sink = self.cs.getVideo(camera=self.settings_manager.usb_cameras[cam_name])
width = SettingsManager().cams[cam_name]["video_mode"]["width"]
height = SettingsManager().cams[cam_name]["video_mode"]["height"]
width = self.settings_manager.cams[cam_name]["video_mode"]["width"]
height = self.settings_manager.cams[cam_name]["video_mode"]["height"]
image = numpy.zeros(shape=(width, height, 3), dtype=numpy.uint8)
#setting up a video server for camera
cv_publish = self.cs.putVideo(name=cam_name, width=width, height=height)
# saving camera port in cam name dict for usage in client
SettingsManager().cams_port[cam_name] = self.cs._sinks['serve_'+cam_name].getPort()
self.settings_manager.cams_port[cam_name] = self.cs._sinks['serve_'+cam_name].getPort()
#setting up a zmq connection to the opencv subprocess
context = zmq.Context()
@@ -315,7 +314,7 @@ class VisionHandler(metaclass=Singleton):
change_camera_values(pipeline)
while True:
pipeline = SettingsManager().cams[cam_name]["pipelines"][SettingsManager.cams_curr_pipeline[cam_name]]
pipeline = self.settings_manager.cams[cam_name]["pipelines"][self.settings_manager.cams_curr_pipeline[cam_name]]
_, image = cv_sink.grabFrame(image)
socket.send_json(dict(
pipeline=pipeline
@@ -335,7 +334,7 @@ class VisionHandler(metaclass=Singleton):
table.putNumber('yaw', nt_data['yaw'])
#if the selected camera in ui is this cam send the point to the ui
if SettingsManager().general_settings['curr_camera'] == cam_name:
if self.settings_manager.general_settings['curr_camera'] == cam_name:
try:
if nt_data['raw_point'] is not None:
send_all_async({
@@ -349,7 +348,7 @@ class VisionHandler(metaclass=Singleton):
except Exception as e:
print(e)
#send the image to the camera server
# print(nt_data['fps'])
cv_publish.putFrame(p_image)
def camera_process(self, cam_name, port, FOV):
@@ -357,8 +356,8 @@ class VisionHandler(metaclass=Singleton):
diagonalView = math.radians(FOV) #needs to be implemented in client
width = SettingsManager().cams[cam_name]["video_mode"]["width"]
height = SettingsManager().cams[cam_name]["video_mode"]["height"]
width = self.settings_manager.cams[cam_name]["video_mode"]["width"]
height = self.settings_manager.cams[cam_name]["video_mode"]["height"]
centerX = (width / 2) - .5
centerY = (height / 2) - .5
cam_area = width * height