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https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
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6 Commits
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fd4628d419 | ||
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5fdfa3132f |
@@ -1,6 +1,5 @@
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{
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"deviceName" : "Limelight 2+",
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"supportURL" : "https://limelightvision.io",
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"ledPins" : [ 13, 18 ],
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"ledsCanDim" : true,
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"ledPWMFrequency" : 1000,
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@@ -1,6 +1,5 @@
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{
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"deviceName" : "Limelight 2",
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"supportURL" : "https://limelightvision.io",
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"ledPins" : [ 17, 18 ],
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"ledsCanDim" : false,
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"vendorFOV" : 75.76079874010732
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@@ -103,9 +103,9 @@ If your hardware contains a camera with a known field of vision, it can be enter
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}
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```
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## Cosmetic & Branding
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## Device Name Branding
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To help differentiate your hardware from other solutions, some customization is allowed.
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To help differentiate your hardware from other solutions, a device name may be set.
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```{eval-rst}
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.. tab-set-code::
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@@ -113,8 +113,6 @@ To help differentiate your hardware from other solutions, some customization is
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{
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"deviceName" : "Super Cool Custom Hardware",
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"deviceLogoPath" : "",
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"supportURL" : "https://cat-bounce.com/",
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}
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```
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@@ -132,8 +130,6 @@ Here is a complete example `hardwareConfig.json`:
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{
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"deviceName" : "Blinky McBlinkface",
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"deviceLogoPath" : "",
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"supportURL" : "https://www.youtube.com/watch?v=b-CvLWbfZhU",
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"ledPins" : [2, 13],
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"ledsCanDim" : true,
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"ledBrightnessRange" : [ 0, 100 ],
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@@ -52,10 +52,10 @@ Only use a static IP when connected to the **robot radio**, and never when testi
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3. Open the settings tab on the left pane.
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4. Under the Networking section, set your team number.
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5. Change your IP to Static.
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6. Set your coprocessor's IP address to “10.TE.AM.11”. More information on IP format can be found [here](https://docs.wpilib.org/en/stable/docs/networking/networking-introduction/ip-configurations.html#on-the-field-static-configuration).
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6. Set your coprocessor's IP address to “10.TE.AM.xx”. "xx" should be a unique number not currently used by another device on the robot in the `.6-.19` range. More information on IP format can be found [here](https://docs.wpilib.org/en/stable/docs/networking/networking-introduction/ip-configurations.html#on-the-field-static-configuration).
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7. Click the “Save” button.
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Power-cycle your robot and then you will now be access the PhotonVision dashboard at `10.TE.AM.11:5800`.
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Power-cycle your robot and then you will now be access the PhotonVision dashboard at `10.TE.AM.xx:5800`.
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```{image} images/static.png
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:alt: Correctly set static IP
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@@ -196,6 +196,42 @@ If the camera is mounted on a mobile mechanism (like a turret) this transform ca
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visionSim.adjustCamera(cameraSim, robotToCamera);
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```
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## Low-Resource Vision Simulation with Photonvision
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By default, PhotonCameraSim renders two simulated camera streams using OpenCV:
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- Raw stream - The unprocessed camera view
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- Processed stream - The camera view with vision processing overlays
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These streams are nice if you want to actually view the simulated images, but they can be computationally expensive. This may cause lag and reduced simulation performance on lower-powered computers.
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Lightweight Configuration
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The following configuration disables both streams while still allowing tag detection and pose simulation to work. It's not perfect, but it's much better performance-wise than the default configuration.
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.. code-block:: java
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// lightweight config version
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// var cameraProperties = new SimCameraProperties();
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// cameraSim = new PhotonCameraSim(camera, cameraProperties, aprilTagLayout);
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// cameraSim.enableRawStream(false); // disables raw image stream
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// cameraSim.enableProcessedStream(false); // disables processed image stream
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**Use Case**
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This configuration is ideal for Chromebooks or low-spec machines where rendering the simulated camera images causes lag, but vision data is still desired for testing.
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**What Still Works**
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- AprilTag detection
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- Pose estimation
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- NetworkTables data publishing
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- Robot positioning and targeting
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**What's Disabled**
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- Visual camera stream rendering
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- Real-time visual debugging of camera output
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## Updating The Simulation World
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To update the `VisionSystemSim`, we simply have to pass in the simulated robot pose periodically (in `simulationPeriodic()`).
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@@ -555,7 +555,7 @@ watch(metricsHistorySnapshot, () => {
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:variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
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@click="
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offlineUpdateDialog.show = false;
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handleOfflineUpdate(offlineUpdate.value.files[0]);
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handleOfflineUpdate(offlineUpdate.files[0]);
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"
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>
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<v-icon start class="open-icon" size="large"> mdi-upload </v-icon>
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@@ -23,8 +23,6 @@ import java.util.ArrayList;
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@JsonIgnoreProperties(ignoreUnknown = true)
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public class HardwareConfig {
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public final String deviceName;
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public final String deviceLogoPath;
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public final String supportURL;
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// LED control
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public final ArrayList<Integer> ledPins;
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@@ -47,8 +45,6 @@ public class HardwareConfig {
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public HardwareConfig(
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String deviceName,
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String deviceLogoPath,
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String supportURL,
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ArrayList<Integer> ledPins,
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boolean ledsCanDim,
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ArrayList<Integer> ledBrightnessRange,
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@@ -63,8 +59,6 @@ public class HardwareConfig {
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String restartHardwareCommand,
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double vendorFOV) {
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this.deviceName = deviceName;
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this.deviceLogoPath = deviceLogoPath;
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this.supportURL = supportURL;
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this.ledPins = ledPins;
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this.ledsCanDim = ledsCanDim;
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this.ledBrightnessRange = ledBrightnessRange;
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@@ -82,8 +76,6 @@ public class HardwareConfig {
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public HardwareConfig() {
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deviceName = "";
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deviceLogoPath = "";
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supportURL = "";
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ledPins = new ArrayList<>();
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ledsCanDim = false;
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ledBrightnessRange = new ArrayList<>();
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@@ -121,10 +113,6 @@ public class HardwareConfig {
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public String toString() {
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return "HardwareConfig[deviceName="
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+ deviceName
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+ ", deviceLogoPath="
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+ deviceLogoPath
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+ ", supportURL="
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+ supportURL
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+ ", ledPins="
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+ ledPins
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+ ", ledsCanDim="
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@@ -104,7 +104,6 @@ public class NetworkTablesManager {
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public void registerTimedTasks() {
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m_timeSync.start();
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TimedTaskManager.getInstance().addTask("NTManager", this::ntTick, 5000);
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TimedTaskManager.getInstance()
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.addTask("CheckHostnameAndCameraNames", this::checkHostnameAndCameraNames, 10000);
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}
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@@ -380,23 +379,6 @@ public class NetworkTablesManager {
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broadcastVersion();
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}
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// So it seems like if Photon starts before the robot NT server does, and both aren't static IP,
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// it'll never connect. This hack works around it by restarting the client/server while the nt
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// instance isn't connected, same as clicking the save button in the settings menu (or restarting
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// the service)
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private void ntTick() {
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if (!ntInstance.isConnected()
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&& !ConfigManager.getInstance().getConfig().getNetworkConfig().runNTServer) {
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setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
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}
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if (!ntInstance.isConnected() && !m_isRetryingConnection) {
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m_isRetryingConnection = true;
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logger.error(
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"[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
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}
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}
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public long getTimeSinceLastPong() {
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return m_timeSync.getTimeSinceLastPong();
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}
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@@ -449,7 +449,7 @@ public class SystemMonitor {
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/**
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* Returns the total GPU memory in MiB.
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*
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* @return The total GPU memory in MiB, or -1.0 if not avaialable on this platform.
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* @return The total GPU memory in MiB, or -1.0 if not available on this platform.
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*/
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public double getGpuMem() {
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return -1.0;
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@@ -38,8 +38,6 @@ public class HardwareConfigTest {
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var config =
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new ObjectMapper().readValue(TestUtils.getHardwareConfigJson(), HardwareConfig.class);
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assertEquals(config.deviceName, "PhotonVision");
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assertEquals(config.deviceLogoPath, "photonvision.png");
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assertEquals(config.supportURL, "https://support.photonvision.com");
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// Ensure defaults are not null
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assertArrayEquals(config.ledPins.stream().mapToInt(i -> i).toArray(), new int[] {2, 13});
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NativeDeviceFactoryInterface deviceFactory = HardwareManager.configureCustomGPIO(config);
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@@ -1,7 +1,5 @@
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{
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"deviceName": "PhotonVision",
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"deviceLogoPath": "photonvision.png",
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"supportURL": "https://support.photonvision.com",
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"ledPins" : [2, 13],
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"statusRGBPins" : [-1, -1, -1],
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"ledsCanDim" : true,
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