mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
4cd2262acc
* Did some stuff * Fix gradle, start implementing mjpeg frame consumer * Did some stuff * bade changes * rename camera config to USBCameraConfiguration, add name * unrename cameraconfiguration * Add pub/sub framework * Add setResolution to mjpeg frame consumer * add NTDataConsumer * Add some totally broken hsv hacks * Start refactoring UI data * Update index.js * Commit and push, he says * Fix up some errors * Fix input tab * Fix fps * Update index.js * Add pipeline field setting, update PipelineManager, fix nullpointers and USBCameraSettables * Change v-model to point to data() * update hsv to use mutations * Work on saving, fix hsv * Rename shouldErode/shouldDilate to erode and dilate * Hook all the tabs up to the Store * Change handleData to handlePipelineData * camera quirk redo, add ICCSub to SocketHandler * Fix some property names * Fixed tons of naming in UI, fix backend for multi-val PSCs, fix PSC enums * change pipeline type to an int in store * Fix mutation naming * Attempt threshold fix * Update SocketHandler.java * Add truthy data sending * Start adding logging support * [UI] Add delay to slider input boxes (#1) * [UI] [Backend] potentially fix camera settings, various logging tweaks * Don't release raw input mat * add setVideoModeIndex to vision settables * Implement pipeline index in socket handler, add framework for renaming/changing pipes * (ish) get pipeline change working * Create index.html * Cleanups, fix pipeline index bug, fix stream res for MJPG, add dashboard stream (unused) * Refactor UI to use mutatePipeline, send pipeline results * Update NetworkConfig.java * Change double to number * Run spotless * Fix reversal of large/small comparators * Fix left/right * Fix pitch/yaw calculation bug, fix area bug * Use Vue.set instead of assignment This fixes {{ }} * Update App.vue * run spotless * Actually add pipelines and reassign indecies * Delete old pipeline configs Fixes duplication on renaming pipeline * Start working on deleting pipes * Fix camera nickname change * run spotless * Fix some test stuff * Update VisionModuleManagerTest.java * vision source manager test is still broken * Fix VisionSourceManager test * Apply spotless 2 electric boogaloo Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com> Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com> Co-authored-by: Aaryan Agrawal <54345060+13Ducks@users.noreply.github.com>
296 lines
15 KiB
Java
296 lines
15 KiB
Java
/*
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* Copyright (C) 2020 Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.server;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.core.type.TypeReference;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import io.javalin.websocket.*;
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import java.io.IOException;
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import java.nio.ByteBuffer;
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import java.util.*;
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import org.apache.commons.lang3.tuple.Pair;
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import org.msgpack.jackson.dataformat.MessagePackFactory;
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import org.photonvision.common.dataflow.DataChangeDestination;
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import org.photonvision.common.dataflow.DataChangeService;
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import org.photonvision.common.dataflow.camera.IncomingCameraCommandSubscriber;
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import org.photonvision.common.dataflow.events.IncomingWebSocketEvent;
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import org.photonvision.common.logging.LogGroup;
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import org.photonvision.common.logging.Logger;
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import org.photonvision.vision.pipeline.PipelineType;
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import org.photonvision.vision.processes.PipelineManager;
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import org.photonvision.vision.processes.VisionModuleManager;
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@SuppressWarnings("rawtypes")
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public class SocketHandler {
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private final Logger logger = new Logger(SocketHandler.class, LogGroup.Server);
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private final List<WsContext> users = new ArrayList<>();
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private final ObjectMapper objectMapper = new ObjectMapper(new MessagePackFactory());
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private final DataChangeService dcService = DataChangeService.getInstance();
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@SuppressWarnings("FieldCanBeLocal")
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private final UIOutboundSubscriber uiOutboundSubscriber = new UIOutboundSubscriber(this);
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private final IncomingCameraCommandSubscriber cameraChangeSubscriber =
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new IncomingCameraCommandSubscriber(VisionModuleManager.getInstance());
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public static class UIMap extends HashMap<String, Object> {}
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abstract static class SelectiveBroadcastPair extends Pair<UIMap, WsContext> {}
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private static class ThreadSafeSingleton {
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private static final SocketHandler INSTANCE = new SocketHandler();
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}
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public static SocketHandler getInstance() {
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return SocketHandler.ThreadSafeSingleton.INSTANCE;
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}
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private SocketHandler() {
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dcService.addSubscribers(
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uiOutboundSubscriber,
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cameraChangeSubscriber,
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new UIInboundSubscriber()); // Subscribe outgoing messages to the data change service
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}
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public void onConnect(WsConnectContext context) {
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context.session.setIdleTimeout(Long.MAX_VALUE); // TODO: determine better value
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var host = context.session.getRemote().getInetSocketAddress().getHostName();
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logger.info("New websocket connection from " + host);
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users.add(context);
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dcService.publishEvent(
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_GENSETTINGS, "userConnected", context));
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}
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protected void onClose(WsCloseContext context) {
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var host = context.session.getRemote().getInetSocketAddress().getHostName();
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var reason = context.reason() != null ? context.reason() : "Connection closed by client";
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logger.info("Closing websocket connection from " + host + " for reason: " + reason);
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users.remove(context);
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}
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@SuppressWarnings({"unchecked"})
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public void onBinaryMessage(WsBinaryMessageContext context) {
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try {
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Map<String, Object> deserializedData =
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objectMapper.readValue(context.data(), new TypeReference<>() {});
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// Special case the current camera index
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var camIndexValue = deserializedData.get("cameraIndex");
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Integer cameraIndex = null;
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if (camIndexValue instanceof Integer) {
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cameraIndex = (Integer) camIndexValue;
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deserializedData.remove("cameraIndex");
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}
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for (Map.Entry<String, Object> entry : deserializedData.entrySet()) {
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try {
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var entryKey = entry.getKey();
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var entryValue = entry.getValue();
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var socketMessageType = SocketMessageType.fromEntryKey(entryKey);
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logger.debug(
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"Got WS message: ["
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+ socketMessageType
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+ "] ==> ["
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+ entryKey
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+ "], ["
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+ entryValue
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+ "]");
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if (socketMessageType == null) {
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logger.warn("Got unknown socket message type: " + entryKey);
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continue;
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}
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switch (socketMessageType) {
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case SMT_DRIVERMODE:
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{
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// TODO: what is this event?
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var data = (HashMap<String, Object>) entryValue;
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var dmExpEvent =
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new IncomingWebSocketEvent<Integer>(
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DataChangeDestination.DCD_ACTIVEMODULE, "driverExposure", data);
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var dmBrightEvent =
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new IncomingWebSocketEvent<Integer>(
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DataChangeDestination.DCD_ACTIVEMODULE, "driverBrightness", data);
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var dmIsDriverEvent =
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new IncomingWebSocketEvent<Boolean>(
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DataChangeDestination.DCD_ACTIVEMODULE, "isDriver", data);
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dcService.publishEvents(dmExpEvent, dmBrightEvent, dmIsDriverEvent);
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break;
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}
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case SMT_CHANGECAMERANAME:
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{
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var ccnEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"cameraNickname",
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(String) entryValue,
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cameraIndex);
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dcService.publishEvent(ccnEvent);
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break;
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}
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case SMT_CHANGEPIPELINENAME:
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{
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var cpnEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"pipelineName",
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(String) entryValue,
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cameraIndex);
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dcService.publishEvent(cpnEvent);
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break;
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}
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case SMT_ADDNEWPIPELINE:
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{
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// HashMap<String, Object> data = (HashMap<String,
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// Object>) entryValue;
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// var type = (PipelineType)
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// data.get("pipelineType");
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// var name = (String) data.get("pipelineName");
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var type = PipelineType.Reflective;
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var name = (String) entryValue;
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var newPipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"newPipelineInfo",
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Pair.of(name, type),
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cameraIndex);
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dcService.publishEvent(newPipelineEvent);
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break;
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}
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case SMT_COMMAND:
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{
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var cmd = SocketMessageCommandType.fromEntryKey((String) entryValue);
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switch (cmd) {
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case SMCT_DELETECURRENTPIPELINE:
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{
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var deleteCurrentPipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"deleteCurrPipeline",
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0,
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cameraIndex);
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dcService.publishEvent(deleteCurrentPipelineEvent);
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break;
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}
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case SMCT_SAVE:
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{
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var saveEvent =
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new IncomingWebSocketEvent<>(DataChangeDestination.DCD_OTHER, "save", 0);
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dcService.publishEvent(saveEvent);
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break;
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}
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}
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break;
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}
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case SMT_CURRENTCAMERA:
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{
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var changeCurrentCameraEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_OTHER, "changeUICamera", (Integer) entryValue);
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dcService.publishEvent(changeCurrentCameraEvent);
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break;
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}
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case SMT_CURRENTPIPELINE:
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{
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var changePipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"changePipeline",
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(Integer) entryValue,
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cameraIndex);
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dcService.publishEvent(changePipelineEvent);
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break;
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}
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case SMT_ISPNPCALIBRATION:
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{
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var changePipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"changePipeline",
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PipelineManager.CAL_3D_INDEX,
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cameraIndex);
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dcService.publishEvent(changePipelineEvent);
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break;
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}
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case SMT_TAKECALIBRATIONSNAPSHOT:
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{
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var takeCalSnapshotEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE, "takeCalSnapshot", 0, cameraIndex);
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dcService.publishEvent(takeCalSnapshotEvent);
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break;
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}
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case SMT_PIPELINESETTINGCHANGE:
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{
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HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
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if (data.size() >= 2) {
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var cameraIndex2 = (int) data.get("cameraIndex");
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for (var dataEntry : data.entrySet()) {
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if (dataEntry.getKey().equals("cameraIndex")) {
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continue;
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}
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var pipelineSettingChangeEvent =
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new IncomingWebSocketEvent(
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DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS,
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dataEntry.getKey(),
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dataEntry.getValue(),
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cameraIndex2);
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dcService.publishEvent(pipelineSettingChangeEvent);
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}
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} else {
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logger.warn("Unknown message for PSC: " + data.keySet().iterator().next());
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}
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break;
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}
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}
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} catch (Exception ex) {
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logger.error("unknown booboo");
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ex.printStackTrace();
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}
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}
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} catch (IOException e) {
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// TODO: log
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e.printStackTrace();
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}
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}
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// TODO: change to use the DataFlow system
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private void sendMessage(Object message, WsContext user) throws JsonProcessingException {
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ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(message));
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user.send(b);
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}
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// TODO: change to use the DataFlow system
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public void broadcastMessage(Object message, WsContext userToSkip)
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throws JsonProcessingException {
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for (WsContext user : users) {
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if (user != userToSkip) {
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sendMessage(message, user);
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}
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}
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}
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}
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