mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
aaac6a4fbb
* WIP adding second websocket handling for cameras * just more WIP * even more wip. Most java-side framework completed, but not yet debugged * IT LIVES. Still needs lots of cleanup. But we're transferring and displaying data! * moved down an architecture layer. Improved multiple-camera handling * Additional WIP to help improve smoothness and performance, though not yet tested * bugfixes galore * tweak compression * spotless * more tweaks for handling slow/intermittent streams * wpilibformat maybe? * clang-format maybe? * WIP - adding thinclient. I don't like it yet, it should be more auto-generated than it is. * thinclient formatting fixups * Reduced amount of empty send data by limiting to only one stream per client (which is all we really need). Framerate is up slightly, overhead is down. * bugfixes, faster streaming, better mjpeg compression settings, thinclient working * spotless and formatting * cmon wpiformat.... * re-added mjpg streams * added a loading GIF to imporve the feeling of responsiveness * formatting * urlparams and built-in thinclient * wpiformat * prevent wpiformat complaints * Removed uint8 array and base64 conversion from client side * Synced up js implementations for ws streaming * formatting/spotless
99 lines
4.8 KiB
Java
99 lines
4.8 KiB
Java
/*
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* Copyright (C) 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 io.javalin.Javalin;
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import io.javalin.http.staticfiles.Location;
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import org.photonvision.common.logging.LogGroup;
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import org.photonvision.common.logging.Logger;
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public class Server {
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private static final Logger logger = new Logger(Server.class, LogGroup.WebServer);
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public static void main(int port) {
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Javalin app =
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Javalin.create(
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config -> {
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config.showJavalinBanner = false;
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config.addStaticFiles("web", Location.CLASSPATH);
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config.enableCorsForAllOrigins();
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config.requestLogger(
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(ctx, ms) ->
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logger.debug(
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"Handled HTTP "
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+ ctx.req.getMethod()
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+ " request from "
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+ ctx.req.getRemoteHost()
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+ " in "
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+ ms.toString()
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+ "ms"));
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config.wsLogger(
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ws ->
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ws.onMessage(
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ctx -> logger.debug("Got WebSockets message: " + ctx.message())));
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config.wsLogger(
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ws ->
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ws.onBinaryMessage(
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ctx ->
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logger.trace(
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() -> {
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var insa = ctx.session.getRemote().getInetSocketAddress();
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var host = insa.getAddress().toString() + ":" + insa.getPort();
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return "Got WebSockets binary message from host " + host;
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})));
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});
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/*Web Socket Events for Data Exchage */
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var dsHandler = DataSocketHandler.getInstance();
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app.ws(
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"/websocket_data",
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ws -> {
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ws.onConnect(dsHandler::onConnect);
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ws.onClose(dsHandler::onClose);
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ws.onBinaryMessage(dsHandler::onBinaryMessage);
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});
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/*Web Socket Events for Camera Streaming */
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var camDsHandler = CameraSocketHandler.getInstance();
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app.ws(
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"/websocket_cameras",
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ws -> {
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ws.onConnect(camDsHandler::onConnect);
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ws.onClose(camDsHandler::onClose);
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ws.onBinaryMessage(camDsHandler::onBinaryMessage);
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ws.onMessage(camDsHandler::onMessage);
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});
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/*API Events*/
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app.post("/api/settings/import", RequestHandler::onSettingUpload);
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app.post("/api/settings/offlineUpdate", RequestHandler::onOfflineUpdate);
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app.get("/api/settings/photonvision_config.zip", RequestHandler::onSettingsDownload);
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app.post("/api/settings/camera", RequestHandler::onCameraSettingsSave);
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app.post("/api/settings/general", RequestHandler::onGeneralSettings);
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app.post("/api/settings/endCalibration", RequestHandler::onCalibrationEnd);
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app.post("/api/restartDevice", RequestHandler::restartDevice);
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app.post("api/restartProgram", RequestHandler::restartProgram);
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app.post("api/vision/pnpModel", RequestHandler::uploadPnpModel);
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app.post("api/sendMetrics", RequestHandler::sendMetrics);
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app.post("api/setCameraNickname", RequestHandler::setCameraNickname);
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app.start(port);
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}
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}
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