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Merge remote-tracking branch 'upstream/master' into 2023-10-20_protobuf
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mcm001 committed Nov 5, 2023
2 parents a6bd9f8 + 623b4e5 commit 95a0384
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Showing 17 changed files with 306 additions and 23 deletions.
11 changes: 8 additions & 3 deletions build.gradle
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ plugins {
id "com.diffplug.spotless" version "6.22.0"
id "edu.wpi.first.NativeUtils" version "2024.2.0" apply false
id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2"
id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
id 'edu.wpi.first.WpilibTools' version '1.3.0'
}

Expand All @@ -20,8 +20,8 @@ allprojects {
apply from: "versioningHelper.gradle"

ext {
wpilibVersion = "2024.1.1-beta-2-19-gad80eb3"
openCVversion = "4.8.0-1"
wpilibVersion = "2024.1.1-beta-3"
openCVversion = "4.8.0-2"
joglVersion = "2.4.0-rc-20200307"
javalinVersion = "5.6.2"
frcYear = "2024"
Expand All @@ -41,6 +41,11 @@ ext {

wpilibTools.deps.wpilibVersion = wpilibVersion

// Tell gradlerio what version of things to use (that we care about)
// See: https://github.com/wpilibsuite/GradleRIO/blob/main/src/main/java/edu/wpi/first/gradlerio/wpi/WPIVersionsExtension.java
wpi.getVersions().getOpencvVersion().convention(openCVversion);
wpi.getVersions().getWpilibVersion().convention(wpilibVersion);

spotless {
java {
target fileTree('.') {
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11 changes: 11 additions & 0 deletions photon-client/src/assets/styles/variables.scss
Original file line number Diff line number Diff line change
Expand Up @@ -7,3 +7,14 @@ $heading-font-family: $default-font;
.v-application {
font-family: $default-font !important;
}

.v-row-group__header {
background: #005281 !important;
}
.theme--dark.v-data-table
> .v-data-table__wrapper
> table
> tbody
> tr:hover:not(.v-data-table__expanded__content):not(.v-data-table__empty-wrapper) {
background: #005281 !important;
}
Original file line number Diff line number Diff line change
Expand Up @@ -218,7 +218,7 @@ const endCalibration = () => {

<template>
<div>
<v-card class="pr-6 pb-3" color="primary" dark>
<v-card class="mb-3 pr-6 pb-3" color="primary" dark>
<v-card-title>Camera Calibration</v-card-title>
<div class="ml-5">
<v-row>
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202 changes: 202 additions & 0 deletions photon-client/src/components/cameras/CameraControlCard.vue
Original file line number Diff line number Diff line change
@@ -0,0 +1,202 @@
<script setup lang="ts">
import { ref } from "vue";
import axios from "axios";
import { useStateStore } from "@/stores/StateStore";
interface SnapshotMetadata {
snapshotName: string;
cameraNickname: string;
streamType: "input" | "output";
timeCreated: Date;
}
const getSnapshotMetadataFromName = (snapshotName: string): SnapshotMetadata => {
snapshotName = snapshotName.replace(/\.[^/.]+$/, "");
const data = snapshotName.split("_");
const cameraName = data.slice(0, data.length - 2).join("_");
const streamType = data[data.length - 2] as "input" | "output";
const dateStr = data[data.length - 1];
const year = parseInt(dateStr.substring(0, 4), 10);
const month = parseInt(dateStr.substring(5, 7), 10) - 1; // Months are zero-based
const day = parseInt(dateStr.substring(8, 10), 10);
const hours = parseInt(dateStr.substring(11, 13), 10);
const minutes = parseInt(dateStr.substring(13, 15), 10);
const seconds = parseInt(dateStr.substring(15, 17), 10);
const milliseconds = parseInt(dateStr.substring(17), 10);
return {
snapshotName: snapshotName,
cameraNickname: cameraName,
streamType: streamType,
timeCreated: new Date(year, month, day, hours, minutes, seconds, milliseconds)
};
};
interface Snapshot {
index: number;
snapshotName: string;
snapshotShortName: string;
cameraUniqueName: string;
cameraNickname: string;
streamType: "input" | "output";
timeCreated: Date;
snapshotSrc: string;
}
const imgData = ref<Snapshot[]>([]);
const fetchSnapshots = () => {
axios
.get("/utils/getImageSnapshots")
.then((response) => {
imgData.value = response.data.map(
(snapshotData: { snapshotName: string; cameraUniqueName: string; snapshotData: string }, index) => {
const metadata = getSnapshotMetadataFromName(snapshotData.snapshotName);
return {
index: index,
snapshotName: snapshotData.snapshotName,
snapshotShortName: metadata.snapshotName,
cameraUniqueName: snapshotData.cameraUniqueName,
cameraNickname: metadata.cameraNickname,
streamType: metadata.streamType,
timeCreated: metadata.timeCreated,
snapshotSrc: "data:image/jpg;base64," + snapshotData.snapshotData
};
}
);
showSnapshotViewerDialog.value = true;
})
.catch((error) => {
if (error.response) {
useStateStore().showSnackbarMessage({
color: "error",
message: error.response.data.text || error.response.data
});
} else if (error.request) {
useStateStore().showSnackbarMessage({
color: "error",
message: "Error while trying to process the request! The backend didn't respond."
});
} else {
useStateStore().showSnackbarMessage({
color: "error",
message: "An error occurred while trying to process the request."
});
}
});
};
const showSnapshotViewerDialog = ref(false);
const expanded = ref([]);
</script>

<template>
<v-card dark class="pr-6 pb-3" style="background-color: #006492">
<v-card-title>Camera Control</v-card-title>
<v-row class="pl-6">
<v-col>
<v-btn color="secondary" @click="fetchSnapshots">
<v-icon left> mdi-folder </v-icon>
Show Saved Snapshots
</v-btn>
</v-col>
</v-row>
<v-dialog v-model="showSnapshotViewerDialog">
<v-card dark class="pt-3 pl-5 pr-5" color="primary" flat>
<v-card-title> View Saved Frame Snapshots </v-card-title>
<v-divider />
<v-card-text v-if="imgData.length === 0" style="font-size: 18px; font-weight: 600" class="pt-4">
There are no snapshots saved
</v-card-text>
<div v-else class="pb-2">
<v-data-table
v-model:expanded="expanded"
:headers="[
{ text: 'Snapshot Name', value: 'snapshotShortName', sortable: false },
{ text: 'Camera Unique Name', value: 'cameraUniqueName' },
{ text: 'Camera Nickname', value: 'cameraNickname' },
{ text: 'Stream Type', value: 'streamType' },
{ text: 'Time Created', value: 'timeCreated' },
{ text: 'Actions', value: 'actions', sortable: false }
]"
:items="imgData"
group-by="cameraUniqueName"
class="elevation-0"
item-key="index"
show-expand
expand-icon="mdi-eye"
>
<template #expanded-item="{ headers, item }">
<td :colspan="headers.length">
<div style="display: flex; justify-content: center; width: 100%">
<img :src="item.snapshotSrc" alt="snapshot-image" class="snapshot-preview pt-2 pb-2" />
</div>
</td>
</template>
<!-- eslint-disable-next-line vue/valid-v-slot-->
<template #item.actions="{ item }">
<div style="display: flex; justify-content: center">
<a :download="item.snapshotName" :href="item.snapshotSrc">
<v-icon small> mdi-download </v-icon>
</a>
</div>
</template>
</v-data-table>
<span
>Snapshot Timestamps may be incorrect as they depend on when the coprocessor was last connected to the
internet</span
>
</div>
</v-card>
</v-dialog>
</v-card>
</template>

<style scoped lang="scss">
.v-divider {
border-color: white !important;
}
.v-btn {
width: 100%;
}
.v-data-table {
text-align: center;
background-color: #006492 !important;
th,
td {
background-color: #005281 !important;
font-size: 1rem !important;
}
tbody :hover tr {
background-color: #005281 !important;
}
::-webkit-scrollbar {
width: 0;
height: 0.55em;
border-radius: 5px;
}
::-webkit-scrollbar-track {
-webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
border-radius: 10px;
}
::-webkit-scrollbar-thumb {
background-color: #ffd843;
border-radius: 10px;
}
}
.snapshot-preview {
max-width: 55%;
}
@media only screen and (max-width: 512px) {
.snapshot-preview {
max-width: 100%;
}
}
</style>
2 changes: 2 additions & 0 deletions photon-client/src/views/CameraSettingsView.vue
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
import { computed } from "vue";
import CamerasView from "@/components/cameras/CamerasView.vue";
import { useStateStore } from "@/stores/StateStore";
import CameraControlCard from "@/components/cameras/CameraControlCard.vue";
const cameraViewType = computed<number[]>({
get: (): number[] => {
Expand Down Expand Up @@ -40,6 +41,7 @@ const cameraViewType = computed<number[]>({
<v-col cols="12" md="7">
<CamerasCard />
<CalibrationCard />
<CameraControlCard />
</v-col>
<v-col class="pl-md-3 pt-3 pt-md-0" cols="12" md="5">
<CamerasView v-model="cameraViewType" />
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Original file line number Diff line number Diff line change
Expand Up @@ -30,4 +30,6 @@ public enum CameraQuirk {
CompletelyBroken,
/** Has adjustable focus and autofocus switch */
AdjustableFocus,
/** Changing FPS repeatedly with small delay does not work correctly */
StickyFPS,
}
Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,8 @@ public class QuirkyCamera {
new QuirkyCamera(
-1, -1, "mmal service 16.1", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
new QuirkyCamera(-1, -1, "unicam", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus) // Logitech C925-e
new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus), // Logitech C925-e
new QuirkyCamera(0x6366, 0x0c45, CameraQuirk.StickyFPS) // Arducam OV2311
);

public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, "");
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,8 @@ public class USBCameraSettables extends VisionSourceSettables {
protected USBCameraSettables(CameraConfiguration configuration) {
super(configuration);
getAllVideoModes();
setVideoMode(videoModes.get(0));
if (!cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
setVideoMode(videoModes.get(0)); // fixes double FPS set
}

public void setAutoExposure(boolean cameraAutoExposure) {
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -47,14 +47,16 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
private final String ntEntryName;
private IntegerEntry saveFrameEntry;

private final String cameraUniqueName;
private String cameraNickname;
private final String streamType;

private long savedImagesCount = 0;

public FileSaveFrameConsumer(String camNickname, String streamPrefix) {
public FileSaveFrameConsumer(String camNickname, String cameraUniqueName, String streamPrefix) {
this.ntEntryName = streamPrefix + NT_SUFFIX;
this.cameraNickname = camNickname;
this.cameraUniqueName = cameraUniqueName;
this.streamType = streamPrefix;

this.rootTable = NetworkTablesManager.getInstance().kRootTable;
Expand All @@ -74,7 +76,15 @@ public void accept(CVMat image) {

String fileName =
cameraNickname + "_" + streamType + "_" + df.format(now) + "T" + tf.format(now);
String saveFilePath = FILE_PATH + File.separator + fileName + FILE_EXTENSION;

// Check if the Unique Camera directory exists and create it if it doesn't
String cameraPath = FILE_PATH + File.separator + this.cameraUniqueName;
var cameraDir = new File(cameraPath);
if (!cameraDir.exists()) {
cameraDir.mkdir();
}

String saveFilePath = cameraPath + File.separator + fileName + FILE_EXTENSION;

Imgcodecs.imwrite(saveFilePath, image.getMat());

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -176,10 +176,15 @@ private void createStreams() {
this.outputStreamPort = 1181 + (camStreamIdx * 2) + 1;

inputFrameSaver =
new FileSaveFrameConsumer(visionSource.getSettables().getConfiguration().nickname, "input");
new FileSaveFrameConsumer(
visionSource.getSettables().getConfiguration().nickname,
visionSource.getSettables().getConfiguration().uniqueName,
"input");
outputFrameSaver =
new FileSaveFrameConsumer(
visionSource.getSettables().getConfiguration().nickname, "output");
visionSource.getSettables().getConfiguration().nickname,
visionSource.getSettables().getConfiguration().uniqueName,
"output");

String camHostname = CameraServerJNI.getHostname();
inputVideoStreamer =
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,8 @@ public enum PoseStrategy {
* @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag IDs to Pose3d objects
* with respect to the FIRST field using the <a href=
* "https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#field-coordinate-system">Field
* Coordinate System</a>.
* Coordinate System</a>. Note that setting the origin of this layout object will affect the
* results from this class.
* @param strategy The strategy it should use to determine the best pose.
* @param camera PhotonCamera
* @param robotToCamera Transform3d from the center of the robot to the camera mount position (ie,
Expand Down Expand Up @@ -139,6 +140,8 @@ private void checkUpdate(Object oldObj, Object newObj) {
/**
* Get the AprilTagFieldLayout being used by the PositionEstimator.
*
* <p>Note: Setting the origin of this layout will affect the results from this class.
*
* @return the AprilTagFieldLayout
*/
public AprilTagFieldLayout getFieldTags() {
Expand All @@ -148,6 +151,8 @@ public AprilTagFieldLayout getFieldTags() {
/**
* Set the AprilTagFieldLayout being used by the PositionEstimator.
*
* <p>Note: Setting the origin of this layout will affect the results from this class.
*
* @param fieldTags the AprilTagFieldLayout
*/
public void setFieldTags(AprilTagFieldLayout fieldTags) {
Expand Down Expand Up @@ -413,6 +418,7 @@ private Optional<EstimatedRobotPose> multiTagOnCoprocStrategy(
var best =
new Pose3d()
.plus(best_tf) // field-to-camera
.relativeTo(fieldTags.getOrigin())
.plus(robotToCamera.inverse()); // field-to-robot
return Optional.of(
new EstimatedRobotPose(
Expand Down
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