Better PhotonCamera #132
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,164 @@ | ||
| package frc.lib.util.photon; | ||
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| import java.io.File; | ||
| import java.io.IOException; | ||
| import java.io.InputStream; | ||
| import java.nio.charset.StandardCharsets; | ||
| import java.util.Optional; | ||
| import java.util.concurrent.atomic.AtomicBoolean; | ||
| import org.apache.http.HttpEntity; | ||
| import org.apache.http.client.methods.CloseableHttpResponse; | ||
| import org.apache.http.client.methods.HttpPost; | ||
| import org.apache.http.entity.mime.MultipartEntityBuilder; | ||
| import org.apache.http.entity.mime.content.FileBody; | ||
| import org.apache.http.impl.client.CloseableHttpClient; | ||
| import org.apache.http.impl.client.HttpClients; | ||
| import org.littletonrobotics.junction.LogTable; | ||
| import org.littletonrobotics.junction.Logger; | ||
| import org.littletonrobotics.junction.inputs.LoggableInputs; | ||
| import org.photonvision.PhotonCamera; | ||
| import org.photonvision.common.dataflow.structures.Packet; | ||
| import org.photonvision.targeting.PhotonPipelineResult; | ||
| import edu.wpi.first.math.Matrix; | ||
| import edu.wpi.first.math.numbers.N1; | ||
| import edu.wpi.first.math.numbers.N3; | ||
| import edu.wpi.first.math.numbers.N5; | ||
| import edu.wpi.first.wpilibj.Filesystem; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
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| /** PhotonCamera modified to work with AdvantageKit */ | ||
| public class LoggedPhotonCamera extends PhotonCamera { | ||
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| /** Inputs for LoggedPhotonCamera */ | ||
| public static class PhotonCameraInputs implements LoggableInputs, Cloneable { | ||
| public PhotonPipelineResult result = null; | ||
| public Optional<Matrix<N3, N3>> cameraMatrix = Optional.empty(); | ||
| public Optional<Matrix<N5, N1>> distCoeffs = Optional.empty(); | ||
| public String name = ""; | ||
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| @Override | ||
| public void toLog(LogTable table) { | ||
| if (result == null) { | ||
| var rawBytes = new byte[0]; | ||
| table.put("rawBytes", rawBytes); | ||
| } else { | ||
| // https://github.com/PhotonVision/photonvision/blob/471c90e8fabc55aad039bb712df7dcc11d12fc6b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java#L144 | ||
| var rawBytes = new Packet(1024); | ||
| PhotonPipelineResult.serde.pack(rawBytes, result); | ||
| table.put("rawBytes", rawBytes.getData()); | ||
| } | ||
| if (cameraMatrix.isPresent()) { | ||
| table.put("cameraMatrix", cameraMatrix.get().getData()); | ||
| } else { | ||
| table.put("cameraMatrix", new double[0]); | ||
| } | ||
| if (distCoeffs.isPresent()) { | ||
| table.put("distCoeffs", distCoeffs.get().getData()); | ||
| } else { | ||
| table.put("distCoeffs", new double[0]); | ||
| } | ||
| } | ||
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| @Override | ||
| public void fromLog(LogTable table) { | ||
| var rawBytes = table.get("rawBytes", new byte[0]); | ||
| if (rawBytes.length > 0) { | ||
| Packet p = new Packet(rawBytes); | ||
| this.result = PhotonPipelineResult.serde.unpack(p); | ||
| } else { | ||
| this.result = null; | ||
| } | ||
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| double[] data = table.get("cameraMatrix", new double[0]); | ||
| if (data.length == 0) { | ||
| this.cameraMatrix = Optional.empty(); | ||
| } else { | ||
| this.cameraMatrix = Optional.of(new Matrix<>(N3.instance, N3.instance, data)); | ||
| } | ||
| data = table.get("distCoeffs", new double[0]); | ||
| if (data.length == 0) { | ||
| this.distCoeffs = Optional.empty(); | ||
| } else { | ||
| this.distCoeffs = Optional.of(new Matrix<>(N5.instance, N1.instance, data)); | ||
| } | ||
| } | ||
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| } | ||
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| private final PhotonCameraInputs inputs = new PhotonCameraInputs(); | ||
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| /** Create PhotonCamera with a given name and IP. */ | ||
| public LoggedPhotonCamera(String cameraName, String cameraIP) { | ||
| super(cameraName); | ||
| inputs.name = cameraName; | ||
| new Thread(() -> { | ||
| Timer timer = new Timer(); | ||
| while (true) { | ||
| if (timer.advanceIfElapsed(10.0) && !isPhotonOk.get()) { | ||
| try { | ||
| uploadSettings(cameraIP + ":5800", | ||
| new File(Filesystem.getDeployDirectory().getAbsoluteFile(), | ||
| "photon-configs/" + cameraName + ".zip")); | ||
| } catch (IOException e) { | ||
| e.printStackTrace(); | ||
| } | ||
| } | ||
| Thread.yield(); | ||
| } | ||
| }).start(); | ||
| } | ||
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| /** Update inputs for this camera. */ | ||
| public void periodic() { | ||
| this.inputs.result = super.getLatestResult(); | ||
| this.inputs.cameraMatrix = super.getCameraMatrix(); | ||
| this.inputs.distCoeffs = super.getDistCoeffs(); | ||
| Logger.processInputs("Camera_" + this.inputs.name, inputs); | ||
| this.isPhotonOk.set(this.inputs.distCoeffs.isPresent()); | ||
| } | ||
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| @Override | ||
| public PhotonPipelineResult getLatestResult() { | ||
| return this.inputs.result; | ||
| } | ||
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| @Override | ||
| public Optional<Matrix<N3, N3>> getCameraMatrix() { | ||
| return this.inputs.cameraMatrix; | ||
| } | ||
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| @Override | ||
| public Optional<Matrix<N5, N1>> getDistCoeffs() { | ||
| return this.inputs.distCoeffs; | ||
| } | ||
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| private boolean uploadSettings(String ip, File file) throws IOException { | ||
| try (final CloseableHttpClient httpClient = HttpClients.createDefault()) { | ||
| HttpPost postReq = new HttpPost("http://" + ip + "/api/settings"); | ||
| HttpEntity entity = | ||
| MultipartEntityBuilder.create().addPart("data", new FileBody(file)).build(); | ||
| postReq.setEntity(entity); | ||
| try (CloseableHttpResponse response = httpClient.execute(postReq)) { | ||
| SmartDashboard.putString("uploadSettings/" + this.inputs.name + "/status", | ||
| response.getStatusLine().getStatusCode() + ": " | ||
| + response.getStatusLine().getReasonPhrase()); | ||
| var ent = response.getEntity(); | ||
| if (ent != null) { | ||
| try (InputStream stream = ent.getContent()) { | ||
| String text = new String(stream.readAllBytes(), StandardCharsets.UTF_8); | ||
| SmartDashboard.putString("uploadSettings/" + this.inputs.name + "/content", | ||
| text); | ||
| } | ||
| } else { | ||
| SmartDashboard.putString("uploadSettings/" + this.inputs.name + "/content", | ||
| "null"); | ||
| } | ||
| return response.getStatusLine().getStatusCode() == 200; | ||
| } | ||
| } | ||
| } | ||
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| private AtomicBoolean isPhotonOk = new AtomicBoolean(false); | ||
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| } | ||
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Should only do this if in simulation mode.
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Probably. Agreed on the separate "Vision" subsystem.