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Merge branch '2023-12-27_save_cal_data' of https://github.com/mcm001/…
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…photonvision into 2023-12-27_save_cal_data
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@mcm001
mcm001 committed Dec 31, 2023
2 parents a26736a + 682b057 commit ddc683f
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1 change: 1 addition & 0 deletions build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@ plugins {
id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4"
id 'edu.wpi.first.WpilibTools' version '1.3.0'
id 'com.google.protobuf' version '0.9.4' apply false
}

allprojects {
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64 changes: 35 additions & 29 deletions photon-client/src/components/cameras/CameraCalibrationInfoCard.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -166,9 +166,41 @@ onBeforeMount(() => {

<template>
<v-card color="primary" class="pa-6" dark>
<v-card-title class="pl-0 ml-0"
>Calibration Details: {{ useCameraSettingsStore().currentCameraName }}@{{ getResolutionString() }}</v-card-title
>
<v-row>
<v-col cols="12" md="5">
<v-card-title class="pl-0 ml-0"
><span class="text-no-wrap" style="white-space: pre !important">Calibration Details: </span
><span class="text-no-wrap"
>{{ useCameraSettingsStore().currentCameraName }}@{{ getResolutionString() }}</span
></v-card-title
>
</v-col>
<v-col>
<v-btn color="secondary" class="mt-4" style="width: 100%" @click="openUploadPhotonCalibJsonPrompt">
<v-icon left> mdi-import</v-icon>
<span>Import</span>
</v-btn>
<input
ref="importCalibrationFromPhotonJson"
type="file"
accept=".json"
style="display: none"
@change="importCalibration"
/>
</v-col>
<v-col>
<v-btn
color="secondary"
class="mt-4"
:disabled="getCalibrationCoeffs() === undefined"
style="width: 100%"
@click="downloadCalibration"
>
<v-icon>mdi-export</v-icon>
<span>Export</span>
</v-btn>
</v-col>
</v-row>
<v-row v-if="getCalibrationCoeffs() !== undefined" class="pt-2">
<v-card-subtitle>Calibration Details</v-card-subtitle>
<v-simple-table dense style="width: 100%" class="pl-2 pr-2">
Expand Down Expand Up @@ -254,32 +286,6 @@ onBeforeMount(() => {
<v-row v-else class="pt-2 mb-0 pb-0">
The selected video format doesn't have any additional information as it has yet to be calibrated.
</v-row>
<v-row class="pt-8">
<v-col>
<v-btn color="secondary" style="width: 100%" @click="openUploadPhotonCalibJsonPrompt">
<v-icon left> mdi-import</v-icon>
<span>Import</span>
</v-btn>
<input
ref="importCalibrationFromPhotonJson"
type="file"
accept=".json"
style="display: none"
@change="importCalibration"
/>
</v-col>
<v-col>
<v-btn
color="secondary"
:disabled="getCalibrationCoeffs() === undefined"
style="width: 100%"
@click="downloadCalibration"
>
<v-icon>mdi-export</v-icon>
<span>Export</span>
</v-btn>
</v-col>
</v-row>
</v-card>
</template>

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46 changes: 33 additions & 13 deletions photon-client/src/components/dashboard/tabs/TargetsTab.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,32 @@ import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
import { PipelineType } from "@/types/PipelineTypes";
import { useStateStore } from "@/stores/StateStore";
const wrapToPi = (delta: number): number => {
let ret = delta;
while (ret < -Math.PI) ret += Math.PI * 2;
while (ret > Math.PI) ret -= Math.PI * 2;
return ret;
};
const calculateStdDev = (values: number[]): number => {
if (values.length < 2) return 0;
const mean = values.reduce((sum, number) => sum + number, 0) / values.length;
// Use mean of cosine/sine components to handle angle wrapping
const cosines = values.map((it) => Math.cos(it));
const sines = values.map((it) => Math.sin(it));
const cosmean = cosines.reduce((sum, number) => sum + number, 0) / values.length;
const sinmean = sines.reduce((sum, number) => sum + number, 0) / values.length;
// Borrowed from WPILib's Rotation2d
const hypot = Math.hypot(cosmean, sinmean);
let mean;
if (hypot > 1e-6) {
mean = Math.atan2(sinmean / hypot, cosmean / hypot);
} else {
mean = 0;
}
return Math.sqrt(values.map((x) => Math.pow(x - mean, 2)).reduce((a, b) => a + b) / values.length);
return Math.sqrt(values.map((x) => Math.pow(wrapToPi(x - mean), 2)).reduce((a, b) => a + b) / values.length);
};
const resetCurrentBuffer = () => {
// Need to clear the array in place
Expand Down Expand Up @@ -119,23 +139,23 @@ const resetCurrentBuffer = () => {
<td>
{{
(
useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_x *
(useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_x || 0) *
(180.0 / Math.PI)
).toFixed(2)
}}&deg;
</td>
<td>
{{
(
useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_y *
(useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_y || 0) *
(180.0 / Math.PI)
).toFixed(2)
}}&deg;
</td>
<td>
{{
(
useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z *
(useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z || 0) *
(180.0 / Math.PI)
).toFixed(2)
}}&deg;
Expand All @@ -146,8 +166,8 @@ const resetCurrentBuffer = () => {
</v-row>
<v-row class="pb-4 white--text" style="display: flex; flex-direction: column">
<v-card-subtitle class="ma-0 pa-0 pb-4 pr-4" style="font-size: 16px"
>Multi-tag pose standard deviation over the last {{ useStateStore().currentMultitagBuffer.length }}/100
samples
>Multi-tag pose standard deviation over the last
{{ useStateStore().currentMultitagBuffer?.length || "NaN" }}/100 samples
</v-card-subtitle>
<v-btn color="secondary" class="mb-4 mt-1" style="width: min-content" depressed @click="resetCurrentBuffer"
>Reset Samples</v-btn
Expand All @@ -164,37 +184,37 @@ const resetCurrentBuffer = () => {
<tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
<td>
{{
calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.x)).toFixed(5)
calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.x) || []).toFixed(5)
}}&nbsp;m
</td>
<td>
{{
calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.y)).toFixed(5)
calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.y) || []).toFixed(5)
}}&nbsp;m
</td>
<td>
{{
calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.z)).toFixed(5)
calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.z) || []).toFixed(5)
}}&nbsp;m
</td>
<td>
{{
calculateStdDev(
useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.angle_x * (180.0 / Math.PI))
useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.angle_x * (180.0 / Math.PI)) || []
).toFixed(5)
}}&deg;
</td>
<td>
{{
calculateStdDev(
useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.angle_y * (180.0 / Math.PI))
useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.angle_y * (180.0 / Math.PI)) || []
).toFixed(5)
}}&deg;
</td>
<td>
{{
calculateStdDev(
useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.angle_z * (180.0 / Math.PI))
useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.angle_z * (180.0 / Math.PI)) || []
).toFixed(5)
}}&deg;
</td>
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88 changes: 63 additions & 25 deletions photon-client/src/components/settings/NetworkingCard.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,12 @@ import PvInput from "@/components/common/pv-input.vue";
import PvRadio from "@/components/common/pv-radio.vue";
import PvSwitch from "@/components/common/pv-switch.vue";
import PvSelect from "@/components/common/pv-select.vue";
import { NetworkConnectionType } from "@/types/SettingTypes";
import { NetworkConnectionType, type NetworkSettings } from "@/types/SettingTypes";
import { useStateStore } from "@/stores/StateStore";
const settingsValid = ref(true);
// Copy object to remove reference to store
const tempSettingsStruct = ref<NetworkSettings>(Object.assign({}, useSettingsStore().network));
const isValidNetworkTablesIP = (v: string | undefined): boolean => {
// Check if it is a valid team number between 1-9999
const teamNumberRegex = /^[1-9][0-9]{0,3}$/;
Expand Down Expand Up @@ -38,9 +40,31 @@ const isValidHostname = (v: string | undefined) => {
return hostnameRegex.test(v);
};
const settingsHaveChanged = (): boolean => {
const a = useSettingsStore().network;
const b = tempSettingsStruct.value;
return (
a.ntServerAddress !== b.ntServerAddress ||
a.connectionType !== b.connectionType ||
a.staticIp !== b.staticIp ||
a.hostname !== b.hostname ||
a.runNTServer !== b.runNTServer ||
a.shouldManage !== b.shouldManage ||
a.shouldPublishProto !== b.shouldPublishProto ||
a.canManage !== b.canManage ||
a.networkManagerIface !== b.networkManagerIface ||
a.setStaticCommand !== b.setStaticCommand ||
a.setDHCPcommand !== b.setDHCPcommand
);
};
const saveGeneralSettings = () => {
const changingStaticIp = useSettingsStore().network.connectionType === NetworkConnectionType.Static;
// Update with new values
Object.assign(useSettingsStore().network, tempSettingsStruct.value);
useSettingsStore()
.saveGeneralSettings()
.then((response) => {
Expand Down Expand Up @@ -80,7 +104,7 @@ const saveGeneralSettings = () => {
const currentNetworkInterfaceIndex = computed<number>({
get: () => useSettingsStore().networkInterfaceNames.indexOf(useSettingsStore().network.networkManagerIface || ""),
set: (v) => (useSettingsStore().network.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
set: (v) => (tempSettingsStruct.value.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
});
</script>

Expand All @@ -90,22 +114,19 @@ const currentNetworkInterfaceIndex = computed<number>({
<div class="ml-5">
<v-form ref="form" v-model="settingsValid">
<pv-input
v-model="useSettingsStore().network.ntServerAddress"
v-model="tempSettingsStruct.ntServerAddress"
label="Team Number/NetworkTables Server Address"
tooltip="Enter the Team Number or the IP address of the NetworkTables Server"
:label-cols="4"
:disabled="useSettingsStore().network.runNTServer"
:disabled="tempSettingsStruct.runNTServer"
:rules="[
(v) =>
isValidNetworkTablesIP(v) ||
'The NetworkTables Server Address must be a valid Team Number, IP address, or Hostname'
]"
/>
<v-banner
v-show="
!isValidNetworkTablesIP(useSettingsStore().network.ntServerAddress) &&
!useSettingsStore().network.runNTServer
"
v-show="!isValidNetworkTablesIP(tempSettingsStruct.ntServerAddress) && !tempSettingsStruct.runNTServer"
rounded
color="red"
text-color="white"
Expand All @@ -115,33 +136,33 @@ const currentNetworkInterfaceIndex = computed<number>({
The NetworkTables Server Address is not set or is invalid. NetworkTables is unable to connect.
</v-banner>
<pv-radio
v-model="useSettingsStore().network.connectionType"
v-model="tempSettingsStruct.connectionType"
label="IP Assignment Mode"
tooltip="DHCP will make the radio (router) automatically assign an IP address; this may result in an IP address that changes across reboots. Static IP assignment means that you pick the IP address and it won't change."
:input-cols="12 - 4"
:list="['DHCP', 'Static']"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
:disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
/>
<pv-input
v-if="useSettingsStore().network.connectionType === NetworkConnectionType.Static"
v-model="useSettingsStore().network.staticIp"
v-if="tempSettingsStruct.connectionType === NetworkConnectionType.Static"
v-model="tempSettingsStruct.staticIp"
:input-cols="12 - 4"
label="Static IP"
:rules="[(v) => isValidIPv4(v) || 'Invalid IPv4 address']"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
:disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
/>
<pv-input
v-model="useSettingsStore().network.hostname"
v-model="tempSettingsStruct.hostname"
label="Hostname"
:input-cols="12 - 4"
:rules="[(v) => isValidHostname(v) || 'Invalid hostname']"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
:disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
/>
<v-divider class="pb-3" />
<span style="font-weight: 700">Advanced Networking</span>
<pv-switch
v-model="useSettingsStore().network.shouldManage"
:disabled="!useSettingsStore().network.canManage"
v-model="tempSettingsStruct.shouldManage"
:disabled="!tempSettingsStruct.canManage"
label="Manage Device Networking"
tooltip="If enabled, Photon will manage device hostname and network settings."
:label-cols="4"
Expand All @@ -150,16 +171,16 @@ const currentNetworkInterfaceIndex = computed<number>({
<pv-select
v-model="currentNetworkInterfaceIndex"
label="NetworkManager interface"
:disabled="!(useSettingsStore().network.shouldManage && useSettingsStore().network.canManage)"
:disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
:select-cols="12 - 4"
tooltip="Name of the interface PhotonVision should manage the IP address of"
:items="useSettingsStore().networkInterfaceNames"
/>
<v-banner
v-show="
!useSettingsStore().networkInterfaceNames.length &&
useSettingsStore().network.shouldManage &&
useSettingsStore().network.canManage
tempSettingsStruct.shouldManage &&
tempSettingsStruct.canManage
"
rounded
color="red"
Expand All @@ -169,27 +190,44 @@ const currentNetworkInterfaceIndex = computed<number>({
Photon cannot detect any wired connections! Please send program logs to the developers for help.
</v-banner>
<pv-switch
v-model="useSettingsStore().network.runNTServer"
v-model="tempSettingsStruct.runNTServer"
label="Run NetworkTables Server (Debugging Only)"
tooltip="If enabled, this device will create a NT server. This is useful for home debugging, but should be disabled on-robot."
class="mt-3 mb-3"
class="mt-3 mb-2"
:label-cols="4"
/>
<v-banner
v-show="useSettingsStore().network.runNTServer"
v-show="tempSettingsStruct.runNTServer"
rounded
color="red"
text-color="white"
icon="mdi-information-outline"
>
This mode is intended for debugging; it should be off for proper usage. PhotonLib will NOT work!
</v-banner>
<pv-switch
v-model="tempSettingsStruct.shouldPublishProto"
label="Also Publish Protobuf"
tooltip="If enabled, Photon will publish all pipeline results in both the Packet and Protobuf formats. This is useful for visualizing pipeline results from NT viewers such as glass and logging software such as AdvantageScope. Note: photon-lib will ignore this value and is not recommended on the field for performance."
class="mt-3 mb-2"
:label-cols="4"
/>
<v-banner
v-show="tempSettingsStruct.shouldPublishProto"
rounded
color="red"
class="mb-3"
text-color="white"
icon="mdi-information-outline"
>
This mode is intended for debugging; it should be off for field use. You may notice a performance hit by using
this mode.
</v-banner>
</v-form>
<v-btn
color="accent"
:class="useSettingsStore().network.runNTServer ? 'mt-3' : ''"
style="color: black; width: 100%"
:disabled="!settingsValid && !useSettingsStore().network.runNTServer"
:disabled="!settingsValid || !settingsHaveChanged()"
@click="saveGeneralSettings"
>
Save
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