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Take Snapshots from PhotonClient #940

Merged
merged 16 commits into from
Oct 17, 2023
Merged

Take Snapshots from PhotonClient #940

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4e0ca3d
Add backend topics
srimanachanta Oct 9, 2023
e448371
Implement logic to take snapshots
srimanachanta Oct 9, 2023
446364b
Add UI methods
srimanachanta Oct 9, 2023
543519a
Make takeCalibrationSnapshot always true
srimanachanta Oct 9, 2023
d042aa0
add ui buttons
srimanachanta Oct 9, 2023
ab95d17
Formatting fixes
srimanachanta Oct 9, 2023
c5a75b1
Update CameraCalibrationCard.vue
srimanachanta Oct 9, 2023
e1d5609
Refactor FileSaveFrameConsumer to be more understandable
srimanachanta Oct 9, 2023
53d68df
Merge branch 'master' into ui-snapshots
srimanachanta Oct 10, 2023
649c512
Merge branch 'master' into ui-snapshots
srimanachanta Oct 12, 2023
6fc68ed
Merge branch 'master' into ui-snapshots
srimanachanta Oct 15, 2023
9238549
move capture button to be an overlay on the stream
srimanachanta Oct 16, 2023
089ea75
Merge branch 'master' into ui-snapshots
srimanachanta Oct 16, 2023
1390008
Update photon-camera-stream.vue
srimanachanta Oct 16, 2023
8247368
Merge branch 'ui-snapshots' of https://github.com/srimanachanta/photo…
srimanachanta Oct 16, 2023
8ac567b
Merge branch 'master' into ui-snapshots
srimanachanta Oct 16, 2023
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2 changes: 1 addition & 1 deletion photon-client/src/components/cameras/CameraCalibrationCard.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -381,7 +381,7 @@ const endCalibration = () => {
color="secondary"
style="width: 100%"
:disabled="!settingsValid"
@click="isCalibrating ? useCameraSettingsStore().takeCalibrationSnapshot(true) : startCalibration()"
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Oh yeah this fun hack. We should probably not have one button doing two things

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nah its chill, the logic makes sense now with better variable names

@click="isCalibrating ? useCameraSettingsStore().takeCalibrationSnapshot() : startCalibration()"
>
{{ isCalibrating ? "Take Snapshot" : "Start Calibration" }}
</v-btn>
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75 changes: 50 additions & 25 deletions photon-client/src/components/cameras/CamerasView.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -46,34 +46,43 @@ const fpsTooLow = computed<boolean>(() => {
class="pb-0 mb-2 pl-4 pt-1"
style="min-height: 50px; justify-content: space-between; align-content: center"
>
<div style="display: flex; flex-wrap: wrap">
<div>
<span class="mr-4" style="white-space: nowrap"> Cameras </span>
<div style="display: flex; width: 100%; justify-content: space-between">
<div style="display: flex; flex-wrap: wrap">
<div>
<span class="mr-4" style="white-space: nowrap"> Cameras </span>
</div>
<div>
<v-chip
label
:color="fpsTooLow ? 'error' : 'transparent'"
:text-color="fpsTooLow ? '#C7EA46' : '#ff4d00'"
style="font-size: 1rem; padding: 0; margin: 0"
>
<span class="pr-1">
{{ Math.round(useStateStore().pipelineResults?.fps || 0) }}&nbsp;FPS &ndash;
{{ Math.min(Math.round(useStateStore().pipelineResults?.latency || 0), 9999) }} ms latency
</span>
</v-chip>
</div>
</div>
<div>
<v-chip
label
:color="fpsTooLow ? 'error' : 'transparent'"
:text-color="fpsTooLow ? '#C7EA46' : '#ff4d00'"
style="font-size: 1rem; padding: 0; margin: 0"
>
<span class="pr-1">
{{ Math.round(useStateStore().pipelineResults?.fps || 0) }}&nbsp;FPS &ndash;
{{ Math.min(Math.round(useStateStore().pipelineResults?.latency || 0), 9999) }} ms latency
</span>
</v-chip>
<v-switch
v-model="driverMode"
:disabled="useCameraSettingsStore().isCalibrationMode"
label="Driver Mode"
style="margin-left: auto"
color="accent"
class="pt-2"
/>
</div>
</div>

<div>
<v-switch
v-model="driverMode"
:disabled="useCameraSettingsStore().isCalibrationMode"
label="Driver Mode"
style="margin-left: auto"
color="accent"
class="pt-2"
/>
<div class="pb-2" style="display: flex; gap: 16px; width: 100%; justify-content: center; flex-wrap: wrap">
<v-btn color="secondary" class="snapshot-btn" @click="useCameraSettingsStore().saveInputSnapshot()"
>Save Input Snapshot</v-btn
>
<v-btn color="secondary" class="snapshot-btn" @click="useCameraSettingsStore().saveOutputSnapshot()"
>Save Output Snapshot</v-btn
>
</div>
</v-card-title>
<div class="stream-container pb-4">
Expand Down Expand Up @@ -136,13 +145,29 @@ th {
width: 100%;
}

@media only screen and (min-width: 512px) and (max-width: 960px) {
@media only screen and (min-width: 562px) and (max-width: 960px) {
.stream-container {
flex-wrap: nowrap;
}

.stream {
width: 50%;
}

.snapshot-btn {
width: 45%;
}
}

@media only screen and (min-width: 960px) and (max-width: 1587px) {
.snapshot-btn {
width: 100%;
}
}

@media only screen and (max-width: 562px) {
.snapshot-btn {
width: 100%;
}
}
</style>
71 changes: 39 additions & 32 deletions photon-client/src/components/dashboard/CamerasCard.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -33,40 +33,47 @@ const fpsTooLow = computed<boolean>(() => {

<template>
<v-card color="primary" height="100%" style="display: flex; flex-direction: column" dark>
<v-card-title
class="pb-0 mb-0 pl-4 pt-1"
style="min-height: 50px; justify-content: space-between; align-content: center"
>
<div class="pt-2">
<span class="mr-4">Cameras</span>
<v-chip
label
:color="fpsTooLow ? 'error' : 'transparent'"
:text-color="fpsTooLow ? '#C7EA46' : '#ff4d00'"
style="font-size: 1rem; padding: 0; margin: 0"
>
<span class="pr-1">
Processing @ {{ Math.round(useStateStore().pipelineResults?.fps || 0) }}&nbsp;FPS &ndash;
</span>
<span
v-if="
fpsTooLow &&
!useCameraSettingsStore().currentPipelineSettings.inputShouldShow &&
useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.Reflective
"
<v-card-title class="pb-0 mb-0 pl-4 pt-1" style="display: flex; flex-direction: column; width: 100%">
<div style="min-height: 50px; justify-content: space-between; align-content: center; display: flex; width: 100%">
<div class="pt-2">
<span class="mr-4">Cameras</span>
<v-chip
label
:color="fpsTooLow ? 'error' : 'transparent'"
:text-color="fpsTooLow ? '#C7EA46' : '#ff4d00'"
style="font-size: 1rem; padding: 0; margin: 0"
>
HSV thresholds are too broad; narrow them for better performance
</span>
<span v-else-if="fpsTooLow && useCameraSettingsStore().currentPipelineSettings.inputShouldShow">
stop viewing the raw stream for better performance
</span>
<span v-else>
{{ Math.min(Math.round(useStateStore().pipelineResults?.latency || 0), 9999) }} ms latency
</span>
</v-chip>
<span class="pr-1">
Processing @ {{ Math.round(useStateStore().pipelineResults?.fps || 0) }}&nbsp;FPS &ndash;
</span>
<span
v-if="
fpsTooLow &&
!useCameraSettingsStore().currentPipelineSettings.inputShouldShow &&
useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.Reflective
"
>
HSV thresholds are too broad; narrow them for better performance
</span>
<span v-else-if="fpsTooLow && useCameraSettingsStore().currentPipelineSettings.inputShouldShow">
stop viewing the raw stream for better performance
</span>
<span v-else>
{{ Math.min(Math.round(useStateStore().pipelineResults?.latency || 0), 9999) }} ms latency
</span>
</v-chip>
</div>
<div>
<v-switch v-model="driverMode" label="Driver Mode" style="margin-left: auto" color="accent" class="pt-2" />
</div>
</div>
<div>
<v-switch v-model="driverMode" label="Driver Mode" style="margin-left: auto" color="accent" class="pt-2" />
<div class="pb-2" style="display: flex; gap: 16px; flex-wrap: wrap">
<v-btn color="secondary" class="snapshot-btn" @click="useCameraSettingsStore().saveInputSnapshot()"
>Save Input Snapshot</v-btn
>
<v-btn color="secondary" class="snapshot-btn" @click="useCameraSettingsStore().saveOutputSnapshot()"
>Save Output Snapshot</v-btn
>
</div>
</v-card-title>
<v-divider style="border-color: white" />
Expand Down
29 changes: 26 additions & 3 deletions photon-client/src/stores/settings/CameraSettingsStore.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -360,12 +360,35 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
/**
* Take a snapshot for the calibration processes
*
* @param takeSnapshot whether or not to take a snapshot. Defaults to true
* @param cameraIndex the index of the camera that is currently in the calibration process
*/
takeCalibrationSnapshot(takeSnapshot = true, cameraIndex: number = useStateStore().currentCameraIndex) {
takeCalibrationSnapshot(cameraIndex: number = useStateStore().currentCameraIndex) {
const payload = {
takeCalibrationSnapshot: takeSnapshot,
takeCalibrationSnapshot: true,
cameraIndex: cameraIndex
};
useStateStore().websocket?.send(payload, true);
},
/**
* Save a snapshot of the input frame of the camera.
*
* @param cameraIndex the index of the camera
*/
saveInputSnapshot(cameraIndex: number = useStateStore().currentCameraIndex) {
const payload = {
saveInputSnapshot: true,
cameraIndex: cameraIndex
};
useStateStore().websocket?.send(payload, true);
},
/**
* Save a snapshot of the output frame of the camera.
*
* @param cameraIndex the index of the camera
*/
saveOutputSnapshot(cameraIndex: number = useStateStore().currentCameraIndex) {
const payload = {
saveOutputSnapshot: true,
cameraIndex: cameraIndex
};
useStateStore().websocket?.send(payload, true);
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4 changes: 4 additions & 0 deletions photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -102,4 +102,8 @@ public void updateCameraNickname(String newCameraNickname) {
this.subTable.getEntry(ntEntryName).setInteger(imgSaveCountInternal);
this.entry = subTable.getIntegerTopic(ntEntryName).getEntry(-1); // Default negative
}

public void overrideTakeSnapshot() {
entry.set(entry.get() + 1);
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}
}
8 changes: 8 additions & 0 deletions photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
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Expand Up @@ -351,6 +351,14 @@ public void startCalibration(UICalibrationData data) {
setPipeline(PipelineManager.CAL_3D_INDEX);
}

public void saveInputSnapshot() {
inputFrameSaver.overrideTakeSnapshot();
}

public void saveOutputSnapshot() {
outputFrameSaver.overrideTakeSnapshot();
}

public void takeCalibrationSnapshot() {
pipelineManager.calibration3dPipeline.takeSnapshot();
}
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6 changes: 6 additions & 0 deletions ...on-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
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Expand Up @@ -107,6 +107,12 @@ public void onDataChangeEvent(DataChangeEvent<?> event) {
parentModule.startCalibration(data);
parentModule.saveAndBroadcastAll();
return;
case "saveInputSnapshot":
parentModule.saveInputSnapshot();
return;
case "saveOutputSnapshot":
parentModule.saveOutputSnapshot();
return;
case "takeCalSnapshot":
parentModule.takeCalibrationSnapshot();
return;
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24 changes: 24 additions & 0 deletions photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
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Original file line number Diff line number Diff line change
Expand Up @@ -265,6 +265,30 @@ public void onBinaryMessage(WsBinaryMessageContext context) {
dcService.publishEvent(changePipelineEvent);
break;
}
case SMT_SAVEINPUTSNAPSHOT:
{
var takeInputSnapshotEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"saveInputSnapshot",
0,
cameraIndex,
context);
dcService.publishEvent(takeInputSnapshotEvent);
break;
}
case SMT_SAVEOUTPUTSNAPSHOT:
{
var takeOutputSnapshotEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"saveOutputSnapshot",
0,
cameraIndex,
context);
dcService.publishEvent(takeOutputSnapshotEvent);
break;
}
case SMT_TAKECALIBRATIONSNAPSHOT:
{
var takeCalSnapshotEvent =
Expand Down
2 changes: 2 additions & 0 deletions photon-server/src/main/java/org/photonvision/server/DataSocketMessageType.java
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Expand Up @@ -32,6 +32,8 @@ public enum DataSocketMessageType {
SMT_PIPELINESETTINGCHANGE("changePipelineSetting"),
SMT_CURRENTPIPELINE("currentPipeline"),
SMT_STARTPNPCALIBRATION("startPnpCalibration"),
SMT_SAVEINPUTSNAPSHOT("saveInputSnapshot"),
SMT_SAVEOUTPUTSNAPSHOT("saveOutputSnapshot"),
SMT_TAKECALIBRATIONSNAPSHOT("takeCalibrationSnapshot"),
SMT_DUPLICATEPIPELINE("duplicatePipeline"),
SMT_CHANGEBRIGHTNESS("enabledLEDPercentage"),
Expand Down