Implement vision settings and start adding app settings

deps/tools/Makefile

@@ -1,4 +1,8 @@
-COMPILER=../02-extract/raspbian9/bin/arm-raspbian9-linux-gnueabihf-
+SYSROOT?=../02-extract/raspbian9/arm-raspbian9-linux-gnueabihf
+COMPILER?=../02-extract/raspbian9/bin/arm-raspbian9-linux-gnueabihf-
+WPILIB?=../allwpilib
+WPILIB_PLATFORM?=.
+OPENCV_INSTALL?=../03-build/opencv-build/install
 
 .PHONY: all
 .SUFFIXES:
@@ -9,21 +13,21 @@ clean:
 	rm -f setuidgids
 	rm -f _cscore.so
 	rm -f rpiConfigServer
-	rm -f rpiConfigServer/*.o
-	rm -f rpiConfigServer/resources/*.o
+	rm -f rpiConfigServer_src/*.o
+	rm -f rpiConfigServer_src/resources/*.o
 
 setuidgids: setuidgids.c
 	${COMPILER}gcc -O -Wall -D_GNU_SOURCE -o $@ $<
 
 _cscore.so: ../robotpy-cscore/src/_cscore.cpp ../robotpy-cscore/src/ndarray_converter.cpp
 	${COMPILER}g++ -O -Wall -fvisibility=hidden -shared -fPIC -o $@ \
-	    -I../03-build/opencv-build/install/include \
-	    -I../allwpilib/wpiutil/src/main/native/include \
-	    -I../allwpilib/cscore/src/main/native/include \
-	    -I../02-extract/raspbian9/arm-raspbian9-linux-gnueabihf/usr/include/python3.5 \
-	    -L../allwpilib/cscore/build/libs/cscore/shared/release \
-	    -L../allwpilib/wpiutil/build/libs/wpiutil/shared/release \
-	    -L../03-build/opencv-build/install/lib \
+	    -I${OPENCV_INSTALL}/include \
+	    -I${WPILIB}/wpiutil/src/main/native/include \
+	    -I${WPILIB}/cscore/src/main/native/include \
+	    -I${SYSROOT}/usr/include/python3.5 \
+	    -L${WPILIB}/cscore/build/libs/cscore/shared/${WPILIB_PLATFORM}/release \
+	    -L${WPILIB}/wpiutil/build/libs/wpiutil/shared/${WPILIB_PLATFORM}/release \
+	    -L${OPENCV_INSTALL}/lib \
 	    ../robotpy-cscore/src/_cscore.cpp \
 	    ../robotpy-cscore/src/ndarray_converter.cpp \
 	    -lcscore \
@@ -35,6 +39,7 @@ RPICONFIGSERVER_OBJS= \
     rpiConfigServer_src/MyHttpConnection.o \
     rpiConfigServer_src/NetworkSettings.o \
     rpiConfigServer_src/SystemStatus.o \
+    rpiConfigServer_src/VisionSettings.o \
     rpiConfigServer_src/VisionStatus.o \
     rpiConfigServer_src/WebSocketHandlers.o \
     rpiConfigServer_src/resources/index.html.o \
@@ -44,7 +49,7 @@ RPICONFIGSERVER_OBJS= \
 rpiConfigServer: ${RPICONFIGSERVER_OBJS}
 	${COMPILER}g++ -pthread -o $@ \
 	    ${RPICONFIGSERVER_OBJS} \
-	    -L../allwpilib/wpiutil/build/libs/wpiutil/static/release \
+	    -L${WPILIB}/wpiutil/build/libs/wpiutil/static/${WPILIB_PLATFORM}/release \
 	    -lwpiutil
 	${COMPILER}objcopy --only-keep-debug $@ $@.debug
 	${COMPILER}strip -g $@
@@ -52,7 +57,7 @@ rpiConfigServer: ${RPICONFIGSERVER_OBJS}
 
 %.o: %.cpp
 	${COMPILER}g++ -O -Wall -c -o $@ \
-	    -I../allwpilib/wpiutil/src/main/native/include \
+	    -I${WPILIB}/wpiutil/src/main/native/include \
 	    $<
 
 %.html.cpp: %.html

deps/tools/rpiConfigServer_src/MyHttpConnection.cpp

@@ -7,11 +7,22 @@
 
 #include "MyHttpConnection.h"
 
+#include <unistd.h>
+#include <uv.h>
+
+#include <wpi/FileSystem.h>
+#include <wpi/SmallVector.h>
 #include <wpi/UrlParser.h>
 #include <wpi/raw_ostream.h>
+#include <wpi/raw_uv_ostream.h>
+#include <wpi/uv/Request.h>
 
 #include "WebSocketHandlers.h"
 
+#define ZIPS_DIR "/home/pi/zips"
+
+namespace uv = wpi::uv;
+
 // static resources
 namespace wpi {
 StringRef GetResource_bootstrap_4_1_min_js_gz();
@@ -52,6 +63,81 @@ MyHttpConnection::MyHttpConnection(std::shared_ptr<wpi::uv::Stream> stream)
     ws->text.connect([s = ws.get()](wpi::StringRef msg, bool) {
       ProcessWsText(*s, msg);
     });
+    ws->binary.connect([s = ws.get()](wpi::ArrayRef<uint8_t> msg, bool) {
+      ProcessWsBinary(*s, msg);
+    });
+  });
+}
+
+class FsReq : public uv::RequestImpl<FsReq, uv_fs_t> {
+ public:
+  FsReq() {
+    error = [this](uv::Error err) { GetLoop().error(err); };
+  }
+
+  uv::Loop& GetLoop() const {
+    return *static_cast<uv::Loop*>(GetRaw()->loop->data);
+  }
+
+  wpi::sig::Signal<> complete;
+};
+
+void Sendfile(uv::Loop& loop, uv_file out, uv_file in, int64_t inOffset,
+              size_t len, std::function<void()> complete) {
+  auto req = std::make_shared<FsReq>();
+  if (complete) req->complete.connect(complete);
+  int err = uv_fs_sendfile(loop.GetRaw(), req->GetRaw(), out, in, inOffset, len,
+                           [](uv_fs_t* req) {
+                             auto& h = *static_cast<FsReq*>(req->data);
+                             h.complete();
+                             h.Release();  // this is always a one-shot
+                           });
+  if (err < 0) {
+    loop.ReportError(err);
+    complete();
+  } else {
+    req->Keep();
+  }
+}
+
+void MyHttpConnection::SendFileResponse(int code, const wpi::Twine& codeText,
+                                        const wpi::Twine& contentType,
+                                        const wpi::Twine& filename,
+                                        const wpi::Twine& extraHeader) {
+  // open file
+  int infd;
+  if (wpi::sys::fs::openFileForRead(filename, infd)) {
+    SendError(404);
+    return;
+  }
+
+  // get status (to get file size)
+  wpi::sys::fs::file_status status;
+  if (wpi::sys::fs::status(infd, status)) {
+    SendError(404);
+    ::close(infd);
+    return;
+  }
+
+  uv_os_fd_t outfd;
+  int err = uv_fileno(m_stream.GetRawHandle(), &outfd);
+  if (err < 0) {
+    m_stream.GetLoopRef().ReportError(err);
+    SendError(404);
+    ::close(infd);
+    return;
+  }
+
+  wpi::SmallVector<uv::Buffer, 4> toSend;
+  wpi::raw_uv_ostream os{toSend, 4096};
+  BuildHeader(os, code, codeText, contentType, status.getSize(), extraHeader);
+  SendData(os.bufs(), false);
+
+  // close after write completes if we aren't keeping alive
+  Sendfile(m_stream.GetLoopRef(), outfd, infd, 0, status.getSize(),
+           [ infd, closeAfter = !m_keepAlive, stream = &m_stream ] {
+             ::close(infd);
+             if (closeAfter) stream->Close();
            });
 }
 
@@ -103,6 +189,9 @@ void MyHttpConnection::ProcessRequest() {
   } else if (isGET && path.equals("/wpilib.png")) {
     SendStaticResponse(200, "OK", "image/png",
                        wpi::GetResource_wpilib_128_png(), false);
+  } else if (isGET && path.startswith("/") && path.endswith(".zip") &&
+             !path.contains("..")) {
+    SendFileResponse(200, "OK", "application/zip", wpi::Twine(ZIPS_DIR) + path);
   } else {
     SendError(404, "Resource not found");
   }

deps/tools/rpiConfigServer_src/MyHttpConnection.h

@@ -11,6 +11,7 @@
 #include <memory>
 
 #include <wpi/HttpServerConnection.h>
+#include <wpi/Twine.h>
 #include <wpi/WebSocketServer.h>
 #include <wpi/uv/Stream.h>
 
@@ -21,6 +22,10 @@ class MyHttpConnection : public wpi::HttpServerConnection,
 
  protected:
   void ProcessRequest() override;
+  void SendFileResponse(int code, const wpi::Twine& codeText,
+                        const wpi::Twine& contentType,
+                        const wpi::Twine& filename,
+                        const wpi::Twine& extraHeader = wpi::Twine{});
 
   wpi::WebSocketServerHelper m_websocketHelper;
 };

deps/tools/rpiConfigServer_src/NetworkSettings.cpp

@@ -21,7 +21,11 @@
 
 namespace uv = wpi::uv;
 
+#ifdef __RASPBIAN9__
 #define DHCPCD_CONF "/boot/dhcpcd.conf"
+#else
+#define DHCPCD_CONF "dhcpcd.conf"
+#endif
 
 #define GEN_MARKER "###### BELOW THIS LINE EDITED BY RPICONFIGSERVER ######"
 

deps/tools/rpiConfigServer_src/VisionSettings.cpp

@@ -0,0 +1,65 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "VisionSettings.h"
+
+#include <wpi/FileSystem.h>
+#include <wpi/json.h>
+#include <wpi/raw_istream.h>
+#include <wpi/raw_ostream.h>
+
+#include "VisionStatus.h"
+
+#ifdef __RASPBIAN9__
+#define FRC_JSON "/boot/frc.json"
+#else
+#define FRC_JSON "frc.json"
+#endif
+
+std::shared_ptr<VisionSettings> VisionSettings::GetInstance() {
+  static auto inst = std::make_shared<VisionSettings>(private_init{});
+  return inst;
+}
+
+void VisionSettings::Set(const wpi::json& data,
+                         std::function<void(wpi::StringRef)> onFail) {
+  {
+    // write file
+    std::error_code ec;
+    wpi::raw_fd_ostream os(FRC_JSON, ec, wpi::sys::fs::F_Text);
+    if (ec) {
+      onFail("could not write " FRC_JSON);
+      return;
+    }
+    data.dump(os, 4);
+  }
+
+  // terminate vision process so it reloads the file
+  VisionStatus::GetInstance()->Terminate(onFail);
+
+  UpdateStatus();
+}
+
+void VisionSettings::UpdateStatus() { status(GetStatusJson()); }
+
+wpi::json VisionSettings::GetStatusJson() {
+  std::error_code ec;
+  wpi::raw_fd_istream is(FRC_JSON, ec);
+  if (ec) {
+    wpi::errs() << "could not read " FRC_JSON "\n";
+    return wpi::json();
+  }
+
+  try {
+    wpi::json j = {{"type", "visionSettings"},
+                   {"settings", wpi::json::parse(is)}};
+    return j;
+  } catch (wpi::json::exception& e) {
+    wpi::errs() << "could not parse " FRC_JSON "\n";
+    return wpi::json();
+  }
+}

deps/tools/rpiConfigServer_src/VisionSettings.h

@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#ifndef RPICONFIGSERVER_VISIONSETTINGS_H_
+#define RPICONFIGSERVER_VISIONSETTINGS_H_
+
+#include <functional>
+#include <memory>
+
+#include <wpi/Signal.h>
+#include <wpi/StringRef.h>
+
+namespace wpi {
+class json;
+}  // namespace wpi
+
+class VisionSettings {
+  struct private_init {};
+
+ public:
+  explicit VisionSettings(const private_init&) {}
+  VisionSettings(const VisionSettings&) = delete;
+  VisionSettings& operator=(const VisionSettings&) = delete;
+
+  void Set(const wpi::json& data, std::function<void(wpi::StringRef)> onFail);
+
+  void UpdateStatus();
+
+  wpi::json GetStatusJson();
+
+  wpi::sig::Signal<const wpi::json&> status;
+
+  static std::shared_ptr<VisionSettings> GetInstance();
+};
+
+#endif  // RPICONFIGSERVER_VISIONSETTINGS_H_

deps/tools/rpiConfigServer_src/WebSocketHandlers.cpp

@@ -20,6 +20,7 @@
 
 #include "NetworkSettings.h"
 #include "SystemStatus.h"
+#include "VisionSettings.h"
 #include "VisionStatus.h"
 
 namespace uv = wpi::uv;
@@ -34,6 +35,7 @@ struct WebSocketData {
   wpi::sig::ScopedConnection visStatusConn;
   wpi::sig::ScopedConnection visLogConn;
   wpi::sig::ScopedConnection netSettingsConn;
+  wpi::sig::ScopedConnection visSettingsConn;
 };
 
 static void SendWsText(wpi::WebSocket& ws, const wpi::json& j) {
@@ -127,6 +129,13 @@ void InitWs(wpi::WebSocket& ws) {
   netSettingsFunc(netSettings->GetStatusJson());
   data->netSettingsConn =
       netSettings->status.connect_connection(netSettingsFunc);
+
+  // send initial vision settings
+  auto visSettings = VisionSettings::GetInstance();
+  auto visSettingsFunc = [&ws](const wpi::json& j) { SendWsText(ws, j); };
+  visSettingsFunc(visSettings->GetStatusJson());
+  data->visSettingsConn =
+      visSettings->status.connect_connection(visSettingsFunc);
 }
 
 void ProcessWsText(wpi::WebSocket& ws, wpi::StringRef msg) {
@@ -235,5 +244,18 @@ void ProcessWsText(wpi::WebSocket& ws, wpi::StringRef msg) {
       wpi::errs() << "could not read networkSave value: " << e.what() << '\n';
       return;
     }
+  } else if (t == "visionSave") {
+    auto statusFunc = [s = ws.shared_from_this()](wpi::StringRef msg) {
+      SendWsText(*s, {{"type", "status"}, {"message", msg}});
+    };
+    try {
+      VisionSettings::GetInstance()->Set(j.at("settings"), statusFunc);
+    } catch (const wpi::json::exception& e) {
+      wpi::errs() << "could not read visionSave value: " << e.what() << '\n';
+      return;
     }
   }
+}
+
+void ProcessWsBinary(wpi::WebSocket& ws, wpi::ArrayRef<uint8_t> msg) {}
+

deps/tools/rpiConfigServer_src/WebSocketHandlers.h

@@ -8,6 +8,7 @@
 #ifndef RPICONFIGSERVER_WEBSOCKETHANDLERS_H_
 #define RPICONFIGSERVER_WEBSOCKETHANDLERS_H_
 
+#include <wpi/ArrayRef.h>
 #include <wpi/StringRef.h>
 
 namespace wpi {
@@ -16,5 +17,6 @@ class WebSocket;
 
 void InitWs(wpi::WebSocket& ws);
 void ProcessWsText(wpi::WebSocket& ws, wpi::StringRef msg);
+void ProcessWsBinary(wpi::WebSocket& ws, wpi::ArrayRef<uint8_t> msg);
 
 #endif  // RPICONFIGSERVER_WEBSOCKETHANDLERS_H_

deps/tools/rpiConfigServer_src/resources/frcvision.js

@@ -3,20 +3,19 @@ var connection = null;
 
 var WebSocket = WebSocket || MozWebSocket;
 
-/*
 // Implement bootstrap 3 style button loading support
 (function($) {
   $.fn.button = function(action) {
     if (action === 'loading' && this.data('loading-text')) {
       this.data('original-text', this.html()).html(this.data('loading-text')).prop('disabled', true);
+      feather.replace();
     }
     if (action === 'reset' && this.data('original-text')) {
       this.html(this.data('original-text')).prop('disabled', false);
-    }
       feather.replace();
+    }
   };
 }(jQuery));
-*/
 
 // HTML escaping
 var entityMap = {
@@ -41,8 +40,9 @@ function displayStatus(message) {
 }
 
 // Enable and disable buttons based on connection status
-var connectedButtonIds = ['systemRestart', 'networkApproach', 'visionUp', 'visionDown', 'visionTerm', 'visionKill', 'systemReadOnly', 'systemWritable'];
-var writableButtonIds = ['networkSave'];
+var connectedButtonIds = ['systemRestart', 'networkApproach', 'networkAddress', 'networkMask', 'networkGateway', 'networkDNS', 'visionUp', 'visionDown', 'visionTerm', 'visionKill', 'systemReadOnly', 'systemWritable', 'visionClient', 'visionTeam', 'visionDiscard', 'addCamera', 'applicationType'];
+var connectedButtonClasses = ['cameraName', 'cameraPath', 'cameraPixelFormat', 'cameraWidth', 'cameraHeight', 'cameraFps', 'cameraBrightness', 'cameraWhiteBalance', 'cameraExposure', 'cameraProperties', 'cameraRemove']
+var writableButtonIds = ['networkSave', 'visionSave', 'applicationSave'];
 var systemStatusIds = ['systemMemoryFree1s', 'systemMemoryFree5s',
                        'systemMemoryAvail1s', 'systemMemoryAvail5s',
                        'systemCpuUser1s', 'systemCpuUser5s',
@@ -57,6 +57,9 @@ function displayDisconnected() {
   for (var i = 0; i < connectedButtonIds.length; i++) {
     $('#' + connectedButtonIds[i]).prop('disabled', true);
   }
+  for (var i = 0; i < connectedButtonClasses.length; i++) {
+    $('.' + connectedButtonClasses[i]).prop('disabled', true);
+  }
   for (var i = 0; i < systemStatusIds.length; i++) {
     $('#' + systemStatusIds[i]).text("");
   }
@@ -67,6 +70,9 @@ function displayConnected() {
   for (var i = 0; i < connectedButtonIds.length; i++) {
     $('#' + connectedButtonIds[i]).prop('disabled', false);
   }
+  for (var i = 0; i < connectedButtonClasses.length; i++) {
+    $('.' + connectedButtonClasses[i]).prop('disabled', false);
+  }
 }
 
 // Enable and disable buttons based on writable status
@@ -105,6 +111,10 @@ $('#systemWritable').click(function() {
   connection.send(JSON.stringify(msg));
 });
 
+// Vision settings
+var visionSettingsServer = {};
+var visionSettingsDisplay = {'cameras': []};
+
 // WebSocket automatic reconnection timer
 var reconnectTimerId = 0;
 
@@ -132,6 +142,9 @@ function connect() {
   // WebSocket incoming message handling
   connection.onmessage = function(evt) {
     var msg = JSON.parse(evt.data);
+    if (msg === null) {
+      return;
+    }
     switch (msg.type) {
       case 'systemStatus':
         for (var i = 0; i < systemStatusIds.length; i++) {
@@ -160,6 +173,19 @@ function connect() {
         $('#networkDNS').val(msg.networkDNS);
         updateNetworkSettingsView();
         break;
+      case 'visionSettings':
+        visionSettingsServer = msg.settings;
+        visionSettingsDisplay = $.extend(true, {}, visionSettingsServer);
+        updateVisionSettingsView();
+        break;
+      case 'applicationSettings':
+        $('#applicationType').val(msg.applicationType);
+        updateApplicationView();
+        break;
+      case 'applicationSaveComplete':
+        $('#applicationSave').button('reset');
+        updateApplicationView();
+        break;
       case 'systemReadOnly':
         displayReadOnly();
         break;
@@ -303,47 +329,198 @@ $('#visionClient').change(function() {
   }
 });
 
-// Update view from data structure
-var visionSettings = {
-  team: '294',
-  ntmode: 'client',
-  cameras: []
-};
-
-function updateVisionSettingsCameraView(cardElem, data) {
+function updateVisionCameraView(camera, value) {
+  if ('name' in value) {
+    camera.find('.cameraTitle').text('Camera ' + value.name);
+    camera.find('.cameraName').val(value.name);
+  }
+  if ('path' in value) {
+    camera.find('.cameraPath').val(value.path);
+  }
+  camera.find('.cameraPixelFormat').val(value['pixel format']);
+  camera.find('.cameraWidth').val(value.width);
+  camera.find('.cameraHeight').val(value.height);
+  camera.find('.cameraFps').val(value.fps);
+  camera.find('.cameraBrightness').val(value.brightness);
+  camera.find('.cameraWhiteBalance').val(value['white balance']);
+  camera.find('.cameraExposure').val(value.exposure);
+  camera.find('.cameraProperties').val(JSON.stringify(value.properties));
 }
 
-function updateVisionSettingsView() {
-  $('#visionClient').prop('checked', visionSettings.ntmode === 'client');
-  if (visionSettings.ntmode === 'client') {
-    $('#visionClientDetails').collapse('show');
-  } else {
-    $('#visionClientDetails').collapse('hide');
-  }
-  $('#visionTeam').val(visionSettings.team);
+function appendNewVisionCameraView(value, i) {
+  var camera = $('#cameraNEW').clone();
+  camera.attr('id', 'camera' + i);
+  camera.addClass('cameraSetting');
+  camera.removeAttr('style');
 
-  var newCamera = $('#cameraNEW').clone();
-  newCamera.find('[id]').each(function() {
-    $(this).attr('id', $(this).attr('id').replace('NEW', ''));
+  updateVisionCameraView(camera, value);
+  camera.find('.cameraStream').attr('href', 'http://' + window.location.hostname + ':' + (1181 + i) + '/');
+  camera.find('.cameraRemove').click(function() {
+    visionSettingsDisplay.cameras.splice(i, 1);
+    camera.remove();
   });
-  newCamera.find('[for]').each(function() {
-    $(this).attr('for', $(this).attr('for').replace('NEW', ''));
-  });
-}
-
-$('#cameraSettingsFile0').change(function() {
+  camera.find('.cameraSettingsFile').change(function() {
     if (this.files.length <= 0) {
       return false;
     }
     var fr = new FileReader();
     fr.onload = function(e) {
       var result = JSON.parse(e.target.result);
-    console.log(result);
+      if (!('name' in result)) {
+        result.name = visionSettingsDisplay.cameras[i].name;
+      }
+      if (!('path' in result)) {
+        result.path = visionSettingsDisplay.cameras[i].path;
+      }
+      visionSettingsDisplay.cameras[i] = result;
+      updateVisionCameraView(camera, result);
     };
     fr.readAsText(this.files.item(0));
   });
 
+  camera.find('[id]').each(function() {
+    $(this).attr('id', $(this).attr('id').replace('NEW', i));
+  });
+  camera.find('[for]').each(function() {
+    $(this).attr('for', $(this).attr('for').replace('NEW', i));
+  });
+  camera.find('[data-target]').each(function() {
+    $(this).attr('data-target', $(this).attr('data-target').replace('NEW', i));
+  });
+
+  $('#cameras').append(camera);
+}
+
+function updateVisionSettingsView() {
+  var isClient = !visionSettingsDisplay.ntmode || visionSettingsDisplay.ntmode === 'client';
+  $('#visionClient').prop('checked', isClient);
+  if (isClient) {
+    $('#visionClientDetails').collapse('show');
+  } else {
+    $('#visionClientDetails').collapse('hide');
+  }
+  $('#visionTeam').val(visionSettingsDisplay.team);
+
+  $('.cameraSetting').remove();
+  visionSettingsDisplay.cameras.forEach(function (value, i) {
+    appendNewVisionCameraView(value, i);
+  });
+  feather.replace();
+}
+
+$('#visionSave').click(function() {
+  // update json from view
+  visionSettingsDisplay.ntmode = $('#visionClient').prop('checked') ? 'client' : 'server';
+  visionSettingsDisplay.team = parseInt($('#visionTeam').val(), 10);
+  visionSettingsDisplay.cameras.forEach(function (value, i) {
+    var camera = $('#camera' + i);
+    value.name = camera.find('.cameraName').val();
+    value.path = camera.find('.cameraPath').val();
+    value['pixel format'] = camera.find('.cameraPixelFormat').val();
+    value.width = parseInt(camera.find('.cameraWidth').val(), 10);
+    if (isNaN(value.width)) {
+      delete value["width"];
+    }
+    value.height = parseInt(camera.find('.cameraHeight').val(), 10);
+    if (isNaN(value.height)) {
+      delete value["height"];
+    }
+    value.fps = parseInt(camera.find('.cameraFps').val(), 10);
+    if (isNaN(value.fps)) {
+      delete value["fps"];
+    }
+
+    var brightness = camera.find('.cameraBrightness').val();
+    if (brightness !== '') {
+      value.brightness = parseInt(brightness);
+      if (isNaN(value.brightness)) {
+        value.brightness = brightness;
+      }
+    } else {
+      delete value['brightness'];
+    }
+
+    var whiteBalance = camera.find('.cameraWhiteBalance').val();
+    if (whiteBalance !== '') {
+      value['white balance'] = parseInt(whiteBalance);
+      if (isNaN(value['white balance'])) {
+        value['white balance'] = whiteBalance;
+      }
+    } else {
+      delete value['white balance'];
+    }
+
+    var exposure = camera.find('.cameraExposure').val();
+    if (exposure !== '') {
+      value.exposure = parseInt(exposure);
+      if (isNaN(value.exposure)) {
+        value.exposure = exposure;
+      }
+    } else {
+      delete value['exposure'];
+    }
+
+    try {
+      value.properties = JSON.parse(camera.find('.cameraProperties').val());
+    } catch (err) {
+      delete value['properties'];
+    }
+  });
+  var msg = {
+    type: 'visionSave',
+    settings: visionSettingsDisplay
+  };
+  connection.send(JSON.stringify(msg));
+});
+
+$('#visionDiscard').click(function() {
+  visionSettingsDisplay = $.extend(true, {}, visionSettingsServer);
+  updateVisionSettingsView();
+});
+
+$('#addCamera').click(function() {
+  var i = visionSettingsDisplay.cameras.length;
+  visionSettingsDisplay.cameras.push({});
+  appendNewVisionCameraView({}, i);
+});
+
+// Show details when appropriate for application type
+function updateApplicationView() {
+  if ($('#applicationType').val().startsWith("upload")) {
+    $('#applicationUpload').collapse('show');
+  } else {
+    $('#applicationUpload').collapse('hide');
+  }
+  $('#applicationFile').val(null);
+}
+
+$('#applicationType').change(function() {
+  updateApplicationView();
+});
+
+$('#applicationSave').click(function() {
+  var msg = {
+    type: 'applicationSave',
+    applicationType: $('#applicationType').val()
+  };
+  connection.send(JSON.stringify(msg));
+
+  // upload the file if requested
+  var f = $('#applicationFile');
+  if (f.files.length <= 0) {
+    return;
+  }
+  $('#applicationSave').button('loading');
+  var fr = new FileReader();
+  fr.onload = function(e) {
+    connection.send(e.target.result);
+  };
+  fr.readAsArrayBuffer(f.files.item(0));
+});
+
 // Start with display disconnected and start initial connection attempt
 displayDisconnected();
+updateNetworkSettingsView();
 updateVisionSettingsView();
+updateApplicationView();
 connect();

deps/tools/rpiConfigServer_src/resources/index.html

@@ -56,6 +56,12 @@
                 Vision Settings
               </a>
             </li>
+            <li class="nav-item">
+              <a class="nav-link" id="application-tab" data-toggle="tab" href="#application">
+                <i class="nav-icon" data-feather="cpu"></i>
+                Application
+              </a>
+            </li>
           </ul>
         </nav>
       </div>
@@ -208,7 +214,7 @@
           <div class="tab-pane" id="vision-settings" role="tabpanel" aria-labelledby="vision-settings-tab">
             <div class="card">
               <div class="card-header">
-                <h5>Network Tables</h5>
+                <h6>Network Tables</h6>
               </div>
               <div class="card-body">
                 <form>
@@ -231,105 +237,20 @@
               </div>
             </div>
             <div class="accordion" id="cameras">
-              <div class="card" id="camera0">
-                <div class="card-header">
-                  <div class="row align-items-center">
-                    <div class="col-auto mr-auto">
-                      <button class="btn btn-link" type="button" data-toggle="collapse" data-target="#cameraBody0">
-                        <h5>Camera 1</h5>
-                      </button>
-                    </div>
-                    <div class="col-auto">
-                      <a class="btn btn-sm btn-success" href="" target="_blank" role="button" id="cameraStream0">
-                        <span data-feather="play"></span>
-                        Open Stream
-                      </a>
-                      <button type="button" class="btn btn-sm btn-danger" id="cameraRemove0">
-                        <span data-feather="x"></span>
-                        Remove
-                      </button>
-                    </div>
-                  </div>
-                </div>
-                <div class="collapse" id="cameraBody0" data-parent="#cameras">
-                  <div class="card-body">
-                    <form>
-                      <div class="form-row">
-                        <div class="form-group col">
-                          <label for="cameraName0">Name</label>
-                          <input type="text" class="form-control" id="cameraName0">
-                        </div>
-                        <div class="form-group col">
-                          <label for="cameraPath0">Path</label>
-                          <input type="text" class="form-control" id="cameraPath0">
-                        </div>
-                      </div>
-                      <div class="form-group">
-                        <div class="custom-file">
-                          <input type="file" class="custom-file-input" accept=".json,text/json,application/json" id="cameraSettingsFile0">
-                          <label class="custom-file-label" for="cameraSettingsFile0">Load camera settings from JSON file</label>
-                        </div>
-                      </div>
-                      <div class="form-row">
-                        <div class="form-group col-auto">
-                          <label for="cameraPixelFormat0">Pixel Format</label>
-                          <select class="form-control" id="cameraPixelFormat0">
-                            <option value="mjpeg">MJPEG</option>
-                            <option value="yuyv">YUYV</option>
-                            <option value="rgb565">RGB565</option>
-                            <option value="bgr">BGR</option>
-                            <option value="gray">Gray</option>
-                          </select>
-                        </div>
-                        <div class="form-group col-auto">
-                          <label for="cameraWidth0">Width</label>
-                          <input type="text" class="form-control" id="cameraWidth0" size="5">
-                        </div>
-                        <div class="form-group col-auto">
-                          <label for="cameraHeight0">Height</label>
-                          <input type="text" class="form-control" id="cameraHeight0" size="5">
-                        </div>
-                        <div class="form-group col-auto">
-                          <label for="cameraFps0">FPS</label>
-                          <input type="text" class="form-control" id="cameraFps0" size="4">
-                        </div>
-                      </div>
-                      <div class="form-row">
-                        <div class="form-group col-auto">
-                          <label for="cameraBrightness0">Brightness</label>
-                          <input type="text" class="form-control" id="cameraBrightness0" size="4">
-                        </div>
-                        <div class="form-group col-auto">
-                          <label for="cameraBrightness0">White Balance</label>
-                          <input type="text" class="form-control" id="cameraWhiteBalance0" size="4">
-                        </div>
-                        <div class="form-group col-auto">
-                          <label for="cameraBrightness0">Exposure</label>
-                          <input type="text" class="form-control" id="cameraExposure0" size="4">
-                        </div>
-                      </div>
-                      <div class="form-group">
-                        <label for="cameraProperties0">Custom Properties JSON</label>
-                        <textarea class="form-control" id="cameraProperties0" rows="3"></textarea>
-                      </div>
-                    </form>
-                  </div>
-                </div>
-              </div>
               <div class="card" style="display:none" id="cameraNEW">
                 <div class="card-header">
                   <div class="row align-items-center">
                     <div class="col-auto mr-auto">
                       <button class="btn btn-link" type="button" data-toggle="collapse" data-target="#cameraBodyNEW">
-                        <h5>Camera NEW</h5>
+                        <h6 class="cameraTitle">Camera NEW</h6>
                       </button>
                     </div>
                     <div class="col-auto">
-                      <a class="btn btn-sm btn-success" href="" target="_blank" role="button" id="cameraStreamNEW">
+                      <a class="btn btn-sm btn-success cameraStream" href="" target="_blank" role="button">
                         <span data-feather="play"></span>
                         Open Stream
                       </a>
-                      <button type="button" class="btn btn-sm btn-danger" id="cameraRemoveNEW">
+                      <button type="button" class="btn btn-sm btn-danger cameraRemove">
                         <span data-feather="x"></span>
                         Remove
                       </button>
@@ -342,23 +263,23 @@
                       <div class="form-row">
                         <div class="form-group col">
                           <label for="cameraNameNEW">Name</label>
-                          <input type="text" class="form-control" id="cameraNameNEW">
+                          <input type="text" class="form-control cameraName" id="cameraNameNEW">
                         </div>
                         <div class="form-group col">
                           <label for="cameraPathNEW">Path</label>
-                          <input type="text" class="form-control" id="cameraPathNEW">
+                          <input type="text" class="form-control cameraPath" id="cameraPathNEW">
                         </div>
                       </div>
                       <div class="form-group">
                         <div class="custom-file">
-                          <input type="file" class="custom-file-input" accept=".json,text/json,application/json" id="cameraSettingsFileNEW">
-                          <label class="custom-file-label" for="cameraSettingsFileNEW">Load camera settings from JSON file</label>
+                          <input type="file" class="custom-file-input cameraSettingsFile" accept=".json,text/json,application/json" id="cameraSettingsFileNEW">
+                          <label class="custom-file-label" for="cameraSettingsFileNEW">Load source config from JSON file</label>
                         </div>
                       </div>
                       <div class="form-row">
                         <div class="form-group col-auto">
                           <label for="cameraPixelFormatNEW">Pixel Format</label>
-                          <select class="form-control" id="cameraPixelFormatNEW">
+                          <select class="form-control cameraPixelFormat" id="cameraPixelFormatNEW">
                             <option value="mjpeg">MJPEG</option>
                             <option value="yuyv">YUYV</option>
                             <option value="rgb565">RGB565</option>
@@ -368,34 +289,34 @@
                         </div>
                         <div class="form-group col-auto">
                           <label for="cameraWidthNEW">Width</label>
-                          <input type="text" class="form-control" id="cameraWidthNEW" size="5">
+                          <input type="number" class="form-control cameraWidth" id="cameraWidthNEW" size="5">
                         </div>
                         <div class="form-group col-auto">
                           <label for="cameraHeightNEW">Height</label>
-                          <input type="text" class="form-control" id="cameraHeightNEW" size="5">
+                          <input type="number" class="form-control cameraHeight" id="cameraHeightNEW" size="5">
                         </div>
                         <div class="form-group col-auto">
                           <label for="cameraFpsNEW">FPS</label>
-                          <input type="text" class="form-control" id="cameraFpsNEW" size="4">
+                          <input type="number" class="form-control cameraFps" id="cameraFpsNEW" size="4">
                         </div>
                       </div>
                       <div class="form-row">
                         <div class="form-group col-auto">
                           <label for="cameraBrightnessNEW">Brightness</label>
-                          <input type="text" class="form-control" id="cameraBrightnessNEW" size="4">
+                          <input type="text" class="form-control cameraBrightness" id="cameraBrightnessNEW" size="4">
                         </div>
                         <div class="form-group col-auto">
-                          <label for="cameraBrightnessNEW">White Balance</label>
-                          <input type="text" class="form-control" id="cameraWhiteBalanceNEW" size="4">
+                          <label for="cameraWhiteBalanceNEW">White Balance</label>
+                          <input type="text" class="form-control cameraWhiteBalance" id="cameraWhiteBalanceNEW" size="4">
                         </div>
                         <div class="form-group col-auto">
                           <label for="cameraExposureNEW">Exposure</label>
-                          <input type="text" class="form-control" id="cameraExposureNEW" size="4">
+                          <input type="text" class="form-control cameraExposure" id="cameraExposureNEW" size="4">
                         </div>
                       </div>
                       <div class="form-group">
                         <label for="cameraPropertiesNEW">Custom Properties JSON</label>
-                        <textarea class="form-control" id="cameraPropertiesNEW" rows="3"></textarea>
+                        <textarea class="form-control cameraProperties" id="cameraPropertiesNEW" rows="3"></textarea>
                       </div>
                     </form>
                   </div>
@@ -423,6 +344,69 @@
               </div>
             </div>
           </div>
+
+          <!-- Application -->
+          <div class="tab-pane" id="application" role="tabpanel" aria-labelledby="application-tab">
+            <div class="card">
+              <div class="card-header">
+                <h6>Vision Application Configuration</h6>
+              </div>
+              <div class="card-body">
+                <form>
+                  <div class="form-group">
+                    <label for="applicationType">Application</label>
+                    <select class="form-control" id="applicationType">
+                      <option value="builtin">Built-in multi-camera streaming</option>
+                      <option value="custom">Custom</option>
+                      <option value="example-java">Java example (must be built to work)</option>
+                      <option value="example-cpp">C++ example (must be built to work)</option>
+                      <option value="example-python">Python example</option>
+                      <option value="upload-java">Uploaded Java jar</option>
+                      <option value="upload-cpp">Uploaded C++ executable</option>
+                      <option value="upload-python">Uploaded Python file</option>
+                    </select>
+                  </div>
+                  <div class="collapse" id="applicationUpload">
+                    <div class="form-group">
+                      <label for="applicationFile">Upload executable file</label>
+                      <input type="file" class="form-control-file" id="applicationFile">
+                    </div>
+                  </div>
+                  <button id="applicationSave" type="button" class="btn btn-primary" data-loading-text="<i class='spin' data-feather='loader'></i> Saving" disabled>
+                    <span data-feather="save"></span>
+                    Save
+                  </button>
+                </form>
+              </div>
+            </div>
+            <div class="card">
+              <div class="card-header">
+                <h6>Example Programs</h6>
+              </div>
+              <div class="card-body">
+                <div class="row">
+                  <div class="col-auto">
+                    <a class="btn btn-sm btn-success" href="java-multiCameraServer.zip" target="_blank" role="button">
+                      <span data-feather="download"></span>
+                      Download Java Example
+                    </a>
+                  </div>
+                  <div class="col-auto">
+                    <a class="btn btn-sm btn-success" href="cpp-multiCameraServer.zip" target="_blank" role="button">
+                      <span data-feather="download"></span>
+                      Download C++ Example
+                    </a>
+                  </div>
+                  <div class="col-auto">
+                    <a class="btn btn-sm btn-success" href="python-multiCameraServer.zip" target="_blank" role="button">
+                      <span data-feather="download"></span>
+                      Download Python Example
+                    </a>
+                  </div>
+                </div>
+              </div>
+            </div>
+          </div>
         </div>
       </main>
     </div>

stage2/01-sys-tweaks/01-run.sh

@@ -116,6 +116,7 @@ EOF
 
 install -v -o 1000 -g 1000 -d "${ROOTFS_DIR}/home/pi/javalibs/"
 install -m 644 -o 1000 -g 1000 extfiles/*.jar "${ROOTFS_DIR}/home/pi/javalibs/"
+sh -c "cd ${ROOTFS_DIR}/home/pi/javalibs && zip ../zips/java-multiCameraServer.zip *.jar"
 
 on_chroot << EOF
 ldconfig

stage2/01-sys-tweaks/files/runCamera

@@ -1,4 +1,5 @@
 #!/bin/sh
+### TYPE: builtin
 echo "Waiting 5 seconds..."
 sleep 5
 exec ./multiCameraServer