Implement vision settings and start adding app settings

This commit is contained in:
Peter Johnson 2018-12-20 13:26:14 -08:00
parent ee8ffe0636
commit c559efc53a
No known key found for this signature in database
GPG Key ID: D39DD4DA7D41E329
12 changed files with 536 additions and 141 deletions

29
deps/tools/Makefile vendored
View File

@ -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

View File

@ -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");
}

View File

@ -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;
};

View File

@ -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 ######"

View File

@ -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();
}
}

View File

@ -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_

View File

@ -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) {}

View File

@ -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_

View File

@ -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 updateVisionSettingsView() {
$('#visionClient').prop('checked', visionSettings.ntmode === 'client');
if (visionSettings.ntmode === 'client') {
$('#visionClientDetails').collapse('show');
} else {
$('#visionClientDetails').collapse('hide');
function updateVisionCameraView(camera, value) {
if ('name' in value) {
camera.find('.cameraTitle').text('Camera ' + value.name);
camera.find('.cameraName').val(value.name);
}
$('#visionTeam').val(visionSettings.team);
var newCamera = $('#cameraNEW').clone();
newCamera.find('[id]').each(function() {
$(this).attr('id', $(this).attr('id').replace('NEW', ''));
});
newCamera.find('[for]').each(function() {
$(this).attr('for', $(this).attr('for').replace('NEW', ''));
});
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));
}
$('#cameraSettingsFile0').change(function() {
function appendNewVisionCameraView(value, i) {
var camera = $('#cameraNEW').clone();
camera.attr('id', 'camera' + i);
camera.addClass('cameraSetting');
camera.removeAttr('style');
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();
});
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();

View File

@ -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>

View File

@ -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

View File

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