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Remove socket camera streaming #985

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Merged
merged 4 commits into from
Oct 30, 2023
Merged

Remove socket camera streaming #985

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f6ae91d
remove camera socket
amquake Oct 26, 2023
8850726
format
amquake Oct 26, 2023
592abc8
Delete UISettings.java
amquake Oct 28, 2023
abeb858
mjpeg server names
amquake Oct 30, 2023
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26 changes: 19 additions & 7 deletions photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -28,12 +28,18 @@
import org.opencv.core.Rect;
import org.opencv.imgproc.Imgproc;
import org.photonvision.common.util.ColorHelper;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.vision.opencv.CVMat;

public class MJPGFrameConsumer {
public static final Mat EMPTY_MAT = new Mat(60, 15 * 7, CvType.CV_8UC3);
public class MJPGFrameConsumer implements AutoCloseable {
private static final double MAX_FRAMERATE = -1;
private static final long MAX_FRAME_PERIOD_NS = Math.round(1e9 / MAX_FRAMERATE);
private long lastFrameTimeNs;

private static final Mat EMPTY_MAT = new Mat(60, 15 * 7, CvType.CV_8UC3);
private static final double EMPTY_FRAMERATE = 2;
private long lastEmptyTime;
private static final long EMPTY_FRAME_PERIOD_NS = Math.round(1e9 / EMPTY_FRAMERATE);
private long lastEmptyTimeNs;

static {
EMPTY_MAT.setTo(ColorHelper.colorToScalar(Color.BLACK));
Expand Down Expand Up @@ -168,11 +174,15 @@ public MJPGFrameConsumer(String name, int port) {

public void accept(CVMat image) {
if (image != null && !image.getMat().empty()) {
cvSource.putFrame(image.getMat());
long now = MathUtils.wpiNanoTime();
if (now - lastFrameTimeNs > MAX_FRAME_PERIOD_NS) {
lastFrameTimeNs = now;
cvSource.putFrame(image.getMat());
}

// Make sure our disabled framerate limiting doesn't get confused
isDisabled = false;
lastEmptyTime = 0;
lastEmptyTimeNs = 0;
}
}

Expand All @@ -182,9 +192,10 @@ public void disabledTick() {
isDisabled = true;
}

if (System.currentTimeMillis() - lastEmptyTime > 1000.0 / EMPTY_FRAMERATE) {
long now = MathUtils.wpiNanoTime();
if (now - lastEmptyTimeNs > EMPTY_FRAME_PERIOD_NS) {
lastEmptyTimeNs = now;
cvSource.putFrame(EMPTY_MAT);
lastEmptyTime = System.currentTimeMillis();
}
}

Expand Down Expand Up @@ -233,6 +244,7 @@ private static String pixelFormatToString(VideoMode.PixelFormat pixelFormat) {
}
}

@Override
public void close() {
table.getEntry("connected").setBoolean(false);
mjpegServer.close();
Expand Down
34 changes: 11 additions & 23 deletions photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

package org.photonvision.vision.processes;

import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.cscore.VideoException;
import edu.wpi.first.math.util.Units;
import io.javalin.websocket.WsContext;
Expand Down Expand Up @@ -44,15 +45,14 @@
import org.photonvision.vision.camera.USBCameraSource;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.consumer.FileSaveFrameConsumer;
import org.photonvision.vision.frame.consumer.MJPGFrameConsumer;
import org.photonvision.vision.pipeline.AdvancedPipelineSettings;
import org.photonvision.vision.pipeline.OutputStreamPipeline;
import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
import org.photonvision.vision.pipeline.UICalibrationData;
import org.photonvision.vision.pipeline.result.CVPipelineResult;
import org.photonvision.vision.target.TargetModel;
import org.photonvision.vision.target.TrackedTarget;
import org.photonvision.vision.videoStream.SocketVideoStream;
import org.photonvision.vision.videoStream.SocketVideoStreamManager;

/**
* This is the God Class
Expand Down Expand Up @@ -83,8 +83,8 @@ public class VisionModule {
FileSaveFrameConsumer inputFrameSaver;
FileSaveFrameConsumer outputFrameSaver;

SocketVideoStream inputVideoStreamer;
SocketVideoStream outputVideoStreamer;
MJPGFrameConsumer inputVideoStreamer;
MJPGFrameConsumer outputVideoStreamer;

public VisionModule(PipelineManager pipelineManager, VisionSource visionSource, int index) {
logger =
Expand Down Expand Up @@ -169,11 +169,6 @@ public VisionModule(PipelineManager pipelineManager, VisionSource visionSource,
saveAndBroadcastAll();
}

private void destroyStreams() {
SocketVideoStreamManager.getInstance().removeStream(inputVideoStreamer);
SocketVideoStreamManager.getInstance().removeStream(outputVideoStreamer);
}

private void createStreams() {
var camStreamIdx = visionSource.getSettables().getConfiguration().streamIndex;
// If idx = 0, we want (1181, 1182)
Expand All @@ -186,10 +181,13 @@ private void createStreams() {
new FileSaveFrameConsumer(
visionSource.getSettables().getConfiguration().nickname, "output");

inputVideoStreamer = new SocketVideoStream(this.inputStreamPort);
outputVideoStreamer = new SocketVideoStream(this.outputStreamPort);
SocketVideoStreamManager.getInstance().addStream(inputVideoStreamer);
SocketVideoStreamManager.getInstance().addStream(outputVideoStreamer);
String camHostname = CameraServerJNI.getHostname();
inputVideoStreamer =
new MJPGFrameConsumer(
camHostname + "_Port_" + inputStreamPort + "_Input_MJPEG_Server", inputStreamPort);
outputVideoStreamer =
new MJPGFrameConsumer(
camHostname + "_Port_" + outputStreamPort + "_Output_MJPEG_Server", outputStreamPort);
}

private void recreateStreamResultConsumers() {
Expand Down Expand Up @@ -483,16 +481,6 @@ public void setCameraNickname(String newName) {
inputFrameSaver.updateCameraNickname(newName);
outputFrameSaver.updateCameraNickname(newName);

// Rename streams
streamResultConsumers.clear();

// Teardown and recreate streams
destroyStreams();
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@mcm001 mcm001 Oct 26, 2023

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So does this mean we don't actually ever recreate the MJPGFrameConsumer now? That shouldn't cause issues (I guess the metadata about camera name in NT might be wrong unless we tell it to change? But AFAIK nobody uses that anyways)

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@amquake amquake Oct 28, 2023

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The camera name isn't used in the MJPGFrameConsumer constructor, so nothing should change afaik

createStreams();

// Rebuild streamers
recreateStreamResultConsumers();

// Push new data to the UI
saveAndBroadcastAll();
}
Expand Down
117 changes: 0 additions & 117 deletions photon-core/src/main/java/org/photonvision/vision/videoStream/SocketVideoStream.java
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101 changes: 0 additions & 101 deletions photon-core/src/main/java/org/photonvision/vision/videoStream/SocketVideoStreamManager.java
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