diff options
Diffstat (limited to 'smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/RoboRIOCameraExtension.java')
| -rw-r--r-- | smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/RoboRIOCameraExtension.java | 305 |
1 files changed, 305 insertions, 0 deletions
diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/RoboRIOCameraExtension.java b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/RoboRIOCameraExtension.java new file mode 100644 index 0000000..00a0dcb --- /dev/null +++ b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/RoboRIOCameraExtension.java @@ -0,0 +1,305 @@ +package edu.wpi.first.smartdashboard.gui.elements; + +import edu.wpi.first.smartdashboard.gui.StaticWidget; +import edu.wpi.first.smartdashboard.properties.*; +import edu.wpi.first.smartdashboard.robot.Robot; + +import javax.imageio.ImageIO; +import java.awt.*; +import java.awt.image.BufferedImage; +import java.io.ByteArrayInputStream; +import java.io.DataInputStream; +import java.io.DataOutputStream; +import java.io.IOException; +import java.io.EOFException; +import java.net.Socket; +import java.net.ConnectException; +import java.util.Arrays; + +/** + * SmartDashboard extension for viewing a MJPEG stream from the robot, + * typically forwarded from a USB webcam, or images processed by a user + * program. This is mostly compatible with the LabVIEW dashboard in + * "HW Compression" mode. + * + * @see edu.wpi.first.wpilibj.CameraServer + * + * @author Tom Clark + * @author Ryan Cahoon + */ +public class RoboRIOCameraExtension extends StaticWidget implements Runnable { + + public static final String NAME = "roboRIO Camera Viewer"; + + public final IntegerProperty fpsProperty = new IntegerProperty(this, "FPS", 30); + public final MultiProperty sizeProperty; + + private final static int PORT = 1180; + private final static byte[] MAGIC_NUMBERS = { 0x01, 0x00, 0x00, 0x00 }; + private final static int SIZE_640x480 = 0; + private final static int SIZE_320x240 = 1; + private final static int SIZE_160x120 = 2; + private final static int HW_COMPRESSION = -1; + + private BufferedImage frame = null; + private final Object frameMutex = new Object();; + private String errorMessage = null; + + private Socket socket; + private Thread thread; + + public RoboRIOCameraExtension() { + super(); + sizeProperty = new MultiProperty(this, "Size"); + sizeProperty.add("640x480", SIZE_640x480); + sizeProperty.add("320x240", SIZE_320x240); + sizeProperty.add("160x120", SIZE_160x120); + sizeProperty.setDefault("640x480"); + } + + /** {@inheritDoc} */ + @Override + public void init() { + setPreferredSize(new Dimension(320, 240)); + + this.thread = new Thread(this); + this.thread.start(); + + ImageIO.setUseCache(false); + } + + + /** {@inheritDoc} */ + @Override + public void disconnect() { + this.thread.stop(); + + if (this.socket != null) { + try { + this.socket.close(); + } + catch (IOException e) {} + } + } + + + /** {@inheritDoc} */ + @Override + public void propertyChanged(Property property) { + /* Close and reopen the stream with the new settings */ + this.thread.interrupt(); + } + + + static final int[] huffman_table_int = new int[] { + 0xFF, 0xC4, 0x01, 0xA2, 0x00, 0x00, 0x01, 0x05, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, + 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x01, 0x00, 0x03, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x03, 0x04, + 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x10, 0x00, + 0x02, 0x01, 0x03, 0x03, 0x02, 0x04, 0x03, 0x05, 0x05, + 0x04, 0x04, 0x00, 0x00, 0x01, 0x7D, 0x01, 0x02, 0x03, + 0x00, 0x04, 0x11, 0x05, 0x12, 0x21, 0x31, 0x41, 0x06, + 0x13, 0x51, 0x61, 0x07, 0x22, 0x71, 0x14, 0x32, 0x81, + 0x91, 0xA1, 0x08, 0x23, 0x42, 0xB1, 0xC1, 0x15, 0x52, + 0xD1, 0xF0, 0x24, 0x33, 0x62, 0x72, 0x82, 0x09, 0x0A, + 0x16, 0x17, 0x18, 0x19, 0x1A, 0x25, 0x26, 0x27, 0x28, + 0x29, 0x2A, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, + 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4A, 0x53, + 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5A, 0x63, 0x64, + 0x65, 0x66, 0x67, 0x68, 0x69, 0x6A, 0x73, 0x74, 0x75, + 0x76, 0x77, 0x78, 0x79, 0x7A, 0x83, 0x84, 0x85, 0x86, + 0x87, 0x88, 0x89, 0x8A, 0x92, 0x93, 0x94, 0x95, 0x96, + 0x97, 0x98, 0x99, 0x9A, 0xA2, 0xA3, 0xA4, 0xA5, 0xA6, + 0xA7, 0xA8, 0xA9, 0xAA, 0xB2, 0xB3, 0xB4, 0xB5, 0xB6, + 0xB7, 0xB8, 0xB9, 0xBA, 0xC2, 0xC3, 0xC4, 0xC5, 0xC6, + 0xC7, 0xC8, 0xC9, 0xCA, 0xD2, 0xD3, 0xD4, 0xD5, 0xD6, + 0xD7, 0xD8, 0xD9, 0xDA, 0xE1, 0xE2, 0xE3, 0xE4, 0xE5, + 0xE6, 0xE7, 0xE8, 0xE9, 0xEA, 0xF1, 0xF2, 0xF3, 0xF4, + 0xF5, 0xF6, 0xF7, 0xF8, 0xF9, 0xFA, 0x11, 0x00, 0x02, + 0x01, 0x02, 0x04, 0x04, 0x03, 0x04, 0x07, 0x05, 0x04, + 0x04, 0x00, 0x01, 0x02, 0x77, 0x00, 0x01, 0x02, 0x03, + 0x11, 0x04, 0x05, 0x21, 0x31, 0x06, 0x12, 0x41, 0x51, + 0x07, 0x61, 0x71, 0x13, 0x22, 0x32, 0x81, 0x08, 0x14, + 0x42, 0x91, 0xA1, 0xB1, 0xC1, 0x09, 0x23, 0x33, 0x52, + 0xF0, 0x15, 0x62, 0x72, 0xD1, 0x0A, 0x16, 0x24, 0x34, + 0xE1, 0x25, 0xF1, 0x17, 0x18, 0x19, 0x1A, 0x26, 0x27, + 0x28, 0x29, 0x2A, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, + 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4A, 0x53, + 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5A, 0x63, 0x64, + 0x65, 0x66, 0x67, 0x68, 0x69, 0x6A, 0x73, 0x74, 0x75, + 0x76, 0x77, 0x78, 0x79, 0x7A, 0x82, 0x83, 0x84, 0x85, + 0x86, 0x87, 0x88, 0x89, 0x8A, 0x92, 0x93, 0x94, 0x95, + 0x96, 0x97, 0x98, 0x99, 0x9A, 0xA2, 0xA3, 0xA4, 0xA5, + 0xA6, 0xA7, 0xA8, 0xA9, 0xAA, 0xB2, 0xB3, 0xB4, 0xB5, + 0xB6, 0xB7, 0xB8, 0xB9, 0xBA, 0xC2, 0xC3, 0xC4, 0xC5, + 0xC6, 0xC7, 0xC8, 0xC9, 0xCA, 0xD2, 0xD3, 0xD4, 0xD5, + 0xD6, 0xD7, 0xD8, 0xD9, 0xDA, 0xE2, 0xE3, 0xE4, 0xE5, + 0xE6, 0xE7, 0xE8, 0xE9, 0xEA, 0xF2, 0xF3, 0xF4, 0xF5, + 0xF6, 0xF7, 0xF8, 0xF9, 0xFA + }; + + static final byte[] huffman_table; + static { + huffman_table = new byte[huffman_table_int.length]; + for (int i = 0; i < huffman_table.length; ++i) { + huffman_table[i] = (byte) huffman_table_int[i]; + } + } + + /** + * Continuously request and receive frames from the roboRIO + */ + @Override + public void run() { + for (;;) { + try { + this.socket = new Socket(Robot.getHost(), PORT); + DataInputStream inputStream = new DataInputStream(this.socket.getInputStream()); + DataOutputStream outputStream = new DataOutputStream(this.socket.getOutputStream()); + + final int framesize = (Integer) sizeProperty.getValue(); + + /* Send the request */ + outputStream.writeInt(this.fpsProperty.getValue()); + outputStream.writeInt(HW_COMPRESSION); + outputStream.writeInt(framesize); + outputStream.flush(); + + /* Get the response from the robot */ + while (!Thread.interrupted() && + framesize == (Integer) sizeProperty.getValue()) { + /* Each frame has a header with 4 magic bytes and the number of bytes in the image */ + byte[] magic = new byte[4]; + inputStream.readFully(magic); + int size = inputStream.readInt(); + + assert Arrays.equals(magic, MAGIC_NUMBERS); + + + /* Get the image data itself, and make sure that it's a valid JPEG image (it starts with + * [0xff,0xd8] and ends with [0xff,0xd9] */ + byte[] data = new byte[size+huffman_table.length]; + inputStream.readFully(data, 0, size); + + assert size >= 4 && (data[0] & 0xff) == 0xff && (data[1] & 0xff) == 0xd8 && + (data[size - 2] & 0xff) == 0xff && (data[size - 1] & 0xff) == 0xd9;; + + int pos = 2; + boolean has_dht = false; + while (!has_dht) { + assert pos+4 <= size; + assert (data[pos] & 0xff) == 0xff; + + if ((data[pos+1] & 0xff) == 0xc4) + has_dht = true; + else if ((data[pos+1] & 0xff) == 0xda) + break; + + // Skip to the next marker. + int marker_size = ((data[pos+2] & 0xff) << 8) + (data[pos+3] & 0xff); + pos += marker_size+2; + } + if (!has_dht) { + System.arraycopy(data, pos, data, pos+huffman_table.length, size-pos); + System.arraycopy(huffman_table, 0, data, pos, huffman_table.length); + size += huffman_table.length; + } + + /* Decode the data and re-paint the component with the new frame */ + synchronized (this.frameMutex) { + if (this.frame != null) { + this.frame.flush(); + } + + this.frame = ImageIO.read(new ByteArrayInputStream(data)); + this.errorMessage = null; + this.repaint(); + } + } + } + catch (ConnectException e) { + if (this.errorMessage == null) { + this.errorMessage = e.getMessage(); + } + } + catch (EOFException e) { + if (this.errorMessage == null) { + this.errorMessage = "Robot stopped returning images"; + } + } + catch (IOException e) { + if (this.errorMessage == null) { + this.errorMessage = e.getMessage(); + } + } + finally { + if (this.socket != null) { + try { + this.socket.close(); + } + catch (IOException e) {} + } + + this.repaint(); + + try { + Thread.sleep(1000); + } + catch (InterruptedException e1) {} + } + } + } + + + /** + * Draw the latest image to the screen, blocking if one is being received, + * or showing an error message if there's some problem with the image. + * + * @param g the <code>Graphics</code> context in which to paint + */ + @Override + protected void paintComponent(Graphics g) { + int imageX = 0, + imageY = 0, + imageWidth = this.getWidth(), + imageHeight = this.getHeight(); + + synchronized (this.frameMutex) { + /* Adjust the image size and location depending on how the aspect ratio matches up with the aspect ratio + * of this component. */ + if (this.frame != null) { + float thisAspectRatio = (float) this.getWidth() / this.getHeight(); + float imageAspectRatio = (float) this.frame.getWidth(null) / this.frame.getHeight(null); + + if (imageAspectRatio < thisAspectRatio) { + imageWidth = (int) (this.getHeight() * imageAspectRatio); + imageX = (this.getWidth() - imageWidth) / 2; + } else { + imageHeight = (int) (this.getWidth() / imageAspectRatio); + imageY = (this.getHeight() - imageHeight) / 2; + } + + g.drawImage(this.frame, imageX, imageY, imageWidth, imageHeight, null, null); + } + + /* If there's some problem getting the image, show the error on the screen */ + if (this.errorMessage != null) { + g.setClip(imageX, imageY, imageWidth, imageHeight); + + g.setColor(Color.pink); + g.fillRect(imageX, imageY + imageHeight - 18, imageWidth, 18); + g.setColor(Color.black); + + Font font = g.getFont(); + + g.setFont(font.deriveFont(Font.BOLD)); + g.drawString("Error: ", imageX + 2, imageY + imageHeight - 6); + g.setFont(font); + g.drawString(this.errorMessage, imageX + 40, imageY + imageHeight - 6); + } + } + } +} |