Aidan (#1)

* not much added

* progress?

* latest

* maybe this will work??

* Re-enable documentation rule

* made requested changes

* onto to big and better things

* Upgraded opencv_ffi

* Added FPS counter and "infinite" FPS mode

* Fixed some bugs

* Removed unused bin files

---------

Co-authored-by: Levi Lesches <[email protected]>

analysis_options.yaml

@@ -47,4 +47,4 @@ linter:
     omit_local_variable_types: false  # it can be helpful sometimes to annotate types
 
     # Temporarily disabled until we are ready to document
-    public_member_api_docs: false
+    # public_member_api_docs: false

bin/video.dart

@@ -1,5 +1,5 @@
-// ignore_for_file: avoid_print
+import "package:video/src/collection.dart";
 
-void main() {
-	print("The main program has not yet been implemented");
+void main() async{
+  await collection.init();
 }

lib/src/camera.dart

@@ -0,0 +1,81 @@
+import "package:burt_network/burt_network.dart";
+import "package:opencv_ffi/opencv_ffi.dart";
+import "dart:async";
+import "collection.dart";
+
+/// Prints the actual FPS of this camera at the debug [LogLevel].
+const bool countFps = false;
+
+/// Class to manage [Camera] objects 
+class CameraManager {
+  /// Camera that is being controlled
+  Camera camera;
+  /// Holds the current details of the camera
+  CameraDetails details;
+  /// Timer that is run constantly to send frames
+  Timer? timer;
+  bool _isLoading = false;
+
+  /// Records how many FPS this camera is actually running at. Enable [countFps] to see it in the logs.
+  int fpsCount = 0;
+
+  /// Constructor
+  CameraManager({required this.camera, required this.details});
+
+  /// The name of this camera (where it is on the rover).
+  CameraName get name => details.name;
+
+  /// Starts the camera and FPS timers.
+  void startTimer() {
+    final delay = details.fps == 0 ? Duration.zero : Duration(milliseconds: 1000 ~/ details.fps);
+    logger.verbose("Waiting for delay: $delay");
+    timer?.cancel();
+    timer = Timer.periodic(delay, sendFrame);
+    if (countFps) Timer.periodic(const Duration(seconds: 5), (_) {logger.debug("Sent ${fpsCount ~/ 5} frames"); fpsCount = 0;});
+  }
+
+  /// Initializes the timer
+  Future<void> init() async{  
+    if (camera.isOpened){
+      logger.verbose("Initializing camera: ${details.name}");
+      startTimer();      
+    } else {
+      logger.verbose("Camera $name is not connected");
+      details.mergeFromMessage(CameraDetails(status: CameraStatus.CAMERA_DISCONNECTED));
+    }
+  }
+
+  /// disposes of the camera and the timer
+  void dispose(){  
+    camera.dispose();
+    timer?.cancel();
+  }
+
+  /// Updates the current details 
+  /// 
+  /// reset the timer for FPS if needed, change resolution, enable or disable
+  void updateDetails({required CameraDetails details}){  
+    this.details = details;
+    startTimer();
+  }
+
+  /// Sends frame to dashboard
+  /// 
+  /// If the camera was connected and then returns a null frame then its status changes to [CameraStatus.CAMERA_NOT_RESPONDING]
+  void sendFrame(_) {  // run this with the timer. Read frame, send to dashboard, handle errors
+    if (_isLoading) return;
+    if (countFps) fpsCount++;
+    _isLoading = true;
+    final frame = camera.getJpg(quality: details.quality);
+    collection.videoServer.sendMessage(VideoData(details: details));
+    if (frame == null) {
+      updateDetails(details: CameraDetails(status: CameraStatus.CAMERA_NOT_RESPONDING));
+      collection.videoServer.sendMessage(VideoData(details: details));
+      timer?.cancel();
+    } else {
+      collection.videoServer.sendMessage(VideoData(frame: frame.data, details: CameraDetails(name: CameraName.ROVER_FRONT, status: CameraStatus.CAMERA_ENABLED)));
+      frame.dispose();
+    }
+    _isLoading = false;
+  }
+}

lib/src/collection.dart

@@ -0,0 +1,58 @@
+import "dart:io";
+import "dart:async";
+import "package:burt_network/burt_network.dart";
+import "package:opencv_ffi/opencv_ffi.dart";
+import "udp.dart";
+import "constants.dart";
+import "camera.dart";
+
+/// Default details for a camera
+/// 
+/// Used when first creating the camera objects
+CameraDetails getDefaultDetails(CameraName name) => CameraDetails(
+  name: name,
+  resolutionWidth: 300, 
+  resolutionHeight: 300, 
+  quality: 50, 
+  fps: 24, 
+  status: 
+  CameraStatus.CAMERA_ENABLED,
+);
+
+/// Returns the camera depending on device program is running
+/// 
+/// Uses [cameraNames] or [cameraIndexes]
+Camera getCamera(CameraName name) => Platform.isWindows
+  ? Camera.fromIndex(cameraIndexes[name]!)  
+  : Camera.fromName(cameraNames[name]!);
+
+/// Class to cotain all video devices
+class VideoCollection{
+  /// Holds a list of available cameras
+  Map<CameraName, CameraManager> cameras = {
+    for (final name in CameraName.values) 
+      if (name != CameraName.CAMERA_NAME_UNDEFINED)
+        name: CameraManager(
+          camera: getCamera(name),
+          details: getDefaultDetails(name),
+        )
+  };
+
+  /// [VideoServer] to send messages through
+  /// 
+  /// Defaualt port is 8002 for video 
+  final videoServer = VideoServer(port: 8002);
+
+  /// Function to initiliaze cameras
+  Future<void> init() async{
+    BurtLogger.level = LogLevel.debug;
+    await videoServer.init();
+    for (final camera in cameras.values) {
+      await camera.init();
+    }
+    logger.info("Video program initialized");
+  }
+}
+
+/// Holds all the devices connected
+final collection = VideoCollection();

lib/src/constants.dart

@@ -0,0 +1,25 @@
+import "package:burt_network/burt_network.dart";
+
+/// These list maps OpenCV IDs (index) to [CameraName]s. 
+/// 
+/// This is HIGHLY dependent on the EXACT order of the USB ports.
+/// 
+/// Map for MAC or LINUX devices
+Map<CameraName, String> cameraNames = {
+  CameraName.ROVER_FRONT: "/dev/realsense_rgb",
+  CameraName.ROVER_REAR: "...",
+  CameraName.AUTONOMY_DEPTH: "/dev/realsense_depth",
+  CameraName.SUBSYSTEM1: "/dev/subsystem1",
+  CameraName.SUBSYSTEM2: "/dev/subsystem2",
+  CameraName.SUBSYSTEM3: "/dev/subsystem3",
+};
+
+/// Map for WINDOWS devices
+Map<CameraName, int> cameraIndexes = {
+  CameraName.ROVER_FRONT: 0,
+  CameraName.ROVER_REAR: 1, 
+  CameraName.AUTONOMY_DEPTH: 1,
+  CameraName.SUBSYSTEM1: 2,
+  CameraName.SUBSYSTEM2: 3,
+  CameraName.SUBSYSTEM3: 4,
+};

lib/src/udp.dart

@@ -0,0 +1,21 @@
+import "package:burt_network/burt_network.dart";
+import "collection.dart";
+
+/// Class for the video program to interact with the dashboard
+class VideoServer extends ServerSocket{
+  /// Requires a port to communicate through
+  VideoServer({required super.port}) : super(device: Device.VIDEO);
+
+  @override
+  void onMessage(WrappedMessage wrapper) {
+    // ignore message if not a video message
+    if(wrapper.name != VideoCommand().messageName) return;
+    final command = VideoCommand.fromBuffer(wrapper.data);
+    // Return the message to tell dashboard the message was received
+    sendMessage(command);
+    // Send LOADING before making any changes
+    sendMessage(VideoData(id: command.id, details: CameraDetails(status: CameraStatus.CAMERA_LOADING)));
+    // Change the settings
+    collection.cameras[command.details.name]!.updateDetails(details: command.details);    
+  }
+}

lib/video.dart

@@ -0,0 +1,2 @@
+export "src/collection.dart";
+export "src/udp.dart";

pubspec.lock

@@ -46,18 +46,18 @@ packages:
     description:
       path: "."
       ref: HEAD
-      resolved-ref: e703af76131876b8c8d34a8a6c1d1177f6b13461
+      resolved-ref: "4bbf14671d0bc2ed180bae246904df52c8f092b3"
       url: "https://github.com/BinghamtonRover/Dart-Networking"
     source: git
     version: "1.0.0"
   collection:
     dependency: transitive
     description:
       name: collection
-      sha256: f092b211a4319e98e5ff58223576de6c2803db36221657b46c82574721240687
+      sha256: ee67cb0715911d28db6bf4af1026078bd6f0128b07a5f66fb2ed94ec6783c09a
       url: "https://pub.dev"
     source: hosted
-    version: "1.17.2"
+    version: "1.18.0"
   convert:
     dependency: transitive
     description:
@@ -86,10 +86,10 @@ packages:
     dependency: transitive
     description:
       name: dart_internal
-      sha256: dae3976f383beddcfcd07ad5291a422df2c8c0a8a03c52cda63ac7b4f26e0f4e
+      sha256: "689dccc3d5f62affd339534cca548dce12b3a6b32f0f10861569d3025efc0567"
       url: "https://pub.dev"
     source: hosted
-    version: "0.2.8"
+    version: "0.2.9"
   ffi:
     dependency: transitive
     description:
@@ -215,7 +215,7 @@ packages:
     description:
       path: "."
       ref: HEAD
-      resolved-ref: "9bf9db4a2a3a0bbfb844ae2b389c322b5e89c4b5"
+      resolved-ref: "118f073e4502ad38273e6c875bcd3e32dc0a4306"
       url: "https://github.com/BinghamtonRover/OpenCV-FFI"
     source: git
     version: "1.0.0"
@@ -428,4 +428,4 @@ packages:
     source: hosted
     version: "3.1.2"
 sdks:
-  dart: ">=3.0.5 <3.2.0"
+  dart: ">=3.0.0 <3.3.0"

pubspec.yaml

@@ -4,7 +4,7 @@ version: 1.0.0
 publish_to: none
 
 environment:
-  sdk: ^3.0.5
+  sdk: ^3.0.0
 
 # Add regular dependencies here.
 dependencies: