implement camera to controller comms

camera/__main__.py

@@ -9,18 +9,18 @@
 from handlers.display import DisplayHandler
 from handlers.noop import NoopHandler
 from handlers.test import TestHandler
-
 from lib.camera import Camera
+from lib.ipc import IPC, new_fifo_ipc
 from lib.streaming import StreamingFrameHandler
 
 if __name__ == "__main__":
     try:
-        ipc = IPC()
-        handler = DisplayHandler(None, False)
+        ipc = new_fifo_ipc("socket")
+        handler = DisplayHandler(ipc, False)
         handler = StreamingFrameHandler(handler, constants.SERVER_ADDRESS)
-        #joe = cv2.imread("cha.jpg")
-        #joe = cv2.resize(joe, (600, 600))
-        #while True:
+        # joe = cv2.imread("cha.jpg")
+        # joe = cv2.resize(joe, (600, 600))
+        # while True:
         #    handler.handle_frame(joe)
         cam = Camera(handler)
         cam.run()

camera/lib/ipc.py

@@ -1,37 +1,42 @@
-from os import mkfifo
 import os
 import unittest
+from os import mkfifo
 from typing import BinaryIO
 
+
 class IPC:
-  def __init__(self, io: BinaryIO):
-    self.io = io
-
-  def send_data(self, data: bytes):
-    size = len(data)
-    self.io.write(size.to_bytes(4, 'little')) # 4 bytes = 32 bits
-    self.io.write(data)
-    self.io.flush()
-
-  def receive_data(self) -> bytes:
-    size = int.from_bytes(self.io.read(2), byteorder='little')
-    return self.io.read(size)
+    def __init__(self, io: BinaryIO):
+        self.io = io
+
+    def send_data(self, data: bytes):
+        size = len(data)
+        self.io.write(size.to_bytes(4, "little"))  # 4 bytes = 32 bits
+        self.io.write(data)
+        self.io.flush()
+
+    def receive_data(self) -> bytes:
+        size = int.from_bytes(self.io.read(2), byteorder="little")
+        return self.io.read(size)
+
 
 def new_fifo_ipc(path: str):
     mkfifo(path, 0o660)
-    reader = open(path, 'wb')
-    return IPC(reader)
+    writer = open(path, "rb+", 0)
+    print("c")
+    return IPC(writer)
+
 
 class TestIPC(unittest.TestCase):
-  def test_serialize(self):
-    test_path = "camerastream"
-    try:
-      os.remove(test_path)
-    except OSError:
-      pass
-    comms = new_fifo_ipc(test_path)
-    comms.send_data(b"hello uwu")
-    print("done")
+    def test_serialize(self):
+        test_path = "camerastream"
+        try:
+            os.remove(test_path)
+        except OSError:
+            pass
+        comms = new_fifo_ipc(test_path)
+        comms.send_data(b"hello uwu")
+        print("done")
+
 
 if __name__ == "__main__":
-  unittest.main()
+    unittest.main()

controller/src/math/angles.rs

@@ -2,7 +2,11 @@ use std::f32::consts::PI;
 
 pub fn distance(first: f32, second: f32) -> f32 {
 	let phi = (first - second).abs() % (2.0 * PI);
-	return if phi > PI { (2.0 * PI) - phi } else { phi };
+	if phi > PI {
+		(2.0 * PI) - phi
+	} else {
+		phi
+	}
 }
 
 #[test]

controller/src/math/vec2.rs

@@ -14,8 +14,7 @@ pub struct Vec2 {
 pub fn angle_between(first: Vec2, second: Vec2) -> f64 {
 	let first_rad = first.angle_rad();
 	let second_rad = second.angle_rad();
-	let diff = second_rad - first_rad;
-	return diff;
+	second_rad - first_rad
 }
 
 pub fn dot(first: Vec2, second: Vec2) -> f64 {
@@ -69,10 +68,10 @@ impl Mul<f64> for Vec2 {
 	type Output = Self;
 
 	fn mul(self, rhs: f64) -> Self::Output {
-		return Vec2 {
+		Vec2 {
 			x: self.x * rhs,
 			y: self.y * rhs,
-		};
+		}
 	}
 }
 

controller/src/modules/camera.rs

@@ -55,6 +55,7 @@ impl Module for Camera {
 			let data = ipc::read_msgpack::<modules::state::CameraMessage, _>(file)
 				.await
 				.with_context(|| "failed to read packet")?;
+			tracing::debug!("received camera packet: {:?}", data);
 			state.lock().data.camera_data = data;
 		}
 		let (camera_config, data) = {

controller/src/modules/line_test.rs

@@ -39,15 +39,14 @@ use test_case::test_case;
 pub async fn test_flips(first: &[bool], second: &[bool], flip: bool) {
 	let mutex = Arc::new(Mutex::new(State::default()));
 	let mut line = Line::default();
-	let mut state = mutex.lock();
-	state.line_detections = Vec::from(first);
+	mutex.lock().line_detections = Vec::from(first);
 	line.tick(&mut Arc::clone(&mutex)).await.unwrap();
-	state.print_state();
-	state.line_detections = Vec::from(second);
+	mutex.lock().print_state();
+	mutex.lock().line_detections = Vec::from(second);
 	line.tick(&mut Arc::clone(&mutex)).await.unwrap();
-	state.print_state();
+	mutex.lock().print_state();
 
-	assert_eq!(state.line_flipped, flip);
+	assert_eq!(mutex.lock().line_flipped, flip);
 }
 
 #[test_case(Vec2::new(-0.1, 0.0), Vec2::new(0.1, 0.0), true; "crosses line when crosses axis")]

debugger/src/App.vue

@@ -83,16 +83,21 @@
             {{ frame_count }}
           </div>
         </div>
-        <img
-          class="h-full"
-          v-if="active_tab === 'Camera'"
-          :src="`http://${host}${camera_port}/stream.mjpg`"
-        />
+        <div class="h-full flex justify-center items-center">
+          <img
+            class="max-w-full max-h-full"
+            v-if="active_tab === 'Camera'"
+            :src="`http://${host}${camera_port}/stream.mjpg`"
+          />
+        </div>
         <LineView
           v-if="current_frame && active_tab === 'Line'"
           :data="current_frame"
         />
-        <BallView v-if="current_frame && active_tab === 'Ball'" :data="current_frame" />
+        <BallView
+          v-if="current_frame && active_tab === 'Ball'"
+          :data="current_frame"
+        />
         <JSONEditor
           root
           label="config"
@@ -163,11 +168,11 @@ import BaseTextField from "./components/BaseTextField.vue";
 import JSONEditor from "./components/JSONEditor.vue";
 import LineView from "./LineView.vue";
 import {
-Config,
-DataObject,
-DataSource,
-ServerSource,
-TextSource
+  Config,
+  DataObject,
+  DataSource,
+  ServerSource,
+  TextSource,
 } from "./logic/dataSources";
 
 const host = useLocalStorage("host", "127.0.0.1");

scripts/camera.sh

@@ -7,5 +7,5 @@ while read -r filename event; do
   tput setaf 3
   echo "detected camera changes, uploading..."
   tput sgr0
-  rsync -avz ./camera $PI_USER@$1:/home/$PI_USER/ez-aquarii/camera 
+  rsync -avz ./camera $PI_USER@$1:/home/$PI_USER/ez-aquarii 
 done