Adding rejection counts for pi on webpage
Signed-off-by: Milo Lin <100027790@mvla.net>
Change-Id: Ie39375338e296d37365fc887a8a07f96546e0e1c
diff --git a/frc971/vision/BUILD b/frc971/vision/BUILD
index 936a441..f3ebecb 100644
--- a/frc971/vision/BUILD
+++ b/frc971/vision/BUILD
@@ -32,6 +32,13 @@
visibility = ["//visibility:public"],
)
+flatbuffer_ts_library(
+ name = "target_map_ts_fbs",
+ srcs = ["target_map.fbs"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
flatbuffer_py_library(
name = "calibration_fbs_python",
srcs = [
diff --git a/y2023/www/BUILD b/y2023/www/BUILD
index f2df646..404247e 100644
--- a/y2023/www/BUILD
+++ b/y2023/www/BUILD
@@ -35,6 +35,7 @@
"//frc971/control_loops:control_loops_ts_fbs",
"//frc971/control_loops/drivetrain:drivetrain_status_ts_fbs",
"//frc971/control_loops/drivetrain/localization:localizer_output_ts_fbs",
+ "//frc971/vision:target_map_ts_fbs",
"//y2023/control_loops/superstructure:superstructure_status_ts_fbs",
"//y2023/localizer:status_ts_fbs",
"//y2023/localizer:visualization_ts_fbs",
diff --git a/y2023/www/field_handler.ts b/y2023/www/field_handler.ts
index b8656a2..2f62c7d 100644
--- a/y2023/www/field_handler.ts
+++ b/y2023/www/field_handler.ts
@@ -1,14 +1,14 @@
-import {ByteBuffer} from 'flatbuffers';
-
+import {ByteBuffer} from 'flatbuffers'
import {ClientStatistics} from '../../aos/network/message_bridge_client_generated'
import {ServerStatistics, State as ConnectionState} from '../../aos/network/message_bridge_server_generated'
-import {Connection} from '../../aos/network/www/proxy';
-import {ZeroingError} from '../../frc971/control_loops/control_loops_generated';
-import {Status as DrivetrainStatus} from '../../frc971/control_loops/drivetrain/drivetrain_status_generated';
-import {LocalizerOutput} from '../../frc971/control_loops/drivetrain/localization/localizer_output_generated';
+import {Connection} from '../../aos/network/www/proxy'
+import {ZeroingError} from '../../frc971/control_loops/control_loops_generated'
+import {Status as DrivetrainStatus} from '../../frc971/control_loops/drivetrain/drivetrain_status_generated'
+import {LocalizerOutput} from '../../frc971/control_loops/drivetrain/localization/localizer_output_generated'
+import {TargetMap} from '../../frc971/vision/target_map_generated'
import {ArmState, ArmStatus, EndEffectorState, Status as SuperstructureStatus} from '../control_loops/superstructure/superstructure_status_generated'
-import {RejectionReason} from '../localizer/status_generated';
-import {TargetEstimateDebug, Visualization} from '../localizer/visualization_generated';
+import {RejectionReason} from '../localizer/status_generated'
+import {TargetEstimateDebug, Visualization} from '../localizer/visualization_generated'
import {Class} from '../vision/game_pieces_generated'
import {FIELD_LENGTH, FIELD_WIDTH, FT_TO_M, IN_TO_M} from './constants';
@@ -38,6 +38,10 @@
(document.getElementById('theta') as HTMLElement);
private imagesAcceptedCounter: HTMLElement =
(document.getElementById('images_accepted') as HTMLElement);
+ // HTML elements for rejection reasons for individual pis. Indices
+ // corresponding to RejectionReason enum values will be for those reasons. The
+ // final row will account for images rejected by the aprilrobotics detector
+ // instead of the localizer.
private rejectionReasonCells: HTMLElement[][] = [];
private messageBridgeDiv: HTMLElement =
(document.getElementById('message_bridge_status') as HTMLElement);
@@ -64,8 +68,6 @@
(document.getElementById('arm_distal') as HTMLElement);
private zeroingFaults: HTMLElement =
(document.getElementById('zeroing_faults') as HTMLElement);
- _
-
constructor(private readonly connection: Connection) {
(document.getElementById('field') as HTMLElement).appendChild(this.canvas);
@@ -75,7 +77,7 @@
{
const row = document.createElement('div');
const nameCell = document.createElement('div');
- nameCell.innerHTML = "Rejection Reason";
+ nameCell.innerHTML = 'Rejection Reason';
row.appendChild(nameCell);
for (const pi of PIS) {
const nodeCell = document.createElement('div');
@@ -98,7 +100,25 @@
for (const pi of PIS) {
const valueCell = document.createElement('div');
valueCell.innerHTML = 'NA';
- this.rejectionReasonCells[this.rejectionReasonCells.length - 1].push(valueCell);
+ this.rejectionReasonCells[this.rejectionReasonCells.length - 1].push(
+ valueCell);
+ row.appendChild(valueCell);
+ }
+ document.getElementById('vision_readouts').appendChild(row);
+ }
+
+ // Add rejection reason row for aprilrobotics rejections.
+ {
+ const row = document.createElement('div');
+ const nameCell = document.createElement('div');
+ nameCell.innerHTML = 'Rejected by aprilrobotics';
+ row.appendChild(nameCell);
+ this.rejectionReasonCells.push([]);
+ for (const pi of PIS) {
+ const valueCell = document.createElement('div');
+ valueCell.innerHTML = 'NA';
+ this.rejectionReasonCells[this.rejectionReasonCells.length - 1].push(
+ valueCell);
row.appendChild(valueCell);
}
document.getElementById('vision_readouts').appendChild(row);
@@ -121,6 +141,13 @@
this.handleLocalizerDebug(Number(pi), data);
});
}
+ for (const pi in PIS) {
+ // Make unreliable to reduce network spam.
+ this.connection.addHandler(
+ '/' + PIS[pi] + '/camera', 'frc971.vision.TargetMap', (data) => {
+ this.handlePiTargetMap(pi, data);
+ });
+ }
this.connection.addHandler(
'/drivetrain', 'frc971.control_loops.drivetrain.Status', (data) => {
this.handleDrivetrainStatus(data);
@@ -151,7 +178,7 @@
const debug = this.localizerImageMatches.get(now);
if (debug.statistics()) {
- if (debug.statistics().rejectionReasonsLength() ==
+ if ((debug.statistics().rejectionReasonsLength() + 1) ==
this.rejectionReasonCells.length) {
for (let ii = 0; ii < debug.statistics().rejectionReasonsLength();
++ii) {
@@ -164,6 +191,13 @@
}
}
+ private handlePiTargetMap(pi: string, data: Uint8Array): void {
+ const fbBuffer = new ByteBuffer(data);
+ const targetMap = TargetMap.getRootAsTargetMap(fbBuffer);
+ this.rejectionReasonCells[this.rejectionReasonCells.length - 1][pi]
+ .innerHTML = targetMap.rejections().toString();
+ }
+
private handleLocalizerOutput(data: Uint8Array): void {
const fbBuffer = new ByteBuffer(data);
this.localizerOutput = LocalizerOutput.getRootAsLocalizerOutput(fbBuffer);