Merge "Make camera_viewer autosubscribe."
diff --git a/y2020/www/camera_main.ts b/y2020/www/camera_main.ts
index 46a0e8a..e13452e 100644
--- a/y2020/www/camera_main.ts
+++ b/y2020/www/camera_main.ts
@@ -5,12 +5,6 @@
const conn = new Connection();
-const configPrinter = new ConfigHandler(conn);
-
conn.connect();
-const iHandler = new ImageHandler();
-
-conn.addHandler(iHandler.getId(), (data) => iHandler.handleImage(data));
-conn.addHandler(
- iHandler.getResultId(), (data) => iHandler.handleImageMetadata(data));
+const iHandler = new ImageHandler(conn);
diff --git a/y2020/www/image_handler.ts b/y2020/www/image_handler.ts
index e2ba0b9..a44156a 100644
--- a/y2020/www/image_handler.ts
+++ b/y2020/www/image_handler.ts
@@ -1,5 +1,55 @@
-import {CameraImage} from 'y2020/vision/vision_generated';
+import {Channel} from 'aos/configuration_generated';
+import {Connection} from 'aos/network/www/proxy';
+import {Connect} from 'aos/network/connect_generated';
import {ImageMatchResult} from 'y2020/vision/sift/sift_generated'
+import {CameraImage} from 'y2020/vision/vision_generated';
+
+/*
+ * All the messages that are required to show an image with metadata.
+ * Messages not readable on the server node are ignored.
+ */
+const REQUIRED_CHANNELS = [
+ {
+ name: '/pi1/camera',
+ type: CameraImage.getFullyQualifiedName(),
+ },
+ {
+ name: '/pi2/camera',
+ type: CameraImage.getFullyQualifiedName(),
+ },
+ {
+ name: '/pi3/camera',
+ type: CameraImage.getFullyQualifiedName(),
+ },
+ {
+ name: '/pi4/camera',
+ type: CameraImage.getFullyQualifiedName(),
+ },
+ {
+ name: '/pi5/camera',
+ type: CameraImage.getFullyQualifiedName(),
+ },
+ {
+ name: '/pi1/camera/detailed',
+ type: ImageMatchResult.getFullyQualifiedName(),
+ },
+ {
+ name: '/pi2/camera/detailed',
+ type: ImageMatchResult.getFullyQualifiedName(),
+ },
+ {
+ name: '/pi3/camera/detailed',
+ type: ImageMatchResult.getFullyQualifiedName(),
+ },
+ {
+ name: '/pi4/camera/detailed',
+ type: ImageMatchResult.getFullyQualifiedName(),
+ },
+ {
+ name: '/pi5/camera/detailed',
+ type: ImageMatchResult.getFullyQualifiedName(),
+ },
+];
export class ImageHandler {
private canvas = document.createElement('canvas');
@@ -12,8 +62,39 @@
private height = 0;
private imageSkipCount = 3;
- constructor() {
+ constructor(private readonly connection: Connection) {
document.body.appendChild(this.canvas);
+
+ this.connection.addConfigHandler(() => {
+ this.sendConnect();
+ });
+ this.connection.addHandler(ImageMatchResult.getFullyQualifiedName(), (data) => {
+ this.handleImageMetadata(data);
+ });
+ this.connection.addHandler(CameraImage.getFullyQualifiedName(), (data) => {
+ this.handleImage(data);
+ });
+ }
+
+ private sendConnect(): void {
+ const builder = new flatbuffers.Builder(512);
+ const channels: flatbuffers.Offset[] = [];
+ for (const channel of REQUIRED_CHANNELS) {
+ const nameFb = builder.createString(channel.name);
+ const typeFb = builder.createString(channel.type);
+ Channel.startChannel(builder);
+ Channel.addName(builder, nameFb);
+ Channel.addType(builder, typeFb);
+ const channelFb = Channel.endChannel(builder);
+ channels.push(channelFb);
+ }
+
+ const channelsFb = Connect.createChannelsToTransferVector(builder, channels);
+ Connect.startConnect(builder);
+ Connect.addChannelsToTransfer(builder, channelsFb);
+ const connect = Connect.endConnect(builder);
+ builder.finish(connect);
+ this.connection.sendConnectMessage(builder);
}
handleImage(data: Uint8Array): void {
@@ -108,12 +189,4 @@
ctx.stroke();
}
}
-
- getId(): string {
- return CameraImage.getFullyQualifiedName();
- }
-
- getResultId(): string {
- return ImageMatchResult.getFullyQualifiedName();
- }
}