Initial Deadeye

docs/DeadeyeSettings/deadeye.service

@@ -0,0 +1,19 @@
+[Unit]
+Description=Deadeye
+After=docker.service
+Requires=docker.service
+
+[Service]
+Type=oneshot
+RemainAfterExit=yes
+ExecStart=/bin/bash -c '\
+  CAMERA_DEV=$(readlink --canonicalize --no-newline /dev/v4l/by-id/usb-Microsoft_Microsoft®_LifeCam_HD-3000-video-index0) \
+  docker compose -f /home/orangepi/deadeye/docker-compose.yml up --detach \
+  '
+ExecStop=/bin/bash -c '\
+  CAMERA_DEV=$(readlink --canonicalize --no-newline /dev/v4l/by-id/usb-Microsoft_Microsoft®_LifeCam_HD-3000-video-index0) \
+  docker compose -f /home/orangepi/deadeye/docker-compose.yml stop \
+  '
+
+[Install]
+WantedBy=multi-user.target

docs/DeadeyeSettings/docker-compose.yml

@@ -0,0 +1,55 @@
+version: "3.4"
+
+x-common-environment: &common-environment
+  DEADEYE_NT_SERVER: 10.27.67.2
+  DEADEYE_NT_PORT: 1735
+
+x-common-restart: &common-restart
+  restart: on-failure
+
+volumes:
+  upload_data:
+
+services:
+  daemon:
+    image: j3ff/deadeye-daemon
+    privileged: true
+    ports:
+      - 5805:5805
+      - 5806:5806
+      - 5807:5807
+      - 5808:5808
+      - 5809:5809
+    volumes:
+      - upload_data:/upload
+      - type: bind
+        source: /home/orangepi/deadeye/logs
+        target: /var/opt/deadeye
+    devices:
+      - /dev/gpiochip0
+      - "${CAMERA_DEV}:/dev/deadeye"
+    environment: 
+      <<: *common-environment
+      DEADEYE_STREAM_HOST: 10.27.67.11
+    <<: *common-restart
+  admin:
+    image: j3ff/deadeye-admin
+    ports:
+      - 5000:5000
+    volumes:
+      - upload_data:/upload
+    environment:
+      <<: *common-environment
+      PYTHONPATH: /app
+      FLASK_ENV: production
+      DEADEYE_ADMIN_PORT: 5000
+      DEADEYE_NT_WAIT_MS: 500
+      DEADEYE_UPLOAD_DIR: /upload
+    stop_grace_period: 1s
+    stop_signal: SIGINT
+    <<: *common-restart
+  web:
+    image: j3ff/deadeye-web
+    ports:
+      - "0.0.0.0:80:80"
+    <<: *common-restart

src/main/java/frc/robot/Robot.java

@@ -73,7 +73,9 @@ public void robotPeriodic() {
   }
 
   @Override
-  public void disabledInit() {}
+  public void disabledInit() {
+    m_robotContainer.setCamEnabled(false);
+  }
 
   @Override
   public void disabledPeriodic() {}
@@ -98,6 +100,7 @@ public void autonomousExit() {}
 
   @Override
   public void teleopInit() {
+    m_robotContainer.setCamEnabled(true);
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }

src/main/java/frc/robot/RobotContainer.java

@@ -7,16 +7,19 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import frc.robot.subsystems.drive.DriveSubsystem;
+import frc.robot.subsystems.vision.DeadeyeSubsystem;
 import frc.robot.subsystems.vision.VisionSubsystem;
 
 public class RobotContainer {
 
   VisionSubsystem visionSubsystem;
   DriveSubsystem driveSubsystem;
+  DeadeyeSubsystem deadeye;
 
   public RobotContainer() {
-    DriveSubsystem driveSubsystem = new DriveSubsystem();
-    VisionSubsystem visionSubsystem = new VisionSubsystem(driveSubsystem);
+    deadeye = new DeadeyeSubsystem();
+    driveSubsystem = new DriveSubsystem();
+    visionSubsystem = new VisionSubsystem(driveSubsystem);
     configureBindings();
   }
 
@@ -25,4 +28,8 @@ private void configureBindings() {}
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
   }
+
+  public void setCamEnabled(boolean val) {
+    deadeye.setCamEnabled(val);
+  }
 }

src/main/java/frc/robot/constants/DriveConstants.java

@@ -144,12 +144,12 @@ public static TrajectoryConfig getDefaultTrajectoryConfig() {
 
   public static TalonSRXConfiguration getAzimuthTalonConfig() {
     // TODO Auto-generated method stub
-    throw new UnsupportedOperationException("Unimplemented method 'getAzimuthTalonConfig'");
+    return new TalonSRXConfiguration();
   }
 
   public static TalonFXConfiguration getDriveTalonConfig() {
     // TODO Auto-generated method stub
-    throw new UnsupportedOperationException("Unimplemented method 'getDriveTalonConfig'");
+    return new TalonFXConfiguration();
   }
 
   //   // Azimuth Talon Config

src/main/java/frc/robot/subsystems/vision/DeadeyeSubsystem.java

@@ -0,0 +1,86 @@
+package frc.robot.subsystems.vision;
+
+import java.util.List;
+import java.util.Set;
+import org.strykeforce.deadeye.Deadeye;
+import org.strykeforce.deadeye.Rect;
+import org.strykeforce.deadeye.TargetListTargetData;
+import org.strykeforce.telemetry.TelemetryService;
+import org.strykeforce.telemetry.measurable.MeasurableSubsystem;
+import org.strykeforce.telemetry.measurable.Measure;
+
+public class DeadeyeSubsystem extends MeasurableSubsystem {
+
+  Deadeye<TargetListTargetData> cam;
+
+  TargetListTargetData data = new TargetListTargetData();
+
+  int borderLengthX = 0;
+  int border1 = 0;
+  int border2 = 0;
+
+  public DeadeyeSubsystem() {
+    cam = new Deadeye<>("W0", TargetListTargetData.class);
+    borderLengthX = cam.getCapture().width / 3;
+    border1 = borderLengthX;
+    border2 = borderLengthX + border1;
+  }
+
+  public boolean isCamEnabled() {
+    return cam.getEnabled();
+  }
+
+  public void setCamEnabled(boolean val) {
+    cam.setEnabled(val);
+  }
+
+  public TargetListTargetData getTargetListData() {
+    return data;
+  }
+
+  public boolean isNoteRight() {
+    List<Rect> list = data.targets;
+
+    for (Rect rect : list) {
+      if (rect.topLeft.x >= border2) return true;
+    }
+    return false;
+  }
+
+  public boolean isNoteMid() {
+    List<Rect> list = data.targets;
+
+    for (Rect rect : list) {
+      if (rect.topLeft.x >= border1 && rect.bottomRight.x <= border2) return true;
+    }
+    return false;
+  }
+
+  public boolean isNoteLeft() {
+    List<Rect> list = data.targets;
+
+    for (Rect rect : list) {
+      if (rect.bottomRight.x <= border1) return true;
+    }
+    return false;
+  }
+
+  @Override
+  public void periodic() {
+    data = cam.getTargetData();
+
+    System.err.println(isNoteLeft() + " " + isNoteMid() + " " + isNoteRight());
+  }
+
+  @Override
+  public Set<Measure> getMeasures() {
+    // TODO Auto-generated method stub
+    return null;
+  }
+
+  @Override
+  public void registerWith(TelemetryService telemetryService) {
+    // TODO Auto-generated method stub
+    super.registerWith(telemetryService);
+  }
+}

src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java

@@ -41,9 +41,6 @@ public class VisionSubsystem extends SubsystemBase {
   int offWheels = 0;
   Logger logger;
 
-  // Deadeye<TargetListTargetData> cam = new Deadeye<TargetListTargetData>("A0",
-  // TargetListTargetData.class, NetworkTableInstance.getDefault(), null);
-
   private Matrix<N3, N1> adaptiveVisionMatrix;
 
   // Constructor
@@ -120,8 +117,6 @@ private boolean isPoseValidWithoutWheels(WallEyeResult test) {
   @Override
   public void periodic() {
 
-    // cam.getEnabled();
-
     // If enough time elapses trust vision or if enough time elapses reset the counter
     if ((getSeconds() - timeLastVision > VisionConstants.kMaxTimeNoVision)
         && (curState != VisionStates.TRUSTVISION)) {

vendordeps/deadeye.json

@@ -1,7 +1,7 @@
 {
     "fileName": "deadeye.json",
     "name": "StrykeForce-Deadeye",
-    "version": "22.2.0",
+    "version": "22.1.0",
     "uuid": "a8620993-3ffc-425e-95d9-a5e73eabef40",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "org.strykeforce",
             "artifactId": "deadeye",
-            "version": "22.2.0"
+            "version": "22.1.0"
         }
     ],
     "jniDependencies": [],