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Fix sending zeroes? #48

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merged 7 commits into from
Nov 2, 2024
Merged

Fix sending zeroes? #48

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6f0bc41
commit c++ code for fix
maxspier Oct 31, 2024
a1d9abf
interesting concept idea tested here
maxspier Oct 31, 2024
03eadd5
fix the PR error?
maxspier Oct 31, 2024
a01dce2
refix
maxspier Oct 31, 2024
a917e87
fix to string
maxspier Nov 2, 2024
9ffb47d
address pr comments and typo
maxspier Nov 2, 2024
b55f9b8
formatting
Aar0n-Chung Nov 2, 2024
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26 changes: 26 additions & 0 deletions app/templates/index.html
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Original file line number Diff line number Diff line change
Expand Up @@ -169,6 +169,32 @@ <h2>Pose Data:</h2>
document.getElementById('brightness').disabled = true;

function formatPoseData(data) {

if (data.EMPTY == "true"){
let toReturn = '';
toReturn += `
<div class="tag-detection">
<div class="tag-detection-header">
<div class="tag-info">
<h3>No Tag Found</h3>
<p>No Tag Found</p>
<p>No Tag Found</p>
</div>
<div class="rotation-matrix">
<h4>Rotation Matrix:</h4>
<div class="pose-matrix">
No Tag Found
</div>
</div>
</div>
<h4>Translation Vector:</h4>
<div class="translation-vector">
No Tag Found
</div>
</div>
`;
return toReturn;
}
let html = '';
data.detections.forEach(detection => {
html += `
Expand Down
19 changes: 10 additions & 9 deletions src/ws_server.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -321,10 +321,14 @@ class AprilTagHandler : public seasocks::WebSocket::Handler {
broadcastImage(buffer);
frame_counter = 0;
}

std::vector<double> networktables_pose_data = {};
json empty_detections_record;
std::string pose_json = "";
empty_detections_record["type"] = "pose_data";
empty_detections_record["EMPTY"] = "true";
pose_json = empty_detections_record.dump();
// Determine the pose of the tags.
if (zarray_size(detections) > 0) {
std::vector<double> networktables_pose_data = {};
// std::vector<std::vector<double>> poses = {};
json detections_record;
detections_record["type"] = "pose_data";
Expand Down Expand Up @@ -367,9 +371,7 @@ class AprilTagHandler : public seasocks::WebSocket::Handler {
}

// Send the pose data
std::string pose_json = detections_record.dump();
broadcastPoseData(pose_json);
tagSender_.sendValue(networktables_pose_data);
pose_json = detections_record.dump();

auto overallend = std::chrono::high_resolution_clock::now();
auto overallduration =
Expand All @@ -387,11 +389,10 @@ class AprilTagHandler : public seasocks::WebSocket::Handler {
<< std::endl;

detector.ReinitializeDetections();
} else {
// no tag, so send empty data.
std::vector<double> networktables_pose_data = {};
tagSender_.sendValue(networktables_pose_data);
}
broadcastPoseData(pose_json);
tagSender_.sendValue(networktables_pose_data);

} catch (const std::exception& ex) {
std::cout << "Encounted exception " << ex.what() << std::endl;
std::cout << "Continuing." << std::endl;
Expand Down
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