Added orientation support to Omicontrol, fix for demo on Monday

Teensy/lib/nanopb/UART.pb.c

@@ -1,5 +1,5 @@
 /* Automatically generated nanopb constant definitions */
-/* Generated by nanopb-0.3.9.3 at Mon Jul 13 23:03:26 2020. */
+/* Generated by nanopb-0.3.9.3 at Sun Jul 19 20:45:16 2020. */
 
 #include "UART.pb.h"
 

Teensy/lib/nanopb/UART.pb.h

@@ -1,5 +1,5 @@
 /* Automatically generated nanopb header */
-/* Generated by nanopb-0.3.9.3 at Mon Jul 13 23:03:26 2020. */
+/* Generated by nanopb-0.3.9.3 at Sun Jul 19 20:45:16 2020. */
 
 #ifndef PB_UART_PB_H_INCLUDED
 #define PB_UART_PB_H_INCLUDED

omicam/src/defines.h

@@ -6,7 +6,7 @@
 /** Omicam will be running locally on a PC for debugging. Uses test imagery and some features are disabled. */
 #define BUILD_TARGET_PC 1
 /** which platform Omicam will be running on */
-#define BUILD_TARGET (BUILD_TARGET_PC)
+#define BUILD_TARGET (BUILD_TARGET_SBC)
 
 /**
  * Version history:
@@ -45,11 +45,11 @@
 #define VISION_LOAD_TEST_VIDEO 0
 
 /** send a debug frame every N real frames */
-#define REMOTE_FRAME_INTERVAL 1
+#define REMOTE_FRAME_INTERVAL 2
 /** quality of remote debugger JPEG, 0 being the worst and 100 being the best */
-#define REMOTE_JPEG_QUALITY 75
+#define REMOTE_JPEG_QUALITY 60
 /** zlib compression level for threshold masks, 0 being cheapest and 10 being most expensive */
-#define REMOTE_COMPRESS_LEVEL 6
+#define REMOTE_COMPRESS_LEVEL 7
 /** which port the remote debug TCP server runs on */
 #define REMOTE_PORT 42708
 /** whether or not remote debug is enabled */
@@ -88,7 +88,7 @@
 /** Whether or not to use a moving average to smooth the localiser output. Recommended due to noise. */
 #define LOCALISER_ENABLE_SMOOTHING 1
 /** The size of the moving average history for smoothing, larger values mean smoother but less precision. */
-#define LOCALISER_SMOOTHING_SIZE 16
+#define LOCALISER_SMOOTHING_SIZE 64
 /** If true, smooths using the moving median instead of the moving average */
 #define LOCALISER_SMOOTHING_MEDIAN 0
 /** If true, the localiser uses the mouse sensor for initial estimate calculation. If false, it only uses the goals. */

omicontrol/src/main/kotlin/com/omicron/omicontrol/Values.kt

@@ -19,7 +19,8 @@ import org.greenrobot.eventbus.EventBus
  * 3.5a: fixed some bugs, added some more tools to for debugging
  * 4.5b: Omicontrol enters beta, added support for hybrid localiser displays, fixed some bugs
  * 4.6b: added built-in mirror model calculation with exponential and polynomial (instead of CSV export)
- * 4.7b: (WIP) added camera dewarp tool and frontend for obstacle detection and robot orientation
+ * 4.7b: added camera dewarp tool and frontend for obstacle detection and robot orientation
+ * 4.8b: (WIP) ???
  */
 const val OMICONTROL_VERSION = "4.7b"
 const val DEFAULT_IP = "192.168.12.1"

omicontrol/src/main/kotlin/com/omicron/omicontrol/views/FieldView.kt

@@ -6,15 +6,18 @@ import com.omicron.omicontrol.field.FieldObject
 import com.omicron.omicontrol.field.Robot
 import javafx.geometry.Point2D
 import javafx.geometry.Pos
+import javafx.scene.SnapshotParameters
 import javafx.scene.canvas.GraphicsContext
 import javafx.scene.control.Alert
 import javafx.scene.control.Label
 import javafx.scene.image.Image
+import javafx.scene.image.ImageView
 import javafx.scene.input.KeyCode
 import javafx.scene.input.KeyCodeCombination
 import javafx.scene.input.KeyCombination
 import javafx.scene.layout.Priority
 import javafx.scene.paint.Color
+import javafx.scene.transform.Rotate
 import org.apache.commons.io.FileUtils
 import org.greenrobot.eventbus.Subscribe
 import org.tinylog.kotlin.Logger
@@ -24,6 +27,7 @@ import kotlin.math.roundToInt
 import kotlin.math.sin
 import kotlin.system.exitProcess
 
+
 /**
  * This screen displays the localised positions of the robots on a virtual field and allows you to control them
  * @param isOffline if true, we are loading a replay from disk, otherwise we are connected to the robot
@@ -35,9 +39,9 @@ class FieldView(private val isOffline: Boolean = false) : View() {
     private lateinit var ballLabel: Label
     private val fieldImage = Image("field_cropped_scaled.png")
     private val targetIcon = Image("target.png")
-    private val robotDefaultSprite = Image("robot.png")
-    private val robotUnknownSprite = Image("robot_unknown2.png")
-    private val robotSelectedSprite = Image("robot_selected.png")
+    private val robotDefaultSprite = ImageView(Image("robot.png", ROBOT_CANVAS_DIAMETER, ROBOT_CANVAS_DIAMETER, false, true))
+    private val robotUnknownSprite = ImageView(Image("robot_unknown2.png", ROBOT_CANVAS_DIAMETER, ROBOT_CANVAS_DIAMETER, false, true))
+    private val robotSelectedSprite = ImageView(Image("robot_selected.png", ROBOT_CANVAS_DIAMETER, ROBOT_CANVAS_DIAMETER, false, true))
     private lateinit var localiserPerfLabel: Label
     private val robots = listOf(
         Robot(0),
@@ -126,9 +130,15 @@ class FieldView(private val isOffline: Boolean = false) : View() {
                 val half = ROBOT_CANVAS_DIAMETER / 2.0
                 val pos = robot.position.toCanvasPosition()
                 val sprite = if (selectedRobot == robot) robotSelectedSprite else if (robot.isPositionKnown) robotDefaultSprite else robotUnknownSprite
+                sprite.rotate = robot.orientation.toDouble()
+
+                // this is dumb, source: https://stackoverflow.com/a/33618088/5007892
+                val params = SnapshotParameters()
+                params.fill = Color.TRANSPARENT
+                val rotatedImage = sprite.snapshot(params, null)
 
                 display.globalAlpha = if (isReduceTransparency) 0.3 else 1.0
-                display.drawImage(sprite, pos.x - half, pos.y - half, ROBOT_CANVAS_DIAMETER, ROBOT_CANVAS_DIAMETER)
+                display.drawImage(rotatedImage, pos.x - half, pos.y - half)
                 display.globalAlpha = 1.0
 
                 display.fill = Color.MAGENTA