From a8799d322a97ad9f881eb32bc1fd8145db78b1ac Mon Sep 17 00:00:00 2001
From: danielbrownmsm <daniel.brown@msmrockets.org>
Date: Sun, 2 Jun 2024 20:13:43 -0500
Subject: [PATCH] change from using separate IDs to using just whether to
 include or exclude it from the mask, as we only have one mask, and don't need
 separate colors for everything

---
 autonav_ws/src/autonav_display/src/display.py |  2 +-
 .../autonav_msgs/msg/CameraCalibration.msg    |  4 +--
 .../src/autonav_vision/src/transformations.py | 27 ++++++++++++-------
 display/scripts/main.js                       |  4 +--
 4 files changed, 22 insertions(+), 15 deletions(-)

diff --git a/autonav_ws/src/autonav_display/src/display.py b/autonav_ws/src/autonav_display/src/display.py
index 5e885b2..5535673 100644
--- a/autonav_ws/src/autonav_display/src/display.py
+++ b/autonav_ws/src/autonav_display/src/display.py
@@ -232,7 +232,7 @@ async def consumer(self, websocket):
             if obj["op"] == "calibrate":
                 msg = CameraCalibration()
                 # there's calibrate ramp, calibrate ground, and maybe a calibrate barrel and/or calibrate line and maybe a calibrate white balance or something (calibrat paper?)
-                msg.id = int(obj["id"]) # and I guess each will have it's own id or something                
+                msg.include_in_mask = int(obj["include"]) # and I guess each will have it's own id or something                
                 self.calibration_p.publish(msg)
 
             if obj["op"] == "get_presets":
diff --git a/autonav_ws/src/autonav_msgs/msg/CameraCalibration.msg b/autonav_ws/src/autonav_msgs/msg/CameraCalibration.msg
index 9881324..1261f08 100644
--- a/autonav_ws/src/autonav_msgs/msg/CameraCalibration.msg
+++ b/autonav_ws/src/autonav_msgs/msg/CameraCalibration.msg
@@ -1,2 +1,2 @@
-#TODO include a list of which ids mean which thing
-int id
\ No newline at end of file
+# whether to include the colors in the mask or not
+bool include_in_mask
\ No newline at end of file
diff --git a/autonav_ws/src/autonav_vision/src/transformations.py b/autonav_ws/src/autonav_vision/src/transformations.py
index 9c84c41..5794d38 100644
--- a/autonav_ws/src/autonav_vision/src/transformations.py
+++ b/autonav_ws/src/autonav_vision/src/transformations.py
@@ -94,20 +94,27 @@ def system_state_transition(self, old: SystemState, updated: SystemState):
 
     def onCalibrate(self, msg: CameraCalibration):
         # only allow calibration if it's safe to do so, don't want to accidentally ruin a run or kill a person
-        if self.system_state is not AUTONOMOUS and self.system_state.mobility is False:
+        if self.system_state.state is not AUTONOMOUS and self.system_state.mobility is False:
             # remember that the mask is reversed though, we filter OUT the ground
             # so ground needs to be in the threshold range, but not obstacles
             # include in the mask, so it gets filtered out
-            if msg.id is RAMP or msg.id is GROUND:
-                pass #TODO ensure it's part of the mask
-            # to exclude from the mask, so it shows up for expandification
-            elif msg.id == BARREL or msg.id is LINE or msg.id is PAPER:
-                pass
+            if msg.include_in_mask:
+                pixels = [] #TODO
+                avgHue, avgSat, avgVal = getAverageVal(pixels) #TODO
+
+                # take the lower of the current and calibrated values, so that as much as possible is included in the mask
+                self.config.lower_hue = min(self.config.lower_hue, avgHue)
+                self.config.lower_sat = min(self.config.lower_sat, avgSat)
+                self.config.lower_val = min(self.config.lower_val, avgVal)
+
+                # take the upper of the current and calibrated values, so that as much as possible is included in the mask
+                self.config.upper_hue = max(self.config.upper_hue, avgHue)
+                self.config.upper_sat = max(self.config.upper_sat, avgSat)
+                self.config.upper_val = max(self.config.upper_val, avgVal)
+                
+            # exclude from the mask, so it shows up for expandification
             else:
-                #TODO probably throw an error here or something, we should never reach this spot of code
-                pass
-        else:
-            return
+                pass #TODO
 
     def config_updated(self, jsonObject):
         self.config = json.loads(self.jdump(jsonObject), object_hook=lambda d: SimpleNamespace(**d))
diff --git a/display/scripts/main.js b/display/scripts/main.js
index ff4dc10..07d0fd5 100644
--- a/display/scripts/main.js
+++ b/display/scripts/main.js
@@ -558,14 +558,14 @@ $(document).ready(function () {
     $("#calibrate_include").on("click", function () {
         send({
             op: "calibrate",
-            id: 0
+            include: true
         });
     });
 
     $("#calibrate_exclude").on("click", function () {
         send({
             op: "calibrate",
-            id: 1
+            include: false
         });
     });