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python script to turn stepper motors #2

Merged
yehoshuasandler merged 4 commits from webSockets into master 2021-01-21 20:07:42 -06:00
Conversation 0 Commits 4 Files Changed 35 +418 -177
35 changed files with 418 additions and 177 deletions
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1
.gitignore vendored
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@ -1,2 +1 @@
node_modules node_modules
dist

12
dist/Vision/index.html vendored Normal file
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@ -0,0 +1,12 @@
<!DOCTYPE html>
<html>
<head>
<title>Cat Cannon</title>
<link rel="stylesheet" href="styles.css">
</head>
<body>
</body>
<script src="main.js" defer></script>
</html>

3
dist/Vision/main.js vendored Normal file
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149
dist/Vision/main.js.LICENSE.txt vendored Normal file
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@ -0,0 +1,149 @@
/**
* @license
* Copyright 2017 Google LLC. All Rights Reserved.
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
* =============================================================================
*/
/**
* @license
* Copyright 2018 Google LLC
*
* Use of this source code is governed by an MIT-style
* license that can be found in the LICENSE file or at
* https://opensource.org/licenses/MIT.
* =============================================================================
*/
/**
* @license
* Copyright 2018 Google LLC. All Rights Reserved.
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* =============================================================================
*/
/**
* @license
* Copyright 2018 Google LLC. All Rights Reserved.
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
* =============================================================================
*/
/**
* @license
* Copyright 2019 Google LLC. All Rights Reserved.
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* =============================================================================
*/
/**
* @license
* Copyright 2019 Google LLC. All Rights Reserved.
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
* =============================================================================
*/
/**
* @license
* Copyright 2020 Google Inc. All Rights Reserved.
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
* =============================================================================
*/
/**
* @license
* Copyright 2020 Google LLC. All Rights Reserved.
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
* =============================================================================
*/
/**
* @license
* Copyright 2020 Google LLC. All Rights Reserved.
* Licensed under the Apache License, Version 2.0 (the License);
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
* =============================================================================
*/
/** @license See the LICENSE file. */

24
dist/Vision/styles.css vendored Normal file
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@ -0,0 +1,24 @@
* {
margin: 0;
padding: 0;
}
.PredictedObject {
border: 2px solid green;
}
.predictedObjectLabel {
color: white;
background-color: green;
font-size: 12px;
padding: 5px 10px;
text-transform: uppercase;
font-family:'Segoe UI', Tahoma, Geneva, Verdana, sans-serif
}
#VideoView {
position: absolute;
top: 0;
left: 0;
}

195
package-lock.json generated
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},
"@types/seedrandom": { "@types/seedrandom": {
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"requires": { "requires": {
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} }
@ -1117,7 +1183,6 @@
"version": "0.5.3", "version": "0.5.3",
"resolved": "https://registry.npmjs.org/content-disposition/-/content-disposition-0.5.3.tgz", "resolved": "https://registry.npmjs.org/content-disposition/-/content-disposition-0.5.3.tgz",
"integrity": "sha512-ExO0774ikEObIAEV9kDo50o+79VCUdEB6n6lzKgGwupcVeRlhrj3qGAfwq8G6uBJjkqLrhT0qEYFcWng8z1z0g==", "integrity": "sha512-ExO0774ikEObIAEV9kDo50o+79VCUdEB6n6lzKgGwupcVeRlhrj3qGAfwq8G6uBJjkqLrhT0qEYFcWng8z1z0g==",
"dev": true,
"requires": { "requires": {
"safe-buffer": "5.1.2" "safe-buffer": "5.1.2"
} }
@ -1125,20 +1190,17 @@
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"dev": true
}, },
"detect-node": { "detect-node": {
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@ -1347,8 +1407,7 @@
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}, },
"electron-to-chromium": { "electron-to-chromium": {
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@ -1463,8 +1521,7 @@
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"dev": true
}, },
"escape-string-regexp": { "escape-string-regexp": {
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@ -1508,8 +1565,7 @@
"etag": { "etag": {
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"eventemitter3": { "eventemitter3": {
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@ -1595,7 +1651,6 @@
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"integrity": "sha512-JMrvUwE54emCYWlTI+hGrGv5I8dEwmco/00EvkzIIsR7MqrHonbD9pO2MOfFnpFntl7ecpZs+3mW+XbQZu9QCg==", "integrity": "sha512-JMrvUwE54emCYWlTI+hGrGv5I8dEwmco/00EvkzIIsR7MqrHonbD9pO2MOfFnpFntl7ecpZs+3mW+XbQZu9QCg==",
"dev": true,
"requires": { "requires": {
"encodeurl": "~1.0.2", "encodeurl": "~1.0.2",
"escape-html": "~1.0.3", "escape-html": "~1.0.3",
@ -3777,8 +3801,7 @@
"setprototypeof": { "setprototypeof": {
"version": "1.1.1", "version": "1.1.1",
"resolved": "https://registry.npmjs.org/setprototypeof/-/setprototypeof-1.1.1.tgz", "resolved": "https://registry.npmjs.org/setprototypeof/-/setprototypeof-1.1.1.tgz",
"integrity": "sha512-JvdAWfbXeIGaZ9cILp38HntZSFSo3mWg6xGcJJsd+d4aRMOqauag1C63dJfDw7OaMYwEbHMOxEZ1lqVRYP2OAw==", "integrity": "sha512-JvdAWfbXeIGaZ9cILp38HntZSFSo3mWg6xGcJJsd+d4aRMOqauag1C63dJfDw7OaMYwEbHMOxEZ1lqVRYP2OAw=="
"dev": true
}, },
"shebang-command": { "shebang-command": {
"version": "1.2.0", "version": "1.2.0",
@ -4084,8 +4107,7 @@
"statuses": { "statuses": {
"version": "1.5.0", "version": "1.5.0",
"resolved": "https://registry.npmjs.org/statuses/-/statuses-1.5.0.tgz", "resolved": "https://registry.npmjs.org/statuses/-/statuses-1.5.0.tgz",
"integrity": "sha1-Fhx9rBd2Wf2YEfQ3cfqZOBR4Yow=", "integrity": "sha1-Fhx9rBd2Wf2YEfQ3cfqZOBR4Yow="
"dev": true
}, },
"string-width": { "string-width": {
"version": "4.2.0", "version": "4.2.0",
@ -4243,8 +4265,7 @@
"toidentifier": { "toidentifier": {
"version": "1.0.0", "version": "1.0.0",
"resolved": "https://registry.npmjs.org/toidentifier/-/toidentifier-1.0.0.tgz", "resolved": "https://registry.npmjs.org/toidentifier/-/toidentifier-1.0.0.tgz",
"integrity": "sha512-yaOH/Pk/VEhBWWTlhI+qXxDFXlejDGcQipMlyxda9nthulaxLZUNcUqFxokp0vcYnvteJln5FNQDRrxj3YcbVw==", "integrity": "sha512-yaOH/Pk/VEhBWWTlhI+qXxDFXlejDGcQipMlyxda9nthulaxLZUNcUqFxokp0vcYnvteJln5FNQDRrxj3YcbVw=="
"dev": true
}, },
"ts-loader": { "ts-loader": {
"version": "8.0.13", "version": "8.0.13",
@ -4321,7 +4342,6 @@
"version": "1.6.18", "version": "1.6.18",
"resolved": "https://registry.npmjs.org/type-is/-/type-is-1.6.18.tgz", "resolved": "https://registry.npmjs.org/type-is/-/type-is-1.6.18.tgz",
"integrity": "sha512-TkRKr9sUTxEH8MdfuCSP7VizJyzRNMjj2J2do2Jr3Kym598JVdEksuzPQCnlFPW4ky9Q+iA+ma9BGm06XQBy8g==", "integrity": "sha512-TkRKr9sUTxEH8MdfuCSP7VizJyzRNMjj2J2do2Jr3Kym598JVdEksuzPQCnlFPW4ky9Q+iA+ma9BGm06XQBy8g==",
"dev": true,
"requires": { "requires": {
"media-typer": "0.3.0", "media-typer": "0.3.0",
"mime-types": "~2.1.24" "mime-types": "~2.1.24"
@ -4348,8 +4368,7 @@
"unpipe": { "unpipe": {
"version": "1.0.0", "version": "1.0.0",
"resolved": "https://registry.npmjs.org/unpipe/-/unpipe-1.0.0.tgz", "resolved": "https://registry.npmjs.org/unpipe/-/unpipe-1.0.0.tgz",
"integrity": "sha1-sr9O6FFKrmFltIF4KdIbLvSZBOw=", "integrity": "sha1-sr9O6FFKrmFltIF4KdIbLvSZBOw="
"dev": true
}, },
"unset-value": { "unset-value": {
"version": "1.0.0", "version": "1.0.0",
@ -4455,8 +4474,7 @@
"utils-merge": { "utils-merge": {
"version": "1.0.1", "version": "1.0.1",
"resolved": "https://registry.npmjs.org/utils-merge/-/utils-merge-1.0.1.tgz", "resolved": "https://registry.npmjs.org/utils-merge/-/utils-merge-1.0.1.tgz",
"integrity": "sha1-n5VxD1CiZ5R7LMwSR0HBAoQn5xM=", "integrity": "sha1-n5VxD1CiZ5R7LMwSR0HBAoQn5xM="
"dev": true
}, },
"uuid": { "uuid": {
"version": "3.4.0", "version": "3.4.0",
@ -4473,8 +4491,7 @@
"vary": { "vary": {
"version": "1.1.2", "version": "1.1.2",
"resolved": "https://registry.npmjs.org/vary/-/vary-1.1.2.tgz", "resolved": "https://registry.npmjs.org/vary/-/vary-1.1.2.tgz",
"integrity": "sha1-IpnwLG3tMNSllhsLn3RSShj2NPw=", "integrity": "sha1-IpnwLG3tMNSllhsLn3RSShj2NPw="
"dev": true
}, },
"watchpack": { "watchpack": {
"version": "2.1.0", "version": "2.1.0",

4
package.json
View File

@ -11,9 +11,11 @@
"license": "ISC", "license": "ISC",
"dependencies": { "dependencies": {
"@tensorflow-models/coco-ssd": "^2.2.1", "@tensorflow-models/coco-ssd": "^2.2.1",
"@tensorflow/tfjs": "^2.8.2" "@tensorflow/tfjs": "^2.8.2",
"express": "^4.17.1"
}, },
"devDependencies": { "devDependencies": {
"@types/express": "^4.17.11",
"ts-loader": "^8.0.13", "ts-loader": "^8.0.13",
"typescript": "^4.1.3", "typescript": "^4.1.3",
"webpack": "^5.11.1", "webpack": "^5.11.1",

32
src/Controllers/PredictedObjectCollectionController.ts
View File

@ -1,32 +0,0 @@
import PredictedObject from "../Models/PredictedObject"
import PredictedObjectCollection from "../Models/PredictedObjectCollection"
import PredictedObjectView from "../Views/PredictedObjectView"
class PredictedObjectCollectionController {
private model: PredictedObjectCollection
constructor () {
this.model = new PredictedObjectCollection()
this.renderView()
}
set predictedObjects (objects: PredictedObject[]) {
this.model.objects = objects
this.renderView()
}
public renderView = () => {
const existingPredictedObjectViews = document.querySelectorAll('.PredictedObject')
existingPredictedObjectViews.forEach(v => {
v.outerHTML = ''
})
const body = document.querySelector('body')!
this.model.objects.forEach((object: PredictedObject) => {
const predictedObjectView = new PredictedObjectView(object)
body.appendChild(predictedObjectView.element)
})
}
}
export default PredictedObjectCollectionController

48
src/Controllers/VideoController.ts
View File

@ -1,48 +0,0 @@
import Video from "../Models/Video"
import VideoView from '../Views/VideoView'
class VideoController {
private defaultWidth: number = 640
private defaultHeight: number = 480
private userMediaConstraints = { video: true }
public model: Video
private view: VideoView
constructor (props: { width?: number, height?: number } = {}) {
this.model = new Video({
width: props.width || this.defaultWidth,
height: props.height || this.defaultHeight
})
this.view = new VideoView(this.model)
this.renderView()
this.enableCamera()
}
get imageData () {
if (!this.view.element.srcObject) return null
const canvas: HTMLCanvasElement = document.createElement('canvas')
canvas.width = this.model.width
canvas.height = this.model.height
const context = canvas.getContext('2d')!
context.drawImage(this.view.element, 0, 0, this.model.width, this.model.height)
return context.getImageData(0, 0, this.model.width, this.model.height)
}
private enableCamera = async () => {
const stream = await navigator.mediaDevices.getUserMedia(this.userMediaConstraints)
this.view.srcObject = stream
}
private renderView () {
const existingVideoView = document.querySelector('#videoView')
if (existingVideoView) existingVideoView.outerHTML = ''
const body = document.querySelector('body')!
body.appendChild(this.view.element)
}
}
export default VideoController

38
src/Server/Server.ts Normal file
View File

@ -0,0 +1,38 @@
import express from 'express'
import path from 'path'
import bodyParser from 'body-parser'
class Server {
public app = express()
constructor () {
this.createApp()
this.setupAppOptions()
this.setupAppRoutes()
}
createApp = () => {
this.app.use(express.json())
this.app.use(express.urlencoded({ extended: false }))
this.app.use(express.static(path.join(process.cwd(), '/build')))
this.app.use(bodyParser.json())
}
setupAppRoutes = () => {
// this.app.use('/api', apiRouter)
this.app.use('/', (request, response, next) => {
response.sendFile(path.join(process.cwd(), './dist/Vision/index.html'))
})
}
setupAppOptions = () => {
this.app.use((request, response, next) => {
response.header('Access-Control-Allow-Origin', request.headers.origin || '*')
response.header('Access-Control-Allow-Methods', 'GET,POST,PUT,PATCH,HEAD,DELETE,OPTIONS')
response.header('Access-Control-Allow-Headers', 'Content-Type,x-requested-with')
next()
})
}
}
export default Server

29
src/Server/main.ts Normal file
View File

@ -0,0 +1,29 @@
import http from 'http'
import Server from './Server'
const main = () => {
const port = normalizePort(process.env.PORT || '5005')
const webService = createServer()
webService.listen(port, () => {
console.log(`Server is listening on ${port}`)
})
}
const createServer = () => {
const server = new Server()
return http.createServer(server.app)
}
const normalizePort = (portString: string) => {
const port = parseInt(portString, 10)
if (isNaN(port)) return portString
else if (port >= 0 ) return port
else return 0
}
main()
export { main, createServer, normalizePort }

48
src/Server/moveStepper.py Normal file
View File

@ -0,0 +1,48 @@
# command arguments to run process
# 1: int pin_one
# 2: int pin_two
# 3: int pin_three
# 4: int pin_four
# 5: string clockwise or counterClockwise
# 6: float: interval_time
import RPi.GPIO as GPIO
from time import sleep
import sys
motor_channel = (int(sys.argv[1]), int(sys.argv[2]), int(sys.argv[3]), int(sys.argv[4]))
motor_direction = sys.argv[5]
interval_time = float(sys.argv[6])
GPIO.setwarnings(True)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(motor_channel, GPIO.OUT)
while True:
try:
if(motor_direction == 'clockwise'):
print('motor running clockwise\n')
GPIO.output(motor_channel, (GPIO.HIGH,GPIO.LOW,GPIO.LOW,GPIO.HIGH))
sleep(interval_time)
GPIO.output(motor_channel, (GPIO.HIGH,GPIO.HIGH,GPIO.LOW,GPIO.LOW))
sleep(interval_time)
GPIO.output(motor_channel, (GPIO.LOW,GPIO.HIGH,GPIO.HIGH,GPIO.LOW))
sleep(interval_time)
GPIO.output(motor_channel, (GPIO.LOW,GPIO.LOW,GPIO.HIGH,GPIO.HIGH))
sleep(interval_time)
elif(motor_direction == 'counterClockwise'):
print('motor running anti-clockwise\n')
GPIO.output(motor_channel, (GPIO.HIGH,GPIO.LOW,GPIO.LOW,GPIO.HIGH))
sleep(interval_time)
GPIO.output(motor_channel, (GPIO.LOW,GPIO.LOW,GPIO.HIGH,GPIO.HIGH))
sleep(interval_time)
GPIO.output(motor_channel, (GPIO.LOW,GPIO.HIGH,GPIO.HIGH,GPIO.LOW))
sleep(interval_time)
GPIO.output(motor_channel, (GPIO.HIGH,GPIO.HIGH,GPIO.LOW,GPIO.LOW))
sleep(interval_time)
except KeyboardInterrupt:
sys.exit(0)

0
src/Interfaces/IObjectDetector.ts → src/Vision/Interfaces/IObjectDetector.ts
View File

0
src/Interfaces/IObjectLocator.ts → src/Vision/Interfaces/IObjectLocator.ts
View File

0
src/Interfaces/IOffset.ts → src/Vision/Interfaces/IOffset.ts
View File

0
src/Interfaces/IPredictedObject.ts → src/Vision/Interfaces/IPredictedObject.ts
View File

0
src/Interfaces/IUiRenderer.ts → src/Vision/Interfaces/IUiRenderer.ts
View File

0
src/Interfaces/IVideo.ts → src/Vision/Interfaces/IVideo.ts
View File

0
src/Interfaces/IVideoCapturer.ts → src/Vision/Interfaces/IVideoCapturer.ts
View File

0
src/Models/PredictedObject.ts → src/Vision/Models/PredictedObject.ts
View File

0
src/Models/PredictedObjectCollection.ts → src/Vision/Models/PredictedObjectCollection.ts
View File

0
src/Models/Video.ts → src/Vision/Models/Video.ts
View File

2
src/UseCases/Factories/makeObjectDetector.ts → src/Vision/UseCases/Factories/makeObjectDetector.ts
View File

@ -3,7 +3,7 @@ import ObjectDetector from "../ObjectDetector"
const defaultPredictions = [ const defaultPredictions = [
(prediction: DetectedObject) => prediction.score > 0.6, (prediction: DetectedObject) => prediction.score > 0.6,
(prediction: DetectedObject) => prediction.class === 'cat', (prediction: DetectedObject) => prediction.class === 'person',
] ]
function makeObjectDetector (filterPredicates?: Function[]): ObjectDetector { function makeObjectDetector (filterPredicates?: Function[]): ObjectDetector {

0
src/UseCases/Factories/makeObjectLocator.ts → src/Vision/UseCases/Factories/makeObjectLocator.ts
View File

0
src/UseCases/Factories/makePredictedObject.ts → src/Vision/UseCases/Factories/makePredictedObject.ts
View File

0
src/UseCases/Factories/makeUiRenderer.ts → src/Vision/UseCases/Factories/makeUiRenderer.ts
View File

0
src/UseCases/Factories/makeVideoCatpurer.ts → src/Vision/UseCases/Factories/makeVideoCatpurer.ts
View File

0
src/UseCases/ObjectDetector.ts → src/Vision/UseCases/ObjectDetector.ts
View File

0
src/UseCases/ObjectLocator.ts → src/Vision/UseCases/ObjectLocator.ts
View File

0
src/UseCases/UiRenderer.ts → src/Vision/UseCases/UiRenderer.ts
View File

0
src/UseCases/VideoCapturer.ts → src/Vision/UseCases/VideoCapturer.ts
View File

0
src/Views/PredictedObjectView.ts → src/Vision/Views/PredictedObjectView.ts
View File

0
src/Views/VideoView.ts → src/Vision/Views/VideoView.ts
View File

0
src/app.ts → src/Vision/main.ts
View File

8
webpack.config.js
View File

@ -1,10 +1,10 @@
const path = require('path'); const path = require('path');
module.exports = { module.exports = {
entry: './src/app.ts', entry: './src/Vision/main.ts',
devtool: 'inline-source-map', devtool: 'inline-source-map',
devServer: { devServer: {
contentBase: './dist', contentBase: './dist/Vision',
hot: true, hot: true,
}, },
module: { module: {
@ -20,7 +20,7 @@ module.exports = {
extensions: [ '.tsx', '.ts', '.js' ], extensions: [ '.tsx', '.ts', '.js' ],
}, },
output: { output: {
filename: 'app.js', filename: 'main.js',
path: path.resolve(__dirname, 'dist'), path: path.resolve(__dirname, 'dist', 'Vision'),
}, },
}; };