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Java 17 (#1440)

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![image](https://github.com/user-attachments/assets/d4e4226f-74b0-4ded-87b4-ac4bf2f1ac34)

JDK 11 References
https://github.com/search?q=org%3APhotonVision+jdk-11&type=code

JDK 17 References
https://github.com/search?q=org%3APhotonVision+jdk-17&type=code

TODO List (things we might need to update in other repos):
- []
ab5fa98d72/photonvision/src/modules/photonvision/start_chroot_script (L29)
- []
7f8d225445/stage2/01-sys-tweaks/00-packages (L34)
- []
ab5fa98d72/photonvision/src/modules/photonvision/install.sh (L11)
- []
a4e7ecb6e3/Makefile (L14)

Closes https://github.com/PhotonVision/photonvision/pull/1069

---------

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Jade <spacey-sooty@proton.me>
This commit is contained in:
Christopher Mahoney
2024-12-17 12:01:19 -05:00
committed by GitHub
parent e8efef476b
commit 08c62ab8cd
29 changed files with 503 additions and 641 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
View File

@@ -70,16 +70,12 @@ public class ConfigManager {
if (INSTANCE == null) {
Path rootFolder = PathManager.getInstance().getRootFolder();
switch (m_saveStrat) {
case SQL:
INSTANCE = new ConfigManager(rootFolder, new SqlConfigProvider(rootFolder));
break;
case LEGACY:
INSTANCE = new ConfigManager(rootFolder, new LegacyConfigProvider(rootFolder));
break;
case ATOMIC_ZIP:
// not yet done, fall through
default:
break;
case SQL -> INSTANCE = new ConfigManager(rootFolder, new SqlConfigProvider(rootFolder));
case LEGACY ->
INSTANCE = new ConfigManager(rootFolder, new LegacyConfigProvider(rootFolder));
case ATOMIC_ZIP -> {
// TODO: Not done yet
}
}
}
return INSTANCE;

6
photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelManager.java
View File

@@ -205,13 +205,11 @@ public class NeuralNetworkModelManager {
try {
switch (backend.get()) {
case RKNN:
case RKNN -> {
models.get(backend.get()).add(new RknnModel(model, labels));
logger.info(
"Loaded model " + model.getName() + " for backend " + backend.get().toString());
break;
default:
break;
}
}
} catch (IllegalArgumentException e) {
logger.error("Failed to load model " + model.getName(), e);

6
photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
View File

@@ -599,9 +599,9 @@ public class SqlConfigProvider extends ConfigProvider {
result.getString(Columns.CAM_PIPELINE_JSONS), dummyList.getClass());
List<CVPipelineSettings> loadedSettings = new ArrayList<>();
for (var str : pipelineSettings) {
if (str instanceof String) {
loadedSettings.add(JacksonUtils.deserialize((String) str, CVPipelineSettings.class));
for (var setting : pipelineSettings) {
if (setting instanceof String str) {
loadedSettings.add(JacksonUtils.deserialize(str, CVPipelineSettings.class));
}
}

17
photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java
View File

@@ -242,22 +242,7 @@ public class PigpioSocket {
waveSendOnce(waveformId);
}
} else {
String error = "";
switch (waveformId) {
case PI_EMPTY_WAVEFORM:
error = "Waveform empty";
break;
case PI_TOO_MANY_CBS:
error = "Too many CBS";
break;
case PI_TOO_MANY_OOL:
error = "Too many OOL";
break;
case PI_NO_WAVEFORM_ID:
error = "No waveform ID";
break;
}
logger.error("Failed to send wave: " + error);
logger.error("Failed to send wave: " + getMessageForError(waveformId));
}
}

62
photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java
View File

@@ -134,25 +134,17 @@ public class VisionLED {
var newLedModeRaw = (int) entryNotification.valueData.value.getInteger();
logger.debug("Got LED mode " + newLedModeRaw);
if (newLedModeRaw != currentLedMode.value) {
VisionLEDMode newLedMode;
switch (newLedModeRaw) {
case -1:
newLedMode = VisionLEDMode.kDefault;
break;
case 0:
newLedMode = VisionLEDMode.kOff;
break;
case 1:
newLedMode = VisionLEDMode.kOn;
break;
case 2:
newLedMode = VisionLEDMode.kBlink;
break;
default:
logger.warn("User supplied invalid LED mode, falling back to Default");
newLedMode = VisionLEDMode.kDefault;
break;
}
VisionLEDMode newLedMode =
switch (newLedModeRaw) {
case -1 -> newLedMode = VisionLEDMode.kDefault;
case 0 -> newLedMode = VisionLEDMode.kOff;
case 1 -> newLedMode = VisionLEDMode.kOn;
case 2 -> newLedMode = VisionLEDMode.kBlink;
default -> {
logger.warn("User supplied invalid LED mode, falling back to Default");
yield VisionLEDMode.kDefault;
}
};
setInternal(newLedMode, true);
if (modeConsumer != null) modeConsumer.accept(newLedMode.value);
@@ -164,18 +156,10 @@ public class VisionLED {
if (fromNT) {
switch (newLedMode) {
case kDefault:
setStateImpl(pipelineModeSupplier.getAsBoolean());
break;
case kOff:
setStateImpl(false);
break;
case kOn:
setStateImpl(true);
break;
case kBlink:
blinkImpl(85, -1);
break;
case kDefault -> setStateImpl(pipelineModeSupplier.getAsBoolean());
case kOff -> setStateImpl(false);
case kOn -> setStateImpl(true);
case kBlink -> blinkImpl(85, -1);
}
currentLedMode = newLedMode;
logger.info(
@@ -183,18 +167,10 @@ public class VisionLED {
} else {
if (currentLedMode == VisionLEDMode.kDefault) {
switch (newLedMode) {
case kDefault:
setStateImpl(pipelineModeSupplier.getAsBoolean());
break;
case kOff:
setStateImpl(false);
break;
case kOn:
setStateImpl(true);
break;
case kBlink:
blinkImpl(85, -1);
break;
case kDefault -> setStateImpl(pipelineModeSupplier.getAsBoolean());
case kOff -> setStateImpl(false);
case kOn -> setStateImpl(true);
case kBlink -> blinkImpl(85, -1);
}
}
logger.info("Changing LED internal state to " + newLedMode.toString());

13
photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java
View File

@@ -51,16 +51,9 @@ public abstract class NumberCouple<T extends Number> {
@Override
public boolean equals(Object obj) {
if (!(obj instanceof NumberCouple)) {
return false;
}
var couple = (NumberCouple) obj;
if (!couple.first.equals(first)) {
return false;
}
return couple.second.equals(second);
return obj instanceof NumberCouple<?> couple
&& couple.first.equals(first)
&& couple.second.equals(second);
}
@JsonIgnore

22
photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
View File

@@ -135,20 +135,14 @@ public class MJPGFrameConsumer implements AutoCloseable {
}
private static String pixelFormatToString(PixelFormat pixelFormat) {
switch (pixelFormat) {
case kMJPEG:
return "MJPEG";
case kYUYV:
return "YUYV";
case kRGB565:
return "RGB565";
case kBGR:
return "BGR";
case kGray:
return "Gray";
default:
return "Unknown";
}
return switch (pixelFormat) {
case kMJPEG -> "MJPEG";
case kYUYV -> "YUYV";
case kRGB565 -> "RGB565";
case kBGR -> "BGR";
case kGray -> "Gray";
case kUYVY, kUnknown, kY16, kBGRA -> "Unknown";
};
}
@Override

17
photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java
View File

@@ -158,18 +158,19 @@ public class Contour implements Releasable {
double massX = (x0A + x0B) / 2;
double massY = (y0A + y0B) / 2;
switch (intersectionDirection) {
case Up:
case None -> {}
case Up -> {
if (intersectionY < massY) isIntersecting = true;
break;
case Down:
}
case Down -> {
if (intersectionY > massY) isIntersecting = true;
break;
case Left:
}
case Left -> {
if (intersectionX < massX) isIntersecting = true;
break;
case Right:
}
case Right -> {
if (intersectionX > massX) isIntersecting = true;
break;
}
}
intersectMatA.release();
intersectMatB.release();

18
photon-core/src/main/java/org/photonvision/vision/opencv/ContourShape.java
View File

@@ -17,9 +17,6 @@
package org.photonvision.vision.opencv;
import java.util.EnumSet;
import java.util.HashMap;
public enum ContourShape {
Circle(0),
Custom(-1),
@@ -32,15 +29,12 @@ public enum ContourShape {
this.sides = sides;
}
private static final HashMap<Integer, ContourShape> sidesToValueMap = new HashMap<>();
static {
for (var value : EnumSet.allOf(ContourShape.class)) {
sidesToValueMap.put(value.sides, value);
}
}
public static ContourShape fromSides(int sides) {
return sidesToValueMap.get(sides);
return switch (sides) {
case 0 -> Circle;
case 3 -> Triangle;
case 4 -> Quadrilateral;
default -> Custom;
};
}
}

9
photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java
View File

@@ -48,13 +48,14 @@ public class Draw2dCrosshairPipe
double scale = params.frameStaticProperties.imageWidth / (double) params.divisor.value / 32.0;
switch (params.robotOffsetPointMode) {
case Single:
case None -> {}
case Single -> {
if (params.singleOffsetPoint.x != 0 && params.singleOffsetPoint.y != 0) {
x = params.singleOffsetPoint.x;
y = params.singleOffsetPoint.y;
}
break;
case Dual:
}
case Dual -> {
if (!in.getRight().isEmpty()) {
var target = in.getRight().get(0);
if (target != null) {
@@ -65,7 +66,7 @@ public class Draw2dCrosshairPipe
y = offsetCrosshair.y;
}
}
break;
}
}
x /= (double) params.divisor.value;

18
photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java
View File

@@ -50,23 +50,7 @@ public class FindPolygonPipe
private CVShape getShape(Contour in) {
int corners = getCorners(in);
/*The contourShape enum has predefined shapes for Circles, Triangles, and Quads
meaning any shape not fitting in those predefined shapes must be a custom shape.
*/
if (ContourShape.fromSides(corners) == null) {
return new CVShape(in, ContourShape.Custom);
}
switch (ContourShape.fromSides(corners)) {
case Circle:
return new CVShape(in, ContourShape.Circle);
case Triangle:
return new CVShape(in, ContourShape.Triangle);
case Quadrilateral:
return new CVShape(in, ContourShape.Quadrilateral);
}
return new CVShape(in, ContourShape.Custom);
return new CVShape(in, ContourShape.fromSides(corners));
}
private int getCorners(Contour contour) {

36
photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
View File

@@ -85,19 +85,29 @@ public class ArucoPipeline extends CVPipeline<CVPipelineResult, ArucoPipelineSet
// 2023/other: best guess is 6in
double tagWidth = Units.inchesToMeters(6);
TargetModel tagModel = TargetModel.kAprilTag16h5;
switch (settings.tagFamily) {
case kTag36h11:
// 2024 tag, 6.5in
params.tagFamily = Objdetect.DICT_APRILTAG_36h11;
tagWidth = Units.inchesToMeters(6.5);
tagModel = TargetModel.kAprilTag36h11;
break;
case kTag25h9:
params.tagFamily = Objdetect.DICT_APRILTAG_25h9;
break;
default:
params.tagFamily = Objdetect.DICT_APRILTAG_16h5;
}
params.tagFamily =
switch (settings.tagFamily) {
case kTag36h11 -> {
// 2024 tag, 6.5in
tagWidth = Units.inchesToMeters(6.5);
tagModel = TargetModel.kAprilTag36h11;
yield Objdetect.DICT_APRILTAG_36h11;
}
case kTag25h9 -> Objdetect.DICT_APRILTAG_25h9;
// TODO: explicitly drop support for these
case kTag16h5,
kTagCircle21h7,
kTagCircle49h12,
kTagCustom48h11,
kTagStandard41h12,
kTagStandard52h13 -> {
// 2024 tag, 6.5in
tagWidth = Units.inchesToMeters(6.5);
tagModel = TargetModel.kAprilTag36h11;
yield Objdetect.DICT_APRILTAG_36h11;
}
};
int threshMinSize = Math.max(3, settings.threshWinSizes.getFirst());
settings.threshWinSizes.setFirst(threshMinSize);

95
photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
View File

@@ -241,41 +241,38 @@ public class PipelineManager {
* recreation after changing pipeline type
*/
private void recreateUserPipeline() {
// Cleanup potential old native resources before swapping over from a user
// pipeline
// Cleanup potential old native resources before swapping over from a user pipeline
if (currentUserPipeline != null && !(currentPipelineIndex < 0)) {
currentUserPipeline.release();
}
var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
switch (desiredPipelineSettings.pipelineType) {
case Reflective:
case Reflective -> {
logger.debug("Creating Reflective pipeline");
currentUserPipeline =
new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
break;
case ColoredShape:
}
case ColoredShape -> {
logger.debug("Creating ColoredShape pipeline");
currentUserPipeline =
new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
break;
case AprilTag:
}
case AprilTag -> {
logger.debug("Creating AprilTag pipeline");
currentUserPipeline =
new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
break;
case Aruco:
}
case Aruco -> {
logger.debug("Creating Aruco Pipeline");
currentUserPipeline = new ArucoPipeline((ArucoPipelineSettings) desiredPipelineSettings);
break;
case ObjectDetection:
}
case ObjectDetection -> {
logger.debug("Creating ObjectDetection Pipeline");
currentUserPipeline =
new ObjectDetectionPipeline((ObjectDetectionPipelineSettings) desiredPipelineSettings);
default:
// Can be calib3d or drivermode, both of which are special cases
break;
}
case Calib3d, DriverMode -> {}
}
}
@@ -342,44 +339,40 @@ public class PipelineManager {
}
private CVPipelineSettings createSettingsForType(PipelineType type, String nickname) {
CVPipelineSettings newSettings;
switch (type) {
case Reflective:
{
var added = new ReflectivePipelineSettings();
added.pipelineNickname = nickname;
return added;
}
case ColoredShape:
{
var added = new ColoredShapePipelineSettings();
added.pipelineNickname = nickname;
return added;
}
case AprilTag:
{
var added = new AprilTagPipelineSettings();
added.pipelineNickname = nickname;
return added;
}
case Aruco:
{
var added = new ArucoPipelineSettings();
added.pipelineNickname = nickname;
return added;
}
case ObjectDetection:
{
var added = new ObjectDetectionPipelineSettings();
added.pipelineNickname = nickname;
return added;
}
default:
{
logger.error("Got invalid pipeline type: " + type);
return null;
}
case Reflective -> {
var added = new ReflectivePipelineSettings();
added.pipelineNickname = nickname;
return added;
}
case ColoredShape -> {
var added = new ColoredShapePipelineSettings();
added.pipelineNickname = nickname;
return added;
}
case AprilTag -> {
var added = new AprilTagPipelineSettings();
added.pipelineNickname = nickname;
return added;
}
case Aruco -> {
var added = new ArucoPipelineSettings();
added.pipelineNickname = nickname;
return added;
}
case ObjectDetection -> {
var added = new ObjectDetectionPipelineSettings();
added.pipelineNickname = nickname;
return added;
}
case Calib3d, DriverMode -> {
logger.error("Got invalid pipeline type: " + type);
return null;
}
}
// This can never happen, this is here to satisfy the compiler.
throw new IllegalStateException("Got impossible pipeline type: " + type);
}
private void addPipelineInternal(CVPipelineSettings settings) {

14
photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
View File

@@ -587,11 +587,9 @@ public class VisionModule {
// Pipelines like DriverMode and Calibrate3dPipeline have null output frames
if (result.inputAndOutputFrame != null
&& (pipelineManager.getCurrentPipelineSettings() instanceof AdvancedPipelineSettings)) {
streamRunnable.updateData(
result.inputAndOutputFrame,
(AdvancedPipelineSettings) pipelineManager.getCurrentPipelineSettings(),
result.targets);
&& (pipelineManager.getCurrentPipelineSettings()
instanceof AdvancedPipelineSettings settings)) {
streamRunnable.updateData(result.inputAndOutputFrame, settings, result.targets);
// The streamRunnable manages releasing in this case
} else {
consumeResults(result.inputAndOutputFrame, result.targets);
@@ -615,9 +613,9 @@ public class VisionModule {
}
public void setTargetModel(TargetModel targetModel) {
var settings = pipelineManager.getCurrentPipeline().getSettings();
if (settings instanceof ReflectivePipelineSettings) {
((ReflectivePipelineSettings) settings).targetModel = targetModel;
var pipelineSettings = pipelineManager.getCurrentPipeline().getSettings();
if (pipelineSettings instanceof ReflectivePipelineSettings settings) {
settings.targetModel = targetModel;
saveAndBroadcastAll();
} else {
logger.error("Cannot set target model of non-reflective pipe! Ignoring...");

241
photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
View File

@@ -55,11 +55,8 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
@Override
public void onDataChangeEvent(DataChangeEvent<?> event) {
if (event instanceof IncomingWebSocketEvent) {
var wsEvent = (IncomingWebSocketEvent<?>) event;
// Camera index -1 means a "multicast event" (i.e. the event is received by all
// cameras)
if (event instanceof IncomingWebSocketEvent wsEvent) {
// Camera index -1 means a "multicast event" (i.e. the event is received by all cameras)
if (wsEvent.cameraIndex != null
&& (wsEvent.cameraIndex == parentModule.moduleIndex || wsEvent.cameraIndex == -1)) {
logger.trace("Got PSC event - propName: " + wsEvent.propertyName);
@@ -93,120 +90,32 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
var currentSettings = change.getCurrentSettings();
var originContext = change.getOriginContext();
switch (propName) {
case "pipelineName": // rename current pipeline
logger.info("Changing nick to " + newPropValue);
parentModule.pipelineManager.getCurrentPipelineSettings().pipelineNickname =
(String) newPropValue;
parentModule.saveAndBroadcastAll();
continue;
case "newPipelineInfo": // add new pipeline
var typeName = (Pair<String, PipelineType>) newPropValue;
var type = typeName.getRight();
var name = typeName.getLeft();
logger.info("Adding a " + type + " pipeline with name " + name);
var addedSettings = parentModule.pipelineManager.addPipeline(type);
addedSettings.pipelineNickname = name;
parentModule.saveAndBroadcastAll();
continue;
case "deleteCurrPipeline":
var indexToDelete = parentModule.pipelineManager.getRequestedIndex();
logger.info("Deleting current pipe at index " + indexToDelete);
int newIndex = parentModule.pipelineManager.removePipeline(indexToDelete);
parentModule.setPipeline(newIndex);
parentModule.saveAndBroadcastAll();
continue;
case "changePipeline": // change active pipeline
var index = (Integer) newPropValue;
if (index == parentModule.pipelineManager.getRequestedIndex()) {
logger.debug("Skipping pipeline change, index " + index + " already active");
continue;
case "pipelineName" -> newPipelineNickname((String) newPropValue);
case "newPipelineInfo" -> newPipelineInfo((Pair<String, PipelineType>) newPropValue);
case "deleteCurrPipeline" -> deleteCurrPipeline();
case "changePipeline" -> changePipeline((Integer) newPropValue);
case "startCalibration" -> startCalibration((Map<String, Object>) newPropValue);
case "saveInputSnapshot" -> parentModule.saveInputSnapshot();
case "saveOutputSnapshot" -> parentModule.saveOutputSnapshot();
case "takeCalSnapshot" -> parentModule.takeCalibrationSnapshot();
case "duplicatePipeline" -> duplicatePipeline((Integer) newPropValue);
case "calibrationUploaded" -> {
if (newPropValue instanceof CameraCalibrationCoefficients newCal) {
parentModule.addCalibrationToConfig(newCal);
} else {
logger.warn("Received invalid calibration data");
}
parentModule.setPipeline(index);
parentModule.saveAndBroadcastAll();
continue;
case "startCalibration":
try {
var data =
JacksonUtils.deserialize(
(Map<String, Object>) newPropValue, UICalibrationData.class);
parentModule.startCalibration(data);
parentModule.saveAndBroadcastAll();
} catch (Exception e) {
logger.error("Error deserailizing start-cal request", e);
}
case "robotOffsetPoint" -> {
if (currentSettings instanceof AdvancedPipelineSettings curAdvSettings) {
robotOffsetPoint(curAdvSettings, (Integer) newPropValue);
}
continue;
case "saveInputSnapshot":
parentModule.saveInputSnapshot();
continue;
case "saveOutputSnapshot":
parentModule.saveOutputSnapshot();
continue;
case "takeCalSnapshot":
parentModule.takeCalibrationSnapshot();
continue;
case "duplicatePipeline":
int idx = parentModule.pipelineManager.duplicatePipeline((Integer) newPropValue);
parentModule.setPipeline(idx);
parentModule.saveAndBroadcastAll();
continue;
case "calibrationUploaded":
if (newPropValue instanceof CameraCalibrationCoefficients)
parentModule.addCalibrationToConfig((CameraCalibrationCoefficients) newPropValue);
continue;
case "robotOffsetPoint":
if (currentSettings instanceof AdvancedPipelineSettings) {
var curAdvSettings = (AdvancedPipelineSettings) currentSettings;
var offsetOperation = RobotOffsetPointOperation.fromIndex((int) newPropValue);
var latestTarget = parentModule.lastPipelineResultBestTarget;
if (latestTarget != null) {
var newPoint = latestTarget.getTargetOffsetPoint();
switch (curAdvSettings.offsetRobotOffsetMode) {
case Single:
if (offsetOperation == RobotOffsetPointOperation.ROPO_CLEAR) {
curAdvSettings.offsetSinglePoint = new Point();
} else if (offsetOperation == RobotOffsetPointOperation.ROPO_TAKESINGLE) {
curAdvSettings.offsetSinglePoint = newPoint;
}
break;
case Dual:
if (offsetOperation == RobotOffsetPointOperation.ROPO_CLEAR) {
curAdvSettings.offsetDualPointA = new Point();
curAdvSettings.offsetDualPointAArea = 0;
curAdvSettings.offsetDualPointB = new Point();
curAdvSettings.offsetDualPointBArea = 0;
} else {
// update point and area
switch (offsetOperation) {
case ROPO_TAKEFIRSTDUAL:
curAdvSettings.offsetDualPointA = newPoint;
curAdvSettings.offsetDualPointAArea = latestTarget.getArea();
break;
case ROPO_TAKESECONDDUAL:
curAdvSettings.offsetDualPointB = newPoint;
curAdvSettings.offsetDualPointBArea = latestTarget.getArea();
break;
default:
break;
}
}
break;
default:
break;
}
}
}
continue;
case "changePipelineType":
}
case "changePipelineType" -> {
parentModule.changePipelineType((Integer) newPropValue);
parentModule.saveAndBroadcastAll();
continue;
case "isDriverMode":
parentModule.setDriverMode((Boolean) newPropValue);
continue;
}
case "isDriverMode" -> parentModule.setDriverMode((Boolean) newPropValue);
}
// special case for camera settables
@@ -249,6 +158,104 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
}
}
public void newPipelineNickname(String newNickname) {
logger.info("Changing pipeline nickname to " + newNickname);
parentModule.pipelineManager.getCurrentPipelineSettings().pipelineNickname = newNickname;
parentModule.saveAndBroadcastAll();
}
public void newPipelineInfo(Pair<String, PipelineType> typeName) {
var type = typeName.getRight();
var name = typeName.getLeft();
logger.info("Adding a " + type + " pipeline with name " + name);
var addedSettings = parentModule.pipelineManager.addPipeline(type);
addedSettings.pipelineNickname = name;
parentModule.saveAndBroadcastAll();
}
public void deleteCurrPipeline() {
var indexToDelete = parentModule.pipelineManager.getRequestedIndex();
logger.info("Deleting current pipe at index " + indexToDelete);
int newIndex = parentModule.pipelineManager.removePipeline(indexToDelete);
parentModule.setPipeline(newIndex);
parentModule.saveAndBroadcastAll();
}
public void changePipeline(int index) {
if (index == parentModule.pipelineManager.getRequestedIndex()) {
logger.debug("Skipping pipeline change, index " + index + " already active");
return;
}
parentModule.setPipeline(index);
parentModule.saveAndBroadcastAll();
}
public void startCalibration(Map<String, Object> data) {
try {
var deserialized = JacksonUtils.deserialize(data, UICalibrationData.class);
parentModule.startCalibration(deserialized);
parentModule.saveAndBroadcastAll();
} catch (Exception e) {
logger.error("Error deserailizing start-calibration request", e);
}
}
public void duplicatePipeline(int index) {
var newIndex = parentModule.pipelineManager.duplicatePipeline(index);
parentModule.setPipeline(newIndex);
parentModule.saveAndBroadcastAll();
}
public void robotOffsetPoint(AdvancedPipelineSettings curAdvSettings, int offsetIndex) {
RobotOffsetPointOperation offsetOperation = RobotOffsetPointOperation.fromIndex(offsetIndex);
var latestTarget = parentModule.lastPipelineResultBestTarget;
if (latestTarget == null) {
return;
}
var newPoint = latestTarget.getTargetOffsetPoint();
switch (curAdvSettings.offsetRobotOffsetMode) {
case Single -> {
switch (offsetOperation) {
case CLEAR -> curAdvSettings.offsetSinglePoint = new Point();
case TAKE_SINGLE -> curAdvSettings.offsetSinglePoint = newPoint;
case TAKE_FIRST_DUAL, TAKE_SECOND_DUAL -> {
logger.warn("Dual point operation in single point mode");
}
}
}
case Dual -> {
switch (offsetOperation) {
case CLEAR -> {
curAdvSettings.offsetDualPointA = new Point();
curAdvSettings.offsetDualPointAArea = 0;
curAdvSettings.offsetDualPointB = new Point();
curAdvSettings.offsetDualPointBArea = 0;
}
case TAKE_FIRST_DUAL -> {
// update point and area
curAdvSettings.offsetDualPointA = newPoint;
curAdvSettings.offsetDualPointAArea = latestTarget.getArea();
}
case TAKE_SECOND_DUAL -> {
// update point and area
curAdvSettings.offsetDualPointB = newPoint;
curAdvSettings.offsetDualPointBArea = latestTarget.getArea();
}
case TAKE_SINGLE -> {
logger.warn("Single point operation in dual point mode");
}
}
}
case None -> {
logger.warn("Robot offset point operation requested, but no offset mode set");
}
}
}
/**
* Sets the value of a property in the given object using reflection. This method should not be
* used generally and is only known to be correct in the context of `onDataChangeEvent`.
@@ -281,8 +288,8 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
} else if (propType.equals(Integer.TYPE)) {
propField.setInt(currentSettings, (Integer) newPropValue);
} else if (propType.equals(Boolean.TYPE)) {
if (newPropValue instanceof Integer) {
propField.setBoolean(currentSettings, (Integer) newPropValue != 0);
if (newPropValue instanceof Integer intValue) {
propField.setBoolean(currentSettings, intValue != 0);
} else {
propField.setBoolean(currentSettings, (Boolean) newPropValue);
}

3
photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
View File

@@ -84,8 +84,7 @@ public class VisionRunner {
frameSupplier.requestFrameThresholdType(wantedProcessType);
var settings = pipeline.getSettings();
if (settings instanceof AdvancedPipelineSettings) {
var advanced = (AdvancedPipelineSettings) settings;
if (settings instanceof AdvancedPipelineSettings advanced) {
var hsvParams =
new HSVPipe.HSVParams(
advanced.hsvHue, advanced.hsvSaturation, advanced.hsvValue, advanced.hueInverted);

27
photon-core/src/main/java/org/photonvision/vision/target/RobotOffsetPointOperation.java
View File

@@ -17,10 +17,10 @@
package org.photonvision.vision.target;
public enum RobotOffsetPointOperation {
ROPO_CLEAR(0),
ROPO_TAKESINGLE(1),
ROPO_TAKEFIRSTDUAL(2),
ROPO_TAKESECONDDUAL(3);
CLEAR(0),
TAKE_SINGLE(1),
TAKE_FIRST_DUAL(2),
TAKE_SECOND_DUAL(3);
public final int index;
@@ -29,17 +29,12 @@ public enum RobotOffsetPointOperation {
}
public static RobotOffsetPointOperation fromIndex(int index) {
switch (index) {
case 0:
return ROPO_CLEAR;
case 1:
return ROPO_TAKESINGLE;
case 2:
return ROPO_TAKEFIRSTDUAL;
case 3:
return ROPO_TAKESECONDDUAL;
default:
return ROPO_CLEAR;
}
return switch (index) {
case 0 -> CLEAR;
case 1 -> TAKE_SINGLE;
case 2 -> TAKE_FIRST_DUAL;
case 3 -> TAKE_SECOND_DUAL;
default -> CLEAR;
};
}
}

17
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
View File

@@ -298,17 +298,12 @@ public class PhotonCamera implements AutoCloseable {
*/
public VisionLEDMode getLEDMode() {
int value = (int) ledModeState.get(-1);
switch (value) {
case 0:
return VisionLEDMode.kOff;
case 1:
return VisionLEDMode.kOn;
case 2:
return VisionLEDMode.kBlink;
case -1:
default:
return VisionLEDMode.kDefault;
}
return switch (value) {
case 0 -> VisionLEDMode.kOff;
case 1 -> VisionLEDMode.kOn;
case 2 -> VisionLEDMode.kBlink;
default -> VisionLEDMode.kDefault;
};
}
/**

69
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
View File

@@ -345,46 +345,35 @@ public class PhotonPoseEstimator {
PhotonPipelineResult cameraResult,
Optional<Matrix<N3, N3>> cameraMatrix,
Optional<Matrix<N8, N1>> distCoeffs,
PoseStrategy strat) {
Optional<EstimatedRobotPose> estimatedPose = Optional.empty();
switch (strat) {
case LOWEST_AMBIGUITY:
estimatedPose = lowestAmbiguityStrategy(cameraResult);
break;
case CLOSEST_TO_CAMERA_HEIGHT:
estimatedPose = closestToCameraHeightStrategy(cameraResult);
break;
case CLOSEST_TO_REFERENCE_POSE:
estimatedPose = closestToReferencePoseStrategy(cameraResult, referencePose);
break;
case CLOSEST_TO_LAST_POSE:
setReferencePose(lastPose);
estimatedPose = closestToReferencePoseStrategy(cameraResult, referencePose);
break;
case AVERAGE_BEST_TARGETS:
estimatedPose = averageBestTargetsStrategy(cameraResult);
break;
case MULTI_TAG_PNP_ON_RIO:
if (cameraMatrix.isEmpty()) {
DriverStation.reportWarning(
"Camera matrix is empty for multi-tag-on-rio",
Thread.currentThread().getStackTrace());
} else if (distCoeffs.isEmpty()) {
DriverStation.reportWarning(
"Camera matrix is empty for multi-tag-on-rio",
Thread.currentThread().getStackTrace());
} else {
estimatedPose = multiTagOnRioStrategy(cameraResult, cameraMatrix, distCoeffs);
}
break;
case MULTI_TAG_PNP_ON_COPROCESSOR:
estimatedPose = multiTagOnCoprocStrategy(cameraResult);
break;
default:
DriverStation.reportError(
"[PhotonPoseEstimator] Unknown Position Estimation Strategy!", false);
return Optional.empty();
}
PoseStrategy strategy) {
Optional<EstimatedRobotPose> estimatedPose =
switch (strategy) {
case LOWEST_AMBIGUITY -> lowestAmbiguityStrategy(cameraResult);
case CLOSEST_TO_CAMERA_HEIGHT -> closestToCameraHeightStrategy(cameraResult);
case CLOSEST_TO_REFERENCE_POSE ->
closestToReferencePoseStrategy(cameraResult, referencePose);
case CLOSEST_TO_LAST_POSE -> {
setReferencePose(lastPose);
yield closestToReferencePoseStrategy(cameraResult, referencePose);
}
case AVERAGE_BEST_TARGETS -> averageBestTargetsStrategy(cameraResult);
case MULTI_TAG_PNP_ON_RIO -> {
if (cameraMatrix.isEmpty()) {
DriverStation.reportWarning(
"Camera matrix is empty for multi-tag-on-rio",
Thread.currentThread().getStackTrace());
yield Optional.empty();
} else if (distCoeffs.isEmpty()) {
DriverStation.reportWarning(
"Camera matrix is empty for multi-tag-on-rio",
Thread.currentThread().getStackTrace());
yield Optional.empty();
} else {
yield multiTagOnRioStrategy(cameraResult, cameraMatrix, distCoeffs);
}
}
case MULTI_TAG_PNP_ON_COPROCESSOR -> multiTagOnCoprocStrategy(cameraResult);
};
if (estimatedPose.isPresent()) {
lastPose = estimatedPose.get().estimatedPose;

10
photon-lib/src/main/java/org/photonvision/simulation/VisionTargetSim.java
View File

@@ -84,11 +84,9 @@ public class VisionTargetSim {
@Override
public boolean equals(Object obj) {
if (this == obj) return true;
if (obj instanceof VisionTargetSim) {
var o = (VisionTargetSim) obj;
return pose.equals(o.pose) && model.equals(o.model);
}
return false;
return this == obj
&& obj instanceof VisionTargetSim o
&& pose.equals(o.pose)
&& model.equals(o.model);
}
}

375
photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
View File

@@ -99,10 +99,9 @@ public class DataSocketHandler {
objectMapper.readValue(context.data(), new TypeReference<>() {});
// Special case the current camera index
var camIndexValue = deserializedData.get("cameraIndex");
Integer cameraIndex = null;
if (camIndexValue instanceof Integer) {
cameraIndex = (Integer) camIndexValue;
if (deserializedData.get("cameraIndex") instanceof Integer camIndexValue) {
cameraIndex = camIndexValue;
deserializedData.remove("cameraIndex");
}
@@ -128,216 +127,182 @@ public class DataSocketHandler {
}
switch (socketMessageType) {
case SMT_DRIVERMODE:
{
// TODO: what is this event?
var data = (Boolean) entryValue;
var dmIsDriverEvent =
new IncomingWebSocketEvent<Boolean>(
DataChangeDestination.DCD_ACTIVEMODULE,
"isDriverMode",
data,
cameraIndex,
context);
case SMT_DRIVERMODE -> {
// TODO: what is this event?
var data = (Boolean) entryValue;
var dmIsDriverEvent =
new IncomingWebSocketEvent<Boolean>(
DataChangeDestination.DCD_ACTIVEMODULE,
"isDriverMode",
data,
cameraIndex,
context);
dcService.publishEvents(dmIsDriverEvent);
break;
}
case SMT_CHANGECAMERANAME:
{
var ccnEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"cameraNickname",
(String) entryValue,
cameraIndex,
context);
dcService.publishEvent(ccnEvent);
break;
}
case SMT_CHANGEPIPELINENAME:
{
var cpnEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"pipelineName",
(String) entryValue,
cameraIndex,
context);
dcService.publishEvent(cpnEvent);
break;
}
case SMT_ADDNEWPIPELINE:
{
// HashMap<String, Object> data = (HashMap<String,
// Object>) entryValue;
// var type = (PipelineType)
// data.get("pipelineType");
// var name = (String) data.get("pipelineName");
var arr = (ArrayList<Object>) entryValue;
var name = (String) arr.get(0);
var type = PipelineType.values()[(Integer) arr.get(1) + 2];
dcService.publishEvents(dmIsDriverEvent);
}
case SMT_CHANGECAMERANAME -> {
var ccnEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"cameraNickname",
(String) entryValue,
cameraIndex,
context);
dcService.publishEvent(ccnEvent);
}
case SMT_CHANGEPIPELINENAME -> {
var cpnEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"pipelineName",
(String) entryValue,
cameraIndex,
context);
dcService.publishEvent(cpnEvent);
}
case SMT_ADDNEWPIPELINE -> {
// HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
// var type = (PipelineType) data.get("pipelineType");
// var name = (String) data.get("pipelineName");
var arr = (ArrayList<Object>) entryValue;
var name = (String) arr.get(0);
var type = PipelineType.values()[(Integer) arr.get(1) + 2];
var newPipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"newPipelineInfo",
Pair.of(name, type),
cameraIndex,
context);
dcService.publishEvent(newPipelineEvent);
break;
}
case SMT_CHANGEBRIGHTNESS:
{
HardwareManager.getInstance()
.setBrightnessPercent(Integer.parseInt(entryValue.toString()));
break;
}
case SMT_DUPLICATEPIPELINE:
{
var pipeIndex = (Integer) entryValue;
var newPipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"newPipelineInfo",
Pair.of(name, type),
cameraIndex,
context);
dcService.publishEvent(newPipelineEvent);
}
case SMT_CHANGEBRIGHTNESS -> {
HardwareManager.getInstance()
.setBrightnessPercent(Integer.parseInt(entryValue.toString()));
}
case SMT_DUPLICATEPIPELINE -> {
var pipeIndex = (Integer) entryValue;
logger.info("Duplicating pipe@index" + pipeIndex + " for camera " + cameraIndex);
logger.info("Duplicating pipe@index" + pipeIndex + " for camera " + cameraIndex);
var newPipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"duplicatePipeline",
pipeIndex,
cameraIndex,
context);
dcService.publishEvent(newPipelineEvent);
break;
}
case SMT_DELETECURRENTPIPELINE:
{
var deleteCurrentPipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"deleteCurrPipeline",
0,
cameraIndex,
context);
dcService.publishEvent(deleteCurrentPipelineEvent);
break;
}
case SMT_ROBOTOFFSETPOINT:
{
var robotOffsetPointEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"robotOffsetPoint",
(Integer) entryValue,
cameraIndex,
null);
dcService.publishEvent(robotOffsetPointEvent);
break;
}
case SMT_CURRENTCAMERA:
{
var changeCurrentCameraEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_OTHER, "changeUICamera", (Integer) entryValue);
dcService.publishEvent(changeCurrentCameraEvent);
break;
}
case SMT_CURRENTPIPELINE:
{
var changePipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"changePipeline",
(Integer) entryValue,
cameraIndex,
context);
dcService.publishEvent(changePipelineEvent);
break;
}
case SMT_STARTPNPCALIBRATION:
{
var changePipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"startCalibration",
(Map) entryValue,
cameraIndex,
context);
dcService.publishEvent(changePipelineEvent);
break;
}
case SMT_SAVEINPUTSNAPSHOT:
{
var takeInputSnapshotEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"saveInputSnapshot",
0,
cameraIndex,
context);
dcService.publishEvent(takeInputSnapshotEvent);
break;
}
case SMT_SAVEOUTPUTSNAPSHOT:
{
var takeOutputSnapshotEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"saveOutputSnapshot",
0,
cameraIndex,
context);
dcService.publishEvent(takeOutputSnapshotEvent);
break;
}
case SMT_TAKECALIBRATIONSNAPSHOT:
{
var takeCalSnapshotEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"takeCalSnapshot",
0,
cameraIndex,
context);
dcService.publishEvent(takeCalSnapshotEvent);
break;
}
case SMT_PIPELINESETTINGCHANGE:
{
HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
var newPipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"duplicatePipeline",
pipeIndex,
cameraIndex,
context);
dcService.publishEvent(newPipelineEvent);
}
case SMT_DELETECURRENTPIPELINE -> {
var deleteCurrentPipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"deleteCurrPipeline",
0,
cameraIndex,
context);
dcService.publishEvent(deleteCurrentPipelineEvent);
}
case SMT_ROBOTOFFSETPOINT -> {
var robotOffsetPointEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"robotOffsetPoint",
(Integer) entryValue,
cameraIndex,
null);
dcService.publishEvent(robotOffsetPointEvent);
}
case SMT_CURRENTCAMERA -> {
var changeCurrentCameraEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_OTHER, "changeUICamera", (Integer) entryValue);
dcService.publishEvent(changeCurrentCameraEvent);
}
case SMT_CURRENTPIPELINE -> {
var changePipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"changePipeline",
(Integer) entryValue,
cameraIndex,
context);
dcService.publishEvent(changePipelineEvent);
}
case SMT_STARTPNPCALIBRATION -> {
var changePipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"startCalibration",
(Map) entryValue,
cameraIndex,
context);
dcService.publishEvent(changePipelineEvent);
}
case SMT_SAVEINPUTSNAPSHOT -> {
var takeInputSnapshotEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"saveInputSnapshot",
0,
cameraIndex,
context);
dcService.publishEvent(takeInputSnapshotEvent);
}
case SMT_SAVEOUTPUTSNAPSHOT -> {
var takeOutputSnapshotEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"saveOutputSnapshot",
0,
cameraIndex,
context);
dcService.publishEvent(takeOutputSnapshotEvent);
}
case SMT_TAKECALIBRATIONSNAPSHOT -> {
var takeCalSnapshotEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"takeCalSnapshot",
0,
cameraIndex,
context);
dcService.publishEvent(takeCalSnapshotEvent);
}
case SMT_PIPELINESETTINGCHANGE -> {
HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
if (data.size() >= 2) {
var cameraIndex2 = (int) data.get("cameraIndex");
for (var dataEntry : data.entrySet()) {
if (dataEntry.getKey().equals("cameraIndex")) {
continue;
}
var pipelineSettingChangeEvent =
new IncomingWebSocketEvent(
DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS,
dataEntry.getKey(),
dataEntry.getValue(),
cameraIndex2,
context);
dcService.publishEvent(pipelineSettingChangeEvent);
if (data.size() >= 2) {
var cameraIndex2 = (int) data.get("cameraIndex");
for (var dataEntry : data.entrySet()) {
if (dataEntry.getKey().equals("cameraIndex")) {
continue;
}
} else {
logger.warn("Unknown message for PSC: " + data.keySet().iterator().next());
var pipelineSettingChangeEvent =
new IncomingWebSocketEvent(
DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS,
dataEntry.getKey(),
dataEntry.getValue(),
cameraIndex2,
context);
dcService.publishEvent(pipelineSettingChangeEvent);
}
break;
}
case SMT_CHANGEPIPELINETYPE:
{
var changePipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"changePipelineType",
(Integer) entryValue,
cameraIndex,
context);
dcService.publishEvent(changePipelineEvent);
break;
} else {
logger.warn("Unknown message for PSC: " + data.keySet().iterator().next());
}
}
case SMT_CHANGEPIPELINETYPE -> {
var changePipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"changePipelineType",
(Integer) entryValue,
cameraIndex,
context);
dcService.publishEvent(changePipelineEvent);
}
}
} catch (Exception e) {
logger.error("Failed to parse message!", e);

3
photon-server/src/main/java/org/photonvision/server/UIInboundSubscriber.java
View File

@@ -39,8 +39,7 @@ public class UIInboundSubscriber extends DataChangeSubscriber {
@Override
public void onDataChangeEvent(DataChangeEvent<?> event) {
if (event instanceof IncomingWebSocketEvent) {
var incomingWSEvent = (IncomingWebSocketEvent<?>) event;
if (event instanceof IncomingWebSocketEvent incomingWSEvent) {
if (incomingWSEvent.propertyName.equals("userConnected")
|| incomingWSEvent.propertyName.equals("sendFullSettings")) {
// Send full settings

6
photon-server/src/main/java/org/photonvision/server/UIOutboundSubscriber.java
View File

@@ -44,11 +44,9 @@ class UIOutboundSubscriber extends DataChangeSubscriber {
@Override
public void onDataChangeEvent(DataChangeEvent event) {
if (event instanceof OutgoingUIEvent) {
var thisEvent = (OutgoingUIEvent) event;
if (event instanceof OutgoingUIEvent thisEvent) {
try {
if (event.data instanceof HashMap) {
var data = (HashMap) event.data;
if (event.data instanceof HashMap data) {
socketHandler.broadcastMessage(data, thisEvent.originContext);
} else {
socketHandler.broadcastMessage(event.data, thisEvent.originContext);

17
photon-targeting/src/main/java/org/photonvision/common/hardware/VisionLEDMode.java
View File

@@ -31,16 +31,11 @@ public enum VisionLEDMode {
@Override
public String toString() {
switch (this) {
case kDefault:
return "Default";
case kOff:
return "Off";
case kOn:
return "On";
case kBlink:
return "Blink";
}
return "";
return switch (this) {
case kDefault -> "Default";
case kOff -> "Off";
case kOn -> "On";
case kBlink -> "Blink";
};
}
}

11
photon-targeting/src/main/java/org/photonvision/estimation/TargetModel.java
View File

@@ -175,11 +175,10 @@ public class TargetModel {
@Override
public boolean equals(Object obj) {
if (this == obj) return true;
if (obj instanceof TargetModel) {
var o = (TargetModel) obj;
return vertices.equals(o.vertices) && isPlanar == o.isPlanar && isSpherical == o.isSpherical;
}
return false;
return this == obj
&& obj instanceof TargetModel o
&& vertices.equals(o.vertices)
&& isPlanar == o.isPlanar
&& isSpherical == o.isSpherical;
}
}

4
photonlib-java-examples/aimandrange/build.gradle
View File

@@ -3,8 +3,8 @@ plugins {
id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
}
sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
def ROBOT_MAIN_CLASS = "frc.robot.Main"

4
photonlib-java-examples/aimattarget/build.gradle
View File

@@ -3,8 +3,8 @@ plugins {
id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
}
sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
def ROBOT_MAIN_CLASS = "frc.robot.Main"

4
photonlib-java-examples/poseest/build.gradle
View File

@@ -3,8 +3,8 @@ plugins {
id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
}
sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
def ROBOT_MAIN_CLASS = "frc.robot.Main"

4
shared/javacommon.gradle
View File

@@ -4,8 +4,8 @@ apply plugin: 'jacoco'
apply plugin: 'com.google.protobuf'
java {
sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
}
def baseArtifactId = nativeName