mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
Java 17 (#1440)
 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
committed by
GitHub
GitHub
parent
e8efef476b
commit
08c62ab8cd
@@ -99,10 +99,9 @@ public class DataSocketHandler {
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objectMapper.readValue(context.data(), new TypeReference<>() {});
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// Special case the current camera index
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var camIndexValue = deserializedData.get("cameraIndex");
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Integer cameraIndex = null;
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if (camIndexValue instanceof Integer) {
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cameraIndex = (Integer) camIndexValue;
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if (deserializedData.get("cameraIndex") instanceof Integer camIndexValue) {
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cameraIndex = camIndexValue;
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deserializedData.remove("cameraIndex");
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}
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@@ -128,216 +127,182 @@ public class DataSocketHandler {
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}
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switch (socketMessageType) {
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case SMT_DRIVERMODE:
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{
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// TODO: what is this event?
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var data = (Boolean) entryValue;
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var dmIsDriverEvent =
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new IncomingWebSocketEvent<Boolean>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"isDriverMode",
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data,
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cameraIndex,
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context);
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case SMT_DRIVERMODE -> {
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// TODO: what is this event?
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var data = (Boolean) entryValue;
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var dmIsDriverEvent =
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new IncomingWebSocketEvent<Boolean>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"isDriverMode",
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data,
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cameraIndex,
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context);
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dcService.publishEvents(dmIsDriverEvent);
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break;
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}
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case SMT_CHANGECAMERANAME:
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{
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var ccnEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"cameraNickname",
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(String) entryValue,
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cameraIndex,
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context);
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dcService.publishEvent(ccnEvent);
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break;
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}
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case SMT_CHANGEPIPELINENAME:
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{
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var cpnEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"pipelineName",
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(String) entryValue,
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cameraIndex,
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context);
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dcService.publishEvent(cpnEvent);
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break;
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}
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case SMT_ADDNEWPIPELINE:
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{
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// HashMap<String, Object> data = (HashMap<String,
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// Object>) entryValue;
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// var type = (PipelineType)
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// data.get("pipelineType");
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// var name = (String) data.get("pipelineName");
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var arr = (ArrayList<Object>) entryValue;
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var name = (String) arr.get(0);
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var type = PipelineType.values()[(Integer) arr.get(1) + 2];
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dcService.publishEvents(dmIsDriverEvent);
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}
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case SMT_CHANGECAMERANAME -> {
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var ccnEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"cameraNickname",
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(String) entryValue,
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cameraIndex,
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context);
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dcService.publishEvent(ccnEvent);
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}
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case SMT_CHANGEPIPELINENAME -> {
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var cpnEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"pipelineName",
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(String) entryValue,
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cameraIndex,
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context);
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dcService.publishEvent(cpnEvent);
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}
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case SMT_ADDNEWPIPELINE -> {
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// HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
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// var type = (PipelineType) data.get("pipelineType");
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// var name = (String) data.get("pipelineName");
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var arr = (ArrayList<Object>) entryValue;
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var name = (String) arr.get(0);
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var type = PipelineType.values()[(Integer) arr.get(1) + 2];
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var newPipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"newPipelineInfo",
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Pair.of(name, type),
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cameraIndex,
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context);
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dcService.publishEvent(newPipelineEvent);
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break;
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}
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case SMT_CHANGEBRIGHTNESS:
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{
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HardwareManager.getInstance()
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.setBrightnessPercent(Integer.parseInt(entryValue.toString()));
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break;
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}
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case SMT_DUPLICATEPIPELINE:
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{
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var pipeIndex = (Integer) entryValue;
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var newPipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"newPipelineInfo",
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Pair.of(name, type),
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cameraIndex,
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context);
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dcService.publishEvent(newPipelineEvent);
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}
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case SMT_CHANGEBRIGHTNESS -> {
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HardwareManager.getInstance()
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.setBrightnessPercent(Integer.parseInt(entryValue.toString()));
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}
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case SMT_DUPLICATEPIPELINE -> {
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var pipeIndex = (Integer) entryValue;
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logger.info("Duplicating pipe@index" + pipeIndex + " for camera " + cameraIndex);
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logger.info("Duplicating pipe@index" + pipeIndex + " for camera " + cameraIndex);
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var newPipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"duplicatePipeline",
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pipeIndex,
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cameraIndex,
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context);
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dcService.publishEvent(newPipelineEvent);
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break;
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}
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case SMT_DELETECURRENTPIPELINE:
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{
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var deleteCurrentPipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"deleteCurrPipeline",
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0,
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cameraIndex,
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context);
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dcService.publishEvent(deleteCurrentPipelineEvent);
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break;
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}
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case SMT_ROBOTOFFSETPOINT:
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{
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var robotOffsetPointEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"robotOffsetPoint",
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(Integer) entryValue,
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cameraIndex,
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null);
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dcService.publishEvent(robotOffsetPointEvent);
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break;
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}
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case SMT_CURRENTCAMERA:
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{
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var changeCurrentCameraEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_OTHER, "changeUICamera", (Integer) entryValue);
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dcService.publishEvent(changeCurrentCameraEvent);
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break;
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}
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case SMT_CURRENTPIPELINE:
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{
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var changePipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"changePipeline",
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(Integer) entryValue,
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cameraIndex,
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context);
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dcService.publishEvent(changePipelineEvent);
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break;
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}
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case SMT_STARTPNPCALIBRATION:
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{
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var changePipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"startCalibration",
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(Map) entryValue,
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cameraIndex,
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context);
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dcService.publishEvent(changePipelineEvent);
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break;
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}
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case SMT_SAVEINPUTSNAPSHOT:
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{
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var takeInputSnapshotEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"saveInputSnapshot",
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0,
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cameraIndex,
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context);
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dcService.publishEvent(takeInputSnapshotEvent);
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break;
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}
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case SMT_SAVEOUTPUTSNAPSHOT:
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{
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var takeOutputSnapshotEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"saveOutputSnapshot",
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0,
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cameraIndex,
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context);
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dcService.publishEvent(takeOutputSnapshotEvent);
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break;
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}
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case SMT_TAKECALIBRATIONSNAPSHOT:
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{
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var takeCalSnapshotEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"takeCalSnapshot",
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0,
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cameraIndex,
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context);
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dcService.publishEvent(takeCalSnapshotEvent);
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break;
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}
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case SMT_PIPELINESETTINGCHANGE:
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{
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HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
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var newPipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"duplicatePipeline",
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pipeIndex,
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cameraIndex,
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context);
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dcService.publishEvent(newPipelineEvent);
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}
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case SMT_DELETECURRENTPIPELINE -> {
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var deleteCurrentPipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"deleteCurrPipeline",
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0,
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cameraIndex,
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context);
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dcService.publishEvent(deleteCurrentPipelineEvent);
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}
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case SMT_ROBOTOFFSETPOINT -> {
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var robotOffsetPointEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"robotOffsetPoint",
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(Integer) entryValue,
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cameraIndex,
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null);
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dcService.publishEvent(robotOffsetPointEvent);
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}
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case SMT_CURRENTCAMERA -> {
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var changeCurrentCameraEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_OTHER, "changeUICamera", (Integer) entryValue);
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dcService.publishEvent(changeCurrentCameraEvent);
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}
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case SMT_CURRENTPIPELINE -> {
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var changePipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"changePipeline",
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(Integer) entryValue,
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cameraIndex,
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context);
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dcService.publishEvent(changePipelineEvent);
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}
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case SMT_STARTPNPCALIBRATION -> {
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var changePipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"startCalibration",
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(Map) entryValue,
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cameraIndex,
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context);
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dcService.publishEvent(changePipelineEvent);
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}
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case SMT_SAVEINPUTSNAPSHOT -> {
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var takeInputSnapshotEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"saveInputSnapshot",
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0,
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cameraIndex,
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context);
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dcService.publishEvent(takeInputSnapshotEvent);
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}
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case SMT_SAVEOUTPUTSNAPSHOT -> {
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var takeOutputSnapshotEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"saveOutputSnapshot",
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0,
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cameraIndex,
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context);
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dcService.publishEvent(takeOutputSnapshotEvent);
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}
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case SMT_TAKECALIBRATIONSNAPSHOT -> {
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var takeCalSnapshotEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"takeCalSnapshot",
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0,
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cameraIndex,
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context);
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dcService.publishEvent(takeCalSnapshotEvent);
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}
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case SMT_PIPELINESETTINGCHANGE -> {
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HashMap<String, Object> data = (HashMap<String, Object>) entryValue;
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if (data.size() >= 2) {
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var cameraIndex2 = (int) data.get("cameraIndex");
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for (var dataEntry : data.entrySet()) {
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if (dataEntry.getKey().equals("cameraIndex")) {
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continue;
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}
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var pipelineSettingChangeEvent =
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new IncomingWebSocketEvent(
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DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS,
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dataEntry.getKey(),
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dataEntry.getValue(),
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cameraIndex2,
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context);
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dcService.publishEvent(pipelineSettingChangeEvent);
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if (data.size() >= 2) {
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var cameraIndex2 = (int) data.get("cameraIndex");
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for (var dataEntry : data.entrySet()) {
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if (dataEntry.getKey().equals("cameraIndex")) {
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continue;
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}
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} else {
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logger.warn("Unknown message for PSC: " + data.keySet().iterator().next());
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var pipelineSettingChangeEvent =
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new IncomingWebSocketEvent(
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DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS,
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dataEntry.getKey(),
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dataEntry.getValue(),
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cameraIndex2,
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context);
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dcService.publishEvent(pipelineSettingChangeEvent);
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}
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break;
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}
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case SMT_CHANGEPIPELINETYPE:
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{
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var changePipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"changePipelineType",
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(Integer) entryValue,
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cameraIndex,
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context);
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dcService.publishEvent(changePipelineEvent);
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break;
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} else {
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logger.warn("Unknown message for PSC: " + data.keySet().iterator().next());
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}
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}
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case SMT_CHANGEPIPELINETYPE -> {
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var changePipelineEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"changePipelineType",
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(Integer) entryValue,
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cameraIndex,
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context);
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dcService.publishEvent(changePipelineEvent);
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}
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}
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} catch (Exception e) {
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logger.error("Failed to parse message!", e);
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@@ -39,8 +39,7 @@ public class UIInboundSubscriber extends DataChangeSubscriber {
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@Override
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public void onDataChangeEvent(DataChangeEvent<?> event) {
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if (event instanceof IncomingWebSocketEvent) {
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var incomingWSEvent = (IncomingWebSocketEvent<?>) event;
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if (event instanceof IncomingWebSocketEvent incomingWSEvent) {
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if (incomingWSEvent.propertyName.equals("userConnected")
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|| incomingWSEvent.propertyName.equals("sendFullSettings")) {
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// Send full settings
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@@ -44,11 +44,9 @@ class UIOutboundSubscriber extends DataChangeSubscriber {
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@Override
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public void onDataChangeEvent(DataChangeEvent event) {
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if (event instanceof OutgoingUIEvent) {
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var thisEvent = (OutgoingUIEvent) event;
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if (event instanceof OutgoingUIEvent thisEvent) {
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try {
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if (event.data instanceof HashMap) {
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var data = (HashMap) event.data;
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if (event.data instanceof HashMap data) {
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socketHandler.broadcastMessage(data, thisEvent.originContext);
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} else {
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socketHandler.broadcastMessage(event.data, thisEvent.originContext);
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Reference in New Issue
Block a user