Hardware Management, Metrics, PWM/GPIO support. (#12)

* [Server] Hardware Management

* [Server] Hardware Management

* [Server] Hardware Management

* [Server] Hardware Management

* [Server] Hardware Management

* [Server] Hardware Management

* Added metricsPublisher

* [Server] Hardware Management

* [Server] Hardware Management

* Fill in HardwareConfig, allow JSON Comments

* Use hardware config

* [Hardware Management] Use Hardware Config

* [Hardware Management] Use softPWM for dimming

* [Hardware] Added HardwareConfig Test

* [Hardware] Started HardwareManager

* Start metrics thread in hardwareManager

* [Hardware] Added Hardware Manager Test

* [Hardware] Spotless

* [Hardware] Added logging, cleaned up HardwareConfig

* [Hardware] Added logging to PWM class

* [Hardware] Rebase off master, fix merge conflicts

* [Hardware] Ignore metrics commands if on pi

* [Hardware] Remove GPIO provision after shutdown

* [Hardware] Switch over to diozero

* [Hardware] Use broadcom pins

* [Hardware] Fix PWM port

* [Hardware] Use jpi instead of pigpio

* [Hardware] Use dizero-core

* [Hardware] No need to close LED

* [Hardware] Switch to jpigpio

* [Hardware] Initalize JPiGPIO in unit tests

* [Hardware] Use dutyCycle for LED dimming

* [Hardware] Add blink test to HardwareManager

* [Hardware] Fix PWM port

* [Hardware] Fix HardwareManagerTest

* [Hardware] Fix HardwareManagerTest

* [Hardware] Use waves for LED blinking

* [Hardware] Make blinking part of PWM

* [Hardware] Add API methods to hardware Manager

* [Hardware] Only start pigpio if on pi

* [Hardware] Merge PWM classes into GPIO

* [Hardware] Add Hardware stuff to VisionModules

* [Hardware] Remove random semicolon

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>

photon-server/src/main/java/org/photonvision/common/util/Platform.java

@@ -1,107 +0,0 @@
-/*
- * Copyright (C) 2020 Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.util;
-
-import edu.wpi.first.wpiutil.RuntimeDetector;
-import java.io.IOException;
-import org.apache.commons.lang3.SystemUtils;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.Logger;
-
-@SuppressWarnings("unused")
-public enum Platform {
-    WINDOWS_32("Windows x32"),
-    WINDOWS_64("Windows x64"),
-    LINUX_32("Linux x32"),
-    LINUX_64("Linux x64"),
-    LINUX_RASPBIAN("Linux Raspbian"), // TODO: check that RaspiOS reports the same way
-    LINUX_AARCH64BIONIC("Linux Aarch64 Bionic"),
-    UNSUPPORTED(
-            "Unsupported Platform - OS: "
-                    + SystemUtils.OS_NAME
-                    + ", Architecture: "
-                    + SystemUtils.OS_ARCH);
-
-    public final String value;
-    public final boolean isRoot = checkForRoot();
-
-    Platform(String value) {
-        this.value = value;
-    }
-
-    private static final Logger logger = new Logger(Platform.class, LogGroup.General);
-
-    public static final Platform CurrentPlatform = getCurrentPlatform();
-
-    public static boolean isWindows() {
-        return CurrentPlatform == WINDOWS_64 || CurrentPlatform == WINDOWS_32;
-    }
-
-    public static boolean isLinux() {
-        return CurrentPlatform != UNSUPPORTED && !isWindows();
-    }
-
-    public static boolean isRaspberryPi() {
-        return CurrentPlatform.equals(LINUX_RASPBIAN);
-    }
-
-    private static ShellExec shell = new ShellExec(true, false);
-
-    @SuppressWarnings("StatementWithEmptyBody")
-    private boolean checkForRoot() {
-        if (isLinux()) {
-            try {
-                shell.execute("id", null, true, "-u");
-            } catch (IOException e) {
-                logger.error("Failed to perform root check!", e);
-            }
-
-            while (!shell.isOutputCompleted()) {
-                // TODO: add timeout
-            }
-
-            if (shell.getExitCode() == 0) {
-                return shell.getOutput().split("\n")[0].equals("0");
-            }
-
-        } else {
-            return true;
-        }
-        return false;
-    }
-
-    private static Platform getCurrentPlatform() {
-        if (RuntimeDetector.isWindows()) {
-            if (RuntimeDetector.is32BitIntel()) return WINDOWS_32;
-            if (RuntimeDetector.is64BitIntel()) return WINDOWS_64;
-        }
-
-        if (RuntimeDetector.isLinux()) {
-            if (RuntimeDetector.is32BitIntel()) return LINUX_32;
-            if (RuntimeDetector.is64BitIntel()) return LINUX_64;
-            if (RuntimeDetector.isRaspbian()) return LINUX_RASPBIAN;
-            if (RuntimeDetector.isAarch64Bionic()) return LINUX_AARCH64BIONIC;
-        }
-
-        return UNSUPPORTED;
-    }
-
-    public String toString() {
-        return this.value;
-    }
-}

photon-server/src/main/java/org/photonvision/common/util/TestUtils.java

@@ -19,6 +19,7 @@ package org.photonvision.common.util;
 
 import edu.wpi.cscore.CameraServerCvJNI;
 import java.awt.*;
+import java.io.File;
 import java.io.IOException;
 import java.nio.file.Path;
 import org.opencv.core.Mat;
@@ -165,6 +166,10 @@ public class TestUtils {
         return getResourcesFolderPath().resolve("calibrationBoardImages");
     }
 
+    public static File getHardwareConfigJson() {
+        return getResourcesFolderPath().resolve("hardware").resolve("HardwareConfig.json").toFile();
+    }
+
     public static void loadLibraries() {
         try {
             CameraServerCvJNI.forceLoad();

photon-server/src/main/java/org/photonvision/common/util/file/FileUtils.java

@@ -26,9 +26,9 @@ import java.nio.file.attribute.PosixFilePermission;
 import java.util.Arrays;
 import java.util.HashSet;
 import java.util.Set;
+import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.Platform;
 
 public class FileUtils {
 

photon-server/src/main/java/org/photonvision/common/util/file/JacksonUtils.java

@@ -17,6 +17,7 @@
 
 package org.photonvision.common.util.file;
 
+import com.fasterxml.jackson.core.json.JsonReadFeature;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.fasterxml.jackson.databind.deser.std.StdDeserializer;
 import com.fasterxml.jackson.databind.json.JsonMapper;
@@ -51,6 +52,7 @@ public class JacksonUtils {
                 BasicPolymorphicTypeValidator.builder().allowIfBaseType(ref).build();
         ObjectMapper objectMapper =
                 JsonMapper.builder()
+                        .configure(JsonReadFeature.ALLOW_JAVA_COMMENTS, true)
                         .activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT)
                         .build();
         File jsonFile = new File(path.toString());