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https://github.com/PhotonVision/photonvision
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Event scripts (#36)
* Begin scripting work * More scripting work * Finalize scripting system * Begin implementing script events * Finalize script system Co-authored-by: Banks T <btrout.dhrs@gmail.com>
This commit is contained in:
oriagranat9
@@ -0,0 +1,14 @@
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package com.chameleonvision.scripting;
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public enum ScriptCommandType {
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kDefault(""),
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kBashScript("bash"),
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kPythonScript("python"),
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kPython3Script("python3");
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public final String value;
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ScriptCommandType(String value) {
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this.value = value;
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}
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}
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@@ -0,0 +1,23 @@
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package com.chameleonvision.scripting;
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import com.fasterxml.jackson.annotation.JsonCreator;
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import com.fasterxml.jackson.annotation.JsonProperty;
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public class ScriptConfig {
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public final ScriptEventType eventType;
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public final String command;
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public ScriptConfig(ScriptEventType eventType) {
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this.eventType = eventType;
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this.command = "";
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}
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@JsonCreator
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public ScriptConfig(
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@JsonProperty("eventType") ScriptEventType eventType,
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@JsonProperty("command") String command
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) {
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this.eventType = eventType;
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this.command = command;
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}
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}
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@@ -0,0 +1,35 @@
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package com.chameleonvision.scripting;
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import com.chameleonvision.Debug;
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import com.chameleonvision.util.ShellExec;
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import java.io.IOException;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.LinkedList;
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import java.util.List;
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public class ScriptEvent {
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private static final ShellExec executor = new ShellExec(true, true);
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public final ScriptConfig config;
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public ScriptEvent(ScriptConfig config) {
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this.config = config;
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}
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public int run() throws IOException {
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int retVal = executor.executeBashCommand(config.command);
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String output = executor.getOutput();
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String error = executor.getError();
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if (!error.isEmpty()) {
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System.err.printf("Error when running \"%s\" script: %s\n", config.eventType.name(), error);
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} else if (!output.isEmpty()) {
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Debug.printInfo(String.format("Output from \"%s\" script: %s\n", config.eventType.name(), output));
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}
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Debug.printInfo(String.format("Script for %s ran with command line: \"%s\", exit code: %d, output: %s, error: %s\n", config.eventType.name(), config.command, retVal, output, error));
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return retVal;
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}
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}
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@@ -0,0 +1,21 @@
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package com.chameleonvision.scripting;
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public enum ScriptEventType {
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kProgramInit("Program Init"),
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kProgramExit("Program Exit"),
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kNTConnected("NT Connected"),
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kLEDOn("LED On"),
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kLEDOff("LED Off"),
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kEnterDriverMode("Enter Driver Mode"),
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kExitDriverMode("Exit Driver Mode"),
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kFoundTarget("Found Target"),
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kFoundMultipleTarget("Found Multiple Target"),
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kLostTarget("Lost Target"),
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kPipelineLag("Pipeline Lag");
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public final String value;
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ScriptEventType(String value) {
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this.value = value;
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}
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}
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@@ -0,0 +1,126 @@
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package com.chameleonvision.scripting;
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import com.chameleonvision.Debug;
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import com.chameleonvision.Main;
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import com.chameleonvision.config.ConfigManager;
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import com.chameleonvision.util.JacksonHelper;
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import com.chameleonvision.util.LoopingRunnable;
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import com.chameleonvision.util.Platform;
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import com.chameleonvision.util.ProgramDirectoryUtilities;
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import java.io.File;
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import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Objects;
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import java.util.concurrent.BlockingQueue;
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import java.util.concurrent.LinkedBlockingDeque;
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import java.util.concurrent.LinkedBlockingQueue;
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public class ScriptManager {
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private ScriptManager() {}
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private static final List<ScriptEvent> events = new ArrayList<>();
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private static final LinkedBlockingDeque<ScriptEventType> queuedEvents = new LinkedBlockingDeque<>(25);
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public static void initialize() {
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ScriptConfigManager.initialize();
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if (ScriptConfigManager.fileExists()) {
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for (ScriptConfig scriptConfig : ScriptConfigManager.loadConfig()) {
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ScriptEvent scriptEvent = new ScriptEvent(scriptConfig);
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events.add(scriptEvent);
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}
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new Thread(new ScriptRunner(10L)).start();
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} else {
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System.err.println("Something went wrong initializing scripts! Events will not run.");
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}
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}
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private static class ScriptRunner extends LoopingRunnable {
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ScriptRunner(Long loopTimeMs) {
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super(loopTimeMs);
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}
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@Override
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protected void process() {
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try {
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handleEvent(queuedEvents.takeFirst());
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} catch (InterruptedException e) {
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e.printStackTrace();
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}
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}
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private void handleEvent(ScriptEventType eventType) {
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var toRun = events.parallelStream().filter(e -> e.config.eventType == eventType).findFirst().orElse(null);
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if (toRun != null) {
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try {
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toRun.run();
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} catch (IOException e) {
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System.err.printf("Failed to run script for event: %s, exception below.\n%s\n", eventType.name(), e.getMessage());
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}
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}
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}
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}
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protected static class ScriptConfigManager {
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protected static final Path scriptConfigPath = Paths.get(ConfigManager.SettingsPath.toString(), "scripts.json");
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private ScriptConfigManager() {}
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static boolean fileExists() { return Files.exists(scriptConfigPath); }
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public static void initialize() {
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if (!fileExists()) {
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List<ScriptConfig> eventsConfig = new ArrayList<>();
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for (var eventType : ScriptEventType.values()) {
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eventsConfig.add(new ScriptConfig(eventType));
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}
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try {
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JacksonHelper.serializer(scriptConfigPath, eventsConfig.toArray(new ScriptConfig[0]));
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} catch (IOException e) {
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e.printStackTrace();
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}
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}
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}
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static List<ScriptConfig> loadConfig() {
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try {
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var raw = JacksonHelper.deserializer(scriptConfigPath, ScriptConfig[].class);
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if (raw != null) {
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return List.of(raw);
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}
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} catch (IOException e) {
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e.printStackTrace();
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}
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return new ArrayList<>();
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}
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protected static void deleteConfig() {
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try {
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Files.delete(scriptConfigPath);
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} catch (IOException e) {
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//
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}
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}
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}
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public static void queueEvent(ScriptEventType eventType) {
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if (!Platform.getCurrentPlatform().isWindows()) {
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try {
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queuedEvents.putLast(eventType);
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Debug.printInfo("Queued event: " + eventType.name());
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} catch (InterruptedException e) {
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System.err.println("Failed to add event to queue: " + eventType.name());
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}
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}
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}
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}
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