mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
Move Java backend to properly named folder
This commit is contained in:
Banks Troutman
@@ -0,0 +1,25 @@
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package com.chameleonvision.util;
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import edu.wpi.cscore.VideoMode;
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import org.opencv.core.Scalar;
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import java.awt.*;
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import java.util.HashMap;
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import java.util.Map;
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public class Helpers {
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private Helpers() {
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}
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public static Scalar colorToScalar(Color color) {
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return new Scalar(color.getRed(), color.getGreen(), color.getBlue());
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}
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public static HashMap VideoModeToHashMap(VideoMode videoMode) {
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return new HashMap<String, Object>() {{
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put("width", videoMode.width);
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put("height", videoMode.height);
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put("fps", videoMode.fps);
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put("pixelFormat", videoMode.pixelFormat.toString());}};
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}
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}
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@@ -0,0 +1,30 @@
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package com.chameleonvision.util;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.fasterxml.jackson.databind.json.JsonMapper;
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import com.fasterxml.jackson.databind.jsontype.BasicPolymorphicTypeValidator;
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import com.fasterxml.jackson.databind.jsontype.PolymorphicTypeValidator;
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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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public class JacksonHelper {
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private JacksonHelper() {} // no construction, utility class
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public static <T> void serializer(Path path, T object) throws IOException {
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PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(object.getClass()).build();
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ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT).build();
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objectMapper.writerWithDefaultPrettyPrinter().writeValue(new File(path.toString()), object);
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}
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public static <T> T deserializer(Path path, Class<T> ref) throws IOException {
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PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(ref).build();
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ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT).build();
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File jsonFile = new File(path.toString());
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if (jsonFile.exists() && jsonFile.length() > 0) {
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return objectMapper.readValue(jsonFile, ref);
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}
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return null;
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}
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}
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@@ -0,0 +1,37 @@
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package com.chameleonvision.util;
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/**
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* A thread that tries to run at a specified loop time
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*/
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public abstract class LoopingRunnable implements Runnable {
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protected volatile Long loopTimeMs;
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protected abstract void process();
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public LoopingRunnable(Long loopTimeMs) {
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this.loopTimeMs = loopTimeMs;
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}
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@Override
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public void run() {
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while(!Thread.interrupted()) {
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var now = System.currentTimeMillis();
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// Do the thing
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process();
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// sleep for the remaining time
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var timeElapsed = System.currentTimeMillis() - now;
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var delta = loopTimeMs - timeElapsed;
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try {
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if(delta > 0.0) {
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Thread.sleep(delta, 0);
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} else {
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Thread.sleep(1);
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}
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} catch (Exception ignored) {}
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}
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}
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}
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@@ -0,0 +1,27 @@
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package com.chameleonvision.util;
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import java.lang.Math;
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import edu.wpi.first.wpiutil.math.Num;
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import org.apache.commons.math3.util.FastMath;
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public class MathHandler {
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MathHandler() {}
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public static double sigmoid(Number x){
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double bias = 0;
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double a = 5;
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double b = -0.05;
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double k = 200;
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if (x.doubleValue() < 50){
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bias = -1.338;
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}
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return ((k / (1 + Math.pow(Math.E,(a + (b * x.doubleValue()))))) + bias);
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}
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public static double toSlope(Number angle){
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return FastMath.atan(FastMath.toRadians(angle.doubleValue() - 90));
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}
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}
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@@ -0,0 +1,46 @@
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package com.chameleonvision.util;
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public class MemoryManager {
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private static final long MEGABYTE_FACTOR = 1024L * 1024L;
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private int collectionThreshold;
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private int lastUsedMb = 0;
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public MemoryManager(int collectionThreshold) {
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this.collectionThreshold = collectionThreshold;
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}
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public void setCollectionThreshold(int collectionThreshold) {
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this.collectionThreshold = collectionThreshold;
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}
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public static long getUsedMemory() {
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return Runtime.getRuntime().totalMemory() - Runtime.getRuntime().freeMemory();
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}
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public static int getUsedMemoryMB() {
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return (int) (getUsedMemory() / MEGABYTE_FACTOR);
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}
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private static void collect() {
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System.gc();
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System.runFinalization();
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}
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public void run() { run(false); }
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public void run(boolean print) {
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var usedMem = getUsedMemoryMB();
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if (usedMem != lastUsedMb) {
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lastUsedMb = usedMem;
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if (print) System.out.printf("Memory usage: %dMB\n", usedMem);
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}
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if (usedMem >= collectionThreshold) {
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collect();
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if (print) System.out.printf("Garbage collected at %dMB\n", usedMem);
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}
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}
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}
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@@ -0,0 +1,98 @@
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package com.chameleonvision.util;
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import java.io.BufferedReader;
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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.Paths;
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public enum Platform {
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WINDOWS_64("Windows x64"),
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LINUX_64("Linux x64"),
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LINUX_RASPBIAN("Linux Raspbian"),
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LINUX_ARM64("Linux ARM64"),
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MACOS_64("Mac OS x64"),
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UNSUPPORTED("Unsupported Platform");
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public final String value;
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Platform(String value) {
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this.value = value;
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}
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private static final String OS_NAME = System.getProperty("os.name");
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private static final String OS_ARCH = System.getProperty("os.arch");
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public static final Platform CurrentPlatform = getCurrentPlatform();
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public boolean isWindows() {
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return this == WINDOWS_64;
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}
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public boolean isLinux() {
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return this == LINUX_64 || this == LINUX_RASPBIAN || this == LINUX_ARM64;
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}
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public boolean isMac() {
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return this == MACOS_64;
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}
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private static ShellExec shell = new ShellExec(true, false);
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public boolean isRoot() {
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if (isLinux() || isMac()) {
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try {
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shell.execute("id", null, true, "-u");
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} catch (IOException e) {
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e.printStackTrace();
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}
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while (!shell.isOutputCompleted()) {
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// ignored
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}
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if (shell.getExitCode() == 0) {
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var out = shell.getOutput();
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out = out.split("\n")[0];
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return out.equals("0");
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}
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} else if (isWindows()) {
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return true;
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} else {
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return true;
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}
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return false;
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}
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private static boolean isRaspbian() {
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try (BufferedReader reader = Files.newBufferedReader(Paths.get("/etc/os-release"))) {
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String value = reader.readLine();
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return value.contains("Raspbian");
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} catch (IOException ex) {
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return false;
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}
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}
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public static Platform getCurrentPlatform() {
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if (OS_NAME.contains("Windows")) {
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if (OS_ARCH.equals("amd64")) return Platform.WINDOWS_64;
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}
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if (OS_NAME.contains("Linux")) {
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if (OS_ARCH.equals("amd64")) return Platform.LINUX_64;
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if (isRaspbian()) return Platform.LINUX_RASPBIAN;
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if (OS_ARCH.contains("aarch")) return Platform.LINUX_ARM64;
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}
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if (OS_NAME.contains("Mac")) {
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if (OS_ARCH.equals("amd64")) return Platform.MACOS_64;
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}
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System.out.printf("Unknown Platform! OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
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return Platform.UNSUPPORTED;
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}
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public String toString() {
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if (this.equals(UNSUPPORTED)) {
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return String.format("Unknown Platform. OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
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} else {
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return this.value;
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}
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}
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}
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@@ -0,0 +1,52 @@
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package com.chameleonvision.util;
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import java.io.File;
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import java.net.URISyntaxException;
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public class ProgramDirectoryUtilities
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{
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private static String getJarName()
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{
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return new File(ProgramDirectoryUtilities.class.getProtectionDomain()
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.getCodeSource()
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.getLocation()
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.getPath())
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.getName();
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}
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private static boolean runningFromJAR()
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{
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String jarName = getJarName();
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return jarName.contains(".jar");
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}
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public static String getProgramDirectory()
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{
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if (runningFromJAR())
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{
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return getCurrentJARDirectory();
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} else
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{
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return System.getProperty("user.dir");
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// return getCurrentProjectDirectory();
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}
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}
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private static String getCurrentProjectDirectory()
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{
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return new File("").getAbsolutePath();
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}
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private static String getCurrentJARDirectory()
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{
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try
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{
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return new File(ProgramDirectoryUtilities.class.getProtectionDomain().getCodeSource().getLocation().toURI().getPath()).getParent();
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} catch (URISyntaxException exception)
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{
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exception.printStackTrace();
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}
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return null;
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}
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}
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@@ -0,0 +1,151 @@
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package com.chameleonvision.util;
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import java.io.*;
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/**
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* Execute external process and optionally read output buffer.
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*/
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public class ShellExec {
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private int exitCode;
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private boolean readOutput, readError;
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private StreamGobbler errorGobbler, outputGobbler;
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public ShellExec() {
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this(false, false);
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}
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public ShellExec(boolean readOutput, boolean readError) {
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this.readOutput = readOutput;
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this.readError = readError;
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}
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/**
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* Execute a command in current folder, and wait for process to end
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* @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
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* @param args 0..n command line arguments
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* @return process exit code
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*/
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public int execute(String command, String... args) throws IOException {
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return execute(command, null, true, args);
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}
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/**
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* Execute a command.
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* @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh")
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* @param workdir working directory or NULL to use command folder
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* @param wait wait for process to end
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* @param args 0..n command line arguments
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* @return process exit code
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*/
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public int execute(String command, String workdir, boolean wait, String...args) throws IOException {
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String[] cmdArr;
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if (args != null && args.length > 0) {
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cmdArr = new String[1+args.length];
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cmdArr[0] = command;
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System.arraycopy(args, 0, cmdArr, 1, args.length);
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} else {
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cmdArr = new String[] { command };
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}
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ProcessBuilder pb = new ProcessBuilder(cmdArr);
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File workingDir = (workdir==null ? new File(command).getParentFile() : new File(workdir) );
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pb.directory(workingDir);
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Process process = pb.start();
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// Consume streams, older jvm's had a memory leak if streams were not read,
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// some other jvm+OS combinations may block unless streams are consumed.
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errorGobbler = new StreamGobbler(process.getErrorStream(), readError);
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outputGobbler = new StreamGobbler(process.getInputStream(), readOutput);
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errorGobbler.start();
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outputGobbler.start();
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exitCode = 0;
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if (wait) {
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try {
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process.waitFor();
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exitCode = process.exitValue();
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} catch (InterruptedException ignored) { }
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}
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return exitCode;
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}
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public int getExitCode() {
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return exitCode;
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}
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public boolean isOutputCompleted() {
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return (outputGobbler != null && outputGobbler.isCompleted());
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}
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public boolean isErrorCompleted() {
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return (errorGobbler != null && errorGobbler.isCompleted());
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}
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public String getOutput() {
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return (outputGobbler != null ? outputGobbler.getOutput() : null);
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}
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public String getError() {
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return (errorGobbler != null ? errorGobbler.getOutput() : null);
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}
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//********************************************
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//********************************************
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/**
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* StreamGobbler reads inputstream to "gobble" it.
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* This is used by Executor class when running
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* a commandline applications. Gobblers must read/purge
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* INSTR and ERRSTR process streams.
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* http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4
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*/
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@SuppressWarnings("WeakerAccess")
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private static class StreamGobbler extends Thread {
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private InputStream is;
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private StringBuilder output;
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private volatile boolean completed; // mark volatile to guarantee a thread safety
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public StreamGobbler(InputStream is, boolean readStream) {
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this.is = is;
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this.output = (readStream ? new StringBuilder(256) : null);
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}
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public void run() {
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completed = false;
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try {
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String NL = System.getProperty("line.separator", "\r\n");
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InputStreamReader isr = new InputStreamReader(is);
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BufferedReader br = new BufferedReader(isr);
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String line;
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while ( (line = br.readLine()) != null) {
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if (output != null)
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output.append(line).append(NL);
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}
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} catch (IOException ex) {
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// ex.printStackTrace();
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}
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completed = true;
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}
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/**
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* Get inputstream buffer or null if stream
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* was not consumed.
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* @return
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*/
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public String getOutput() {
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return (output != null ? output.toString() : null);
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}
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/**
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* Is input stream completed.
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* @return
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*/
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public boolean isCompleted() {
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return completed;
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}
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}
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}
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@@ -0,0 +1,40 @@
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package com.chameleonvision.util;
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import java.util.ArrayList;
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import java.util.List;
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public class Utilities {
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private Utilities() {}
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public static boolean isValidIPV4(final String ip) {
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String PATTERN = "^((0|1\\d?\\d?|2[0-4]?\\d?|25[0-5]?|[3-9]\\d?)\\.){3}(0|1\\d?\\d?|2[0-4]?\\d?|25[0-5]?|[3-9]\\d?)$";
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return ip.matches(PATTERN);
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}
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public static List<Byte> getDigitBytes(int num) {
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List<Byte> digits = new ArrayList<>();
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collectDigitBytes(num, digits);
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return digits;
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}
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private static void collectDigitBytes(int num, List<Byte> digits) {
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if (num / 10 > 0) {
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collectDigitBytes( num / 10, digits);
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}
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digits.add((byte) (num % 10));
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}
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public static List<Integer> getDigits(int num) {
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List<Integer> digits = new ArrayList<>();
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collectDigits(num, digits);
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return digits;
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}
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private static void collectDigits(int num, List<Integer> digits) {
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if(num / 10 > 0) {
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collectDigits(num / 10, digits);
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}
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digits.add(num % 10);
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}
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}
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Reference in New Issue
Block a user