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Pi startup fix (#923)

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This commit is contained in:
amquake
2023-09-27 18:37:27 -07:00
committed by GitHub
parent 43eefcf1c5
commit 3c85291610
5 changed files with 36 additions and 21 deletions
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14
photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java
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@@ -75,16 +75,23 @@ public class NetworkUtils {
}
}
public static ArrayList<NMDeviceInfo> getAllInterfaces() {
private static List<NMDeviceInfo> allInterfaces = new ArrayList<>();
private static long lastReadTimestamp = 0;
public static List<NMDeviceInfo> getAllInterfaces() {
long now = System.currentTimeMillis();
if (now - lastReadTimestamp < 5000) return allInterfaces;
else lastReadTimestamp = now;
var ret = new ArrayList<NMDeviceInfo>();
if (!Platform.isLinux()) {
// Can't determine interface name on Linux, give up
// Can only determine interface name on Linux, give up
return ret;
}
try {
var shell = new ShellExec(true, true);
var shell = new ShellExec(true, false);
shell.executeBashCommand(
"nmcli -t -f GENERAL.CONNECTION,GENERAL.DEVICE,GENERAL.TYPE device show");
String out = shell.getOutput();
@@ -103,6 +110,7 @@ public class NetworkUtils {
logger.debug("Found network interfaces:\n" + ret.toString());
allInterfaces = ret;
return ret;
}

33
photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
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@@ -199,26 +199,27 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
// We need to make sure that other threads don't try to do anything funny while we're recreating
// the camera
synchronized (LibCameraJNI.CAMERA_LOCK) {
boolean success = false;
if (m_initialized) {
success |= LibCameraJNI.stopCamera();
success |= LibCameraJNI.destroyCamera();
logger.debug("Stopping libcamera");
if (!LibCameraJNI.stopCamera()) {
logger.error("Couldn't stop a zero copy Pi Camera while switching video modes");
}
logger.debug("Destroying libcamera");
if (!LibCameraJNI.destroyCamera()) {
logger.error("Couldn't destroy a zero copy Pi Camera while switching video modes");
}
}
// if (!success) {
// throw new RuntimeException(
// "Couldn't destroy a zero copy Pi Camera while switching video modes");
// }
System.out.println("Starting camera");
success |=
LibCameraJNI.createCamera(
mode.width, mode.height, (m_rotationMode == ImageRotationMode.DEG_180 ? 180 : 0));
success |= LibCameraJNI.startCamera();
if (!success) {
throw new RuntimeException(
"Couldn't create a zero copy Pi Camera while switching video modes");
logger.debug("Creating libcamera");
if (!LibCameraJNI.createCamera(
mode.width, mode.height, (m_rotationMode == ImageRotationMode.DEG_180 ? 180 : 0))) {
logger.error("Couldn't create a zero copy Pi Camera while switching video modes");
}
logger.debug("Starting libcamera");
if (!LibCameraJNI.startCamera()) {
logger.error("Couldn't start a zero copy Pi Camera while switching video modes");
}
m_initialized = true;
}

2
photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
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@@ -326,7 +326,7 @@ public class VisionSourceManager {
List<CameraConfiguration> camConfigs) {
var cameraSources = new ArrayList<VisionSource>();
for (var configuration : camConfigs) {
System.out.println("Creating VisionSource for " + configuration);
logger.debug("Creating VisionSource for " + configuration);
// Picams should have csi-video in the path
boolean is_picam =

2
photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
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@@ -26,7 +26,7 @@ import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
import org.photonvision.vision.frame.FrameStaticProperties;
public abstract class VisionSourceSettables {
private static final Logger logger =
protected static final Logger logger =
new Logger(VisionSourceSettables.class, LogGroup.VisionModule);
private final CameraConfiguration configuration;

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

@@ -344,18 +344,23 @@ public class Main {
+ Platform.getPlatformName()
+ (Platform.isRaspberryPi() ? (" (Pi " + PiVersion.getPiVersion() + ")") : ""));
logger.debug("Loading ConfigManager...");
ConfigManager.getInstance().load(); // init config manager
ConfigManager.getInstance().requestSave();
logger.debug("Loading HardwareManager...");
// Force load the hardware manager
HardwareManager.getInstance();
logger.debug("Loading NetworkManager...");
NetworkManager.getInstance().reinitialize();
logger.debug("Loading NetworkTablesManager...");
NetworkTablesManager.getInstance()
.setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
if (!isTestMode) {
logger.debug("Loading VisionSourceManager...");
VisionSourceManager.getInstance()
.registerLoadedConfigs(
ConfigManager.getInstance().getConfig().getCameraConfigurations().values());
@@ -369,6 +374,7 @@ public class Main {
}
}
logger.info("Starting server...");
Server.start(DEFAULT_WEBPORT);
}
}