diff --git a/build.gradle b/build.gradle index 0fc3980b6..993f29246 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,6 @@ plugins { - id "com.diffplug.spotless" version "6.0.5" - id "com.github.johnrengelman.shadow" version "7.1.1" + id "com.diffplug.spotless" version "6.1.2" + id "com.github.johnrengelman.shadow" version "7.1.2" id "com.github.node-gradle.node" version "3.1.1" apply false id "edu.wpi.first.GradleJni" version "1.0.0" id "edu.wpi.first.GradleVsCode" version "1.1.0" diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java index 3b1f26e1a..d8b3d7699 100644 --- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java +++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java @@ -19,11 +19,11 @@ package org.photonvision.common.hardware.GPIO.pi; import java.util.HashMap; /** -* A class that defines the exceptions that can be thrown by Pigpio. -* -*

Credit to nkolban -* https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/PigpioException.java -*/ + * A class that defines the exceptions that can be thrown by Pigpio. + * + *

Credit to nkolban + * https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/PigpioException.java + */ @SuppressWarnings({"SpellCheckingInspection", "unused", "RedundantSuppression"}) public class PigpioException extends Exception { private int rc = -99999999; @@ -65,10 +65,10 @@ public class PigpioException extends Exception { } /** - * Retrieve the error code that was returned by the underlying Pigpio call. - * - * @return The error code that was returned by the underlying Pigpio call. - */ + * Retrieve the error code that was returned by the underlying Pigpio call. + * + * @return The error code that was returned by the underlying Pigpio call. + */ public int getErrorCode() { return rc; } // End of getErrorCode diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java index e0b7897c9..dd66bb073 100644 --- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java +++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java @@ -22,14 +22,14 @@ public class PigpioPulse { int delayMicros; /** - * Initialises a pulse. - * - * @param gpioOn GPIO number to switch on at the start of the pulse. If zero, then no GPIO will be - * switched on. - * @param gpioOff GPIO number to switch off at the start of the pulse. If zero, then no GPIO will - * be switched off. - * @param delayMicros the delay in microseconds before the next pulse. - */ + * Initialises a pulse. + * + * @param gpioOn GPIO number to switch on at the start of the pulse. If zero, then no GPIO will be + * switched on. + * @param gpioOff GPIO number to switch off at the start of the pulse. If zero, then no GPIO will + * be switched off. + * @param delayMicros the delay in microseconds before the next pulse. + */ public PigpioPulse(int gpioOn, int gpioOff, int delayMicros) { this.gpioOn = gpioOn != 0 ? 1 << gpioOn : 0; this.gpioOff = gpioOff != 0 ? 1 << gpioOff : 0; diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java index 35c5dd459..5a3e8afb5 100644 --- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java +++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java @@ -40,12 +40,12 @@ public class PigpioSocket { } /** - * Creates and starts a socket connection to a pigpio daemon on a remote host with the specified - * address and port - * - * @param addr Address of remote pigpio daemon - * @param port Port of remote pigpio daemon - */ + * Creates and starts a socket connection to a pigpio daemon on a remote host with the specified + * address and port + * + * @param addr Address of remote pigpio daemon + * @param port Port of remote pigpio daemon + */ public PigpioSocket(String addr, int port) { try { commandSocket = new PigpioSocketLock(addr, port); @@ -55,10 +55,10 @@ public class PigpioSocket { } /** - * Reconnects to the pigpio daemon - * - * @throws PigpioException on failure - */ + * Reconnects to the pigpio daemon + * + * @throws PigpioException on failure + */ public void reconnect() throws PigpioException { try { commandSocket.reconnect(); @@ -69,10 +69,10 @@ public class PigpioSocket { } /** - * Terminates the connection to the pigpio daemon - * - * @throws PigpioException on failure - */ + * Terminates the connection to the pigpio daemon + * + * @throws PigpioException on failure + */ public void gpioTerminate() throws PigpioException { try { commandSocket.terminate(); @@ -83,12 +83,12 @@ public class PigpioSocket { } /** - * Read the GPIO level - * - * @param pin Pin to read from - * @return Value of the pin - * @throws PigpioException on failure - */ + * Read the GPIO level + * + * @param pin Pin to read from + * @return Value of the pin + * @throws PigpioException on failure + */ public boolean gpioRead(int pin) throws PigpioException { try { int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_READ.value, pin); @@ -101,12 +101,12 @@ public class PigpioSocket { } /** - * Write the GPIO level - * - * @param pin Pin to write to - * @param value Value to write - * @throws PigpioException on failure - */ + * Write the GPIO level + * + * @param pin Pin to write to + * @param value Value to write + * @throws PigpioException on failure + */ public void gpioWrite(int pin, boolean value) throws PigpioException { try { int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WRITE.value, pin, value ? 1 : 0); @@ -118,10 +118,10 @@ public class PigpioSocket { } /** - * Clears all waveforms and any data added by calls to {@link #waveAddGeneric(ArrayList)} - * - * @throws PigpioException on failure - */ + * Clears all waveforms and any data added by calls to {@link #waveAddGeneric(ArrayList)} + * + * @throws PigpioException on failure + */ public void waveClear() throws PigpioException { try { int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVCLR.value); @@ -133,12 +133,12 @@ public class PigpioSocket { } /** - * Adds a number of pulses to the current waveform - * - * @param pulses ArrayList of pulses to add - * @return the new total number of pulses in the current waveform - * @throws PigpioException on failure - */ + * Adds a number of pulses to the current waveform + * + * @param pulses ArrayList of pulses to add + * @return the new total number of pulses in the current waveform + * @throws PigpioException on failure + */ private int waveAddGeneric(ArrayList pulses) throws PigpioException { // pigpio wave message format @@ -174,12 +174,12 @@ public class PigpioSocket { } /** - * Creates pulses and adds them to the current waveform - * - * @param pulseTimeMillis Pulse length in milliseconds - * @param blinks Number of times to pulse. -1 for repeat - * @param pinNo Pin to pulse - */ + * Creates pulses and adds them to the current waveform + * + * @param pulseTimeMillis Pulse length in milliseconds + * @param blinks Number of times to pulse. -1 for repeat + * @param pinNo Pin to pulse + */ private void addBlinkPulsesToWaveform(int pulseTimeMillis, int blinks, int pinNo) { boolean repeat = blinks == -1; @@ -207,13 +207,13 @@ public class PigpioSocket { } /** - * Generates and sends a waveform to the given pins with the specified parameters. - * - * @param pulseTimeMillis Pulse length in milliseconds - * @param blinks Number of times to pulse. -1 for repeat - * @param pins Pins to pulse - * @throws PigpioException on failure - */ + * Generates and sends a waveform to the given pins with the specified parameters. + * + * @param pulseTimeMillis Pulse length in milliseconds + * @param blinks Number of times to pulse. -1 for repeat + * @param pins Pins to pulse + * @throws PigpioException on failure + */ public void generateAndSendWaveform(int pulseTimeMillis, int blinks, int... pins) throws PigpioException { if (pins.length == 0) return; @@ -262,11 +262,11 @@ public class PigpioSocket { } /** - * Stops the transmission of the current waveform - * - * @return success - * @throws PigpioException on failure - */ + * Stops the transmission of the current waveform + * + * @return success + * @throws PigpioException on failure + */ public boolean waveTxStop() throws PigpioException { try { int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVHLT.value); @@ -279,12 +279,12 @@ public class PigpioSocket { } /** - * Creates a waveform from the data provided by the prior calls to {@link - * #waveAddGeneric(ArrayList)} Upon success a wave ID greater than or equal to 0 is returned - * - * @return ID of the created waveform - * @throws PigpioException on failure - */ + * Creates a waveform from the data provided by the prior calls to {@link + * #waveAddGeneric(ArrayList)} Upon success a wave ID greater than or equal to 0 is returned + * + * @return ID of the created waveform + * @throws PigpioException on failure + */ public int waveCreate() throws PigpioException { try { int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVCRE.value); @@ -297,11 +297,11 @@ public class PigpioSocket { } /** - * Deletes the waveform with specified wave ID - * - * @param waveId ID of the waveform to delete - * @throws PigpioException on failure - */ + * Deletes the waveform with specified wave ID + * + * @param waveId ID of the waveform to delete + * @throws PigpioException on failure + */ public void waveDelete(int waveId) throws PigpioException { try { int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVDEL.value, waveId); @@ -313,12 +313,12 @@ public class PigpioSocket { } /** - * Transmits the waveform with specified wave ID. The waveform is sent once - * - * @param waveId ID of the waveform to transmit - * @return The number of DMA control blocks in the waveform - * @throws PigpioException on failure - */ + * Transmits the waveform with specified wave ID. The waveform is sent once + * + * @param waveId ID of the waveform to transmit + * @return The number of DMA control blocks in the waveform + * @throws PigpioException on failure + */ public int waveSendOnce(int waveId) throws PigpioException { try { int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVTX.value, waveId); @@ -330,13 +330,13 @@ public class PigpioSocket { } /** - * Transmits the waveform with specified wave ID. The waveform cycles until cancelled (either by - * the sending of a new waveform or {@link #waveTxStop()} - * - * @param waveId ID of the waveform to transmit - * @return The number of DMA control blocks in the waveform - * @throws PigpioException on failure - */ + * Transmits the waveform with specified wave ID. The waveform cycles until cancelled (either by + * the sending of a new waveform or {@link #waveTxStop()} + * + * @param waveId ID of the waveform to transmit + * @return The number of DMA control blocks in the waveform + * @throws PigpioException on failure + */ public int waveSendRepeat(int waveId) throws PigpioException { try { int retCode = commandSocket.sendCmd(PigpioCommand.PCMD_WVTXR.value, waveId); @@ -348,14 +348,14 @@ public class PigpioSocket { } /** - * Starts hardware PWM on a GPIO at the specified frequency and dutycycle - * - * @param pin GPIO pin to start PWM on - * @param pwmFrequency Frequency to run at (1Hz-125MHz). Frequencies above 30MHz are unlikely to - * work - * @param pwmDuty Duty cycle to run at (0-1,000,000) - * @throws PigpioException on failure - */ + * Starts hardware PWM on a GPIO at the specified frequency and dutycycle + * + * @param pin GPIO pin to start PWM on + * @param pwmFrequency Frequency to run at (1Hz-125MHz). Frequencies above 30MHz are unlikely to + * work + * @param pwmDuty Duty cycle to run at (0-1,000,000) + * @throws PigpioException on failure + */ public void hardwarePWM(int pin, int pwmFrequency, int pwmDuty) throws PigpioException { try { ByteBuffer bb = ByteBuffer.allocate(4); diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java index 528e77240..ec6fde58f 100644 --- a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java +++ b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java @@ -23,9 +23,9 @@ import java.net.Socket; import java.nio.ByteBuffer; /** -* Credit to nkolban -* https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/SocketLock.java -*/ + * Credit to nkolban + * https://github.com/nkolban/jpigpio/blob/master/JPigpio/src/jpigpio/SocketLock.java + */ final class PigpioSocketLock { private static final int replyTimeoutMillis = 1000; @@ -81,16 +81,16 @@ final class PigpioSocketLock { } /** - * Send extended command to pigpiod and return result code - * - * @param cmd Command to send - * @param p1 Command parameter 1 - * @param p2 Command parameter 2 - * @param p3 Command parameter 3 (usually length of extended data - see paramater ext) - * @param ext Array of bytes containing extended data - * @return Command result code - * @throws IOException in case of network connection error - */ + * Send extended command to pigpiod and return result code + * + * @param cmd Command to send + * @param p1 Command parameter 1 + * @param p2 Command parameter 2 + * @param p3 Command parameter 3 (usually length of extended data - see paramater ext) + * @param ext Array of bytes containing extended data + * @return Command result code + * @throws IOException in case of network connection error + */ @SuppressWarnings("UnusedAssignment") public synchronized int sendCmd(int cmd, int p1, int p2, int p3, byte[] ext) throws IOException { ByteBuffer bb = ByteBuffer.allocate(16 + ext.length); @@ -135,11 +135,11 @@ final class PigpioSocketLock { } /** - * Read all remaining bytes coming from pigpiod - * - * @param data Array to store read bytes. - * @throws IOException if unable to read from network - */ + * Read all remaining bytes coming from pigpiod + * + * @param data Array to store read bytes. + * @throws IOException if unable to read from network + */ public void readBytes(byte[] data) throws IOException { in.readFully(data); } diff --git a/photon-core/src/main/java/org/photonvision/common/logging/Logger.java b/photon-core/src/main/java/org/photonvision/common/logging/Logger.java index d6cb0c445..07c3d358b 100644 --- a/photon-core/src/main/java/org/photonvision/common/logging/Logger.java +++ b/photon-core/src/main/java/org/photonvision/common/logging/Logger.java @@ -232,12 +232,12 @@ public class Logger { } /** - * Logs an error message with the stack trace of a Throwable. The stacktrace will only be printed - * if the current LogLevel is TRACE - * - * @param message - * @param t - */ + * Logs an error message with the stack trace of a Throwable. The stacktrace will only be printed + * if the current LogLevel is TRACE + * + * @param message + * @param t + */ public void error(String message, Throwable t) { log(message, LogLevel.ERROR); log(convertStackTraceToString(t), LogLevel.ERROR, LogLevel.DEBUG); diff --git a/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java b/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java index a0e5079be..c48300d2b 100644 --- a/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java +++ b/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java @@ -43,12 +43,12 @@ public class ShellExec { } /** - * Execute a bash command. We can handle complex bash commands including multiple executions (; | - * and ||), quotes, expansions ($), escapes (\), e.g.: "cd /abc/def; mv ghi 'older ghi '$(whoami)" - * - * @param command Bash command to execute - * @return true if bash got started, but your command may have failed. - */ + * Execute a bash command. We can handle complex bash commands including multiple executions (; | + * and ||), quotes, expansions ($), escapes (\), e.g.: "cd /abc/def; mv ghi 'older ghi '$(whoami)" + * + * @param command Bash command to execute + * @return true if bash got started, but your command may have failed. + */ public int executeBashCommand(String command, boolean wait) throws IOException { logger.debug("Executing \"" + command + "\""); @@ -71,25 +71,25 @@ public class ShellExec { } /** - * Execute a command in current folder, and wait for process to end - * - * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh") - * @param args 0..n command line arguments - * @return process exit code - */ + * Execute a command in current folder, and wait for process to end + * + * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh") + * @param args 0..n command line arguments + * @return process exit code + */ public int execute(String command, String... args) throws IOException { return execute(command, null, true, args); } /** - * Execute a command. - * - * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh") - * @param workdir working directory or NULL to use command folder - * @param wait wait for process to end - * @param args 0..n command line arguments - * @return process exit code - */ + * Execute a command. + * + * @param command command ("c:/some/folder/script.bat" or "some/folder/script.sh") + * @param workdir working directory or NULL to use command folder + * @param wait wait for process to end + * @param args 0..n command line arguments + * @return process exit code + */ public int execute(String command, String workdir, boolean wait, String... args) throws IOException { String[] cmdArr; @@ -153,10 +153,10 @@ public class ShellExec { // ******************************************** /** - * StreamGobbler reads inputstream to "gobble" it. This is used by Executor class when running a - * commandline applications. Gobblers must read/purge INSTR and ERRSTR process streams. - * http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4 - */ + * StreamGobbler reads inputstream to "gobble" it. This is used by Executor class when running a + * commandline applications. Gobblers must read/purge INSTR and ERRSTR process streams. + * http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4 + */ @SuppressWarnings("WeakerAccess") private static class StreamGobbler extends Thread { private InputStream is; @@ -186,19 +186,19 @@ public class ShellExec { } /** - * Get inputstream buffer or null if stream was not consumed. - * - * @return Output stream - */ + * Get inputstream buffer or null if stream was not consumed. + * + * @return Output stream + */ public String getOutput() { return (output != null ? output.toString() : null); } /** - * Is input stream completed. - * - * @return if input stream is completed - */ + * Is input stream completed. + * + * @return if input stream is completed + */ public boolean isCompleted() { return completed; } diff --git a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java index 12d4eda26..66ca7eb7f 100644 --- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java +++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java @@ -64,13 +64,13 @@ public class MathUtils { } /** - * Linearly interpolates between two values. - * - * @param startValue The start value. - * @param endValue The end value. - * @param t The fraction for interpolation. - * @return The interpolated value. - */ + * Linearly interpolates between two values. + * + * @param startValue The start value. + * @param endValue The end value. + * @param t The fraction for interpolation. + * @return The interpolated value. + */ @SuppressWarnings("ParameterName") public static double lerp(double startValue, double endValue, double t) { return startValue + (endValue - startValue) * t; diff --git a/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java b/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java index 3d724e350..b25314aff 100644 --- a/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java +++ b/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java @@ -25,9 +25,9 @@ import java.util.StringJoiner; @SuppressWarnings("unused") public class NumberListUtils { /** - * @param collection an ArrayList of Comparable objects - * @return the median of collection - */ + * @param collection an ArrayList of Comparable objects + * @return the median of collection + */ public static double median(List collection, Comparator comp) { double result; int n = collection.size() / 2; @@ -57,9 +57,9 @@ public class NumberListUtils { } /** - * @param collection an ArrayList of Numbers - * @return the mean of collection - */ + * @param collection an ArrayList of Numbers + * @return the mean of collection + */ public static double mean(final List collection) { BigDecimal sum = BigDecimal.ZERO; for (final Number number : collection) { @@ -69,11 +69,11 @@ public class NumberListUtils { } /** - * @param collection a collection of Comparable objects - * @param n the position of the desired object, using the ordering defined on the collection - * elements - * @return the nth smallest object - */ + * @param collection a collection of Comparable objects + * @param n the position of the desired object, using the ordering defined on the collection + * elements + * @return the nth smallest object + */ public static T nthSmallest(List collection, int n, Comparator comp) { T result, pivot; ArrayList underPivot = new ArrayList<>(), diff --git a/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java b/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java index c5fad364e..91c2be35c 100644 --- a/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java +++ b/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java @@ -116,18 +116,18 @@ public class PicamJNI { // Everything here is static because multiple picams are unsupported at the hardware level /** - * Called once for each video mode change. Starts a native thread running MMAL that stays alive - * until destroyCamera is called. - * - * @return true on error. - */ + * Called once for each video mode change. Starts a native thread running MMAL that stays alive + * until destroyCamera is called. + * + * @return true on error. + */ public static native boolean createCamera(int width, int height, int fps); /** - * Destroys MMAL and EGL contexts. Called once for each video mode change *before* createCamera. - * - * @return true on error. - */ + * Destroys MMAL and EGL contexts. Called once for each video mode change *before* createCamera. + * + * @return true on error. + */ public static native boolean destroyCamera(); public static native void setThresholds( diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java index a4e2da954..f987a74c4 100644 --- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java +++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java @@ -42,24 +42,24 @@ public class QuirkyCamera { public final HashMap quirks; /** - * Creates a QuirkyCamera that matches by USB VID/PID - * - * @param usbVid USB VID of camera - * @param usbPid USB PID of camera - * @param quirks Camera quirks - */ + * Creates a QuirkyCamera that matches by USB VID/PID + * + * @param usbVid USB VID of camera + * @param usbPid USB PID of camera + * @param quirks Camera quirks + */ private QuirkyCamera(int usbVid, int usbPid, CameraQuirk... quirks) { this(usbVid, usbPid, "", quirks); } /** - * Creates a QuirkyCamera that matches by USB VID/PID and name - * - * @param usbVid USB VID of camera - * @param usbPid USB PID of camera - * @param baseName CSCore name of camera - * @param quirks Camera quirks - */ + * Creates a QuirkyCamera that matches by USB VID/PID and name + * + * @param usbVid USB VID of camera + * @param usbPid USB PID of camera + * @param baseName CSCore name of camera + * @param quirks Camera quirks + */ private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk... quirks) { this.usbVid = usbVid; this.usbPid = usbPid; diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java index 4e30a786e..5239e84b1 100644 --- a/photon-core/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java +++ b/photon-core/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java @@ -56,13 +56,13 @@ public class ZeroCopyPicamSource extends VisionSource { } /** - * On the OV5649 the actual FPS we want to request from the GPU can be higher than the FPS that we - * can do after processing. On the IMX219 these FPSes match pretty closely, except for the - * 1280x720 mode. We use this to present a rated FPS to the user that's lower than the actual FPS - * we request from the GPU. This is important for setting user expectations, and is also used by - * the frontend to detect and explain FPS drops. This class should ONLY be used by Picam video - * modes! This is to make sure it shows up nice in the frontend - */ + * On the OV5649 the actual FPS we want to request from the GPU can be higher than the FPS that we + * can do after processing. On the IMX219 these FPSes match pretty closely, except for the + * 1280x720 mode. We use this to present a rated FPS to the user that's lower than the actual FPS + * we request from the GPU. This is important for setting user expectations, and is also used by + * the frontend to detect and explain FPS drops. This class should ONLY be used by Picam video + * modes! This is to make sure it shows up nice in the frontend + */ public static class FPSRatedVideoMode extends VideoMode { public final int fpsActual; public final double fovMultiplier; diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java b/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java index 0324e44a4..aa9e52c7b 100644 --- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java +++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java @@ -37,23 +37,23 @@ public class FrameStaticProperties { public CameraCalibrationCoefficients cameraCalibration; /** - * Instantiates a new Frame static properties. - * - * @param mode The Video Mode of the camera. - * @param fov The fov of the image. - */ + * Instantiates a new Frame static properties. + * + * @param mode The Video Mode of the camera. + * @param fov The fov of the image. + */ public FrameStaticProperties( VideoMode mode, double fov, Rotation2d cameraPitch, CameraCalibrationCoefficients cal) { this(mode != null ? mode.width : 1, mode != null ? mode.height : 1, fov, cameraPitch, cal); } /** - * Instantiates a new Frame static properties. - * - * @param imageWidth The width of the image. - * @param imageHeight The width of the image. - * @param fov The fov of the image. - */ + * Instantiates a new Frame static properties. + * + * @param imageWidth The width of the image. + * @param imageHeight The width of the image. + * @param fov The fov of the image. + */ public FrameStaticProperties( int imageWidth, int imageHeight, diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java index f31855674..99d60f014 100644 --- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java +++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java @@ -29,9 +29,9 @@ import org.photonvision.vision.frame.FrameStaticProperties; import org.photonvision.vision.opencv.CVMat; /** -* A {@link FrameProvider} that will read and provide an image from a {@link java.nio.file.Path -* path}. -*/ + * A {@link FrameProvider} that will read and provide an image from a {@link java.nio.file.Path + * path}. + */ public class FileFrameProvider implements FrameProvider { public static final int MAX_FPS = 120; private static int count = 0; @@ -46,12 +46,12 @@ public class FileFrameProvider implements FrameProvider { private long lastGetMillis = System.currentTimeMillis(); /** - * Instantiates a new FileFrameProvider. - * - * @param path The path of the image to read from. - * @param fov The fov of the image. - * @param maxFPS The max framerate to provide the image at. - */ + * Instantiates a new FileFrameProvider. + * + * @param path The path of the image to read from. + * @param fov The fov of the image. + * @param maxFPS The max framerate to provide the image at. + */ public FileFrameProvider(Path path, double fov, int maxFPS) { this(path, fov, maxFPS, null, null); } @@ -83,21 +83,21 @@ public class FileFrameProvider implements FrameProvider { } /** - * Instantiates a new File frame provider. - * - * @param pathAsString The path of the image to read from as a string. - * @param fov The fov of the image. - */ + * Instantiates a new File frame provider. + * + * @param pathAsString The path of the image to read from as a string. + * @param fov The fov of the image. + */ public FileFrameProvider(String pathAsString, double fov) { this(Paths.get(pathAsString), fov, MAX_FPS); } /** - * Instantiates a new File frame provider. - * - * @param path The path of the image to read from. - * @param fov The fov of the image. - */ + * Instantiates a new File frame provider. + * + * @param path The path of the image to read from. + * @param fov The fov of the image. + */ public FileFrameProvider(Path path, double fov) { this(path, fov, MAX_FPS); } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java index c02604230..234abdef0 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java @@ -17,13 +17,13 @@ package org.photonvision.vision.pipe; /** -* Defines a pipe. A pipe is a single step in a pipeline. This class is to be extended, never used -* on its own. -* -* @param Input type for the pipe -* @param Output type for the pipe -* @param

Parameters type for the pipe -*/ + * Defines a pipe. A pipe is a single step in a pipeline. This class is to be extended, never used + * on its own. + * + * @param Input type for the pipe + * @param Output type for the pipe + * @param

Parameters type for the pipe + */ public abstract class CVPipe { protected CVPipeResult result = new CVPipeResult<>(); protected P params; @@ -33,17 +33,17 @@ public abstract class CVPipe { } /** - * Runs the process for the pipe. - * - * @param in Input for pipe processing. - * @return Result of processing. - */ + * Runs the process for the pipe. + * + * @param in Input for pipe processing. + * @return Result of processing. + */ protected abstract O process(I in); /** - * @param in Input for pipe processing. - * @return Result of processing. - */ + * @param in Input for pipe processing. + * @return Result of processing. + */ public CVPipeResult run(I in) { long pipeStartNanos = System.nanoTime(); result.output = process(in); diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/BlurPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/BlurPipe.java index 696f70c5a..2ec314f5f 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/BlurPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/BlurPipe.java @@ -24,11 +24,11 @@ import org.photonvision.vision.pipe.MutatingPipe; /** Represents a pipeline that blurs the image. */ public class BlurPipe extends MutatingPipe { /** - * Processes this pipe. - * - * @param in Input for pipe processing. - * @return The processed frame. - */ + * Processes this pipe. + * + * @param in Input for pipe processing. + * @return The processed frame. + */ @Override protected Void process(Mat in) { Imgproc.blur(in, in, params.getBlurSize()); @@ -43,19 +43,19 @@ public class BlurPipe extends MutatingPipe { private final int m_blurSize; /** - * Constructs a new BlurImageParams. - * - * @param blurSize The blur size. - */ + * Constructs a new BlurImageParams. + * + * @param blurSize The blur size. + */ public BlurParams(int blurSize) { m_blurSize = blurSize; } /** - * Returns the blur size. - * - * @return The blur size. - */ + * Returns the blur size. + * + * @return The blur size. + */ public Size getBlurSize() { return new Size(m_blurSize, m_blurSize); } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java index f23aac210..cd05ed34b 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java @@ -60,11 +60,11 @@ public class Calibrate3dPipe private double calibrationAccuracy; /** - * Runs the process for the pipe. - * - * @param in Input for pipe processing. In the format (Input image, object points, image points) - * @return Result of processing. - */ + * Runs the process for the pipe. + * + * @param in Input for pipe processing. In the format (Input image, object points, image points) + * @return Result of processing. + */ @Override protected CameraCalibrationCoefficients process(List> in) { in = diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Collect2dTargetsPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Collect2dTargetsPipe.java index 9f7264fc3..ce5cebbba 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Collect2dTargetsPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Collect2dTargetsPipe.java @@ -29,11 +29,11 @@ public class Collect2dTargetsPipe extends CVPipe< List, List, Collect2dTargetsPipe.Collect2dTargetsParams> { /** - * Processes this pipeline. - * - * @param in Input for pipe processing. - * @return A list of tracked targets. - */ + * Processes this pipeline. + * + * @param in Input for pipe processing. + * @return A list of tracked targets. + */ @Override protected List process(List in) { List targets = new ArrayList<>(); diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java index 21098412c..564f3a7ff 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java @@ -59,9 +59,9 @@ public class CornerDetectionPipe } /** - * @param target the target to find the corners of. - * @return the corners. left top, left bottom, right bottom, right top - */ + * @param target the target to find the corners of. + * @return the corners. left top, left bottom, right bottom, right top + */ private List findBoundingBoxCorners(TrackedTarget target) { // extract the corners var points = new Point[4]; @@ -88,30 +88,30 @@ public class CornerDetectionPipe } /** - * @param a First point. - * @param b Second point. - * @return The straight line distance between them. - */ + * @param a First point. + * @param b Second point. + * @return The straight line distance between them. + */ private static double distanceBetween(Point a, Point b) { return Math.sqrt(Math.pow(a.x - b.x, 2) + Math.pow(a.y - b.y, 2)); } /** - * @param a First point. - * @param b Second point. - * @return The straight line distance between them. - */ + * @param a First point. + * @param b Second point. + * @return The straight line distance between them. + */ private static double distanceBetween(Translation2d a, Translation2d b) { return Math.sqrt(Math.pow(a.getX() - b.getX(), 2) + Math.pow(a.getY() - b.getY(), 2)); } /** - * Find the 4 most extreme corners, - * - * @param target the target to track. - * @param convexHull weather to use the convex hull of the target. - * @return the 4 extreme corners of the contour. - */ + * Find the 4 most extreme corners, + * + * @param target the target to track. + * @param convexHull weather to use the convex hull of the target. + * @return the 4 extreme corners of the contour. + */ private List detectExtremeCornersByApproxPolyDp(TrackedTarget target, boolean convexHull) { var centroid = target.getMinAreaRect().center; Comparator distanceProvider = diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterShapesPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterShapesPipe.java index 9784930ef..0effe71b9 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterShapesPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterShapesPipe.java @@ -28,11 +28,11 @@ public class FilterShapesPipe List outputList = new ArrayList<>(); /** - * Runs the process for the pipe. - * - * @param in Input for pipe processing. - * @return Result of processing. - */ + * Runs the process for the pipe. + * + * @param in Input for pipe processing. + * @return Result of processing. + */ @Override protected List process(List in) { outputList.forEach(CVShape::release); diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java index 6e2109d14..23fcf6a15 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java @@ -109,11 +109,11 @@ public class FindBoardCornersPipe } /** - * Finds the corners in a given image and returns them - * - * @param in Input for pipe processing. Pair of input and output mat - * @return All valid Mats for camera calibration - */ + * Finds the corners in a given image and returns them + * + * @param in Input for pipe processing. Pair of input and output mat + * @return All valid Mats for camera calibration + */ @Override protected Triple process(Pair in) { // Create the object points @@ -123,12 +123,12 @@ public class FindBoardCornersPipe } /** - * Figures out how much a frame or point cloud must be scaled down by to match the desired size at - * which to run FindCorners - * - * @param inFrame - * @return - */ + * Figures out how much a frame or point cloud must be scaled down by to match the desired size at + * which to run FindCorners + * + * @param inFrame + * @return + */ private double getFindCornersScaleFactor(Mat inFrame) { if (inFrame.width() > FIND_CORNERS_WIDTH_PX) { return ((double) FIND_CORNERS_WIDTH_PX) / inFrame.width(); @@ -138,21 +138,21 @@ public class FindBoardCornersPipe } /** - * Finds the minimum spacing between a set of x/y points Currently only considers points whose - * index is next to each other Which, currently, means it traverses one dimension. This is a rough - * heuristic approach which could be refined in the future. - * - *

Note that the current implementation can be fooled under the following conditions: (1) The - * width of the image is an odd number, and the smallest distance was actually on the between the - * last two points in a given row and (2) The smallest distance was actually in the direction - * orthogonal to that which was getting traversed by iterating through the MatOfPoint2f in order. - * - *

I've chosen not to handle these for speed's sake, and because, really, you don't need the - * exact answer for "min distance". you just need something fairly reasonable. - * - * @param inPoints point set to analyze. Must be a "tall" matrix. - * @return min spacing between neighbors - */ + * Finds the minimum spacing between a set of x/y points Currently only considers points whose + * index is next to each other Which, currently, means it traverses one dimension. This is a rough + * heuristic approach which could be refined in the future. + * + *

Note that the current implementation can be fooled under the following conditions: (1) The + * width of the image is an odd number, and the smallest distance was actually on the between the + * last two points in a given row and (2) The smallest distance was actually in the direction + * orthogonal to that which was getting traversed by iterating through the MatOfPoint2f in order. + * + *

I've chosen not to handle these for speed's sake, and because, really, you don't need the + * exact answer for "min distance". you just need something fairly reasonable. + * + * @param inPoints point set to analyze. Must be a "tall" matrix. + * @return min spacing between neighbors + */ private double getApproxMinSpacing(MatOfPoint2f inPoints) { double minSpacing = Double.MAX_VALUE; for (int pointIdx = 0; pointIdx < inPoints.height() - 1; pointIdx += 2) { @@ -169,24 +169,24 @@ public class FindBoardCornersPipe } /** - * @param inFrame Full-size mat that is going to get scaled down before passing to - * findBoardCorners - * @return the size to scale the input mat to - */ + * @param inFrame Full-size mat that is going to get scaled down before passing to + * findBoardCorners + * @return the size to scale the input mat to + */ private Size getFindCornersImgSize(Mat inFrame) { var findcorners_height = Math.round(inFrame.height() * getFindCornersScaleFactor(inFrame)); return new Size(FIND_CORNERS_WIDTH_PX, findcorners_height); } /** - * Given an input frame and a set of points from the "smaller" findChessboardCorner analysis, - * re-scale the points back to where they would have been in the input frame - * - * @param inPoints set of points derived from a call to findChessboardCorner on a shrunken mat. - * Must be a "tall" matrix. - * @param origFrame Original frame we're rescaling points back to - * @param outPoints mat into which the output rescaled points get placed - */ + * Given an input frame and a set of points from the "smaller" findChessboardCorner analysis, + * re-scale the points back to where they would have been in the input frame + * + * @param inPoints set of points derived from a call to findChessboardCorner on a shrunken mat. + * Must be a "tall" matrix. + * @param origFrame Original frame we're rescaling points back to + * @param outPoints mat into which the output rescaled points get placed + */ private void rescalePointsToOrigFrame( MatOfPoint2f inPoints, Mat origFrame, MatOfPoint2f outPoints) { // Rescale boardCorners back up to the inproc image size @@ -202,12 +202,12 @@ public class FindBoardCornersPipe } /** - * Picks a window size for doing subpixel optimization based on the board type and spacing - * observed between the corners or points in the image - * - * @param inPoints - * @return - */ + * Picks a window size for doing subpixel optimization based on the board type and spacing + * observed between the corners or points in the image + * + * @param inPoints + * @return + */ private Size getWindowSize(MatOfPoint2f inPoints) { double windowHalfWidth = 11; // Dot board uses fixed-size window half-width if (params.type == UICalibrationData.BoardType.CHESSBOARD) { @@ -219,10 +219,10 @@ public class FindBoardCornersPipe } /** - * Find chessboard corners given a input mat and output mat to draw on - * - * @return Frame resolution, object points, board corners - */ + * Find chessboard corners given a input mat and output mat to draw on + * + * @return Frame resolution, object points, board corners + */ private Triple findBoardCorners(Pair in) { createObjectPoints(); diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java index 36283a9c6..cdc5a746f 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java @@ -33,15 +33,15 @@ public class FindCirclesPipe // (x,y,radius) or (x,y,radius,votes) . private final Mat circles = new Mat(); /** - * Runs the process for the pipe. The reason we need a separate pipe for circles is because if we - * were to use the FindShapes pipe, we would have to assume that any shape more than 10-20+ sides - * is a circle. Only issue with such approximation is that the user would no longer be able to - * track shapes with 10-20+ sides. And hence, in order to overcome this edge case, we can use - * HoughCircles which is more flexible and accurate for finding circles. - * - * @param in Input for pipe processing. 8-bit, single-channel, grayscale input image. - * @return Result of processing. - */ + * Runs the process for the pipe. The reason we need a separate pipe for circles is because if we + * were to use the FindShapes pipe, we would have to assume that any shape more than 10-20+ sides + * is a circle. Only issue with such approximation is that the user would no longer be able to + * track shapes with 10-20+ sides. And hence, in order to overcome this edge case, we can use + * HoughCircles which is more flexible and accurate for finding circles. + * + * @param in Input for pipe processing. 8-bit, single-channel, grayscale input image. + * @return Result of processing. + */ @Override protected List process(Pair> in) { circles.release(); @@ -115,16 +115,16 @@ public class FindCirclesPipe private final double diagonalLengthPx; /* - * @params minDist - Minimum distance between the centers of the detected circles. - * If the parameter is too small, multiple neighbor circles may be falsely detected in addition to a true one. If it is too large, some circles may be missed. - * - * @param maxCannyThresh -First method-specific parameter. In case of #HOUGH_GRADIENT and #HOUGH_GRADIENT_ALT, it is the higher threshold of the two passed to the Canny edge detector (the lower one is twice smaller). - * Note that #HOUGH_GRADIENT_ALT uses #Scharr algorithm to compute image derivatives, so the threshold value shough normally be higher, such as 300 or normally exposed and contrasty images. - * - * - * @param allowableThreshold - When finding the corresponding contour, this is used to see how close a center should be to a contour for it to be considered THAT contour. - * Should be increased with lower resolutions and decreased with higher resolution - * */ + * @params minDist - Minimum distance between the centers of the detected circles. + * If the parameter is too small, multiple neighbor circles may be falsely detected in addition to a true one. If it is too large, some circles may be missed. + * + * @param maxCannyThresh -First method-specific parameter. In case of #HOUGH_GRADIENT and #HOUGH_GRADIENT_ALT, it is the higher threshold of the two passed to the Canny edge detector (the lower one is twice smaller). + * Note that #HOUGH_GRADIENT_ALT uses #Scharr algorithm to compute image derivatives, so the threshold value shough normally be higher, such as 300 or normally exposed and contrasty images. + * + * + * @param allowableThreshold - When finding the corresponding contour, this is used to see how close a center should be to a contour for it to be considered THAT contour. + * Should be increased with lower resolutions and decreased with higher resolution + * */ public FindCirclePipeParams( int allowableThreshold, int minRadius, diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java index 8ee392f8e..a40fc1010 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java @@ -30,11 +30,11 @@ public class FindPolygonPipe List shapeList = new ArrayList<>(); /* - * Runs the process for the pipe. - * - * @param in Input for pipe processing. - * @return Result of processing. - */ + * Runs the process for the pipe. + * + * @param in Input for pipe processing. + * @return Result of processing. + */ @Override protected List process(List in) { shapeList.forEach(CVShape::release); diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ResizeImagePipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ResizeImagePipe.java index 227174815..84a7844a0 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ResizeImagePipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ResizeImagePipe.java @@ -25,10 +25,10 @@ import org.photonvision.vision.pipe.MutatingPipe; /** Pipe that resizes an image to a given resolution */ public class ResizeImagePipe extends MutatingPipe { /** - * Process this pipe - * - * @param in {@link Mat} to be resized - */ + * Process this pipe + * + * @param in {@link Mat} to be resized + */ @Override protected Void process(Mat in) { int width = in.cols() / params.getDivisor().value; diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/RotateImagePipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/RotateImagePipe.java index 8fa7a471f..0efdca560 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/RotateImagePipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/RotateImagePipe.java @@ -32,11 +32,11 @@ public class RotateImagePipe extends MutatingPipe - *
- * Used only when switching from any of the built-in pipelines back to a user-created pipeline. - */ + * Index of the last active user-created pipeline.
+ *
+ * Used only when switching from any of the built-in pipelines back to a user-created pipeline. + */ private int lastPipelineIndex; /** - * Creates a PipelineManager with a DriverModePipeline, a Calibration3dPipeline, and all provided - * pipelines. - * - * @param userPipelines Pipelines to add to the manager. - */ + * Creates a PipelineManager with a DriverModePipeline, a Calibration3dPipeline, and all provided + * pipelines. + * + * @param userPipelines Pipelines to add to the manager. + */ public PipelineManager( DriverModePipelineSettings driverSettings, List userPipelines) { this.userPipelineSettings = new ArrayList<>(userPipelines); @@ -70,11 +70,11 @@ public class PipelineManager { } /** - * Get the settings for a pipeline by index. - * - * @param index Index of pipeline whose settings need getting. - * @return The gotten settings of the pipeline whose index was provided. - */ + * Get the settings for a pipeline by index. + * + * @param index Index of pipeline whose settings need getting. + * @return The gotten settings of the pipeline whose index was provided. + */ public CVPipelineSettings getPipelineSettings(int index) { if (index < 0) { switch (index) { @@ -92,10 +92,10 @@ public class PipelineManager { } /** - * Gets a list of nicknames for all user pipelines - * - * @return The list of nicknames for all user pipelines - */ + * Gets a list of nicknames for all user pipelines + * + * @return The list of nicknames for all user pipelines + */ public List getPipelineNicknames() { List ret = new ArrayList<>(); for (var p : userPipelineSettings) { @@ -105,19 +105,19 @@ public class PipelineManager { } /** - * Gets the index of the currently active pipeline - * - * @return The index of the currently active pipeline - */ + * Gets the index of the currently active pipeline + * + * @return The index of the currently active pipeline + */ public int getCurrentPipelineIndex() { return currentPipelineIndex; } /** - * Get the currently active pipeline. - * - * @return The currently active pipeline. - */ + * Get the currently active pipeline. + * + * @return The currently active pipeline. + */ public CVPipeline getCurrentUserPipeline() { if (currentPipelineIndex < 0) { switch (currentPipelineIndex) { @@ -149,22 +149,22 @@ public class PipelineManager { } /** - * Get the currently active pipelines settings - * - * @return The currently active pipelines settings - */ + * Get the currently active pipelines settings + * + * @return The currently active pipelines settings + */ public CVPipelineSettings getCurrentPipelineSettings() { return getPipelineSettings(currentPipelineIndex); } /** - * Internal method for setting the active pipeline.
- *
- * All externally accessible methods that intend to change the active pipeline MUST go through - * here to ensure all proper steps are taken. - * - * @param index Index of pipeline to be active - */ + * Internal method for setting the active pipeline.
+ *
+ * All externally accessible methods that intend to change the active pipeline MUST go through + * here to ensure all proper steps are taken. + * + * @param index Index of pipeline to be active + */ private void setPipelineInternal(int index) { if (index < 0) { lastPipelineIndex = currentPipelineIndex; @@ -192,33 +192,33 @@ public class PipelineManager { } /** - * Enters or exits calibration mode based on the parameter.
- *
- * Exiting returns to the last used user pipeline. - * - * @param wantsCalibration True to enter calibration mode, false to exit calibration mode. - */ + * Enters or exits calibration mode based on the parameter.
+ *
+ * Exiting returns to the last used user pipeline. + * + * @param wantsCalibration True to enter calibration mode, false to exit calibration mode. + */ public void setCalibrationMode(boolean wantsCalibration) { if (!wantsCalibration) calibration3dPipeline.finishCalibration(); setPipelineInternal(wantsCalibration ? CAL_3D_INDEX : lastPipelineIndex); } /** - * Enters or exits driver mode based on the parameter.
- *
- * Exiting returns to the last used user pipeline. - * - * @param state True to enter driver mode, false to exit driver mode. - */ + * Enters or exits driver mode based on the parameter.
+ *
+ * Exiting returns to the last used user pipeline. + * + * @param state True to enter driver mode, false to exit driver mode. + */ public void setDriverMode(boolean state) { setPipelineInternal(state ? DRIVERMODE_INDEX : lastPipelineIndex); } /** - * Returns whether or not driver mode is active. - * - * @return Whether or not driver mode is active. - */ + * Returns whether or not driver mode is active. + * + * @return Whether or not driver mode is active. + */ public boolean getDriverMode() { return currentPipelineIndex == DRIVERMODE_INDEX; } @@ -227,10 +227,10 @@ public class PipelineManager { Comparator.comparingInt(o -> o.pipelineIndex); /** - * Sorts the pipeline list by index, and reassigns their indexes to match the new order.
- *
- * I don't like this but I have no other ideas, and it works so ¯\_(ツ)_/¯ - */ + * Sorts the pipeline list by index, and reassigns their indexes to match the new order.
+ *
+ * I don't like this but I have no other ideas, and it works so ¯\_(ツ)_/¯ + */ private void reassignIndexes() { userPipelineSettings.sort(PipelineSettingsIndexComparator); for (int i = 0; i < userPipelineSettings.size(); i++) { @@ -283,10 +283,10 @@ public class PipelineManager { } /** - * Remove a pipeline settings at the given index and return the new current index - * - * @param index The idx to remove - */ + * Remove a pipeline settings at the given index and return the new current index + * + * @param index The idx to remove + */ private int removePipelineInternal(int index) { userPipelineSettings.remove(index); currentPipelineIndex = Math.min(index, userPipelineSettings.size() - 1); @@ -311,11 +311,11 @@ public class PipelineManager { } /** - * Duplicate a pipeline at a given index - * - * @param index the index of the target pipeline - * @return The new index - */ + * Duplicate a pipeline at a given index + * + * @param index the index of the target pipeline + * @return The new index + */ public int duplicatePipeline(int index) { var settings = userPipelineSettings.get(index); var newSettings = settings.clone(); diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java index 656c22c01..2a0097415 100644 --- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java +++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java @@ -50,11 +50,11 @@ import org.photonvision.vision.target.TargetModel; import org.photonvision.vision.target.TrackedTarget; /** -* This is the God Class -* -*

VisionModule has a pipeline manager, vision runner, and data providers. The data providers -* provide info on settings changes. VisionModuleManager holds a list of all current vision modules. -*/ + * This is the God Class + * + *

VisionModule has a pipeline manager, vision runner, and data providers. The data providers + * provide info on settings changes. VisionModuleManager holds a list of all current vision modules. + */ public class VisionModule { private static final int streamFPSCap = 30; diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java index 979dc4e5c..584469cec 100644 --- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java +++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java @@ -39,13 +39,13 @@ public class VisionRunner { private long loopCount; /** - * VisionRunner contains a thread to run a pipeline, given a frame, and will give the result to - * the consumer. - * - * @param frameSupplier The supplier of the latest frame. - * @param pipelineSupplier The supplier of the current pipeline. - * @param pipelineResultConsumer The consumer of the latest result. - */ + * VisionRunner contains a thread to run a pipeline, given a frame, and will give the result to + * the consumer. + * + * @param frameSupplier The supplier of the latest frame. + * @param pipelineSupplier The supplier of the current pipeline. + * @param pipelineResultConsumer The consumer of the latest result. + */ public VisionRunner( FrameProvider frameSupplier, Supplier pipelineSupplier, diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java index f45480b34..0fbd0e8de 100644 --- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java +++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java @@ -61,11 +61,11 @@ public class VisionSourceManager { } /** - * Register new camera configs loaded from disk. This will add them to the list of configs to try - * to match, and also automatically spawn new vision processes as necessary. - * - * @param configs The loaded camera configs. - */ + * Register new camera configs loaded from disk. This will add them to the list of configs to try + * to match, and also automatically spawn new vision processes as necessary. + * + * @param configs The loaded camera configs. + */ public void registerLoadedConfigs(Collection configs) { unmatchedLoadedConfigs.addAll(configs); } @@ -182,13 +182,13 @@ public class VisionSourceManager { } /** - * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on - * disk. - * - * @param detectedCamInfos Information about currently connected USB cameras. - * @param loadedUsbCamConfigs The USB {@link CameraConfiguration}s loaded from disk. - * @return the matched configurations. - */ + * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on + * disk. + * + * @param detectedCamInfos Information about currently connected USB cameras. + * @param loadedUsbCamConfigs The USB {@link CameraConfiguration}s loaded from disk. + * @return the matched configurations. + */ private List matchUSBCameras( List detectedCamInfos, List loadedUsbCamConfigs) { var detectedCameraList = new ArrayList<>(detectedCamInfos); @@ -319,12 +319,12 @@ public class VisionSourceManager { } /** - * Check if a given config list contains the given unique name. - * - * @param configList A list of camera configs. - * @param uniqueName The unique name. - * @return If the list of configs contains the unique name. - */ + * Check if a given config list contains the given unique name. + * + * @param configList A list of camera configs. + * @param uniqueName The unique name. + * @return If the list of configs contains the unique name. + */ private boolean containsName( final List configList, final String uniqueName) { return configList.stream() diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java index ae7527e78..19c681307 100644 --- a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java +++ b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java @@ -57,10 +57,10 @@ public class TrackedTarget implements Releasable { } /** - * Set the approximate bouding polygon. - * - * @param boundingPolygon List of points to copy. Not modified. - */ + * Set the approximate bouding polygon. + * + * @param boundingPolygon List of points to copy. Not modified. + */ public void setApproximateBoundingPolygon(MatOfPoint2f boundingPolygon) { if (m_approximateBoundingPolygon == null) m_approximateBoundingPolygon = new MatOfPoint2f(); boundingPolygon.copyTo(m_approximateBoundingPolygon); diff --git a/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java b/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java index 61b3db7bf..d9205b394 100644 --- a/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java +++ b/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java @@ -16,21 +16,21 @@ */ package org.photonvision.common; /* -* 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 . -*/ + * 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 . + */ import java.util.ArrayList; import java.util.Collections; import java.util.List; diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java index 32e8ab195..f63753713 100644 --- a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java @@ -314,15 +314,15 @@ public class Calibrate3dPipeTest { } /** - * Uses a given camera coefficents matrix set to "undistort" every image file found in a given - * directory and display them. Provides an easy way to visually debug the results of the - * calibration routine. Seems to play havoc with CI and takes a chunk of time, so shouldn't - * usually be left active in tests. - * - * @param directoryListing - * @param imgRes - * @param cal - */ + * Uses a given camera coefficents matrix set to "undistort" every image file found in a given + * directory and display them. Provides an easy way to visually debug the results of the + * calibration routine. Seems to play havoc with CI and takes a chunk of time, so shouldn't + * usually be left active in tests. + * + * @param directoryListing + * @param imgRes + * @param cal + */ @SuppressWarnings("unused") private void visuallyDebugDistortion( File[] directoryListing, Size imgRes, CameraCalibrationCoefficients cal) { diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java index 7b844fb38..2ef002c57 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java @@ -40,10 +40,10 @@ public class PhotonCamera { Packet packet = new Packet(1); /** - * Constructs a PhotonCamera from a root table. - * - * @param rootTable The root table that the camera is broadcasting information over. - */ + * Constructs a PhotonCamera from a root table. + * + * @param rootTable The root table that the camera is broadcasting information over. + */ public PhotonCamera(NetworkTable rootTable) { path = rootTable.getPath(); rawBytesEntry = rootTable.getEntry("rawBytes"); @@ -56,19 +56,19 @@ public class PhotonCamera { } /** - * Constructs a PhotonCamera from the name of the camera. - * - * @param cameraName The nickname of the camera (found in the PhotonVision UI). - */ + * Constructs a PhotonCamera from the name of the camera. + * + * @param cameraName The nickname of the camera (found in the PhotonVision UI). + */ public PhotonCamera(String cameraName) { this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName)); } /** - * Returns the latest pipeline result. - * - * @return The latest pipeline result. - */ + * Returns the latest pipeline result. + * + * @return The latest pipeline result. + */ public PhotonPipelineResult getLatestResult() { verifyVersion(); @@ -88,66 +88,66 @@ public class PhotonCamera { } /** - * Returns whether the camera is in driver mode. - * - * @return Whether the camera is in driver mode. - */ + * Returns whether the camera is in driver mode. + * + * @return Whether the camera is in driver mode. + */ public boolean getDriverMode() { return driverModeEntry.getBoolean(false); } /** - * Toggles driver mode. - * - * @param driverMode Whether to set driver mode. - */ + * Toggles driver mode. + * + * @param driverMode Whether to set driver mode. + */ public void setDriverMode(boolean driverMode) { driverModeEntry.setBoolean(driverMode); } /** - * Request the camera to save a new image file from the input camera stream with overlays. Images - * take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk - * space and eventually cause the system to stop working. Clear out images in - * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues. - */ + * Request the camera to save a new image file from the input camera stream with overlays. Images + * take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk + * space and eventually cause the system to stop working. Clear out images in + * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues. + */ public void takeInputSnapshot() { inputSaveImgEntry.setBoolean(true); } /** - * Request the camera to save a new image file from the output stream with overlays. Images take - * up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space - * and eventually cause the system to stop working. Clear out images in - * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues. - */ + * Request the camera to save a new image file from the output stream with overlays. Images take + * up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space + * and eventually cause the system to stop working. Clear out images in + * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues. + */ public void takeOutputSnapshot() { outputSaveImgEntry.setBoolean(true); } /** - * Returns the active pipeline index. - * - * @return The active pipeline index. - */ + * Returns the active pipeline index. + * + * @return The active pipeline index. + */ public int getPipelineIndex() { return pipelineIndexEntry.getNumber(0).intValue(); } /** - * Allows the user to select the active pipeline index. - * - * @param index The active pipeline index. - */ + * Allows the user to select the active pipeline index. + * + * @param index The active pipeline index. + */ public void setPipelineIndex(int index) { pipelineIndexEntry.setNumber(index); } /** - * Returns the current LED mode. - * - * @return The current LED mode. - */ + * Returns the current LED mode. + * + * @return The current LED mode. + */ public VisionLEDMode getLEDMode() { int value = ledModeEntry.getNumber(-1).intValue(); switch (value) { @@ -164,22 +164,22 @@ public class PhotonCamera { } /** - * Sets the LED mode. - * - * @param led The mode to set to. - */ + * Sets the LED mode. + * + * @param led The mode to set to. + */ public void setLED(VisionLEDMode led) { ledModeEntry.setNumber(led.value); } /** - * Returns whether the latest target result has targets. - * - *

This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should be used instead. - * - * @deprecated This method should be replaced with {@link PhotonPipelineResult#hasTargets()} - * @return Whether the latest target result has targets. - */ + * Returns whether the latest target result has targets. + * + *

This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should be used instead. + * + * @deprecated This method should be replaced with {@link PhotonPipelineResult#hasTargets()} + * @return Whether the latest target result has targets. + */ @Deprecated public boolean hasTargets() { return getLatestResult().hasTargets(); diff --git a/photon-lib/src/main/java/org/photonvision/PhotonUtils.java b/photon-lib/src/main/java/org/photonvision/PhotonUtils.java index 753485e7f..2e1679878 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonUtils.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonUtils.java @@ -27,25 +27,25 @@ public final class PhotonUtils { } /** - * Algorithm from https://docs.limelightvision.io/en/latest/cs_estimating_distance.html Estimates - * range to a target using the target's elevation. This method can produce more stable results - * than SolvePNP when well tuned, if the full 6d robot pose is not required. Note that this method - * requires the camera to have 0 roll (not be skewed clockwise or CCW relative to the floor), and - * for there to exist a height differential between goal and camera. The larger this differential, - * the more accurate the distance estimate will be. - * - *

Units can be converted using the {@link edu.wpi.first.math.util.Units} class. - * - * @param cameraHeightMeters The physical height of the camera off the floor in meters. - * @param targetHeightMeters The physical height of the target off the floor in meters. This - * should be the height of whatever is being targeted (i.e. if the targeting region is set to - * top, this should be the height of the top of the target). - * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians. - * Positive values up. - * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive - * values up. - * @return The estimated distance to the target in meters. - */ + * Algorithm from https://docs.limelightvision.io/en/latest/cs_estimating_distance.html Estimates + * range to a target using the target's elevation. This method can produce more stable results + * than SolvePNP when well tuned, if the full 6d robot pose is not required. Note that this method + * requires the camera to have 0 roll (not be skewed clockwise or CCW relative to the floor), and + * for there to exist a height differential between goal and camera. The larger this differential, + * the more accurate the distance estimate will be. + * + *

Units can be converted using the {@link edu.wpi.first.math.util.Units} class. + * + * @param cameraHeightMeters The physical height of the camera off the floor in meters. + * @param targetHeightMeters The physical height of the target off the floor in meters. This + * should be the height of whatever is being targeted (i.e. if the targeting region is set to + * top, this should be the height of the top of the target). + * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians. + * Positive values up. + * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive + * values up. + * @return The estimated distance to the target in meters. + */ public static double calculateDistanceToTargetMeters( double cameraHeightMeters, double targetHeightMeters, @@ -56,12 +56,12 @@ public final class PhotonUtils { } /** - * Estimate the {@link Translation2d} of the target relative to the camera. - * - * @param targetDistanceMeters The distance to the target in meters. - * @param yaw The observed yaw of the target. - * @return The target's camera-relative translation. - */ + * Estimate the {@link Translation2d} of the target relative to the camera. + * + * @param targetDistanceMeters The distance to the target in meters. + * @param yaw The observed yaw of the target. + * @return The target's camera-relative translation. + */ public static Translation2d estimateCameraToTargetTranslation( double targetDistanceMeters, Rotation2d yaw) { return new Translation2d( @@ -69,25 +69,25 @@ public final class PhotonUtils { } /** - * Estimate the position of the robot in the field. - * - * @param cameraHeightMeters The physical height of the camera off the floor in meters. - * @param targetHeightMeters The physical height of the target off the floor in meters. This - * should be the height of whatever is being targeted (i.e. if the targeting region is set to - * top, this should be the height of the top of the target). - * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians. - * Positive values up. - * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive - * values up. - * @param targetYaw The observed yaw of the target. Note that this *must* be CCW-positive, and - * Photon returns CW-positive. - * @param gyroAngle The current robot gyro angle, likely from odometry. - * @param fieldToTarget A Pose2d representing the target position in the field coordinate system. - * @param cameraToRobot The position of the robot relative to the camera. If the camera was - * mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be - * Transform2d(3 inches, 0 inches, 0 degrees). - * @return The position of the robot in the field. - */ + * Estimate the position of the robot in the field. + * + * @param cameraHeightMeters The physical height of the camera off the floor in meters. + * @param targetHeightMeters The physical height of the target off the floor in meters. This + * should be the height of whatever is being targeted (i.e. if the targeting region is set to + * top, this should be the height of the top of the target). + * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians. + * Positive values up. + * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive + * values up. + * @param targetYaw The observed yaw of the target. Note that this *must* be CCW-positive, and + * Photon returns CW-positive. + * @param gyroAngle The current robot gyro angle, likely from odometry. + * @param fieldToTarget A Pose2d representing the target position in the field coordinate system. + * @param cameraToRobot The position of the robot relative to the camera. If the camera was + * mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be + * Transform2d(3 inches, 0 inches, 0 degrees). + * @return The position of the robot in the field. + */ public static Pose2d estimateFieldToRobot( double cameraHeightMeters, double targetHeightMeters, @@ -110,17 +110,17 @@ public final class PhotonUtils { } /** - * Estimates a {@link Transform2d} that maps the camera position to the target position, using the - * robot's gyro. Note that the gyro angle provided *must* line up with the field coordinate system - * -- that is, it should read zero degrees when pointed towards the opposing alliance station, and - * increase as the robot rotates CCW. - * - * @param cameraToTargetTranslation A Translation2d that encodes the x/y position of the target - * relative to the camera. - * @param fieldToTarget A Pose2d representing the target position in the field coordinate system. - * @param gyroAngle The current robot gyro angle, likely from odometry. - * @return A Transform2d that takes us from the camera to the target. - */ + * Estimates a {@link Transform2d} that maps the camera position to the target position, using the + * robot's gyro. Note that the gyro angle provided *must* line up with the field coordinate system + * -- that is, it should read zero degrees when pointed towards the opposing alliance station, and + * increase as the robot rotates CCW. + * + * @param cameraToTargetTranslation A Translation2d that encodes the x/y position of the target + * relative to the camera. + * @param fieldToTarget A Pose2d representing the target position in the field coordinate system. + * @param gyroAngle The current robot gyro angle, likely from odometry. + * @return A Transform2d that takes us from the camera to the target. + */ public static Transform2d estimateCameraToTarget( Translation2d cameraToTargetTranslation, Pose2d fieldToTarget, Rotation2d gyroAngle) { // This pose maps our camera at the origin out to our target, in the robot @@ -133,31 +133,31 @@ public final class PhotonUtils { } /** - * Estimates the pose of the robot in the field coordinate system, given the position of the - * target relative to the camera, the target relative to the field, and the robot relative to the - * camera. - * - * @param cameraToTarget The position of the target relative to the camera. - * @param fieldToTarget The position of the target in the field. - * @param cameraToRobot The position of the robot relative to the camera. If the camera was - * mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be - * Transform2d(3 inches, 0 inches, 0 degrees). - * @return The position of the robot in the field. - */ + * Estimates the pose of the robot in the field coordinate system, given the position of the + * target relative to the camera, the target relative to the field, and the robot relative to the + * camera. + * + * @param cameraToTarget The position of the target relative to the camera. + * @param fieldToTarget The position of the target in the field. + * @param cameraToRobot The position of the robot relative to the camera. If the camera was + * mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be + * Transform2d(3 inches, 0 inches, 0 degrees). + * @return The position of the robot in the field. + */ public static Pose2d estimateFieldToRobot( Transform2d cameraToTarget, Pose2d fieldToTarget, Transform2d cameraToRobot) { return estimateFieldToCamera(cameraToTarget, fieldToTarget).transformBy(cameraToRobot); } /** - * Estimates the pose of the camera in the field coordinate system, given the position of the - * target relative to the camera, and the target relative to the field. This *only* tracks the - * position of the camera, not the position of the robot itself. - * - * @param cameraToTarget The position of the target relative to the camera. - * @param fieldToTarget The position of the target in the field. - * @return The position of the camera in the field. - */ + * Estimates the pose of the camera in the field coordinate system, given the position of the + * target relative to the camera, and the target relative to the field. This *only* tracks the + * position of the camera, not the position of the robot itself. + * + * @param cameraToTarget The position of the target relative to the camera. + * @param fieldToTarget The position of the target in the field. + * @return The position of the camera in the field. + */ public static Pose2d estimateFieldToCamera(Transform2d cameraToTarget, Pose2d fieldToTarget) { var targetToCamera = cameraToTarget.inverse(); return fieldToTarget.transformBy(targetToCamera); diff --git a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java index ce7369793..59bc4eded 100644 --- a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java @@ -36,10 +36,10 @@ public class SimPhotonCamera extends PhotonCamera { private final NetworkTableEntry targetPoseEntry; /** - * Constructs a Simulated PhotonCamera from a root table. - * - * @param rootTable The root table that the camera is broadcasting information over. - */ + * Constructs a Simulated PhotonCamera from a root table. + * + * @param rootTable The root table that the camera is broadcasting information over. + */ public SimPhotonCamera(NetworkTable rootTable) { super(rootTable); @@ -53,53 +53,53 @@ public class SimPhotonCamera extends PhotonCamera { } /** - * Constructs a Simulated PhotonCamera from the name of the camera. - * - * @param cameraName The nickname of the camera (found in the PhotonVision UI). - */ + * Constructs a Simulated PhotonCamera from the name of the camera. + * + * @param cameraName The nickname of the camera (found in the PhotonVision UI). + */ public SimPhotonCamera(String cameraName) { this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName)); } /** - * Simulate one processed frame of vision data, putting one result to NT. - * - * @param latencyMillis Latency of the provided frame - * @param targets Each target detected - */ + * Simulate one processed frame of vision data, putting one result to NT. + * + * @param latencyMillis Latency of the provided frame + * @param targets Each target detected + */ public void submitProcessedFrame(double latencyMillis, PhotonTrackedTarget... targets) { submitProcessedFrame(latencyMillis, Arrays.asList(targets)); } /** - * Simulate one processed frame of vision data, putting one result to NT. - * - * @param latencyMillis Latency of the provided frame - * @param sortMode Order in which to sort targets - * @param targets Each target detected - */ + * Simulate one processed frame of vision data, putting one result to NT. + * + * @param latencyMillis Latency of the provided frame + * @param sortMode Order in which to sort targets + * @param targets Each target detected + */ public void submitProcessedFrame( double latencyMillis, PhotonTargetSortMode sortMode, PhotonTrackedTarget... targets) { submitProcessedFrame(latencyMillis, sortMode, Arrays.asList(targets)); } /** - * Simulate one processed frame of vision data, putting one result to NT. - * - * @param latencyMillis Latency of the provided frame - * @param targetList List of targets detected - */ + * Simulate one processed frame of vision data, putting one result to NT. + * + * @param latencyMillis Latency of the provided frame + * @param targetList List of targets detected + */ public void submitProcessedFrame(double latencyMillis, List targetList) { submitProcessedFrame(latencyMillis, null, targetList); } /** - * Simulate one processed frame of vision data, putting one result to NT. - * - * @param latencyMillis Latency of the provided frame - * @param sortMode Order in which to sort targets - * @param targetList List of targets detected - */ + * Simulate one processed frame of vision data, putting one result to NT. + * + * @param latencyMillis Latency of the provided frame + * @param sortMode Order in which to sort targets + * @param targetList List of targets detected + */ public void submitProcessedFrame( double latencyMillis, PhotonTargetSortMode sortMode, List targetList) { latencyMillisEntry.setDouble(latencyMillis); diff --git a/photon-lib/src/main/java/org/photonvision/SimVisionSystem.java b/photon-lib/src/main/java/org/photonvision/SimVisionSystem.java index 92c2c215f..bc0bd9936 100644 --- a/photon-lib/src/main/java/org/photonvision/SimVisionSystem.java +++ b/photon-lib/src/main/java/org/photonvision/SimVisionSystem.java @@ -38,28 +38,28 @@ public class SimVisionSystem { ArrayList tgtList; /** - * Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot - * running PhotonVision, detecting one or more targets scattered around the field. This assumes a - * fairly simple and distortion-less pinhole camera model. - * - * @param camName Name of the PhotonVision camera to create. Align it with the settings you use in - * the PhotonVision GUI. - * @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the - * manufacturer specifications, and/or whatever is configured in the PhotonVision Setting - * page. - * @param camPitchDegrees pitch of the camera's view axis back from horizontal. Make this the same - * as whatever is configured in the PhotonVision Setting page. - * @param cameraToRobot Pose Transform to move from the camera's mount position to the robot's - * position - * @param cameraHeightOffGroundMeters Height of the camera off the ground in meters - * @param maxLEDRangeMeters Maximum distance at which your camera can illuminate the target and - * make it visible. Set to 9000 or more if your vision system does not rely on LED's. - * @param cameraResWidth Width of your camera's image sensor in pixels - * @param cameraResHeight Height of your camera's image sensor in pixels - * @param minTargetArea Minimum area that that the target should be before it's recognized as a - * target by the camera. Match this with your contour filtering settings in the PhotonVision - * GUI. - */ + * Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot + * running PhotonVision, detecting one or more targets scattered around the field. This assumes a + * fairly simple and distortion-less pinhole camera model. + * + * @param camName Name of the PhotonVision camera to create. Align it with the settings you use in + * the PhotonVision GUI. + * @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the + * manufacturer specifications, and/or whatever is configured in the PhotonVision Setting + * page. + * @param camPitchDegrees pitch of the camera's view axis back from horizontal. Make this the same + * as whatever is configured in the PhotonVision Setting page. + * @param cameraToRobot Pose Transform to move from the camera's mount position to the robot's + * position + * @param cameraHeightOffGroundMeters Height of the camera off the ground in meters + * @param maxLEDRangeMeters Maximum distance at which your camera can illuminate the target and + * make it visible. Set to 9000 or more if your vision system does not rely on LED's. + * @param cameraResWidth Width of your camera's image sensor in pixels + * @param cameraResHeight Height of your camera's image sensor in pixels + * @param minTargetArea Minimum area that that the target should be before it's recognized as a + * target by the camera. Match this with your contour filtering settings in the PhotonVision + * GUI. + */ public SimVisionSystem( String camName, double camDiagFOVDegrees, @@ -88,24 +88,24 @@ public class SimVisionSystem { } /** - * Add a target on the field which your vision system is designed to detect. The PhotonCamera from - * this system will report the location of the robot relative to the subset of these targets which - * are visible from the given robot position. - * - * @param target Target to add to the simulated field - */ + * Add a target on the field which your vision system is designed to detect. The PhotonCamera from + * this system will report the location of the robot relative to the subset of these targets which + * are visible from the given robot position. + * + * @param target Target to add to the simulated field + */ public void addSimVisionTarget(SimVisionTarget target) { tgtList.add(target); } /** - * Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or - * turret or some other mobile platform. - * - * @param newCameraToRobot New Transform from the robot to the camera - * @param newCamHeightMeters New height of the camera off the floor - * @param newCamPitchDegrees New pitch of the camera axis back from horizontal - */ + * Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or + * turret or some other mobile platform. + * + * @param newCameraToRobot New Transform from the robot to the camera + * @param newCamHeightMeters New height of the camera off the floor + * @param newCamPitchDegrees New pitch of the camera axis back from horizontal + */ public void moveCamera( Transform2d newCameraToRobot, double newCamHeightMeters, double newCamPitchDegrees) { this.cameraToRobot = newCameraToRobot; @@ -114,13 +114,13 @@ public class SimVisionSystem { } /** - * Periodic update. Call this once per frame of image data you wish to process and send to - * NetworkTables - * - * @param robotPoseMeters current pose of the robot on the field. Will be used to calculate which - * targets are actually in view, where they are at relative to the robot, and relevant - * PhotonVision parameters. - */ + * Periodic update. Call this once per frame of image data you wish to process and send to + * NetworkTables + * + * @param robotPoseMeters current pose of the robot on the field. Will be used to calculate which + * targets are actually in view, where they are at relative to the robot, and relevant + * PhotonVision parameters. + */ public void processFrame(Pose2d robotPoseMeters) { Pose2d cameraPos = robotPoseMeters.transformBy(cameraToRobot.inverse()); diff --git a/photon-lib/src/main/java/org/photonvision/SimVisionTarget.java b/photon-lib/src/main/java/org/photonvision/SimVisionTarget.java index 332afe00e..9a6bb0a01 100644 --- a/photon-lib/src/main/java/org/photonvision/SimVisionTarget.java +++ b/photon-lib/src/main/java/org/photonvision/SimVisionTarget.java @@ -26,15 +26,15 @@ public class SimVisionTarget { double tgtAreaMeters2; /** - * Describes a vision target located somewhere on the field that your SimVisionSystem can detect. - * - * @param targetPos Pose2d of the target on the field. Define it such that, if you are standing on - * the middle of the field facing the target, the Y axis points to your left, and the X axis - * points away from you. - * @param targetHeightAboveGroundMeters Height of the target above the field plane, in meters. - * @param targetWidthMeters Width of the outer bounding box of the target in meters. - * @param targetHeightMeters Pair Height of the outer bounding box of the target in meters. - */ + * Describes a vision target located somewhere on the field that your SimVisionSystem can detect. + * + * @param targetPos Pose2d of the target on the field. Define it such that, if you are standing on + * the middle of the field facing the target, the Y axis points to your left, and the X axis + * points away from you. + * @param targetHeightAboveGroundMeters Height of the target above the field plane, in meters. + * @param targetWidthMeters Width of the outer bounding box of the target in meters. + * @param targetHeightMeters Pair Height of the outer bounding box of the target in meters. + */ public SimVisionTarget( Pose2d targetPos, double targetHeightAboveGroundMeters, diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java index 6af230d54..b87eb0228 100644 --- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java +++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java @@ -233,9 +233,9 @@ public class RequestHandler { } /** - * Note that this doesn't actually restart the program itself -- instead, it relies on systemd or - * an equivalent. - */ + * Note that this doesn't actually restart the program itself -- instead, it relies on systemd or + * an equivalent. + */ public static void restartProgramInternal() { if (Platform.isRaspberryPi()) { try { diff --git a/photon-server/src/main/java/org/photonvision/server/UIOutboundSubscriber.java b/photon-server/src/main/java/org/photonvision/server/UIOutboundSubscriber.java index 72561f369..7a22fe7d9 100644 --- a/photon-server/src/main/java/org/photonvision/server/UIOutboundSubscriber.java +++ b/photon-server/src/main/java/org/photonvision/server/UIOutboundSubscriber.java @@ -29,8 +29,8 @@ import org.photonvision.common.logging.Logger; @SuppressWarnings("rawtypes") /* -* DO NOT use logging in this class. If you do, the logs will recurse forever! -*/ + * DO NOT use logging in this class. If you do, the logs will recurse forever! + */ class UIOutboundSubscriber extends DataChangeSubscriber { Logger logger = new Logger(UIOutboundSubscriber.class, LogGroup.WebServer); diff --git a/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java b/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java index cb8056f0b..f59445bce 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java +++ b/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java @@ -26,20 +26,20 @@ public class Packet { int readPos, writePos; /** - * Constructs an empty packet. - * - * @param size The size of the packet buffer. - */ + * Constructs an empty packet. + * + * @param size The size of the packet buffer. + */ public Packet(int size) { this.size = size; packetData = new byte[size]; } /** - * Constructs a packet with the given data. - * - * @param data The packet data. - */ + * Constructs a packet with the given data. + * + * @param data The packet data. + */ public Packet(byte[] data) { packetData = data; size = packetData.length; @@ -57,38 +57,38 @@ public class Packet { } /** - * Returns the packet data. - * - * @return The packet data. - */ + * Returns the packet data. + * + * @return The packet data. + */ public byte[] getData() { return packetData; } /** - * Sets the packet data. - * - * @param data The packet data. - */ + * Sets the packet data. + * + * @param data The packet data. + */ public void setData(byte[] data) { packetData = data; size = data.length; } /** - * Encodes the byte into the packet. - * - * @param src The byte to encode. - */ + * Encodes the byte into the packet. + * + * @param src The byte to encode. + */ public void encode(byte src) { packetData[writePos++] = src; } /** - * Encodes the integer into the packet. - * - * @param src The integer to encode. - */ + * Encodes the integer into the packet. + * + * @param src The integer to encode. + */ public void encode(int src) { packetData[writePos++] = (byte) (src >>> 24); packetData[writePos++] = (byte) (src >>> 16); @@ -97,10 +97,10 @@ public class Packet { } /** - * Encodes the double into the packet. - * - * @param src The double to encode. - */ + * Encodes the double into the packet. + * + * @param src The double to encode. + */ public void encode(double src) { long data = Double.doubleToRawLongBits(src); packetData[writePos++] = (byte) ((data >> 56) & 0xff); @@ -114,28 +114,28 @@ public class Packet { } /** - * Encodes the boolean into the packet. - * - * @param src The boolean to encode. - */ + * Encodes the boolean into the packet. + * + * @param src The boolean to encode. + */ public void encode(boolean src) { packetData[writePos++] = src ? (byte) 1 : (byte) 0; } /** - * Returns a decoded byte from the packet. - * - * @return A decoded byte from the packet. - */ + * Returns a decoded byte from the packet. + * + * @return A decoded byte from the packet. + */ public byte decodeByte() { return packetData[readPos++]; } /** - * Returns a decoded int from the packet. - * - * @return A decoded int from the packet. - */ + * Returns a decoded int from the packet. + * + * @return A decoded int from the packet. + */ public int decodeInt() { return (0xff & packetData[readPos++]) << 24 | (0xff & packetData[readPos++]) << 16 @@ -144,10 +144,10 @@ public class Packet { } /** - * Returns a decoded double from the packet. - * - * @return A decoded double from the packet. - */ + * Returns a decoded double from the packet. + * + * @return A decoded double from the packet. + */ public double decodeDouble() { long data = (long) (0xff & packetData[readPos++]) << 56 @@ -162,10 +162,10 @@ public class Packet { } /** - * Returns a decoded boolean from the packet. - * - * @return A decoded boolean from the packet. - */ + * Returns a decoded boolean from the packet. + * + * @return A decoded boolean from the packet. + */ public boolean decodeBoolean() { return packetData[readPos++] == 1; } diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index d9dcc435a..8ae0bb199 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -35,31 +35,31 @@ public class PhotonPipelineResult { public PhotonPipelineResult() {} /** - * Constructs a pipeline result. - * - * @param latencyMillis The latency in the pipeline. - * @param targets The list of targets identified by the pipeline. - */ + * Constructs a pipeline result. + * + * @param latencyMillis The latency in the pipeline. + * @param targets The list of targets identified by the pipeline. + */ public PhotonPipelineResult(double latencyMillis, List targets) { this.latencyMillis = latencyMillis; this.targets.addAll(targets); } /** - * Returns the size of the packet needed to store this pipeline result. - * - * @return The size of the packet needed to store this pipeline result. - */ + * Returns the size of the packet needed to store this pipeline result. + * + * @return The size of the packet needed to store this pipeline result. + */ public int getPacketSize() { return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2; } /** - * Returns the best target in this pipeline result. If there are no targets, this method will - * return null. The best target is determined by the target sort mode in the PhotonVision UI. - * - * @return The best target of the pipeline result. - */ + * Returns the best target in this pipeline result. If there are no targets, this method will + * return null. The best target is determined by the target sort mode in the PhotonVision UI. + * + * @return The best target of the pipeline result. + */ public PhotonTrackedTarget getBestTarget() { if (!hasTargets() && !HAS_WARNED) { String errStr = @@ -74,28 +74,28 @@ public class PhotonPipelineResult { } /** - * Returns the latency in the pipeline. - * - * @return The latency in the pipeline. - */ + * Returns the latency in the pipeline. + * + * @return The latency in the pipeline. + */ public double getLatencyMillis() { return latencyMillis; } /** - * Returns whether the pipeline has targets. - * - * @return Whether the pipeline has targets. - */ + * Returns whether the pipeline has targets. + * + * @return Whether the pipeline has targets. + */ public boolean hasTargets() { return targets.size() > 0; } /** - * Returns a copy of the vector of targets. - * - * @return A copy of the vector of targets. - */ + * Returns a copy of the vector of targets. + * + * @return A copy of the vector of targets. + */ public List getTargets() { return new ArrayList<>(targets); } @@ -116,11 +116,11 @@ public class PhotonPipelineResult { } /** - * Populates the fields of the pipeline result from the packet. - * - * @param packet The incoming packet. - * @return The incoming packet. - */ + * Populates the fields of the pipeline result from the packet. + * + * @param packet The incoming packet. + * @return The incoming packet. + */ public Packet createFromPacket(Packet packet) { // Decode latency, existence of targets, and number of targets. latencyMillis = packet.decodeDouble(); @@ -139,11 +139,11 @@ public class PhotonPipelineResult { } /** - * Populates the outgoing packet with information from this pipeline result. - * - * @param packet The outgoing packet. - * @return The outgoing packet. - */ + * Populates the outgoing packet with information from this pipeline result. + * + * @param packet The outgoing packet. + * @return The outgoing packet. + */ public Packet populatePacket(Packet packet) { // Encode latency, existence of targets, and number of targets. packet.encode(latencyMillis); diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java index fa141884c..a6b1495b5 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java @@ -78,11 +78,11 @@ public class PhotonTrackedTarget { } /** - * Populates the fields of this class with information from the incoming packet. - * - * @param packet The incoming packet. - * @return The incoming packet. - */ + * Populates the fields of this class with information from the incoming packet. + * + * @param packet The incoming packet. + * @return The incoming packet. + */ public Packet createFromPacket(Packet packet) { yaw = packet.decodeDouble(); pitch = packet.decodeDouble(); @@ -99,11 +99,11 @@ public class PhotonTrackedTarget { } /** - * Populates the outgoing packet with information from the current target. - * - * @param packet The outgoing packet. - * @return The outgoing packet. - */ + * Populates the outgoing packet with information from the current target. + * + * @param packet The outgoing packet. + * @return The outgoing packet. + */ public Packet populatePacket(Packet packet) { packet.encode(yaw); packet.encode(pitch); diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Main.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Main.java index ed8fc7abf..c0da8ac4f 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Main.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Main.java @@ -19,18 +19,18 @@ package org.photonlib.examples.aimandrange; import edu.wpi.first.wpilibj.RobotBase; /** -* Do NOT add any static variables to this class, or any initialization at all. Unless you know what -* you are doing, do not modify this file except to change the parameter class to the startRobot -* call. -*/ + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ public final class Main { private Main() {} /** - * Main initialization function. Do not perform any initialization here. - * - *

If you change your main robot class, change the parameter type. - */ + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ public static void main(String... args) { RobotBase.startRobot(Robot::new); } diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java index 112789fb0..572457567 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java @@ -26,11 +26,11 @@ import org.photonvision.PhotonCamera; import org.photonvision.PhotonUtils; /** -* The VM is configured to automatically run this class, and to call the functions corresponding to -* each mode, as described in the TimedRobot documentation. If you change the name of this class or -* the package after creating this project, you must also update the build.gradle file in the -* project. -*/ + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ public class Robot extends TimedRobot { // Constants such as camera and target height stored. Change per robot and goal! final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24); diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java index f9a9620ec..275267f0d 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java @@ -19,18 +19,18 @@ package org.photonlib.examples.aimattarget; import edu.wpi.first.wpilibj.RobotBase; /** -* Do NOT add any static variables to this class, or any initialization at all. Unless you know what -* you are doing, do not modify this file except to change the parameter class to the startRobot -* call. -*/ + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ public final class Main { private Main() {} /** - * Main initialization function. Do not perform any initialization here. - * - *

If you change your main robot class, change the parameter type. - */ + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ public static void main(String... args) { RobotBase.startRobot(Robot::new); } diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java index 2c351995f..76c6ad0b9 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java @@ -25,11 +25,11 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX; import org.photonvision.PhotonCamera; /** -* The VM is configured to automatically run this class, and to call the functions corresponding to -* each mode, as described in the TimedRobot documentation. If you change the name of this class or -* the package after creating this project, you must also update the build.gradle file in the -* project. -*/ + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ public class Robot extends TimedRobot { // Constants such as camera and target height stored. Change per robot and goal! final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24); diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Main.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Main.java index 0f5d6826e..55e96e5b6 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Main.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Main.java @@ -19,18 +19,18 @@ package org.photonlib.examples.getinrange; import edu.wpi.first.wpilibj.RobotBase; /** -* Do NOT add any static variables to this class, or any initialization at all. Unless you know what -* you are doing, do not modify this file except to change the parameter class to the startRobot -* call. -*/ + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ public final class Main { private Main() {} /** - * Main initialization function. Do not perform any initialization here. - * - *

If you change your main robot class, change the parameter type. - */ + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ public static void main(String... args) { RobotBase.startRobot(Robot::new); } diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java index 7df84185c..b0bee4128 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java @@ -26,11 +26,11 @@ import org.photonvision.PhotonCamera; import org.photonvision.PhotonUtils; /** -* The VM is configured to automatically run this class, and to call the functions corresponding to -* each mode, as described in the TimedRobot documentation. If you change the name of this class or -* the package after creating this project, you must also update the build.gradle file in the -* project. -*/ + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ public class Robot extends TimedRobot { // Constants such as camera and target height stored. Change per robot and goal! final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24); diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Main.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Main.java index 6254d005d..7e88e660c 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Main.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Main.java @@ -19,18 +19,18 @@ package org.photonlib.examples.simaimandrange; import edu.wpi.first.wpilibj.RobotBase; /** -* Do NOT add any static variables to this class, or any initialization at all. Unless you know what -* you are doing, do not modify this file except to change the parameter class to the startRobot -* call. -*/ + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ public final class Main { private Main() {} /** - * Main initialization function. Do not perform any initialization here. - * - *

If you change your main robot class, change the parameter type. - */ + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ public static void main(String... args) { RobotBase.startRobot(Robot::new); } diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Robot.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Robot.java index 4f08f42c0..111b11dd8 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Robot.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Robot.java @@ -27,11 +27,11 @@ import org.photonvision.PhotonCamera; import org.photonvision.PhotonUtils; /** -* The VM is configured to automatically run this class, and to call the functions corresponding to -* each mode, as described in the TimedRobot documentation. If you change the name of this class or -* the package after creating this project, you must also update the build.gradle file in the -* project. -*/ + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ public class Robot extends TimedRobot { // 2020 High goal target height above ground public static final double TARGET_HEIGHT_METERS = Units.inchesToMeters(81.19); diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/sim/DrivetrainSim.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/sim/DrivetrainSim.java index 0e24b38a3..86c11f6ab 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/sim/DrivetrainSim.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/sim/DrivetrainSim.java @@ -36,12 +36,12 @@ import org.photonvision.SimVisionSystem; import org.photonvision.SimVisionTarget; /** -* Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated -* PhotonVision system and one vision target. -* -*

This class and its methods are only relevant during simulation. While on the real robot, the -* real motors/sensors/physics are used instead. -*/ + * Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated + * PhotonVision system and one vision target. + * + *

This class and its methods are only relevant during simulation. While on the real robot, the + * real motors/sensors/physics are used instead. + */ public class DrivetrainSim { // Simulated Motor Controllers PWMSim leftLeader = new PWMSim(0); @@ -108,9 +108,9 @@ public class DrivetrainSim { } /** - * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot - * physics forward by a single 20ms step. - */ + * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot + * physics forward by a single 20ms step. + */ public void update() { double leftMotorCmd = 0; double rightMotorCmd = 0; @@ -132,11 +132,11 @@ public class DrivetrainSim { } /** - * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the - * robot onto a specific spot in the field (IE, at the start of each match). - * - * @param pose - */ + * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the + * robot onto a specific spot in the field (IE, at the start of each match). + * + * @param pose + */ public void resetPose(Pose2d pose) { drivetrainSimulator.setPose(pose); } diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/Main.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/Main.java index 2349b4cd4..8d6228379 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/Main.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/Main.java @@ -20,18 +20,18 @@ import edu.wpi.first.wpilibj.RobotBase; import org.photonlib.examples.simposeest.robot.Robot; /** -* Do NOT add any static variables to this class, or any initialization at all. Unless you know what -* you are doing, do not modify this file except to change the parameter class to the startRobot -* call. -*/ + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ public final class Main { private Main() {} /** - * Main initialization function. Do not perform any initialization here. - * - *

If you change your main robot class, change the parameter type. - */ + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ public static void main(String... args) { RobotBase.startRobot(Robot::new); } diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/AutoController.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/AutoController.java index 6b9d1aba1..b096df54a 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/AutoController.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/AutoController.java @@ -27,11 +27,11 @@ import edu.wpi.first.wpilibj.Timer; import java.util.List; /** -* Implements logic to convert a set of desired waypoints (ie, a trajectory) and the current -* estimate of where the robot is at (ie, the estimated Pose) into motion commands for a drivetrain. -* The Ramaste controller is used to smoothly move the robot from where it thinks it is to where it -* thinks it ought to be. -*/ + * Implements logic to convert a set of desired waypoints (ie, a trajectory) and the current + * estimate of where the robot is at (ie, the estimated Pose) into motion commands for a drivetrain. + * The Ramaste controller is used to smoothly move the robot from where it thinks it is to where it + * thinks it ought to be. + */ public class AutoController { private Trajectory trajectory; @@ -72,13 +72,13 @@ public class AutoController { } /** - * Given the current estimate of the robot's position, calculate drivetrain speed commands which - * will best-execute the active trajectory. Be sure to call `startPath()` prior to calling this - * method. - * - * @param curEstPose Current estimate of drivetrain pose on the field - * @return The commanded drivetrain motion - */ + * Given the current estimate of the robot's position, calculate drivetrain speed commands which + * will best-execute the active trajectory. Be sure to call `startPath()` prior to calling this + * method. + * + * @param curEstPose Current estimate of drivetrain pose on the field + * @return The commanded drivetrain motion + */ public ChassisSpeeds getCurMotorCmds(Pose2d curEstPose) { if (isRunning) { double elapsed = timer.get(); @@ -91,9 +91,9 @@ public class AutoController { } /** - * @return The position which the auto controller is attempting to move the drivetrain to right - * now. - */ + * @return The position which the auto controller is attempting to move the drivetrain to right + * now. + */ public Pose2d getCurPose2d() { return desiredDtState.poseMeters; } diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java index a47ff6a2f..ff49f3f94 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java @@ -24,11 +24,11 @@ import edu.wpi.first.math.util.Units; import org.photonvision.SimVisionTarget; /** -* Holding class for all physical constants that must be used throughout the codebase. These values -* should be set by one of a few methods: 1) Talk to your mechanical and electrical teams and -* determine how the physical robot is being built and configured. 2) Read the game manual and look -* at the field drawings 3) Match with how your vision coprocessor is configured. -*/ + * Holding class for all physical constants that must be used throughout the codebase. These values + * should be set by one of a few methods: 1) Talk to your mechanical and electrical teams and + * determine how the physical robot is being built and configured. 2) Read the game manual and look + * at the field drawings 3) Match with how your vision coprocessor is configured. + */ public class Constants { ////////////////////////////////////////////////////////////////// // Drivetrain Physical diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Drivetrain.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Drivetrain.java index ce042fe53..573bb3a56 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Drivetrain.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Drivetrain.java @@ -27,10 +27,10 @@ import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX; /** -* Implements a controller for the drivetrain. Converts a set of chassis motion commands into motor -* controller PWM values which attempt to speed up or slow down the wheels to match the desired -* speed. -*/ + * Implements a controller for the drivetrain. Converts a set of chassis motion commands into motor + * controller PWM values which attempt to speed up or slow down the wheels to match the desired + * speed. + */ public class Drivetrain { // PWM motor controller output definitions PWMVictorSPX leftLeader = new PWMVictorSPX(Constants.kDtLeftLeaderPin); @@ -77,12 +77,12 @@ public class Drivetrain { } /** - * Given a set of chassis (fwd/rev + rotate) speed commands, perform all periodic tasks to assign - * new outputs to the motor controllers. - * - * @param xSpeed Desired chassis Forward or Reverse speed (in meters/sec). Positive is forward. - * @param rot Desired chassis rotation speed in radians/sec. Positive is counter-clockwise. - */ + * Given a set of chassis (fwd/rev + rotate) speed commands, perform all periodic tasks to assign + * new outputs to the motor controllers. + * + * @param xSpeed Desired chassis Forward or Reverse speed (in meters/sec). Positive is forward. + * @param rot Desired chassis rotation speed in radians/sec. Positive is counter-clockwise. + */ public void drive(double xSpeed, double rot) { // Convert our fwd/rev and rotate commands to wheel speed commands DifferentialDriveWheelSpeeds speeds = @@ -111,12 +111,12 @@ public class Drivetrain { } /** - * Force the pose estimator and all sensors to a particular pose. This is useful for indicating to - * the software when you have manually moved your robot in a particular position on the field (EX: - * when you place it on the field at the start of the match). - * - * @param pose - */ + * Force the pose estimator and all sensors to a particular pose. This is useful for indicating to + * the software when you have manually moved your robot in a particular position on the field (EX: + * when you place it on the field at the start of the match). + * + * @param pose + */ public void resetOdometry(Pose2d pose) { leftEncoder.reset(); rightEncoder.reset(); diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java index c1bf02169..933185edc 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java @@ -31,10 +31,10 @@ import edu.wpi.first.wpilibj.Timer; import org.photonvision.PhotonCamera; /** -* Performs estimation of the drivetrain's current position on the field, using a vision system, -* drivetrain encoders, and a gyroscope. These sensor readings are fused together using a Kalman -* filter. This in turn creates a best-guess at a Pose2d of where our drivetrain is currently at. -*/ + * Performs estimation of the drivetrain's current position on the field, using a vision system, + * drivetrain encoders, and a gyroscope. These sensor readings are fused together using a Kalman + * filter. This in turn creates a best-guess at a Pose2d of where our drivetrain is currently at. + */ public class DrivetrainPoseEstimator { // Sensors used as part of the Pose Estimation private final AnalogGyro gyro = new AnalogGyro(Constants.kGyroPin); @@ -65,12 +65,12 @@ public class DrivetrainPoseEstimator { public DrivetrainPoseEstimator() {} /** - * Perform all periodic pose estimation tasks. - * - * @param actWheelSpeeds Current Speeds (in m/s) of the drivetrain wheels - * @param leftDist Distance (in m) the left wheel has traveled - * @param rightDist Distance (in m) the right wheel has traveled - */ + * Perform all periodic pose estimation tasks. + * + * @param actWheelSpeeds Current Speeds (in m/s) of the drivetrain wheels + * @param leftDist Distance (in m) the left wheel has traveled + * @param rightDist Distance (in m) the right wheel has traveled + */ public void update( DifferentialDriveWheelSpeeds actWheelSpeeds, double leftDist, double rightDist) { m_poseEstimator.update(gyro.getRotation2d(), actWheelSpeeds, leftDist, rightDist); @@ -86,12 +86,12 @@ public class DrivetrainPoseEstimator { } /** - * Force the pose estimator to a particular pose. This is useful for indicating to the software - * when you have manually moved your robot in a particular position on the field (EX: when you - * place it on the field at the start of the match). - * - * @param pose - */ + * Force the pose estimator to a particular pose. This is useful for indicating to the software + * when you have manually moved your robot in a particular position on the field (EX: when you + * place it on the field at the start of the match). + * + * @param pose + */ public void resetToPose(Pose2d pose) { m_poseEstimator.resetPosition(pose, gyro.getRotation2d()); } diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java index 1378a5aa4..cdc5741c2 100644 --- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java +++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java @@ -34,12 +34,12 @@ import org.photonlib.examples.simposeest.robot.Constants; import org.photonvision.SimVisionSystem; /** -* Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated -* PhotonVision system and one vision target. -* -*

This class and its methods are only relevant during simulation. While on the real robot, the -* real motors/sensors/physics are used instead. -*/ + * Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated + * PhotonVision system and one vision target. + * + *

This class and its methods are only relevant during simulation. While on the real robot, the + * real motors/sensors/physics are used instead. + */ public class DrivetrainSim { // Simulated Sensors AnalogGyroSim gyroSim = new AnalogGyroSim(Constants.kGyroPin); @@ -94,9 +94,9 @@ public class DrivetrainSim { } /** - * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot - * physics forward by a single 20ms step. - */ + * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot + * physics forward by a single 20ms step. + */ public void update() { double leftMotorCmd = 0; double rightMotorCmd = 0; @@ -135,11 +135,11 @@ public class DrivetrainSim { } /** - * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the - * robot onto a specific spot in the field (IE, at the start of each match). - * - * @param pose - */ + * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the + * robot onto a specific spot in the field (IE, at the start of each match). + * + * @param pose + */ public void resetPose(Pose2d pose) { drivetrainSimulator.setPose(pose); } @@ -150,11 +150,11 @@ public class DrivetrainSim { } /** - * For testing purposes only! Applies an unmodeled, undetected offset to the pose Similar to if - * you magically kicked your robot to the side in a way the encoders and gyro didn't measure. - * - *

This distrubance should be corrected for once a vision target is in view. - */ + * For testing purposes only! Applies an unmodeled, undetected offset to the pose Similar to if + * you magically kicked your robot to the side in a way the encoders and gyro didn't measure. + * + *

This distrubance should be corrected for once a vision target is in view. + */ public void applyKick() { Pose2d newPose = drivetrainSimulator diff --git a/shared/PhotonVersion.java.in b/shared/PhotonVersion.java.in index 832801b9d..c26f5a15c 100644 --- a/shared/PhotonVersion.java.in +++ b/shared/PhotonVersion.java.in @@ -17,9 +17,9 @@ package org.photonvision; /* -* Autogenerated file! Do not manually edit this file. This version is regenerated -* any time the publish task is run, or when this file is deleted. -*/ + * Autogenerated file! Do not manually edit this file. This version is regenerated + * any time the publish task is run, or when this file is deleted. + */ import java.util.regex.Matcher; import java.util.regex.Pattern;