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Set default pipeline idx in PipelineManager constructor (#1286)

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Addresses #1285
This commit is contained in:
Matt
2024-03-18 13:21:41 -04:00
committed by GitHub
parent fae3116951
commit 5597f5acd9
7 changed files with 49 additions and 28 deletions
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6
photon-client/src/components/dashboard/CamerasCard.vue
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@@ -13,11 +13,7 @@ defineProps<{
const driverMode = computed<boolean>({
get: () => useCameraSettingsStore().isDriverMode,
set: (v) =>
useCameraSettingsStore().changeCurrentPipelineIndex(
v ? -1 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
true
)
set: (v) => useCameraSettingsStore().setDriverMode(v)
});
const fpsTooLow = computed<boolean>(() => {

7
photon-client/src/stores/settings/CameraSettingsStore.ts
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@@ -236,6 +236,13 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
}
useStateStore().websocket?.send(payload, true);
},
setDriverMode(isDriverMode: boolean, cameraIndex: number = useStateStore().currentCameraIndex) {
const payload = {
driverMode: isDriverMode,
cameraIndex: cameraIndex
};
useStateStore().websocket?.send(payload, true);
},
/**
* Change the currently selected pipeline of the provided camera.
*

22
photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
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@@ -61,7 +61,8 @@ public class PipelineManager {
PipelineManager(
DriverModePipelineSettings driverSettings,
List<CVPipelineSettings> userPipelines,
String uniqueName) {
String uniqueName,
int defaultIndex) {
this.userPipelineSettings = new ArrayList<>(userPipelines);
// This is to respect the default res idx for vendor cameras
@@ -70,10 +71,19 @@ public class PipelineManager {
if (userPipelines.isEmpty()) addPipeline(PipelineType.Reflective);
calibration3dPipeline = new Calibrate3dPipeline(uniqueName);
// We know that at this stage, VisionRunner hasn't yet started so we're good to do this from
// this thread
this.setIndex(defaultIndex);
updatePipelineFromRequested();
}
public PipelineManager(CameraConfiguration config) {
this(config.driveModeSettings, config.pipelineSettings, config.uniqueName);
this(
config.driveModeSettings,
config.pipelineSettings,
config.uniqueName,
config.currentPipelineIndex);
}
/**
@@ -173,6 +183,14 @@ public class PipelineManager {
private volatile int requestedIndex = 0;
/**
* Grab the currently requested pipeline index. The VisionRunner may not have changed over to this
* pipeline yet.
*/
public int getRequestedIndex() {
return requestedIndex;
}
/**
* Internal method for setting the active pipeline. <br>
* <br>

17
photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
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@@ -143,7 +143,7 @@ public class VisionModule {
ntConsumer =
new NTDataPublisher(
visionSource.getSettables().getConfiguration().nickname,
pipelineManager::getCurrentPipelineIndex,
pipelineManager::getRequestedIndex,
this::setPipeline,
pipelineManager::getDriverMode,
this::setDriverMode);
@@ -156,6 +156,7 @@ public class VisionModule {
(result) ->
lastPipelineResultBestTarget = result.hasTargets() ? result.targets.get(0) : null);
// Sync VisionModule state with the first pipeline index
setPipeline(visionSource.getSettables().getConfiguration().currentPipelineIndex);
// Set vendor FOV
@@ -321,7 +322,7 @@ public class VisionModule {
void changePipelineType(int newType) {
pipelineManager.changePipelineType(newType);
setPipeline(pipelineManager.getCurrentPipelineIndex());
setPipeline(pipelineManager.getRequestedIndex());
saveAndBroadcastAll();
}
@@ -329,9 +330,7 @@ public class VisionModule {
pipelineManager.setDriverMode(isDriverMode);
setVisionLEDs(!isDriverMode);
setPipeline(
isDriverMode
? PipelineManager.DRIVERMODE_INDEX
: pipelineManager.getCurrentPipelineIndex());
isDriverMode ? PipelineManager.DRIVERMODE_INDEX : pipelineManager.getRequestedIndex());
saveAndBroadcastAll();
}
@@ -385,7 +384,7 @@ public class VisionModule {
var ret = pipelineManager.calibration3dPipeline.tryCalibration();
pipelineManager.setCalibrationMode(false);
setPipeline(pipelineManager.getCurrentPipelineIndex());
setPipeline(pipelineManager.getRequestedIndex());
if (ret != null) {
logger.debug("Saving calibration...");
@@ -447,7 +446,7 @@ public class VisionModule {
setVisionLEDs(pipelineSettings.ledMode);
visionSource.getSettables().getConfiguration().currentPipelineIndex =
pipelineManager.getCurrentPipelineIndex();
pipelineManager.getRequestedIndex();
return true;
}
@@ -511,7 +510,7 @@ public class VisionModule {
ret.uniqueName = visionSource.getSettables().getConfiguration().uniqueName;
ret.currentPipelineSettings =
SerializationUtils.objectToHashMap(pipelineManager.getCurrentPipelineSettings());
ret.currentPipelineIndex = pipelineManager.getCurrentPipelineIndex();
ret.currentPipelineIndex = pipelineManager.getRequestedIndex();
ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
ret.cameraQuirks = visionSource.getSettables().getConfiguration().cameraQuirks;
@@ -553,7 +552,7 @@ public class VisionModule {
var config = visionSource.getSettables().getConfiguration();
config.setPipelineSettings(pipelineManager.userPipelineSettings);
config.driveModeSettings = pipelineManager.driverModePipeline.getSettings();
config.currentPipelineIndex = Math.max(pipelineManager.getCurrentPipelineIndex(), -1);
config.currentPipelineIndex = Math.max(pipelineManager.getRequestedIndex(), -1);
return config;
}

7
photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
View File

@@ -88,7 +88,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
parentModule.saveAndBroadcastAll();
return;
case "deleteCurrPipeline":
var indexToDelete = parentModule.pipelineManager.getCurrentPipelineIndex();
var indexToDelete = parentModule.pipelineManager.getRequestedIndex();
logger.info("Deleting current pipe at index " + indexToDelete);
int newIndex = parentModule.pipelineManager.removePipeline(indexToDelete);
parentModule.setPipeline(newIndex);
@@ -96,7 +96,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
return;
case "changePipeline": // change active pipeline
var index = (Integer) newPropValue;
if (index == parentModule.pipelineManager.getCurrentPipelineIndex()) {
if (index == parentModule.pipelineManager.getRequestedIndex()) {
logger.debug("Skipping pipeline change, index " + index + " already active");
return;
}
@@ -181,6 +181,9 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
parentModule.changePipelineType((Integer) newPropValue);
parentModule.saveAndBroadcastAll();
return;
case "isDriverMode":
parentModule.setDriverMode((Boolean) newPropValue);
return;
}
// special case for camera settables

2
photon-core/src/test/java/org/photonvision/vision/processes/PipelineManagerTest.java
View File

@@ -30,7 +30,7 @@ public class PipelineManagerTest {
public void testUniqueName() {
TestUtils.loadLibraries();
PipelineManager manager =
new PipelineManager(new DriverModePipelineSettings(), List.of(), "meme_name");
new PipelineManager(new DriverModePipelineSettings(), List.of(), "meme_name", -1);
manager.addPipeline(PipelineType.Reflective, "Another");
// We now have ["New Pipeline", "Another"]

16
photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
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@@ -131,18 +131,16 @@ public class DataSocketHandler {
case SMT_DRIVERMODE:
{
// TODO: what is this event?
var data = (HashMap<String, Object>) entryValue;
var dmExpEvent =
new IncomingWebSocketEvent<Integer>(
DataChangeDestination.DCD_ACTIVEMODULE, "driverExposure", data);
var dmBrightEvent =
new IncomingWebSocketEvent<Integer>(
DataChangeDestination.DCD_ACTIVEMODULE, "driverBrightness", data);
var data = (Boolean) entryValue;
var dmIsDriverEvent =
new IncomingWebSocketEvent<Boolean>(
DataChangeDestination.DCD_ACTIVEMODULE, "isDriver", data);
DataChangeDestination.DCD_ACTIVEMODULE,
"isDriverMode",
data,
cameraIndex,
context);
dcService.publishEvents(dmExpEvent, dmBrightEvent, dmIsDriverEvent);
dcService.publishEvents(dmIsDriverEvent);
break;
}
case SMT_CHANGECAMERANAME: