Merge branch 'networkmanager' into dev

# Conflicts: # Main/src/main/java/com/chameleonvision/util/MathHandler.java # Main/src/main/java/com/chameleonvision/vision/camera/Camera.java # Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java # Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
2026-06-20 00:51:41 +00:00 · 2019-10-07 14:08:01 -04:00
parent 285125cc22 53585be088
commit 61b09f2bf3
24 changed files with 746 additions and 123 deletions
--- a/Main/src/main/java/com/chameleonvision/util/FileHelper.java
+++ b/Main/src/main/java/com/chameleonvision/util/FileHelper.java
@@ -0,0 +1,25 @@
+package com.chameleonvision.util;
+
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+
+public class FileHelper {
+    private FileHelper() {} // no construction, utility class
+
+    public static void CheckPath(String path) {
+        if (path.equals("")) return;
+        Path realPath = Path.of(path);
+        CheckPath(realPath);
+    }
+
+    public static void CheckPath(Path path) {
+        if (!Files.exists(path)) {
+            try {
+                Files.createDirectories(path);
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+}
--- a/Main/src/main/java/com/chameleonvision/util/MathHandler.java
+++ b/Main/src/main/java/com/chameleonvision/util/MathHandler.java
@@ -0,0 +1,23 @@
+package com.chameleonvision.util;
+
+import java.lang.Math;
+
+public class MathHandler {
+    MathHandler() {}
+
+    public static double sigmoid(double x){
+        double bias = 0;
+        double a = 5;
+        double b = -0.05;
+        double k = 200;
+
+        if (x < 50){
+            bias = -1.338;
+        }
+
+        return ((k / (1 + Math.pow(Math.E,(a + (b * x))))) + bias);
+    }
+    public static double toSlope(double angle){
+        return FastMath.atan(FastMath.toRadians(angle - 90));
+    }
+}
--- a/Main/src/main/java/com/chameleonvision/util/MemoryManager.java
+++ b/Main/src/main/java/com/chameleonvision/util/MemoryManager.java
@@ -0,0 +1,46 @@
+package com.chameleonvision.util;
+
+public class MemoryManager {
+
+	private static final long MEGABYTE_FACTOR = 1024L * 1024L;
+
+	private int collectionThreshold;
+	private int lastUsedMb = 0;
+
+	public MemoryManager(int collectionThreshold) {
+		this.collectionThreshold = collectionThreshold;
+	}
+
+	public void setCollectionThreshold(int collectionThreshold) {
+		this.collectionThreshold = collectionThreshold;
+	}
+
+	public static long getUsedMemory() {
+		return Runtime.getRuntime().totalMemory() - Runtime.getRuntime().freeMemory();
+	}
+
+	public static int getUsedMemoryMB() {
+		return (int) (getUsedMemory() / MEGABYTE_FACTOR);
+	}
+
+	private static void collect() {
+		System.gc();
+		System.runFinalization();
+	}
+
+	public void run() { run(false); }
+
+	public void run(boolean print) {
+		var usedMem = getUsedMemoryMB();
+
+		if (usedMem != lastUsedMb) {
+			lastUsedMb = usedMem;
+			if (print) System.out.printf("Memory usage: %dMB\n", usedMem);
+		}
+
+		if (usedMem >= collectionThreshold) {
+			collect();
+			if (print) System.out.printf("Garbage collected at %dMB\n", usedMem);
+		}
+	}
+}
--- a/Main/src/main/java/com/chameleonvision/util/ShellExec.java
+++ b/Main/src/main/java/com/chameleonvision/util/ShellExec.java
@@ -0,0 +1,151 @@
+package com.chameleonvision.util;
+
+import java.io.*;
+
+/**
+ * Execute external process and optionally read output buffer.
+ */
+public class ShellExec {
+    private int exitCode;
+    private boolean readOutput, readError;
+    private StreamGobbler errorGobbler, outputGobbler;
+
+    public ShellExec() {
+        this(false, false);
+    }
+
+    public ShellExec(boolean readOutput, boolean readError) {
+        this.readOutput = readOutput;
+        this.readError = readError;
+    }
+
+    /**
+     * 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
+     */
+    public int execute(String command, String workdir, boolean wait, String...args) throws IOException {
+        String[] cmdArr;
+        if (args != null && args.length > 0) {
+            cmdArr = new String[1+args.length];
+            cmdArr[0] = command;
+            System.arraycopy(args, 0, cmdArr, 1, args.length);
+        } else {
+            cmdArr = new String[] { command };
+        }
+
+        ProcessBuilder pb =  new ProcessBuilder(cmdArr);
+        File workingDir = (workdir==null ? new File(command).getParentFile() : new File(workdir) );
+        pb.directory(workingDir);
+
+        Process process = pb.start();
+
+        // Consume streams, older jvm's had a memory leak if streams were not read,
+        // some other jvm+OS combinations may block unless streams are consumed.
+        errorGobbler  = new StreamGobbler(process.getErrorStream(), readError);
+        outputGobbler = new StreamGobbler(process.getInputStream(), readOutput);
+        errorGobbler.start();
+        outputGobbler.start();
+
+        exitCode = 0;
+        if (wait) {
+            try {
+                process.waitFor();
+                exitCode = process.exitValue();
+            } catch (InterruptedException ignored) { }
+        }
+        return exitCode;
+    }
+
+    public int getExitCode() {
+        return exitCode;
+    }
+
+    public boolean isOutputCompleted() {
+        return (outputGobbler != null && outputGobbler.isCompleted());
+    }
+
+    public boolean isErrorCompleted() {
+        return (errorGobbler != null && errorGobbler.isCompleted());
+    }
+
+    public String getOutput() {
+        return (outputGobbler != null ? outputGobbler.getOutput() : null);
+    }
+
+    public String getError() {
+        return (errorGobbler != null ? errorGobbler.getOutput() : null);
+    }
+
+//********************************************
+//********************************************
+
+    /**
+     * 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 class StreamGobbler extends Thread {
+        private InputStream is;
+        private StringBuilder output;
+        private volatile boolean completed; // mark volatile to guarantee a thread safety
+
+        public StreamGobbler(InputStream is, boolean readStream) {
+            this.is = is;
+            this.output = (readStream ? new StringBuilder(256) : null);
+        }
+
+        public void run() {
+            completed = false;
+            try {
+                String NL = System.getProperty("line.separator", "\r\n");
+
+                InputStreamReader isr = new InputStreamReader(is);
+                BufferedReader br = new BufferedReader(isr);
+                String line;
+                while ( (line = br.readLine()) != null) {
+                    if (output != null)
+                        output.append(line).append(NL);
+                }
+            } catch (IOException ex) {
+                // ex.printStackTrace();
+            }
+            completed = true;
+        }
+
+        /**
+         * Get inputstream buffer or null if stream
+         * was not consumed.
+         * @return
+         */
+        public String getOutput() {
+            return (output != null ? output.toString() : null);
+        }
+
+        /**
+         * Is input stream completed.
+         * @return
+         */
+        public boolean isCompleted() {
+            return completed;
+        }
+
+    }
+
+}
--- a/Main/src/main/java/com/chameleonvision/util/Utilities.java
+++ b/Main/src/main/java/com/chameleonvision/util/Utilities.java
@@ -1,5 +1,8 @@
 package com.chameleonvision.util;

+import java.util.ArrayList;
+import java.util.List;
+
 public class Utilities {
    private Utilities() {}

@@ -8,4 +11,30 @@ public class Utilities {

        return ip.matches(PATTERN);
    }
+
+    public static List<Byte> getDigitBytes(int num) {
+        List<Byte> digits = new ArrayList<>();
+        collectDigitBytes(num, digits);
+        return digits;
+    }
+
+    private static void collectDigitBytes(int num, List<Byte> digits) {
+        if (num / 10 > 0) {
+            collectDigitBytes( num / 10, digits);
+        }
+        digits.add((byte) (num % 10));
+    }
+
+    public static List<Integer> getDigits(int num) {
+        List<Integer> digits = new ArrayList<Integer>();
+        collectDigits(num, digits);
+        return digits;
+    }
+
+    private static void collectDigits(int num, List<Integer> digits) {
+        if(num / 10 > 0) {
+            collectDigits(num / 10, digits);
+        }
+        digits.add(num % 10);
+    }
 }