From 9756420ce3cbcc851c1d91a2435122665b65064e Mon Sep 17 00:00:00 2001
From: Banks Troutman <btrout.dhrs@gmail.com>
Date: Mon, 25 May 2020 20:29:18 -0400
Subject: [PATCH] Update TODOs, minor cleanups, add ledMode to pipelinesettings

---
 .../com/chameleonvision/common/scripting/ScriptManager.java | 2 +-
 .../main/java/com/chameleonvision/common/util/Platform.java | 3 +--
 .../com/chameleonvision/common/util/file/FileUtils.java     | 1 -
 .../com/chameleonvision/common/vision/opencv/CVShape.java   | 4 +---
 .../com/chameleonvision/common/vision/opencv/Contour.java   | 2 +-
 .../chameleonvision/common/vision/opencv/ContourShape.java  | 3 +--
 .../common/vision/pipe/impl/Draw2dCrosshairPipe.java        | 2 +-
 .../common/vision/pipe/impl/Draw3dTargetsPipe.java          | 2 --
 .../common/vision/pipe/impl/GroupContoursPipe.java          | 3 ---
 .../common/vision/pipeline/AdvancedPipelineSettings.java    | 6 ++++++
 .../common/vision/pipeline/CVPipelineResult.java            | 1 -
 .../common/vision/pipeline/CVPipelineSettings.java          | 1 +
 .../common/vision/pipeline/ReflectivePipeline.java          | 5 ++---
 .../common/vision/processes/VisionModule.java               | 2 +-
 .../chameleonvision/common/vision/target/TrackedTarget.java | 1 -
 .../common/vision/frame/provider/FileFrameProviderTest.java | 2 --
 16 files changed, 16 insertions(+), 24 deletions(-)

diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/scripting/ScriptManager.java b/chameleon-server/src/main/java/com/chameleonvision/common/scripting/ScriptManager.java
index 5f83f6ec1..9860d0dfb 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/scripting/ScriptManager.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/scripting/ScriptManager.java
@@ -76,7 +76,7 @@ public class ScriptManager {
 
         //        protected static final Path scriptConfigPath =
         // Paths.get(ConfigManager.SettingsPath.toString(), "scripts.json");
-        static final Path scriptConfigPath = Paths.get(""); // TODO: FIX
+        static final Path scriptConfigPath = Paths.get(""); // TODO: Waiting on config
 
         private ScriptConfigManager() {}
 
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/util/Platform.java b/chameleon-server/src/main/java/com/chameleonvision/common/util/Platform.java
index eda6611c9..80dfad2c5 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/util/Platform.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/util/Platform.java
@@ -61,9 +61,8 @@ public enum Platform {
                 e.printStackTrace();
             }
 
-            // TODO: better way to do this?
             while (!shell.isOutputCompleted()) {
-                // ignored
+                // TODO: add timeout
             }
 
             if (shell.getExitCode() == 0) {
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/util/file/FileUtils.java b/chameleon-server/src/main/java/com/chameleonvision/common/util/file/FileUtils.java
index 25629947b..f2e12b4b9 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/util/file/FileUtils.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/util/file/FileUtils.java
@@ -49,7 +49,6 @@ public class FileUtils {
                 e.printStackTrace();
             }
         } else {
-            // TODO file perms on Windows
             logger.info("Cannot set directory permissions on Windows!");
         }
     }
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/CVShape.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/CVShape.java
index 1e01dc0a8..21019c84c 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/CVShape.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/CVShape.java
@@ -50,9 +50,7 @@ public class CVShape {
                 break;
             case Triangle:
                 break;
-            case Square:
-                break;
-            case Rectangle:
+            case Quadrilateral:
                 break;
         }
         return true;
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/Contour.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/Contour.java
index f4cafa949..21ed0fabe 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/Contour.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/Contour.java
@@ -144,7 +144,7 @@ public class Contour implements Releasable {
         return isIntersecting;
     }
 
-    // TODO: refactor to do "infinite" contours
+    // TODO: refactor to do "infinite" contours ???????
     public static Contour groupContoursByIntersection(
             Contour firstContour, Contour secondContour, ContourIntersectionDirection intersection) {
         if (areIntersecting(firstContour, secondContour, intersection)) {
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/ContourShape.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/ContourShape.java
index dc036c427..419d4c1cd 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/ContourShape.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/ContourShape.java
@@ -4,8 +4,7 @@ public enum ContourShape {
     Custom(-1),
     Circle(0),
     Triangle(3),
-    Square(4),
-    Rectangle(4);
+    Quadrilateral(4);
 
     public final int sides;
 
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/Draw2dCrosshairPipe.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/Draw2dCrosshairPipe.java
index 05ce9cadf..69329796b 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/Draw2dCrosshairPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/Draw2dCrosshairPipe.java
@@ -32,7 +32,7 @@ public class Draw2dCrosshairPipe
                     }
                     break;
                 case Dual:
-                    // TODO
+                    // TODO: draw crosshair based on dual calibration
                     break;
             }
 
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/Draw3dTargetsPipe.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/Draw3dTargetsPipe.java
index 194d66dff..745f5649a 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/Draw3dTargetsPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/Draw3dTargetsPipe.java
@@ -18,8 +18,6 @@ import org.opencv.imgproc.Imgproc;
 public class Draw3dTargetsPipe
         extends CVPipe<Pair<Mat, List<TrackedTarget>>, Mat, Draw3dTargetsPipe.Draw3dContoursParams> {
 
-    private static MatOfPoint tempMat = new MatOfPoint();
-
     @Override
     protected Mat process(Pair<Mat, List<TrackedTarget>> in) {
         for (var target : in.getRight()) {
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/GroupContoursPipe.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/GroupContoursPipe.java
index 0962d9f5d..10cb56377 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/GroupContoursPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipe/impl/GroupContoursPipe.java
@@ -30,9 +30,6 @@ public class GroupContoursPipe
             int groupingCount = params.getGroup().count;
 
             if (input.size() > groupingCount) {
-                // todo: is it OK to mutate the input list?
-                //  or should we clone it like before?
-                //  what is the perf hit on cloning?
                 input.sort(Contour.SortByMomentsX);
                 // also why reverse? shouldn't the sort comparator just get reversed?
                 Collections.reverse(input);
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/AdvancedPipelineSettings.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/AdvancedPipelineSettings.java
index 36db264c8..034adf34f 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/AdvancedPipelineSettings.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/AdvancedPipelineSettings.java
@@ -6,8 +6,14 @@ import com.chameleonvision.common.vision.opencv.ContourSortMode;
 import com.chameleonvision.common.vision.target.RobotOffsetPointMode;
 import com.chameleonvision.common.vision.target.TargetOffsetPointEdge;
 import com.chameleonvision.common.vision.target.TargetOrientation;
+import com.fasterxml.jackson.annotation.JsonIgnore;
 
 public class AdvancedPipelineSettings extends CVPipelineSettings {
+
+    public AdvancedPipelineSettings() {
+        ledMode = true;
+    }
+
     public IntegerCouple hsvHue = new IntegerCouple(50, 180);
     public IntegerCouple hsvSaturation = new IntegerCouple(50, 255);
     public IntegerCouple hsvValue = new IntegerCouple(50, 255);
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/CVPipelineResult.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/CVPipelineResult.java
index 22145847b..a903b73e4 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/CVPipelineResult.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/CVPipelineResult.java
@@ -15,7 +15,6 @@ public class CVPipelineResult implements Releasable {
         this.processingMillis = processingMillis;
         this.targets = targets;
 
-        // TODO: is this the best way to go about this?
         this.outputFrame = Frame.copyFrom(outputFrame);
     }
 
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/CVPipelineSettings.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/CVPipelineSettings.java
index eb57ac9e1..bf83fb737 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/CVPipelineSettings.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/CVPipelineSettings.java
@@ -16,4 +16,5 @@ public class CVPipelineSettings {
     public int cameraVideoModeIndex = 0;
     public FrameDivisor inputFrameDivisor = FrameDivisor.NONE;
     public FrameDivisor outputFrameDivisor = FrameDivisor.NONE;
+    public boolean ledMode = false;
 }
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/ReflectivePipeline.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/ReflectivePipeline.java
index e3e5c2e3c..421bc260a 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/ReflectivePipeline.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/ReflectivePipeline.java
@@ -63,8 +63,8 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
 
         ErodeDilatePipe.ErodeDilateParams erodeDilateParams =
                 new ErodeDilatePipe.ErodeDilateParams(
-                        settings.erode, settings.dilate, 5); // TODO: add kernel size to
-        // pipeline settings
+                        settings.erode, settings.dilate, 5);
+        // TODO: add kernel size to pipeline settings
         erodeDilatePipe.setParams(erodeDilateParams);
 
         HSVPipe.HSVParams hsvParams =
@@ -75,7 +75,6 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
                 new OutputMatPipe.OutputMatParams(settings.outputShowThresholded);
         outputMatPipe.setParams(outputMatParams);
 
-        // TODO: necessary? offer different contour methods?
         FindContoursPipe.FindContoursParams findContoursParams =
                 new FindContoursPipe.FindContoursParams();
         findContoursPipe.setParams(findContoursParams);
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/processes/VisionModule.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/processes/VisionModule.java
index 6b1ebb68e..5381bd661 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/processes/VisionModule.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/processes/VisionModule.java
@@ -35,7 +35,7 @@ public class VisionModule {
     }
 
     void consumeResult(CVPipelineResult result) {
-        // TODO: put result in to Data
+        // TODO: put result in to Data (not this way!)
         var data = new Data();
         data.result = result;
         consumeData(data);
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/target/TrackedTarget.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/target/TrackedTarget.java
index 7d73787e6..8255b62d3 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/target/TrackedTarget.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/target/TrackedTarget.java
@@ -10,7 +10,6 @@ import org.opencv.core.MatOfPoint2f;
 import org.opencv.core.Point;
 import org.opencv.core.RotatedRect;
 
-// TODO: banks fix
 public class TrackedTarget implements Releasable {
     public final Contour m_mainContour;
     List<Contour> m_subContours; // can be empty
diff --git a/chameleon-server/src/test/java/com/chameleonvision/common/vision/frame/provider/FileFrameProviderTest.java b/chameleon-server/src/test/java/com/chameleonvision/common/vision/frame/provider/FileFrameProviderTest.java
index 6b8787505..7e41458f9 100644
--- a/chameleon-server/src/test/java/com/chameleonvision/common/vision/frame/provider/FileFrameProviderTest.java
+++ b/chameleon-server/src/test/java/com/chameleonvision/common/vision/frame/provider/FileFrameProviderTest.java
@@ -45,7 +45,6 @@ public class FileFrameProviderTest {
         assertEquals(320, goodFrameCols);
         assertEquals(240, goodFrameRows);
 
-        // TODO: find a way to skip this if a flag isn't set
         TestUtils.showImage(goodFrame.image.getMat(), "2019");
 
         var badFilePath = Paths.get("bad.jpg"); // this file does not exist
@@ -78,7 +77,6 @@ public class FileFrameProviderTest {
         assertEquals(640, goodFrameCols);
         assertEquals(480, goodFrameRows);
 
-        // TODO: find a way to skip this if a flag isn't set
         TestUtils.showImage(goodFrame.image.getMat(), "2020");
 
         var badFilePath = Paths.get("bad.jpg"); // this file does not exist