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Fix driver mode settings, sort resolutions (#115)

Browse Source 
* Fix DriverMode settings

* Update FileVisionSource.java

* Sort modes by resolution

* Filter duplicated modes

* run spotless

* Fix calibration bug

* run format

* aaaaa

* Add hardware and platform support

* decrease timing sensitivity

* Better handle jvm exitg

* Make reboot happen immediately

* Cleanup restart

* Remove debug print

* Fix Jackson exploding when deserializing old versions of configs

* Add unit test for old config versions

* Run format

* Add a comment

* remove isvendorcam from pipeline manager

* oops
This commit is contained in:
Matt
2020-09-10 19:20:16 -07:00
committed by GitHub
parent ddd15d362b
commit a35f775b05
25 changed files with 193 additions and 57 deletions
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11
photon-server/src/main/java/org/photonvision/Main.java
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@@ -20,7 +20,6 @@ package org.photonvision;
import edu.wpi.cscore.CameraServerCvJNI;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import org.apache.commons.cli.*;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.configuration.ConfigManager;
@@ -84,7 +83,7 @@ public class Main {
}
private static void addTestModeSources() {
var collectedSources = new HashMap<VisionSource, List<CVPipelineSettings>>();
var collectedSources = new HashMap<VisionSource, CameraConfiguration>();
var camConf2019 =
new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
@@ -115,8 +114,12 @@ public class Main {
var fvs2020 = new FileVisionSource(camConf2020);
collectedSources.put(fvs2019, psList2019);
collectedSources.put(fvs2020, psList2020);
var cfg2019 = new CameraConfiguration("2019", "2019");
cfg2019.pipelineSettings = psList2019;
var cfg2020 = new CameraConfiguration("2019", "2019");
cfg2020.pipelineSettings = psList2020;
collectedSources.put(fvs2019, cfg2019);
collectedSources.put(fvs2020, cfg2020);
// logger.info("Adding " + allSources.size() + " configs to VMM.");
VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);

3
photon-server/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
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@@ -49,7 +49,6 @@ public class CameraConfiguration {
public CameraType cameraType = CameraType.UsbCamera;
public double FOV = 70;
public final List<CameraCalibrationCoefficients> calibrations;
public List<Integer> cameraLeds = new ArrayList<>();
public int currentPipelineIndex = 0;
public Rotation2d camPitch = new Rotation2d();
@@ -89,7 +88,6 @@ public class CameraConfiguration {
@JsonProperty("path") String path,
@JsonProperty("cameraType") CameraType cameraType,
@JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
@JsonProperty("cameraLEDs") List<Integer> cameraLeds,
@JsonProperty("currentPipelineIndex") int currentPipelineIndex,
@JsonProperty("camPitch") Rotation2d camPitch) {
this.baseName = baseName;
@@ -99,7 +97,6 @@ public class CameraConfiguration {
this.path = path;
this.cameraType = cameraType;
this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
this.cameraLeds = cameraLeds;
this.currentPipelineIndex = currentPipelineIndex;
this.camPitch = camPitch;

8
photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java
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@@ -301,12 +301,8 @@ public class ConfigManager {
return loadedConfigurations;
}
public void addCameraConfigurations(HashMap<VisionSource, List<CVPipelineSettings>> sources) {
List<CameraConfiguration> list =
sources.keySet().stream()
.map(it -> it.getSettables().getConfiguration())
.collect(Collectors.toList());
getConfig().addCameraConfigs(list);
public void addCameraConfigurations(HashMap<VisionSource, CameraConfiguration> sources) {
getConfig().addCameraConfigs(sources.values());
requestSave();
}

8
photon-server/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
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@@ -18,6 +18,8 @@
package org.photonvision.common.configuration;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
public class HardwareConfig {
@@ -47,6 +49,7 @@ public class HardwareConfig {
// Device stuff
public final String restartHardwareCommand;
public final double vendorFOV; // -1 for unmanaged
public final List<Integer> blacklistedResIndices; // this happens before the defaults are applied
public HardwareConfig() {
deviceName = "";
@@ -71,6 +74,7 @@ public class HardwareConfig {
restartHardwareCommand = "";
vendorFOV = -1;
blacklistedResIndices = Collections.emptyList();
}
@SuppressWarnings("unused")
@@ -94,7 +98,8 @@ public class HardwareConfig {
String gpuTempCommand,
String ramUtilCommand,
String restartHardwareCommand,
double vendorFOV) {
double vendorFOV,
List<Integer> blacklistedResIndices) {
this.deviceName = deviceName;
this.deviceLogoPath = deviceLogoPath;
this.supportURL = supportURL;
@@ -115,6 +120,7 @@ public class HardwareConfig {
this.ramUtilCommand = ramUtilCommand;
this.restartHardwareCommand = restartHardwareCommand;
this.vendorFOV = vendorFOV;
this.blacklistedResIndices = blacklistedResIndices;
}
public final boolean hasPresetFOV() {

8
photon-server/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
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@@ -17,11 +17,13 @@
package org.photonvision.common.configuration;
import java.util.Collection;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
import org.photonvision.PhotonVersion;
import org.photonvision.common.hardware.Platform;
import org.photonvision.common.util.SerializationUtils;
import org.photonvision.vision.processes.VisionModule;
import org.photonvision.vision.processes.VisionModuleManager;
@@ -44,7 +46,7 @@ public class PhotonConfiguration {
return cameraConfigurations;
}
public void addCameraConfigs(List<CameraConfiguration> config) {
public void addCameraConfigs(Collection<CameraConfiguration> config) {
for (var c : config) {
addCameraConfig(c);
}
@@ -95,8 +97,8 @@ public class PhotonConfiguration {
generalSubmap.put("version", PhotonVersion.versionString);
generalSubmap.put("gpuAcceleration", false); // TODO gpu accel and accel type
generalSubmap.put("gpuAccelerationType", "Unknown");
generalSubmap.put("hardwareModel", "Unknown"); // TODO hardware model and platform
generalSubmap.put("hardwarePlatform", "Unknown");
generalSubmap.put("hardwareModel", hardwareConfig.deviceName);
generalSubmap.put("hardwarePlatform", Platform.getCurrentPlatform().toString());
settingsSubmap.put("general", generalSubmap);
map.put("settings", settingsSubmap);

27
photon-server/src/main/java/org/photonvision/common/hardware/HardwareManager.java
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@@ -19,14 +19,12 @@ package org.photonvision.common.hardware;
import edu.wpi.first.networktables.NetworkTableEntry;
import java.io.IOException;
import java.util.HashMap;
import org.photonvision.common.ProgramStatus;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.configuration.HardwareConfig;
import org.photonvision.common.dataflow.networktables.NTDataChangeListener;
import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
import org.photonvision.common.hardware.GPIO.CustomGPIO;
import org.photonvision.common.hardware.GPIO.GPIOBase;
import org.photonvision.common.hardware.VisionLED.VisionLEDMode;
import org.photonvision.common.hardware.metrics.MetricsBase;
import org.photonvision.common.logging.LogGroup;
@@ -36,13 +34,17 @@ import org.photonvision.common.util.ShellExec;
public class HardwareManager {
private static HardwareManager instance;
private final HashMap<Integer, GPIOBase> VisionLEDs = new HashMap<>();
private final ShellExec shellExec = new ShellExec(true, false);
private final Logger logger = new Logger(HardwareManager.class, LogGroup.General);
private final HardwareConfig hardwareConfig;
@SuppressWarnings("FieldCanBeLocal")
private final StatusLED statusLED;
private final NetworkTableEntry ledModeEntry;
@SuppressWarnings("FieldCanBeLocal")
private final NTDataChangeListener ledModeListener;
public final VisionLED visionLED;
@@ -64,17 +66,34 @@ public class HardwareManager {
new VisionLED(
hardwareConfig.ledPins,
hardwareConfig.ledPWMFrequency,
hardwareConfig.ledPWMRange.get(1));
(hardwareConfig.ledPWMRange != null && hardwareConfig.ledPWMRange.size() == 2)
? hardwareConfig.ledPWMRange.get(1)
: 0);
ledModeEntry = NetworkTablesManager.getInstance().kRootTable.getEntry("ledMode");
ledModeEntry.setNumber(VisionLEDMode.VLM_DEFAULT.value);
ledModeListener = new NTDataChangeListener(ledModeEntry, visionLED::onLedModeChange);
Runtime.getRuntime().addShutdownHook(new Thread(this::onJvmExit));
// Start hardware metrics thread (Disabled until implemented)
// if (Platform.isLinux()) MetricsPublisher.getInstance().startTask();
}
private void onJvmExit() {
logger.info("Shutting down...");
visionLED.setState(false);
}
public boolean restartDevice() {
if (Platform.isRaspberryPi()) {
try {
return shellExec.executeBashCommand("reboot now") == 0;
} catch (IOException e) {
logger.error("Could not restart device!", e);
return false;
}
}
try {
return shellExec.executeBashCommand(hardwareConfig.restartHardwareCommand) == 0;
} catch (IOException e) {

2
photon-server/src/main/java/org/photonvision/common/hardware/Platform.java
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@@ -88,7 +88,7 @@ public enum Platform {
return false;
}
private static Platform getCurrentPlatform() {
public static Platform getCurrentPlatform() {
if (RuntimeDetector.isWindows()) {
if (RuntimeDetector.is32BitIntel()) return WINDOWS_32;
if (RuntimeDetector.is64BitIntel()) return WINDOWS_64;

2
photon-server/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
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@@ -18,6 +18,7 @@
package org.photonvision.common.util.file;
import com.fasterxml.jackson.core.json.JsonReadFeature;
import com.fasterxml.jackson.databind.DeserializationFeature;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.fasterxml.jackson.databind.deser.std.StdDeserializer;
import com.fasterxml.jackson.databind.json.JsonMapper;
@@ -53,6 +54,7 @@ public class JacksonUtils {
ObjectMapper objectMapper =
JsonMapper.builder()
.configure(JsonReadFeature.ALLOW_JAVA_COMMENTS, true)
.configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false)
.activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT)
.build();
File jsonFile = new File(path.toString());

20
photon-server/src/main/java/org/photonvision/server/RequestHandler.java
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@@ -36,6 +36,7 @@ import org.photonvision.common.hardware.Platform;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.networking.NetworkManager;
import org.photonvision.common.util.ShellExec;
import org.photonvision.vision.processes.VisionModuleManager;
import org.photonvision.vision.target.TargetModel;
@@ -60,11 +61,7 @@ public class RequestHandler {
ctx.status(200);
logger.info("Settings uploaded, going down for restart.");
if (!Platform.isRaspberryPi()) {
logger.info("(On non-PI platforms, the program may not restart manually...)");
}
System.exit(0);
restartProgram(ctx);
} else {
logger.error("Couldn't read uploaded settings ZIP! Ignoring.");
ctx.status(500);
@@ -89,7 +86,6 @@ public class RequestHandler {
NetworkManager.getInstance().reinitialize();
NetworkTablesManager.getInstance().setConfig(networkConfig);
logger.info("Responding to general settings with http 200");
context.status(200);
}
@@ -157,7 +153,17 @@ public class RequestHandler {
*/
public static void restartProgram(Context ctx) {
ctx.status(200);
System.exit(0);
if (Platform.isRaspberryPi()) {
try {
new ShellExec().executeBashCommand("systemctl restart photonvision");
} catch (IOException e) {
logger.error("Could not restart device!", e);
System.exit(0);
}
} else {
System.exit(0);
}
}
public static void uploadPnpModel(Context ctx) {

2
photon-server/src/main/java/org/photonvision/server/SocketHandler.java
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@@ -247,7 +247,7 @@ public class SocketHandler {
var changePipelineEvent =
new IncomingWebSocketEvent<>(
DataChangeDestination.DCD_ACTIVEMODULE,
"startcalibration",
"startCalibration",
(Map) entryValue,
cameraIndex,
context);

5
photon-server/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
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@@ -64,6 +64,11 @@ public class FileVisionSource implements VisionSource {
return settables;
}
@Override
public boolean isVendorCamera() {
return false;
}
private static class FileSourceSettables extends VisionSourceSettables {
private final VideoMode videoMode;

67
photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
View File

@@ -23,7 +23,9 @@ import edu.wpi.cscore.VideoException;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.cameraserver.CameraServer;
import java.util.*;
import java.util.stream.Collectors;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.math.MathUtils;
@@ -141,7 +143,10 @@ public class USBCameraSource implements VisionSource {
videoModes = new HashMap<>();
List<VideoMode> videoModesList = new ArrayList<>();
try {
for (var videoMode : camera.enumerateVideoModes()) {
var modes = camera.enumerateVideoModes();
for (int i = 0; i < modes.length; i++) {
var videoMode = modes[i];
// Filter grey modes
if (videoMode.pixelFormat == VideoMode.PixelFormat.kGray
|| videoMode.pixelFormat == VideoMode.PixelFormat.kUnknown) {
@@ -156,19 +161,75 @@ public class USBCameraSource implements VisionSource {
}
videoModesList.add(videoMode);
// We look for modes with the same height/width/pixelformat as this mode
// and remove all the ones that are slower. This is sorted low to high.
// So we remove the last element (the fastest FPS) from the duplicate list,
// and remove all remaining elements from the final list
var duplicateModes =
videoModesList.stream()
.filter(
it ->
it.height == videoMode.height
&& it.width == videoMode.width
&& it.pixelFormat == videoMode.pixelFormat)
.sorted(Comparator.comparingDouble(it -> it.fps))
.collect(Collectors.toList());
duplicateModes.remove(duplicateModes.size() - 1);
videoModesList.removeAll(duplicateModes);
}
} catch (Exception e) {
logger.error("Exception while enumerating video modes!", e);
videoModesList = List.of();
}
for (VideoMode videoMode : videoModesList) {
videoModes.put(videoModesList.indexOf(videoMode), videoMode);
// Sort by resolution
var sortedList =
videoModesList.stream()
.sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
.collect(Collectors.toList());
Collections.reverse(sortedList);
// On vendor cameras, respect blacklisted indices
var indexBlacklist =
ConfigManager.getInstance().getConfig().getHardwareConfig().blacklistedResIndices;
for (int badIdx : indexBlacklist) {
sortedList.remove(badIdx);
}
// Filter bogus modes on picam
if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
sortedList.removeIf(
it ->
(it.width == 1296
&& it.height == 730
&& it.pixelFormat == VideoMode.PixelFormat.kBGR)
|| (it.width == 1296
&& it.height == 972
&& it.pixelFormat == VideoMode.PixelFormat.kBGR)
|| (it.width == 2592
&& it.height == 1944
&& it.pixelFormat == VideoMode.PixelFormat.kBGR)
|| (it.width == 160
&& it.height == 120
&& it.pixelFormat == VideoMode.PixelFormat.kBGR));
}
for (VideoMode videoMode : sortedList) {
videoModes.put(sortedList.indexOf(videoMode), videoMode);
}
}
return videoModes;
}
}
// TODO improve robustness of this detection
@Override
public boolean isVendorCamera() {
return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
&& cameraQuirks.hasQuirk(CameraQuirk.PiCam);
}
@Override
public boolean equals(Object o) {
if (this == o) return true;

2
photon-server/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java
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@@ -24,7 +24,7 @@ import org.photonvision.vision.pipe.CVPipe;
public class CalculateFPSPipe
extends CVPipe<Void, Integer, CalculateFPSPipe.CalculateFPSPipeParams> {
private LinearFilter fpsFilter = LinearFilter.movingAverage(5);
private LinearFilter fpsFilter = LinearFilter.movingAverage(20);
StopWatch clock = new StopWatch();
@Override

5
photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
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@@ -34,7 +34,10 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
return settings;
}
// TODO (BANKS) ACTUALLY SET THE CAMERA RESOLUTION
public void setSettings(S s) {
this.settings = s;
}
public R run(Frame frame) {
long pipelineStartNanos = System.nanoTime();

11
photon-server/src/main/java/org/photonvision/vision/processes/PipelineManager.java
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@@ -20,6 +20,7 @@ package org.photonvision.vision.processes;
import java.util.ArrayList;
import java.util.Comparator;
import java.util.List;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.vision.pipeline.*;
@@ -54,12 +55,20 @@ public class PipelineManager {
*
* @param userPipelines Pipelines to add to the manager.
*/
public PipelineManager(List<CVPipelineSettings> userPipelines) {
public PipelineManager(
DriverModePipelineSettings driverSettings, List<CVPipelineSettings> userPipelines) {
this.userPipelineSettings = new ArrayList<>(userPipelines);
// This is to respect the default res idx for vendor cameras
this.driverModePipeline.setSettings(driverSettings);
if (userPipelines.size() < 1) addPipeline(PipelineType.Reflective);
}
public PipelineManager(CameraConfiguration config) {
this(config.driveModeSettings, config.pipelineSettings);
}
/**
* Get the settings for a pipeline by index.
*

6
photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
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@@ -171,10 +171,8 @@ public class VisionModule {
}
}
// TODO improve robustness of this detection
private boolean isVendorCamera() {
return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
&& cameraQuirks.hasQuirk(CameraQuirk.PiCam);
return visionSource.isVendorCamera();
}
public void startCalibration(UICalibrationData data) {
@@ -201,6 +199,8 @@ public class VisionModule {
var ret = pipelineManager.calibration3dPipeline.tryCalibration();
pipelineManager.setCalibrationMode(false);
setPipeline(pipelineManager.getCurrentPipelineIndex());
if (ret != null) {
logger.debug("Saving calibration...");
visionSource.getSettables().getConfiguration().addCalibration(ret);

2
photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
View File

@@ -100,7 +100,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
parentModule.setPipeline(index);
parentModule.saveAndBroadcastAll();
return;
case "startcalibration":
case "startCalibration":
var data = UICalibrationData.fromMap((Map<String, Object>) newPropValue);
parentModule.startCalibration(data);
parentModule.saveAndBroadcastAll();

5
photon-server/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java
View File

@@ -20,7 +20,7 @@ package org.photonvision.vision.processes;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import org.photonvision.vision.pipeline.CVPipelineSettings;
import org.photonvision.common.configuration.CameraConfiguration;
/** VisionModuleManager has many VisionModules, and provides camera configuration data to them. */
public class VisionModuleManager {
@@ -52,8 +52,7 @@ public class VisionModuleManager {
return visionModules.get(i);
}
public List<VisionModule> addSources(
HashMap<VisionSource, List<CVPipelineSettings>> visionSources) {
public List<VisionModule> addSources(HashMap<VisionSource, CameraConfiguration> visionSources) {
var addedModules = new ArrayList<VisionModule>();
for (var entry : visionSources.entrySet()) {
var visionSource = entry.getKey();

2
photon-server/src/main/java/org/photonvision/vision/processes/VisionSource.java
View File

@@ -23,4 +23,6 @@ public interface VisionSource {
FrameProvider getFrameProvider();
VisionSourceSettables getSettables();
boolean isVendorCamera();
}

7
photon-server/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
View File

@@ -31,7 +31,6 @@ import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.TimedTaskManager;
import org.photonvision.vision.camera.CameraType;
import org.photonvision.vision.camera.USBCameraSource;
import org.photonvision.vision.pipeline.CVPipelineSettings;
public class VisionSourceManager {
@@ -87,7 +86,7 @@ public class VisionSourceManager {
"fullsettings", ConfigManager.getInstance().getConfig().toHashMap()));
}
protected HashMap<VisionSource, List<CVPipelineSettings>> tryMatchUSBCamImpl() {
protected HashMap<VisionSource, CameraConfiguration> tryMatchUSBCamImpl() {
// Detect cameras using CSCore
List<UsbCameraInfo> connectedCameras =
new ArrayList<>(filterAllowedDevices(cameraInfoSupplier.get()));
@@ -154,10 +153,10 @@ public class VisionSourceManager {
var sources = loadVisionSourcesFromCamConfigs(matchedCameras);
// These sources can be turned into USB cameras, which can be added to the config manager
var visionSourceMap = new HashMap<VisionSource, List<CVPipelineSettings>>();
var visionSourceMap = new HashMap<VisionSource, CameraConfiguration>();
for (var src : sources) {
var usbSrc = (USBCameraSource) src;
visionSourceMap.put(usbSrc, usbSrc.configuration.pipelineSettings);
visionSourceMap.put(usbSrc, usbSrc.configuration);
logger.debug(
() ->
"Matched config for camera \""