mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
Fix driver mode settings, sort resolutions (#115)
* 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
@@ -49,7 +49,6 @@ public class CameraConfiguration {
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public CameraType cameraType = CameraType.UsbCamera;
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public double FOV = 70;
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public final List<CameraCalibrationCoefficients> calibrations;
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public List<Integer> cameraLeds = new ArrayList<>();
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public int currentPipelineIndex = 0;
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public Rotation2d camPitch = new Rotation2d();
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@@ -89,7 +88,6 @@ public class CameraConfiguration {
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@JsonProperty("path") String path,
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@JsonProperty("cameraType") CameraType cameraType,
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@JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
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@JsonProperty("cameraLEDs") List<Integer> cameraLeds,
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@JsonProperty("currentPipelineIndex") int currentPipelineIndex,
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@JsonProperty("camPitch") Rotation2d camPitch) {
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this.baseName = baseName;
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@@ -99,7 +97,6 @@ public class CameraConfiguration {
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this.path = path;
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this.cameraType = cameraType;
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this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
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this.cameraLeds = cameraLeds;
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this.currentPipelineIndex = currentPipelineIndex;
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this.camPitch = camPitch;
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@@ -301,12 +301,8 @@ public class ConfigManager {
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return loadedConfigurations;
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}
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public void addCameraConfigurations(HashMap<VisionSource, List<CVPipelineSettings>> sources) {
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List<CameraConfiguration> list =
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sources.keySet().stream()
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.map(it -> it.getSettables().getConfiguration())
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.collect(Collectors.toList());
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getConfig().addCameraConfigs(list);
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public void addCameraConfigurations(HashMap<VisionSource, CameraConfiguration> sources) {
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getConfig().addCameraConfigs(sources.values());
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requestSave();
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}
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@@ -18,6 +18,8 @@
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package org.photonvision.common.configuration;
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import java.util.ArrayList;
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import java.util.Collections;
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import java.util.List;
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public class HardwareConfig {
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@@ -47,6 +49,7 @@ public class HardwareConfig {
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// Device stuff
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public final String restartHardwareCommand;
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public final double vendorFOV; // -1 for unmanaged
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public final List<Integer> blacklistedResIndices; // this happens before the defaults are applied
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public HardwareConfig() {
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deviceName = "";
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@@ -71,6 +74,7 @@ public class HardwareConfig {
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restartHardwareCommand = "";
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vendorFOV = -1;
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blacklistedResIndices = Collections.emptyList();
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}
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@SuppressWarnings("unused")
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@@ -94,7 +98,8 @@ public class HardwareConfig {
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String gpuTempCommand,
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String ramUtilCommand,
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String restartHardwareCommand,
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double vendorFOV) {
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double vendorFOV,
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List<Integer> blacklistedResIndices) {
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this.deviceName = deviceName;
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this.deviceLogoPath = deviceLogoPath;
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this.supportURL = supportURL;
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@@ -115,6 +120,7 @@ public class HardwareConfig {
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this.ramUtilCommand = ramUtilCommand;
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this.restartHardwareCommand = restartHardwareCommand;
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this.vendorFOV = vendorFOV;
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this.blacklistedResIndices = blacklistedResIndices;
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}
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public final boolean hasPresetFOV() {
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@@ -17,11 +17,13 @@
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package org.photonvision.common.configuration;
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import java.util.Collection;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import java.util.stream.Collectors;
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import org.photonvision.PhotonVersion;
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import org.photonvision.common.hardware.Platform;
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import org.photonvision.common.util.SerializationUtils;
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import org.photonvision.vision.processes.VisionModule;
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import org.photonvision.vision.processes.VisionModuleManager;
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@@ -44,7 +46,7 @@ public class PhotonConfiguration {
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return cameraConfigurations;
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}
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public void addCameraConfigs(List<CameraConfiguration> config) {
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public void addCameraConfigs(Collection<CameraConfiguration> config) {
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for (var c : config) {
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addCameraConfig(c);
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}
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@@ -95,8 +97,8 @@ public class PhotonConfiguration {
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generalSubmap.put("version", PhotonVersion.versionString);
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generalSubmap.put("gpuAcceleration", false); // TODO gpu accel and accel type
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generalSubmap.put("gpuAccelerationType", "Unknown");
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generalSubmap.put("hardwareModel", "Unknown"); // TODO hardware model and platform
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generalSubmap.put("hardwarePlatform", "Unknown");
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generalSubmap.put("hardwareModel", hardwareConfig.deviceName);
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generalSubmap.put("hardwarePlatform", Platform.getCurrentPlatform().toString());
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settingsSubmap.put("general", generalSubmap);
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map.put("settings", settingsSubmap);
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@@ -19,14 +19,12 @@ package org.photonvision.common.hardware;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import java.io.IOException;
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import java.util.HashMap;
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import org.photonvision.common.ProgramStatus;
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import org.photonvision.common.configuration.ConfigManager;
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import org.photonvision.common.configuration.HardwareConfig;
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import org.photonvision.common.dataflow.networktables.NTDataChangeListener;
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import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
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import org.photonvision.common.hardware.GPIO.CustomGPIO;
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import org.photonvision.common.hardware.GPIO.GPIOBase;
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import org.photonvision.common.hardware.VisionLED.VisionLEDMode;
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import org.photonvision.common.hardware.metrics.MetricsBase;
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import org.photonvision.common.logging.LogGroup;
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@@ -36,13 +34,17 @@ import org.photonvision.common.util.ShellExec;
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public class HardwareManager {
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private static HardwareManager instance;
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private final HashMap<Integer, GPIOBase> VisionLEDs = new HashMap<>();
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private final ShellExec shellExec = new ShellExec(true, false);
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private final Logger logger = new Logger(HardwareManager.class, LogGroup.General);
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private final HardwareConfig hardwareConfig;
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@SuppressWarnings("FieldCanBeLocal")
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private final StatusLED statusLED;
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private final NetworkTableEntry ledModeEntry;
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@SuppressWarnings("FieldCanBeLocal")
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private final NTDataChangeListener ledModeListener;
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public final VisionLED visionLED;
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@@ -64,17 +66,34 @@ public class HardwareManager {
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new VisionLED(
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hardwareConfig.ledPins,
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hardwareConfig.ledPWMFrequency,
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hardwareConfig.ledPWMRange.get(1));
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(hardwareConfig.ledPWMRange != null && hardwareConfig.ledPWMRange.size() == 2)
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? hardwareConfig.ledPWMRange.get(1)
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: 0);
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ledModeEntry = NetworkTablesManager.getInstance().kRootTable.getEntry("ledMode");
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ledModeEntry.setNumber(VisionLEDMode.VLM_DEFAULT.value);
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ledModeListener = new NTDataChangeListener(ledModeEntry, visionLED::onLedModeChange);
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Runtime.getRuntime().addShutdownHook(new Thread(this::onJvmExit));
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// Start hardware metrics thread (Disabled until implemented)
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// if (Platform.isLinux()) MetricsPublisher.getInstance().startTask();
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}
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private void onJvmExit() {
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logger.info("Shutting down...");
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visionLED.setState(false);
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}
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public boolean restartDevice() {
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if (Platform.isRaspberryPi()) {
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try {
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return shellExec.executeBashCommand("reboot now") == 0;
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} catch (IOException e) {
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logger.error("Could not restart device!", e);
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return false;
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}
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}
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try {
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return shellExec.executeBashCommand(hardwareConfig.restartHardwareCommand) == 0;
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} catch (IOException e) {
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@@ -88,7 +88,7 @@ public enum Platform {
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return false;
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}
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private static Platform getCurrentPlatform() {
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public static Platform getCurrentPlatform() {
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if (RuntimeDetector.isWindows()) {
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if (RuntimeDetector.is32BitIntel()) return WINDOWS_32;
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if (RuntimeDetector.is64BitIntel()) return WINDOWS_64;
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@@ -18,6 +18,7 @@
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package org.photonvision.common.util.file;
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import com.fasterxml.jackson.core.json.JsonReadFeature;
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import com.fasterxml.jackson.databind.DeserializationFeature;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.fasterxml.jackson.databind.deser.std.StdDeserializer;
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import com.fasterxml.jackson.databind.json.JsonMapper;
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@@ -53,6 +54,7 @@ public class JacksonUtils {
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ObjectMapper objectMapper =
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JsonMapper.builder()
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.configure(JsonReadFeature.ALLOW_JAVA_COMMENTS, true)
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.configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false)
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.activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT)
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.build();
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File jsonFile = new File(path.toString());
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