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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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27
photon-server/src/main/java/org/photonvision/common/hardware/HardwareManager.java
View File

@@ -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
View File

@@ -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;