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

photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java

@@ -18,6 +18,7 @@
 package org.photonvision.common.configuration;
 
 import java.io.File;
+import java.io.FileWriter;
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
@@ -28,6 +29,7 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TestUtils;
+import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
 import org.photonvision.vision.target.TargetModel;
@@ -116,4 +118,16 @@ public class ConfigTest {
         FileUtils.cleanDirectory(configMgr.configDirectoryFile);
         configMgr.configDirectoryFile.delete();
     }
+
+    @Test
+    public void testJacksonHandlesOldVersions() throws IOException {
+        var str =
+                "{\"baseName\":\"aaaaaa\",\"uniqueName\":\"aaaaaa\",\"nickname\":\"aaaaaa\",\"FOV\":70.0,\"path\":\"dev/vid\",\"cameraType\":\"UsbCamera\",\"currentPipelineIndex\":0,\"camPitch\":{\"radians\":0.0},\"calibrations\":[], \"cameraLEDs\":[]}";
+        var writer = new FileWriter("test.json");
+        writer.write(str);
+        writer.flush();
+        writer.close();
+        Assertions.assertDoesNotThrow(
+                () -> JacksonUtils.deserialize(Path.of("test.json"), CameraConfiguration.class));
+    }
 }

photon-server/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java

@@ -20,7 +20,6 @@ package org.photonvision.vision.processes;
 import edu.wpi.cscore.VideoMode;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import java.util.HashMap;
-import java.util.List;
 import org.junit.jupiter.api.*;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -29,7 +28,6 @@ import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
-import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
 public class VisionModuleManagerTest {
@@ -57,6 +55,11 @@ public class VisionModuleManagerTest {
         public VisionSourceSettables getSettables() {
             return new TestSettables(new CameraConfiguration("", "", "", ""));
         }
+
+        @Override
+        public boolean isVendorCamera() {
+            return false;
+        }
     }
 
     private static class TestSettables extends VisionSourceSettables {
@@ -105,14 +108,14 @@ public class VisionModuleManagerTest {
     @Test
     public void setupManager() {
         ConfigManager.getInstance().load();
-        var sources = new HashMap<VisionSource, List<CVPipelineSettings>>();
+        var sources = new HashMap<VisionSource, CameraConfiguration>();
         sources.put(
                 new TestSource(
                         new FileFrameProvider(
                                 TestUtils.getWPIImagePath(
                                         TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
                                 TestUtils.WPI2019Image.FOV)),
-                List.of());
+                new CameraConfiguration("Foo", "Barr"));
 
         var modules = VisionModuleManager.getInstance().addSources(sources);
         var module0DataConsumer = new TestDataConsumer();
@@ -121,7 +124,7 @@ public class VisionModuleManagerTest {
 
         modules.forEach(VisionModule::start);
 
-        sleep(500);
+        sleep(1500);
 
         Assertions.assertNotNull(module0DataConsumer.result);
         printTestResults(module0DataConsumer.result);

photon-server/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java

@@ -25,6 +25,7 @@ import java.util.ArrayList;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.util.TestUtils;
 
 public class VisionSourceManagerTest {
@@ -38,6 +39,7 @@ public class VisionSourceManagerTest {
         var inst = new VisionSourceManager();
         var infoList = new ArrayList<UsbCameraInfo>();
         inst.cameraInfoSupplier = () -> infoList;
+        ConfigManager.getInstance().load();
 
         inst.tryMatchUSBCamImpl();
         var config = new CameraConfiguration("secondTestVideo", "dev/video1");