Add VisionModule order determinism (#245)

This makes sure that VisionModules always appear in the same order.

photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java

@@ -332,8 +332,8 @@ public class ConfigManager {
         return loadedConfigurations;
     }
 
-    public void addCameraConfigurations(HashMap<VisionSource, CameraConfiguration> sources) {
-        getConfig().addCameraConfigs(sources.values());
+    public void addCameraConfigurations(List<VisionSource> sources) {
+        getConfig().addCameraConfigs(sources);
         requestSave();
     }
 

photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java

@@ -28,6 +28,7 @@ import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.raspi.PicamJNI;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
+import org.photonvision.vision.processes.VisionSource;
 
 // TODO rename this class
 public class PhotonConfiguration {
@@ -75,9 +76,9 @@ public class PhotonConfiguration {
         return cameraConfigurations;
     }
 
-    public void addCameraConfigs(Collection<CameraConfiguration> config) {
-        for (var c : config) {
-            addCameraConfig(c);
+    public void addCameraConfigs(Collection<VisionSource> sources) {
+        for (var s : sources) {
+            addCameraConfig(s.getCameraConfiguration());
         }
     }
 

photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java

@@ -17,9 +17,8 @@
 
 package org.photonvision.vision.processes;
 
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
+import java.util.*;
+import java.util.stream.Collectors;
 import org.photonvision.common.configuration.CameraConfiguration;
 
 /** VisionModuleManager has many VisionModules, and provides camera configuration data to them. */
@@ -52,25 +51,31 @@ public class VisionModuleManager {
         return visionModules.get(i);
     }
 
-    public List<VisionModule> addSources(HashMap<VisionSource, CameraConfiguration> visionSources) {
-        var addedModules = new ArrayList<VisionModule>();
-        for (var entry : visionSources.entrySet()) {
-            var visionSource = entry.getKey();
-            var pipelineManager = new PipelineManager(entry.getValue());
+    public List<VisionModule> addSources(List<VisionSource> visionSources) {
+        var addedModules = new HashMap<Integer, VisionModule>();
 
-            assignCameraIndex(visionSource.getSettables().getConfiguration());
+        for (var visionSource : visionSources) {
+            var pipelineManager = new PipelineManager(visionSource.getCameraConfiguration());
+            assignCameraIndex(visionSource.getCameraConfiguration());
 
             var module = new VisionModule(pipelineManager, visionSource, visionModules.size());
             visionModules.add(module);
-            addedModules.add(module);
+            addedModules.put(visionSource.getCameraConfiguration().streamIndex, module);
         }
-        return addedModules;
+
+        var sortedModulesList =
+                addedModules.entrySet().stream()
+                        .sorted(Comparator.comparingInt(Map.Entry::getKey)) // sort by stream index
+                        .map(Map.Entry::getValue) // map to Stream of VisionModule
+                        .collect(Collectors.toList()); // collect in a List
+
+        return sortedModulesList;
     }
 
     private void assignCameraIndex(CameraConfiguration config) {
         var max =
                 visionModules.stream()
-                        .mapToInt(it -> it.visionSource.getSettables().getConfiguration().streamIndex)
+                        .mapToInt(it -> it.visionSource.getCameraConfiguration().streamIndex)
                         .max()
                         .orElse(-1);
 

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java

@@ -75,12 +75,12 @@ public class VisionSourceManager {
             () -> List.of(UsbCamera.enumerateUsbCameras());
 
     protected void tryMatchUSBCams() {
-        var visionSourceMap = tryMatchUSBCamImpl();
-        if (visionSourceMap == null) return;
+        var visionSourceList = tryMatchUSBCamImpl();
+        if (visionSourceList == null) return;
 
-        logger.info("Adding " + visionSourceMap.size() + " configs to VMM.");
-        ConfigManager.getInstance().addCameraConfigurations(visionSourceMap);
-        var addedSources = VisionModuleManager.getInstance().addSources(visionSourceMap);
+        logger.info("Adding " + visionSourceList.size() + " configs to VMM.");
+        ConfigManager.getInstance().addCameraConfigurations(visionSourceList);
+        var addedSources = VisionModuleManager.getInstance().addSources(visionSourceList);
         addedSources.forEach(VisionModule::start);
         DataChangeService.getInstance()
                 .publishEvent(
@@ -88,7 +88,7 @@ public class VisionSourceManager {
                                 "fullsettings", ConfigManager.getInstance().getConfig().toHashMap()));
     }
 
-    protected HashMap<VisionSource, CameraConfiguration> tryMatchUSBCamImpl() {
+    protected List<VisionSource> tryMatchUSBCamImpl() {
         // Detect cameras using CSCore
         List<UsbCameraInfo> connectedCameras =
                 new ArrayList<>(filterAllowedDevices(cameraInfoSupplier.get()));
@@ -154,20 +154,18 @@ public class VisionSourceManager {
         // Turn these camera configs into vision sources
         var sources = loadVisionSourcesFromCamConfigs(matchedCameras);
 
-        // We want to return a map between vision sources and camera configurations
-        var visionSourceMap = new HashMap<VisionSource, CameraConfiguration>();
+        // Print info about each vision source
         for (var src : sources) {
-            var usbSrc = src;
-            visionSourceMap.put(usbSrc, usbSrc.getSettables().getConfiguration());
             logger.debug(
                     () ->
                             "Matched config for camera \""
                                     + src.getFrameProvider().getName()
                                     + "\" and loaded "
-                                    + usbSrc.getSettables().getConfiguration().pipelineSettings.size()
+                                    + src.getCameraConfiguration().pipelineSettings.size()
                                     + " pipelines");
         }
-        return visionSourceMap;
+
+        return sources;
     }
 
     /**
@@ -292,12 +290,12 @@ public class VisionSourceManager {
 
     private static List<VisionSource> loadVisionSourcesFromCamConfigs(
             List<CameraConfiguration> camConfigs) {
-        List<VisionSource> cameraSources = new ArrayList<>();
+        var cameraSources = new ArrayList<VisionSource>();
         for (var configuration : camConfigs) {
             if (configuration.baseName.startsWith("mmal service") && PicamJNI.isSupported()) {
                 configuration.cameraType = CameraType.ZeroCopyPicam;
-                VisionSource picamSrc = new ZeroCopyPicamSource(configuration);
-                cameraSources.add(picamSrc);
+                var piCamSrc = new ZeroCopyPicamSource(configuration);
+                cameraSources.add(piCamSrc);
                 continue;
             }
             cameraSources.add(new USBCameraSource(configuration));

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

@@ -20,6 +20,7 @@ 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;
@@ -41,8 +42,8 @@ public class VisionModuleManagerTest {
 
         private final FrameProvider provider;
 
-        public TestSource(FrameProvider provider) {
-            super(new CameraConfiguration("", "", "", ""));
+        public TestSource(FrameProvider provider, CameraConfiguration cameraConfiguration) {
+            super(cameraConfiguration);
             this.provider = provider;
         }
 
@@ -108,16 +109,16 @@ public class VisionModuleManagerTest {
     @Test
     public void setupManager() {
         ConfigManager.getInstance().load();
-        var sources = new HashMap<VisionSource, CameraConfiguration>();
-        sources.put(
-                new TestSource(
-                        new FileFrameProvider(
-                                TestUtils.getWPIImagePath(
-                                        TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
-                                TestUtils.WPI2019Image.FOV)),
-                new CameraConfiguration("Foo", "Barr"));
 
-        var modules = VisionModuleManager.getInstance().addSources(sources);
+        var conf = new CameraConfiguration("Foo", "Bar");
+        var ffp =
+                new FileFrameProvider(
+                        TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
+                        TestUtils.WPI2019Image.FOV);
+
+        var testSource = new TestSource(ffp, conf);
+
+        var modules = VisionModuleManager.getInstance().addSources(List.of(testSource));
         var module0DataConsumer = new TestDataConsumer();
 
         VisionModuleManager.getInstance().visionModules.get(0).addResultConsumer(module0DataConsumer);

photon-server/src/main/java/org/photonvision/Main.java

@@ -19,7 +19,6 @@ package org.photonvision;
 
 import edu.wpi.cscore.CameraServerCvJNI;
 import java.util.ArrayList;
-import java.util.HashMap;
 import org.apache.commons.cli.*;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -88,7 +87,7 @@ public class Main {
     }
 
     private static void addTestModeSources() {
-        var collectedSources = new HashMap<VisionSource, CameraConfiguration>();
+        var collectedSources = new ArrayList<VisionSource>();
 
         var camConf2019 =
                 new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
@@ -121,12 +120,10 @@ public class Main {
 
         var fvs2020 = new FileVisionSource(camConf2020);
 
-        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);
+        fvs2019.getCameraConfiguration().pipelineSettings = psList2019;
+        fvs2020.getCameraConfiguration().pipelineSettings = psList2020;
+        collectedSources.add(fvs2019);
+        collectedSources.add(fvs2020);
 
         //                logger.info("Adding " + allSources.size() + " configs to VMM.");
         VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);