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Add VisionModule order determinism (#245)

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This makes sure that VisionModules always appear in the same order.
This commit is contained in:
Banks T
2021-01-29 13:57:18 -05:00
committed by GitHub
parent fccb395564
commit b0504cbef5
6 changed files with 53 additions and 51 deletions
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13
photon-server/src/main/java/org/photonvision/Main.java
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@@ -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);