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Add SQL config manager (#818)

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Serializes settings using a sqlite database instead of just putting them on the filesystem. Ideally since sqlite deals with filesystem robustness stuff this should work a lot better

Merging this now so we have lots of time to stabilize pre-beta
This commit is contained in:
Matt
2023-06-17 21:47:18 -07:00
committed by GitHub
parent f813048462
commit b1546b8038
19 changed files with 1278 additions and 292 deletions
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1
.gitignore vendored
View File

@@ -157,3 +157,4 @@ photonlib-java-examples/*/vendordeps/*
photonlib-cpp-examples/*/vendordeps/*
*/networktables.json
*.sqlite

2
photon-core/build.gradle
View File

@@ -25,6 +25,8 @@ dependencies {
implementation 'org.zeroturnaround:zt-zip:1.14'
implementation wpilibTools.deps.wpilibJava("apriltag")
implementation "org.xerial:sqlite-jdbc:3.41.0.0"
}
task writeCurrentVersionJava {

396
photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
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@@ -17,11 +17,11 @@
package org.photonvision.common.configuration;
import com.fasterxml.jackson.core.JsonProcessingException;
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.StandardCopyOption;
import java.text.DateFormat;
import java.text.ParseException;
import java.text.SimpleDateFormat;
@@ -29,13 +29,9 @@ import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.time.temporal.TemporalAccessor;
import java.util.*;
import java.util.stream.Collectors;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.file.FileUtils;
import org.photonvision.common.util.file.JacksonUtils;
import org.photonvision.vision.pipeline.CVPipelineSettings;
import org.photonvision.vision.pipeline.DriverModePipelineSettings;
import org.photonvision.vision.processes.VisionSource;
import org.zeroturnaround.zip.ZipUtil;
@@ -47,290 +43,141 @@ public class ConfigManager {
public static final String HW_SET_FNAME = "hardwareSettings.json";
public static final String NET_SET_FNAME = "networkSettings.json";
private PhotonConfiguration config;
private final File hardwareConfigFile;
private final File hardwareSettingsFile;
private final File networkConfigFile;
private final File camerasFolder;
final File configDirectoryFile;
private long saveRequestTimestamp = -1;
private final ConfigProvider m_provider;
private Thread settingsSaveThread;
private long saveRequestTimestamp = -1;
enum ConfigSaveStrategy {
SQL,
LEGACY,
ATOMIC_ZIP;
}
// This logic decides which kind of ConfigManager we load as the default. If we want
// to switch back to the legacy config manager, change this constant
private static final ConfigSaveStrategy m_saveStrat = ConfigSaveStrategy.SQL;
public static ConfigManager getInstance() {
if (INSTANCE == null) {
INSTANCE = new ConfigManager(getRootFolder());
switch (m_saveStrat) {
case SQL:
INSTANCE = new ConfigManager(getRootFolder(), new SqlConfigProvider(getRootFolder()));
break;
case LEGACY:
INSTANCE = new ConfigManager(getRootFolder(), new LegacyConfigProvider(getRootFolder()));
break;
case ATOMIC_ZIP:
// not yet done, fall through
default:
break;
}
}
return INSTANCE;
}
private void translateLegacyIfPresent(Path folderPath) {
if (!(m_provider instanceof SqlConfigProvider)) {
// Cannot import into SQL if we aren't in SQL mode rn
return;
}
logger.info("Translating settings zip!");
var maybeCams = Path.of(folderPath.toAbsolutePath().toString(), "cameras").toFile();
var maybeCamsBak = Path.of(folderPath.toAbsolutePath().toString(), "cameras_backup").toFile();
if (maybeCams.exists() && maybeCams.isDirectory()) {
var legacy = new LegacyConfigProvider(folderPath);
legacy.load();
var loadedConfig = legacy.getConfig();
// yeet our current cameras directory, not needed anymore
if (maybeCamsBak.exists()) FileUtils.deleteDirectory(maybeCamsBak.toPath());
if (!maybeCams.canWrite()) {
maybeCams.setWritable(true);
}
try {
Files.move(maybeCams.toPath(), maybeCamsBak.toPath(), StandardCopyOption.REPLACE_EXISTING);
} catch (IOException e) {
logger.error("Exception moving cameras to cameras_bak!", e);
// Try to just copy from cams to cams-bak instead of moving? Windows sometimes needs us to
// do that
try {
org.apache.commons.io.FileUtils.copyDirectory(maybeCams, maybeCamsBak);
} catch (IOException e1) {
// So we can't move to cams_bak, and we can't copy and delete either? We just have to give
// up here on preserving the old folder
logger.error("Exception while backup-copying cameras to cameras_bak!", e);
e1.printStackTrace();
}
// So we can't save the old config, and we couldn't copy the folder
// But we've loaded the config. So just try to delete the directory so we don't try to load
// form it next time. That does mean we have no backup recourse, tho
if (maybeCams.exists()) FileUtils.deleteDirectory(maybeCams.toPath());
}
// Save the same config out using SQL loader
var sql = new SqlConfigProvider(getRootFolder());
sql.setConfig(loadedConfig);
sql.saveToDisk();
}
}
public static void saveUploadedSettingsZip(File uploadPath) {
// Unpack to /tmp/something/photonvision
var folderPath = Path.of(System.getProperty("java.io.tmpdir"), "photonvision").toFile();
folderPath.mkdirs();
ZipUtil.unpack(uploadPath, folderPath);
// Nuke the current settings directory
FileUtils.deleteDirectory(getRootFolder());
try {
org.apache.commons.io.FileUtils.copyDirectory(folderPath, getRootFolder().toFile());
logger.info("Copied settings successfully!");
} catch (IOException e) {
logger.error("Exception copying uploaded settings!", e);
return;
// If there's a cameras folder in the upload, we know we need to import from the
// old style
var maybeCams = Path.of(folderPath.getAbsolutePath(), "cameras").toFile();
if (maybeCams.exists() && maybeCams.isDirectory()) {
var legacy = new LegacyConfigProvider(folderPath.toPath());
legacy.load();
var loadedConfig = legacy.getConfig();
var sql = new SqlConfigProvider(getRootFolder());
sql.setConfig(loadedConfig);
sql.saveToDisk();
} else {
// new structure -- just copy and save like we used to
try {
org.apache.commons.io.FileUtils.copyDirectory(folderPath, getRootFolder().toFile());
logger.info("Copied settings successfully!");
} catch (IOException e) {
logger.error("Exception copying uploaded settings!", e);
}
}
}
public PhotonConfiguration getConfig() {
return config;
return m_provider.getConfig();
}
private static Path getRootFolder() {
return Path.of("photonvision_config");
}
ConfigManager(Path configDirectoryFile) {
this.configDirectoryFile = new File(configDirectoryFile.toUri());
this.hardwareConfigFile =
new File(Path.of(configDirectoryFile.toString(), HW_CFG_FNAME).toUri());
this.hardwareSettingsFile =
new File(Path.of(configDirectoryFile.toString(), HW_SET_FNAME).toUri());
this.networkConfigFile =
new File(Path.of(configDirectoryFile.toString(), NET_SET_FNAME).toUri());
this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri());
ConfigManager(Path configDirectory, ConfigProvider provider) {
this.configDirectoryFile = new File(configDirectory.toUri());
m_provider = provider;
settingsSaveThread = new Thread(this::saveAndWriteTask);
settingsSaveThread.start();
}
public void load() {
logger.info("Loading settings...");
if (!configDirectoryFile.exists()) {
if (configDirectoryFile.mkdirs()) {
logger.debug("Root config folder did not exist. Created!");
} else {
logger.error("Failed to create root config folder!");
}
}
if (!configDirectoryFile.canWrite()) {
logger.debug("Making root dir writeable...");
try {
var success = configDirectoryFile.setWritable(true);
if (success) logger.debug("Set root dir writeable!");
else logger.error("Could not make root dir writeable!");
} catch (SecurityException e) {
logger.error("Could not make root dir writeable!", e);
}
}
HardwareConfig hardwareConfig;
HardwareSettings hardwareSettings;
NetworkConfig networkConfig;
if (hardwareConfigFile.exists()) {
try {
hardwareConfig =
JacksonUtils.deserialize(hardwareConfigFile.toPath(), HardwareConfig.class);
if (hardwareConfig == null) {
logger.error("Could not deserialize hardware config! Loading defaults");
hardwareConfig = new HardwareConfig();
}
} catch (IOException e) {
logger.error("Could not deserialize hardware config! Loading defaults");
hardwareConfig = new HardwareConfig();
}
} else {
logger.info("Hardware config does not exist! Loading defaults");
hardwareConfig = new HardwareConfig();
}
if (hardwareSettingsFile.exists()) {
try {
hardwareSettings =
JacksonUtils.deserialize(hardwareSettingsFile.toPath(), HardwareSettings.class);
if (hardwareSettings == null) {
logger.error("Could not deserialize hardware settings! Loading defaults");
hardwareSettings = new HardwareSettings();
}
} catch (IOException e) {
logger.error("Could not deserialize hardware settings! Loading defaults");
hardwareSettings = new HardwareSettings();
}
} else {
logger.info("Hardware settings does not exist! Loading defaults");
hardwareSettings = new HardwareSettings();
}
if (networkConfigFile.exists()) {
try {
networkConfig = JacksonUtils.deserialize(networkConfigFile.toPath(), NetworkConfig.class);
if (networkConfig == null) {
logger.error("Could not deserialize network config! Loading defaults");
networkConfig = new NetworkConfig();
}
} catch (IOException e) {
logger.error("Could not deserialize network config! Loading defaults");
networkConfig = new NetworkConfig();
}
} else {
logger.info("Network config file does not exist! Loading defaults");
networkConfig = new NetworkConfig();
}
if (!camerasFolder.exists()) {
if (camerasFolder.mkdirs()) {
logger.debug("Cameras config folder did not exist. Created!");
} else {
logger.error("Failed to create cameras config folder!");
}
}
HashMap<String, CameraConfiguration> cameraConfigurations = loadCameraConfigs();
this.config =
new PhotonConfiguration(
hardwareConfig, hardwareSettings, networkConfig, cameraConfigurations);
}
public void saveToDisk() {
// Delete old configs
FileUtils.deleteDirectory(camerasFolder.toPath());
try {
JacksonUtils.serialize(networkConfigFile.toPath(), config.getNetworkConfig());
} catch (IOException e) {
logger.error("Could not save network config!", e);
}
try {
JacksonUtils.serialize(hardwareSettingsFile.toPath(), config.getHardwareSettings());
} catch (IOException e) {
logger.error("Could not save hardware config!", e);
}
// save all of our cameras
var cameraConfigMap = config.getCameraConfigurations();
for (var subdirName : cameraConfigMap.keySet()) {
var camConfig = cameraConfigMap.get(subdirName);
var subdir = Path.of(camerasFolder.toPath().toString(), subdirName);
if (!subdir.toFile().exists()) {
// TODO: check for error
subdir.toFile().mkdirs();
}
try {
JacksonUtils.serialize(Path.of(subdir.toString(), "config.json"), camConfig);
} catch (IOException e) {
logger.error("Could not save config.json for " + subdir, e);
}
try {
JacksonUtils.serialize(
Path.of(subdir.toString(), "drivermode.json"), camConfig.driveModeSettings);
} catch (IOException e) {
logger.error("Could not save drivermode.json for " + subdir, e);
}
for (var pipe : camConfig.pipelineSettings) {
var pipePath = Path.of(subdir.toString(), "pipelines", pipe.pipelineNickname + ".json");
if (!pipePath.getParent().toFile().exists()) {
// TODO: check for error
pipePath.getParent().toFile().mkdirs();
}
try {
JacksonUtils.serialize(pipePath, pipe);
} catch (IOException e) {
logger.error("Could not save " + pipe.pipelineNickname + ".json!", e);
}
}
}
logger.info("Settings saved!");
}
private HashMap<String, CameraConfiguration> loadCameraConfigs() {
HashMap<String, CameraConfiguration> loadedConfigurations = new HashMap<>();
try {
var subdirectories =
Files.list(camerasFolder.toPath())
.filter(f -> f.toFile().isDirectory())
.collect(Collectors.toList());
for (var subdir : subdirectories) {
var cameraConfigPath = Path.of(subdir.toString(), "config.json");
CameraConfiguration loadedConfig = null;
try {
loadedConfig =
JacksonUtils.deserialize(
cameraConfigPath.toAbsolutePath(), CameraConfiguration.class);
} catch (JsonProcessingException e) {
logger.error("Camera config deserialization failed!", e);
e.printStackTrace();
}
if (loadedConfig == null) { // If the file could not be deserialized
logger.warn("Could not load camera " + subdir + "'s config.json! Loading " + "default");
continue; // TODO how do we later try to load this camera if it gets reconnected?
}
// At this point we have only loaded the base stuff
// We still need to deserialize pipelines, as well as
// driver mode settings
var driverModeFile = Path.of(subdir.toString(), "drivermode.json");
DriverModePipelineSettings driverMode;
try {
driverMode =
JacksonUtils.deserialize(
driverModeFile.toAbsolutePath(), DriverModePipelineSettings.class);
} catch (JsonProcessingException e) {
logger.error("Could not deserialize drivermode.json! Loading defaults");
logger.debug(Arrays.toString(e.getStackTrace()));
driverMode = new DriverModePipelineSettings();
}
if (driverMode == null) {
logger.warn(
"Could not load camera " + subdir + "'s drivermode.json! Loading" + " default");
driverMode = new DriverModePipelineSettings();
}
// Load pipelines by mapping the files within the pipelines subdir
// to their deserialized equivalents
var pipelineSubdirectory = Path.of(subdir.toString(), "pipelines");
List<CVPipelineSettings> settings =
pipelineSubdirectory.toFile().exists()
? Files.list(pipelineSubdirectory)
.filter(p -> p.toFile().isFile())
.map(
p -> {
var relativizedFilePath =
configDirectoryFile
.toPath()
.toAbsolutePath()
.relativize(p)
.toString();
try {
return JacksonUtils.deserialize(p, CVPipelineSettings.class);
} catch (JsonProcessingException e) {
logger.error("Exception while deserializing " + relativizedFilePath, e);
} catch (IOException e) {
logger.warn(
"Could not load pipeline at "
+ relativizedFilePath
+ "! Skipping...");
}
return null;
})
.filter(Objects::nonNull)
.collect(Collectors.toList())
: Collections.emptyList();
loadedConfig.driveModeSettings = driverMode;
loadedConfig.addPipelineSettings(settings);
loadedConfigurations.put(subdir.toFile().getName(), loadedConfig);
}
} catch (IOException e) {
logger.error("Error loading camera configs!", e);
}
return loadedConfigurations;
translateLegacyIfPresent(this.configDirectoryFile.toPath());
m_provider.load();
}
public void addCameraConfigurations(List<VisionSource> sources) {
@@ -394,31 +241,16 @@ public class ConfigManager {
return imgFilePath.toPath();
}
public Path getHardwareConfigFile() {
return this.hardwareConfigFile.toPath();
}
public Path getHardwareSettingsFile() {
return this.hardwareSettingsFile.toPath();
}
public Path getNetworkConfigFile() {
return this.networkConfigFile.toPath();
}
public void saveUploadedHardwareConfig(Path uploadPath) {
FileUtils.deleteFile(this.getHardwareConfigFile());
FileUtils.copyFile(uploadPath, this.getHardwareConfigFile());
m_provider.saveUploadedHardwareConfig(uploadPath);
}
public void saveUploadedHardwareSettings(Path uploadPath) {
FileUtils.deleteFile(this.getHardwareSettingsFile());
FileUtils.copyFile(uploadPath, this.getHardwareSettingsFile());
m_provider.saveUploadedHardwareSettings(uploadPath);
}
public void saveUploadedNetworkConfig(Path uploadPath) {
FileUtils.deleteFile(this.getNetworkConfigFile());
FileUtils.copyFile(uploadPath, this.getNetworkConfigFile());
m_provider.saveUploadedNetworkConfig(uploadPath);
}
public void requestSave() {
@@ -426,6 +258,14 @@ public class ConfigManager {
saveRequestTimestamp = System.currentTimeMillis();
}
public void unloadCameraConfigs() {
this.getConfig().getCameraConfigurations().clear();
}
public void saveToDisk() {
m_provider.saveToDisk();
}
private void saveAndWriteTask() {
// Only save if 1 second has past since the request was made
while (!Thread.currentThread().isInterrupted()) {
@@ -442,8 +282,4 @@ public class ConfigManager {
}
}
}
public void unloadCameraConfigs() {
this.config.getCameraConfigurations().clear();
}
}

38
photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java Normal file
View File

@@ -0,0 +1,38 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.common.configuration;
import java.nio.file.Path;
public abstract class ConfigProvider {
private PhotonConfiguration config;
abstract void load();
abstract void saveToDisk();
PhotonConfiguration getConfig() {
return config;
}
public abstract void saveUploadedHardwareConfig(Path uploadPath);
public abstract void saveUploadedHardwareSettings(Path uploadPath);
public abstract void saveUploadedNetworkConfig(Path uploadPath);
}

49
photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
View File

@@ -150,4 +150,53 @@ public class HardwareConfig {
|| gpuMemUsageCommand != ""
|| diskUsageCommand != "";
}
@Override
public String toString() {
return "HardwareConfig [deviceName="
+ deviceName
+ ", deviceLogoPath="
+ deviceLogoPath
+ ", supportURL="
+ supportURL
+ ", ledPins="
+ ledPins
+ ", ledSetCommand="
+ ledSetCommand
+ ", ledsCanDim="
+ ledsCanDim
+ ", ledBrightnessRange="
+ ledBrightnessRange
+ ", ledDimCommand="
+ ledDimCommand
+ ", ledBlinkCommand="
+ ledBlinkCommand
+ ", statusRGBPins="
+ statusRGBPins
+ ", cpuTempCommand="
+ cpuTempCommand
+ ", cpuMemoryCommand="
+ cpuMemoryCommand
+ ", cpuUtilCommand="
+ cpuUtilCommand
+ ", cpuThrottleReasonCmd="
+ cpuThrottleReasonCmd
+ ", cpuUptimeCommand="
+ cpuUptimeCommand
+ ", gpuMemoryCommand="
+ gpuMemoryCommand
+ ", ramUtilCommand="
+ ramUtilCommand
+ ", gpuMemUsageCommand="
+ gpuMemUsageCommand
+ ", diskUsageCommand="
+ diskUsageCommand
+ ", restartHardwareCommand="
+ restartHardwareCommand
+ ", vendorFOV="
+ vendorFOV
+ ", blacklistedResIndices="
+ blacklistedResIndices
+ "]";
}
}

5
photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
View File

@@ -19,4 +19,9 @@ package org.photonvision.common.configuration;
public class HardwareSettings {
public int ledBrightnessPercentage = 100;
@Override
public String toString() {
return "HardwareSettings [ledBrightnessPercentage=" + ledBrightnessPercentage + "]";
}
}

443
photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java Normal file
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@@ -0,0 +1,443 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.common.configuration;
import com.fasterxml.jackson.core.JsonProcessingException;
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.text.DateFormat;
import java.text.ParseException;
import java.text.SimpleDateFormat;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.time.temporal.TemporalAccessor;
import java.util.*;
import java.util.stream.Collectors;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.file.FileUtils;
import org.photonvision.common.util.file.JacksonUtils;
import org.photonvision.vision.pipeline.CVPipelineSettings;
import org.photonvision.vision.pipeline.DriverModePipelineSettings;
import org.photonvision.vision.processes.VisionSource;
import org.zeroturnaround.zip.ZipUtil;
class LegacyConfigProvider extends ConfigProvider {
private static final Logger logger = new Logger(LegacyConfigProvider.class, LogGroup.General);
public static final String HW_CFG_FNAME = "hardwareConfig.json";
public static final String HW_SET_FNAME = "hardwareSettings.json";
public static final String NET_SET_FNAME = "networkSettings.json";
private PhotonConfiguration config;
private final File hardwareConfigFile;
private final File hardwareSettingsFile;
private final File networkConfigFile;
private final File camerasFolder;
final File configDirectoryFile;
private long saveRequestTimestamp = -1;
private Thread settingsSaveThread;
public static void saveUploadedSettingsZip(File uploadPath) {
var folderPath = Path.of(System.getProperty("java.io.tmpdir"), "photonvision").toFile();
folderPath.mkdirs();
ZipUtil.unpack(uploadPath, folderPath);
FileUtils.deleteDirectory(getRootFolder());
try {
org.apache.commons.io.FileUtils.copyDirectory(folderPath, getRootFolder().toFile());
logger.info("Copied settings successfully!");
} catch (IOException e) {
logger.error("Exception copying uploaded settings!", e);
return;
}
}
public PhotonConfiguration getConfig() {
return config;
}
private static Path getRootFolder() {
return Path.of("photonvision_config");
}
protected LegacyConfigProvider(Path configDirectoryFile) {
this.configDirectoryFile = new File(configDirectoryFile.toUri());
this.hardwareConfigFile =
new File(Path.of(configDirectoryFile.toString(), HW_CFG_FNAME).toUri());
this.hardwareSettingsFile =
new File(Path.of(configDirectoryFile.toString(), HW_SET_FNAME).toUri());
this.networkConfigFile =
new File(Path.of(configDirectoryFile.toString(), NET_SET_FNAME).toUri());
this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri());
settingsSaveThread = new Thread(this::saveAndWriteTask);
settingsSaveThread.start();
}
@Override
public void load() {
logger.info("Loading settings...");
if (!configDirectoryFile.exists()) {
if (configDirectoryFile.mkdirs()) {
logger.debug("Root config folder did not exist. Created!");
} else {
logger.error("Failed to create root config folder!");
}
}
if (!configDirectoryFile.canWrite()) {
logger.debug("Making root dir writeable...");
try {
var success = configDirectoryFile.setWritable(true);
if (success) logger.debug("Set root dir writeable!");
else logger.error("Could not make root dir writeable!");
} catch (SecurityException e) {
logger.error("Could not make root dir writeable!", e);
}
}
HardwareConfig hardwareConfig;
HardwareSettings hardwareSettings;
NetworkConfig networkConfig;
if (hardwareConfigFile.exists()) {
try {
hardwareConfig =
JacksonUtils.deserialize(hardwareConfigFile.toPath(), HardwareConfig.class);
if (hardwareConfig == null) {
logger.error("Could not deserialize hardware config! Loading defaults");
hardwareConfig = new HardwareConfig();
}
} catch (IOException e) {
logger.error("Could not deserialize hardware config! Loading defaults");
hardwareConfig = new HardwareConfig();
}
} else {
logger.info("Hardware config does not exist! Loading defaults");
hardwareConfig = new HardwareConfig();
}
if (hardwareSettingsFile.exists()) {
try {
hardwareSettings =
JacksonUtils.deserialize(hardwareSettingsFile.toPath(), HardwareSettings.class);
if (hardwareSettings == null) {
logger.error("Could not deserialize hardware settings! Loading defaults");
hardwareSettings = new HardwareSettings();
}
} catch (IOException e) {
logger.error("Could not deserialize hardware settings! Loading defaults");
hardwareSettings = new HardwareSettings();
}
} else {
logger.info("Hardware settings does not exist! Loading defaults");
hardwareSettings = new HardwareSettings();
}
if (networkConfigFile.exists()) {
try {
networkConfig = JacksonUtils.deserialize(networkConfigFile.toPath(), NetworkConfig.class);
if (networkConfig == null) {
logger.error("Could not deserialize network config! Loading defaults");
networkConfig = new NetworkConfig();
}
} catch (IOException e) {
logger.error("Could not deserialize network config! Loading defaults");
networkConfig = new NetworkConfig();
}
} else {
logger.info("Network config file does not exist! Loading defaults");
networkConfig = new NetworkConfig();
}
if (!camerasFolder.exists()) {
if (camerasFolder.mkdirs()) {
logger.debug("Cameras config folder did not exist. Created!");
} else {
logger.error("Failed to create cameras config folder!");
}
}
HashMap<String, CameraConfiguration> cameraConfigurations = loadCameraConfigs();
this.config =
new PhotonConfiguration(
hardwareConfig, hardwareSettings, networkConfig, cameraConfigurations);
}
@Override
public void saveToDisk() {
// Delete old configs
FileUtils.deleteDirectory(camerasFolder.toPath());
try {
JacksonUtils.serialize(networkConfigFile.toPath(), config.getNetworkConfig());
} catch (IOException e) {
logger.error("Could not save network config!", e);
}
try {
JacksonUtils.serialize(hardwareSettingsFile.toPath(), config.getHardwareSettings());
} catch (IOException e) {
logger.error("Could not save hardware config!", e);
}
// save all of our cameras
var cameraConfigMap = config.getCameraConfigurations();
for (var subdirName : cameraConfigMap.keySet()) {
var camConfig = cameraConfigMap.get(subdirName);
var subdir = Path.of(camerasFolder.toPath().toString(), subdirName);
if (!subdir.toFile().exists()) {
// TODO: check for error
subdir.toFile().mkdirs();
}
try {
JacksonUtils.serialize(Path.of(subdir.toString(), "config.json"), camConfig);
} catch (IOException e) {
logger.error("Could not save config.json for " + subdir, e);
}
try {
JacksonUtils.serialize(
Path.of(subdir.toString(), "drivermode.json"), camConfig.driveModeSettings);
} catch (IOException e) {
logger.error("Could not save drivermode.json for " + subdir, e);
}
for (var pipe : camConfig.pipelineSettings) {
var pipePath = Path.of(subdir.toString(), "pipelines", pipe.pipelineNickname + ".json");
if (!pipePath.getParent().toFile().exists()) {
// TODO: check for error
pipePath.getParent().toFile().mkdirs();
}
try {
JacksonUtils.serialize(pipePath, pipe);
} catch (IOException e) {
logger.error("Could not save " + pipe.pipelineNickname + ".json!", e);
}
}
}
logger.info("Settings saved!");
}
private HashMap<String, CameraConfiguration> loadCameraConfigs() {
HashMap<String, CameraConfiguration> loadedConfigurations = new HashMap<>();
try {
var subdirectories =
Files.list(camerasFolder.toPath())
.filter(f -> f.toFile().isDirectory())
.collect(Collectors.toList());
for (var subdir : subdirectories) {
var cameraConfigPath = Path.of(subdir.toString(), "config.json");
CameraConfiguration loadedConfig = null;
try {
loadedConfig =
JacksonUtils.deserialize(
cameraConfigPath.toAbsolutePath(), CameraConfiguration.class);
} catch (JsonProcessingException e) {
logger.error("Camera config deserialization failed!", e);
e.printStackTrace();
}
if (loadedConfig == null) { // If the file could not be deserialized
logger.warn("Could not load camera " + subdir + "'s config.json! Loading " + "default");
continue; // TODO how do we later try to load this camera if it gets reconnected?
}
// At this point we have only loaded the base stuff
// We still need to deserialize pipelines, as well as
// driver mode settings
var driverModeFile = Path.of(subdir.toString(), "drivermode.json");
DriverModePipelineSettings driverMode;
try {
driverMode =
JacksonUtils.deserialize(
driverModeFile.toAbsolutePath(), DriverModePipelineSettings.class);
} catch (JsonProcessingException e) {
logger.error("Could not deserialize drivermode.json! Loading defaults");
logger.debug(Arrays.toString(e.getStackTrace()));
driverMode = new DriverModePipelineSettings();
}
if (driverMode == null) {
logger.warn(
"Could not load camera " + subdir + "'s drivermode.json! Loading" + " default");
driverMode = new DriverModePipelineSettings();
}
// Load pipelines by mapping the files within the pipelines subdir
// to their deserialized equivalents
var pipelineSubdirectory = Path.of(subdir.toString(), "pipelines");
List<CVPipelineSettings> settings =
pipelineSubdirectory.toFile().exists()
? Files.list(pipelineSubdirectory)
.filter(p -> p.toFile().isFile())
.map(
p -> {
var relativizedFilePath =
configDirectoryFile
.toPath()
.toAbsolutePath()
.relativize(p)
.toString();
try {
return JacksonUtils.deserialize(p, CVPipelineSettings.class);
} catch (JsonProcessingException e) {
logger.error("Exception while deserializing " + relativizedFilePath, e);
} catch (IOException e) {
logger.warn(
"Could not load pipeline at "
+ relativizedFilePath
+ "! Skipping...");
}
return null;
})
.filter(Objects::nonNull)
.collect(Collectors.toList())
: Collections.emptyList();
loadedConfig.driveModeSettings = driverMode;
loadedConfig.addPipelineSettings(settings);
loadedConfigurations.put(subdir.toFile().getName(), loadedConfig);
}
} catch (IOException e) {
logger.error("Error loading camera configs!", e);
}
return loadedConfigurations;
}
public void addCameraConfigurations(List<VisionSource> sources) {
getConfig().addCameraConfigs(sources);
requestSave();
}
public void saveModule(CameraConfiguration config, String uniqueName) {
getConfig().addCameraConfig(uniqueName, config);
requestSave();
}
public File getSettingsFolderAsZip() {
File out = Path.of(System.getProperty("java.io.tmpdir"), "photonvision-settings.zip").toFile();
try {
ZipUtil.pack(configDirectoryFile, out);
} catch (Exception e) {
e.printStackTrace();
}
return out;
}
public void setNetworkSettings(NetworkConfig networkConfig) {
getConfig().setNetworkConfig(networkConfig);
requestSave();
}
public Path getLogsDir() {
return Path.of(configDirectoryFile.toString(), "logs");
}
public Path getCalibDir() {
return Path.of(configDirectoryFile.toString(), "calibImgs");
}
public static final String LOG_PREFIX = "photonvision-";
public static final String LOG_EXT = ".log";
public static final String LOG_DATE_TIME_FORMAT = "yyyy-M-d_hh-mm-ss";
public String taToLogFname(TemporalAccessor date) {
var dateString = DateTimeFormatter.ofPattern(LOG_DATE_TIME_FORMAT).format(date);
return LOG_PREFIX + dateString + LOG_EXT;
}
public Date logFnameToDate(String fname) throws ParseException {
// Strip away known unneded portions of the log file name
fname = fname.replace(LOG_PREFIX, "").replace(LOG_EXT, "");
DateFormat format = new SimpleDateFormat(LOG_DATE_TIME_FORMAT);
return format.parse(fname);
}
public Path getLogPath() {
var logFile = Path.of(this.getLogsDir().toString(), taToLogFname(LocalDateTime.now())).toFile();
if (!logFile.getParentFile().exists()) logFile.getParentFile().mkdirs();
return logFile.toPath();
}
public Path getImageSavePath() {
var imgFilePath = Path.of(configDirectoryFile.toString(), "imgSaves").toFile();
if (!imgFilePath.exists()) imgFilePath.mkdirs();
return imgFilePath.toPath();
}
public Path getHardwareConfigFile() {
return this.hardwareConfigFile.toPath();
}
public Path getHardwareSettingsFile() {
return this.hardwareSettingsFile.toPath();
}
public Path getNetworkConfigFile() {
return this.networkConfigFile.toPath();
}
public void saveUploadedHardwareConfig(Path uploadPath) {
FileUtils.deleteFile(this.getHardwareConfigFile());
FileUtils.copyFile(uploadPath, this.getHardwareConfigFile());
}
public void saveUploadedHardwareSettings(Path uploadPath) {
FileUtils.deleteFile(this.getHardwareSettingsFile());
FileUtils.copyFile(uploadPath, this.getHardwareSettingsFile());
}
public void saveUploadedNetworkConfig(Path uploadPath) {
FileUtils.deleteFile(this.getNetworkConfigFile());
FileUtils.copyFile(uploadPath, this.getNetworkConfigFile());
}
public void requestSave() {
logger.trace("Requesting save...");
saveRequestTimestamp = System.currentTimeMillis();
}
private void saveAndWriteTask() {
// Only save if 1 second has past since the request was made
while (!Thread.currentThread().isInterrupted()) {
if (saveRequestTimestamp > 0 && (System.currentTimeMillis() - saveRequestTimestamp) > 1000L) {
saveRequestTimestamp = -1;
logger.debug("Saving to disk...");
saveToDisk();
}
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
logger.error("Exception waiting for settings semaphore", e);
}
}
}
public void unloadCameraConfigs() {
this.config.getCameraConfigurations().clear();
}
}

26
photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
View File

@@ -31,6 +31,7 @@ import org.photonvision.common.networking.NetworkMode;
import org.photonvision.common.util.file.JacksonUtils;
public class NetworkConfig {
// Can be a integer team number, or a IP address
public String ntServerAddress = "0";
public NetworkMode connectionType = NetworkMode.DHCP;
public String staticIp = "";
@@ -105,4 +106,29 @@ public class NetworkConfig {
public void setShouldManage(boolean shouldManage) {
this.shouldManage = shouldManage || Platform.isLinux();
}
@Override
public String toString() {
return "NetworkConfig [serverAddr="
+ ntServerAddress
+ ", connectionType="
+ connectionType
+ ", staticIp="
+ staticIp
+ ", hostname="
+ hostname
+ ", runNTServer="
+ runNTServer
+ ", networkManagerIface="
+ networkManagerIface
+ ", physicalInterface="
+ physicalInterface
+ ", setStaticCommand="
+ setStaticCommand
+ ", setDHCPcommand="
+ setDHCPcommand
+ ", shouldManage="
+ shouldManage
+ "]";
}
}

13
photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
View File

@@ -140,4 +140,17 @@ public class PhotonConfiguration {
public List<HashMap<String, Object>> calibrations;
public boolean isFovConfigurable = true;
}
@Override
public String toString() {
return "PhotonConfiguration [hardwareConfig="
+ hardwareConfig
+ ", hardwareSettings="
+ hardwareSettings
+ ", networkConfig="
+ networkConfig
+ ", cameraConfigurations="
+ cameraConfigurations
+ "]";
}
}

475
photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java Normal file
View File

@@ -0,0 +1,475 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.common.configuration;
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.sql.Connection;
import java.sql.DriverManager;
import java.sql.PreparedStatement;
import java.sql.SQLException;
import java.sql.Statement;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Objects;
import java.util.stream.Collectors;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.file.JacksonUtils;
import org.photonvision.vision.pipeline.CVPipelineSettings;
import org.photonvision.vision.pipeline.DriverModePipelineSettings;
/**
* Saves settings in a SQLite database file (called photon.sqlite).
*
* <p>Within this database we have a cameras database, which has one row per camera, and holds:
* unique_name, config_json, drivermode_json, pipeline_jsons.
*
* <p>Global has one row per global config file (like hardware settings and network settings)
*/
public class SqlConfigProvider extends ConfigProvider {
private final Logger logger = new Logger(SqlConfigProvider.class, LogGroup.Config);
static class TableKeys {
static final String CAM_UNIQUE_NAME = "unique_name";
static final String CONFIG_JSON = "config_json";
static final String DRIVERMODE_JSON = "drivermode_json";
static final String PIPELINE_JSONS = "pipeline_jsons";
static final String NETWORK_CONFIG = "networkConfig";
static final String HARDWARE_CONFIG = "hardwareConfig";
static final String HARDWARE_SETTINGS = "hardwareSettings";
}
private static final String dbName = "photon.sqlite";
private final String dbPath;
private PhotonConfiguration config;
private final Object m_mutex = new Object();
private final File rootFolder;
public SqlConfigProvider(Path rootFolder) {
this.rootFolder = rootFolder.toFile();
dbPath = Path.of(rootFolder.toString(), dbName).toAbsolutePath().toString();
logger.debug("Using database " + dbPath);
initDatabase();
}
public PhotonConfiguration getConfig() {
if (config == null) {
logger.warn("CONFIG IS NULL!");
}
return config;
}
private Connection createConn() {
String url = "jdbc:sqlite:" + dbPath;
try {
var conn = DriverManager.getConnection(url);
conn.setAutoCommit(false);
return conn;
} catch (SQLException e) {
logger.error("Error creating connection", e);
return null;
}
}
private void tryCommit(Connection conn) {
try {
conn.commit();
} catch (SQLException e) {
logger.error("Err committing changes: ", e);
try {
conn.rollback();
} catch (SQLException e1) {
logger.error("Err rolling back changes: ", e);
}
}
}
private void initDatabase() {
// Make sure root dir exists
if (!rootFolder.exists()) {
if (rootFolder.mkdirs()) {
logger.debug("Root config folder did not exist. Created!");
} else {
logger.error("Failed to create root config folder!");
}
}
Connection conn = null;
Statement createGlobalTableStatement = null, createCameraTableStatement = null;
try {
conn = createConn();
if (conn == null) {
logger.error("No connection, cannot init db");
return;
}
// Create global settings table. Just a dumb table with list of jsons and their
// name
try {
createGlobalTableStatement = conn.createStatement();
String sql =
"CREATE TABLE IF NOT EXISTS global (\n"
+ " filename TINYTEXT PRIMARY KEY,\n"
+ " contents mediumtext NOT NULL\n"
+ ");";
createGlobalTableStatement.execute(sql);
} catch (SQLException e) {
logger.error("Err creating global table", e);
}
// Create cameras table, key is the camera unique name
try {
createCameraTableStatement = conn.createStatement();
var sql =
"CREATE TABLE IF NOT EXISTS cameras (\n"
+ " unique_name TINYTEXT PRIMARY KEY,\n"
+ " config_json text NOT NULL,\n"
+ " drivermode_json text NOT NULL,\n"
+ " pipeline_jsons mediumtext NOT NULL\n"
+ ");";
createCameraTableStatement.execute(sql);
} catch (SQLException e) {
logger.error("Err creating cameras table", e);
}
this.tryCommit(conn);
} finally {
try {
if (createGlobalTableStatement != null) createGlobalTableStatement.close();
if (createCameraTableStatement != null) createCameraTableStatement.close();
if (conn != null) conn.close();
} catch (SQLException e) {
e.printStackTrace();
}
}
}
@Override
public void saveToDisk() {
logger.debug("Saving to disk");
var conn = createConn();
if (conn == null) return;
synchronized (m_mutex) {
if (config == null) {
logger.error("Config null! Cannot save");
return;
}
saveCameras(conn);
saveGlobal(conn);
tryCommit(conn);
try {
conn.close();
} catch (SQLException e) {
logger.error("SQL Err closing connection while saving to disk: ", e);
}
}
logger.info("Settings saved!");
}
@Override
public void load() {
logger.debug("Loading config...");
var conn = createConn();
if (conn == null) return;
synchronized (m_mutex) {
HardwareConfig hardwareConfig;
HardwareSettings hardwareSettings;
NetworkConfig networkConfig;
try {
hardwareConfig =
JacksonUtils.deserialize(
getOneConfigFile(conn, TableKeys.HARDWARE_CONFIG), HardwareConfig.class);
} catch (IOException e) {
logger.error("Could not deserialize hardware config! Loading defaults");
hardwareConfig = new HardwareConfig();
}
try {
hardwareSettings =
JacksonUtils.deserialize(
getOneConfigFile(conn, TableKeys.HARDWARE_SETTINGS), HardwareSettings.class);
} catch (IOException e) {
logger.error("Could not deserialize hardware settings! Loading defaults");
hardwareSettings = new HardwareSettings();
}
try {
networkConfig =
JacksonUtils.deserialize(
getOneConfigFile(conn, TableKeys.NETWORK_CONFIG), NetworkConfig.class);
} catch (IOException e) {
logger.error("Could not deserialize network config! Loading defaults");
networkConfig = new NetworkConfig();
}
var cams = loadCameraConfigs(conn);
try {
conn.close();
} catch (SQLException e) {
logger.error("SQL Err closing connection while loading: ", e);
}
this.config = new PhotonConfiguration(hardwareConfig, hardwareSettings, networkConfig, cams);
}
}
private String getOneConfigFile(Connection conn, String filename) {
// Query every single row of the global settings db
PreparedStatement query = null;
try {
query =
conn.prepareStatement("SELECT contents FROM global where filename=\"" + filename + "\"");
var result = query.executeQuery();
while (result.next()) {
var contents = result.getString("contents");
return contents;
}
} catch (SQLException e) {
logger.error("SQL Err getting file " + filename, e);
} finally {
try {
if (query != null) query.close();
} catch (SQLException e) {
logger.error("SQL Err closing config file query " + filename, e);
}
}
return "";
}
private void saveCameras(Connection conn) {
try {
// Replace this camera's row with the new settings
var sqlString =
"REPLACE INTO cameras (unique_name, config_json, drivermode_json, pipeline_jsons) VALUES "
+ "(?,?,?,?);";
for (var c : config.getCameraConfigurations().entrySet()) {
PreparedStatement statement = conn.prepareStatement(sqlString);
var config = c.getValue();
statement.setString(1, c.getKey());
statement.setString(2, JacksonUtils.serializeToString(config));
statement.setString(3, JacksonUtils.serializeToString(config.driveModeSettings));
// Serializing a list of abstract classes sucks. Instead, make it into a array
// of strings, which we can later unpack back into individual settings
List<String> settings =
config.pipelineSettings.stream()
.map(
it -> {
try {
return JacksonUtils.serializeToString(it);
} catch (IOException e) {
e.printStackTrace();
return null;
}
})
.filter(Objects::nonNull)
.collect(Collectors.toList());
statement.setString(4, JacksonUtils.serializeToString(settings));
statement.executeUpdate();
}
} catch (SQLException | IOException e) {
logger.error("Err saving cameras", e);
try {
conn.rollback();
} catch (SQLException e1) {
logger.error("Err rolling back changes: ", e);
}
}
}
private void addFile(PreparedStatement ps, String key, String value) throws SQLException {
ps.setString(1, key);
ps.setString(2, value);
}
private void saveGlobal(Connection conn) {
PreparedStatement statement1 = null;
PreparedStatement statement2 = null;
PreparedStatement statement3 = null;
try {
// Replace this camera's row with the new settings
var sqlString = "REPLACE INTO global (filename, contents) VALUES " + "(?,?);";
statement1 = conn.prepareStatement(sqlString);
addFile(
statement1,
TableKeys.HARDWARE_SETTINGS,
JacksonUtils.serializeToString(config.getHardwareSettings()));
statement1.executeUpdate();
statement2 = conn.prepareStatement(sqlString);
addFile(
statement2,
TableKeys.NETWORK_CONFIG,
JacksonUtils.serializeToString(config.getNetworkConfig()));
statement2.executeUpdate();
statement2.close();
statement3 = conn.prepareStatement(sqlString);
addFile(
statement3,
TableKeys.HARDWARE_CONFIG,
JacksonUtils.serializeToString(config.getHardwareConfig()));
statement3.executeUpdate();
statement3.close();
} catch (SQLException | IOException e) {
logger.error("Err saving global", e);
try {
conn.rollback();
} catch (SQLException e1) {
logger.error("Err rolling back changes: ", e);
}
} finally {
try {
if (statement1 != null) statement1.close();
if (statement2 != null) statement2.close();
if (statement3 != null) statement3.close();
} catch (SQLException e) {
logger.error("SQL Err closing global settings query ", e);
}
}
}
private <T> void saveOneFile(String fname, Path path) {
Connection conn = null;
PreparedStatement statement1 = null;
try {
conn = createConn();
if (conn == null) {
return;
}
// Replace this camera's row with the new settings
var sqlString = "REPLACE INTO global (filename, contents) VALUES " + "(?,?);";
statement1 = conn.prepareStatement(sqlString);
addFile(statement1, fname, Files.readString(path));
statement1.executeUpdate();
conn.commit();
} catch (SQLException | IOException e) {
logger.error("Err saving global", e);
try {
conn.rollback();
} catch (SQLException e1) {
logger.error("Err rolling back changes: ", e);
}
} finally {
try {
if (statement1 != null) statement1.close();
conn.close();
} catch (SQLException e) {
logger.error("SQL Err saving file " + fname, e);
}
}
}
@Override
public void saveUploadedHardwareConfig(Path uploadPath) {
saveOneFile(TableKeys.HARDWARE_CONFIG, uploadPath);
}
@Override
public void saveUploadedHardwareSettings(Path uploadPath) {
saveOneFile(TableKeys.HARDWARE_SETTINGS, uploadPath);
}
@Override
public void saveUploadedNetworkConfig(Path uploadPath) {
saveOneFile(TableKeys.NETWORK_CONFIG, uploadPath);
}
private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn) {
HashMap<String, CameraConfiguration> loadedConfigurations = new HashMap<>();
// Querry every single row of the cameras db
PreparedStatement query = null;
try {
query =
conn.prepareStatement(
String.format(
"SELECT %s, %s, %s, %s FROM cameras",
TableKeys.CAM_UNIQUE_NAME,
TableKeys.CONFIG_JSON,
TableKeys.DRIVERMODE_JSON,
TableKeys.PIPELINE_JSONS));
var result = query.executeQuery();
// Iterate over every row/"camera" in the table
while (result.next()) {
List<String> dummyList = new ArrayList<>();
var uniqueName = result.getString(TableKeys.CAM_UNIQUE_NAME);
var config =
JacksonUtils.deserialize(
result.getString(TableKeys.CONFIG_JSON), CameraConfiguration.class);
var driverMode =
JacksonUtils.deserialize(
result.getString(TableKeys.DRIVERMODE_JSON), DriverModePipelineSettings.class);
List<?> pipelineSettings =
JacksonUtils.deserialize(
result.getString(TableKeys.PIPELINE_JSONS), dummyList.getClass());
List<CVPipelineSettings> loadedSettings = new ArrayList<>();
for (var str : pipelineSettings) {
if (str instanceof String) {
loadedSettings.add(JacksonUtils.deserialize((String) str, CVPipelineSettings.class));
}
}
config.pipelineSettings = loadedSettings;
config.driveModeSettings = driverMode;
loadedConfigurations.put(uniqueName, config);
}
} catch (SQLException | IOException e) {
logger.error("Err loading cameras: ", e);
} finally {
try {
if (query != null) query.close();
} catch (SQLException e) {
logger.error("SQL Err closing connection while loading cameras ", e);
}
}
return loadedConfigurations;
}
public void setConfig(PhotonConfiguration config) {
this.config = config;
}
}

3
photon-core/src/main/java/org/photonvision/common/logging/LogGroup.java
View File

@@ -22,5 +22,6 @@ public enum LogGroup {
WebServer,
VisionModule,
Data,
General
General,
Config
}

3
photon-core/src/main/java/org/photonvision/common/logging/Logger.java
View File

@@ -102,6 +102,7 @@ public class Logger {
levelMap.put(LogGroup.WebServer, LogLevel.INFO);
levelMap.put(LogGroup.Data, LogLevel.INFO);
levelMap.put(LogGroup.VisionModule, LogLevel.INFO);
levelMap.put(LogGroup.Config, LogLevel.INFO);
}
static {
@@ -240,7 +241,7 @@ public class Logger {
* @param t
*/
public void error(String message, Throwable t) {
log(message, LogLevel.ERROR);
log(message + ": " + t.getMessage(), LogLevel.ERROR);
log(convertStackTraceToString(t), LogLevel.ERROR, LogLevel.DEBUG);
}

3
photon-core/src/main/java/org/photonvision/common/util/file/FileUtils.java
View File

@@ -42,14 +42,13 @@ public class FileUtils {
public static void deleteDirectory(Path path) {
try {
// create a stream
var files = Files.walk(path);
// delete directory including files and sub-folders
files
.sorted(Comparator.reverseOrder())
.map(Path::toFile)
.filter(File::isFile)
// .filter(File::isFile) // we want to delete directories and sub-dirs, too
.forEach((var file) -> deleteFile(file.toPath()));
// close the stream

23
photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java
View File

@@ -40,6 +40,16 @@ public class JacksonUtils {
serialize(path, object, true);
}
public static <T> String serializeToString(T object) throws IOException {
PolymorphicTypeValidator ptv =
BasicPolymorphicTypeValidator.builder().allowIfBaseType(object.getClass()).build();
ObjectMapper objectMapper =
JsonMapper.builder()
.activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT)
.build();
return objectMapper.writerWithDefaultPrettyPrinter().writeValueAsString(object);
}
public static <T> void serialize(Path path, T object, boolean forceSync) throws IOException {
PolymorphicTypeValidator ptv =
BasicPolymorphicTypeValidator.builder().allowIfBaseType(object.getClass()).build();
@@ -51,6 +61,19 @@ public class JacksonUtils {
saveJsonString(json, path, forceSync);
}
public static <T> T deserialize(String s, Class<T> ref) throws IOException {
PolymorphicTypeValidator ptv =
BasicPolymorphicTypeValidator.builder().allowIfBaseType(ref).build();
ObjectMapper objectMapper =
JsonMapper.builder()
.configure(JsonReadFeature.ALLOW_JAVA_COMMENTS, true)
.configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false)
.activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT)
.build();
return objectMapper.readValue(s, ref);
}
public static <T> T deserialize(Path path, Class<T> ref) throws IOException {
PolymorphicTypeValidator ptv =
BasicPolymorphicTypeValidator.builder().allowIfBaseType(ref).build();

3
photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
View File

@@ -46,7 +46,8 @@ public class ConfigTest {
@BeforeAll
public static void init() {
TestUtils.loadLibraries();
configMgr = new ConfigManager(Path.of("testconfigdir"));
var path = Path.of("testconfigdir");
configMgr = new ConfigManager(path, new LegacyConfigProvider(path));
configMgr.load();
Logger.setLevel(LogGroup.General, LogLevel.TRACE);

8
photon-core/src/test/java/org/photonvision/common/configuration/NetworkConfigTest.java
View File

@@ -37,14 +37,14 @@ public class NetworkConfigTest {
@Test
public void testDeserializeTeamNumberOrNtServerAddress() {
{
ConfigManager configMgr =
new ConfigManager(Path.of("test-resources/network-old-team-number"));
var folder = Path.of("test-resources/network-old-team-number");
var configMgr = new ConfigManager(folder, new LegacyConfigProvider(folder));
configMgr.load();
Assertions.assertEquals("9999", configMgr.getConfig().getNetworkConfig().ntServerAddress);
}
{
ConfigManager configMgr =
new ConfigManager(Path.of("test-resources/network-new-team-number"));
var folder = Path.of("test-resources/network-new-team-number");
var configMgr = new ConfigManager(folder, new LegacyConfigProvider(folder));
configMgr.load();
Assertions.assertEquals("9999", configMgr.getConfig().getNetworkConfig().ntServerAddress);
}

68
photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java Normal file
View File

@@ -0,0 +1,68 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.common.configuration;
import static org.junit.jupiter.api.Assertions.assertEquals;
import java.nio.file.Path;
import java.util.List;
import org.junit.jupiter.api.*;
import org.photonvision.common.util.TestUtils;
import org.photonvision.vision.camera.CameraType;
import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
public class SQLConfigTest {
@BeforeAll
public static void init() {
TestUtils.loadLibraries();
}
@Test
public void testLoad() {
var cfgLoader = new SqlConfigProvider(Path.of("jdbc_test"));
cfgLoader.load();
var testcamcfg =
new CameraConfiguration(
"basename",
"a_unique_name",
"a_nick_name",
69,
"a/path/idk",
CameraType.UsbCamera,
List.of(),
0);
testcamcfg.pipelineSettings =
List.of(
new ReflectivePipelineSettings(),
new AprilTagPipelineSettings(),
new ColoredShapePipelineSettings());
cfgLoader.getConfig().addCameraConfig(testcamcfg);
cfgLoader.getConfig().getNetworkConfig().ntServerAddress = "5940";
cfgLoader.saveToDisk();
cfgLoader.load();
System.out.println(cfgLoader.getConfig());
assertEquals(cfgLoader.getConfig().getNetworkConfig().ntServerAddress, "5940");
}
}

10
photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java
View File

@@ -33,13 +33,13 @@ import org.photonvision.common.logging.Logger;
public class LogFileManagementTest {
@Test
public void fileCleanupTest() throws IOException {
public void fileCleanupTest() {
// Ensure we instantiate the new log correctly
ConfigManager.getInstance();
String testDir = ConfigManager.getInstance().getLogsDir().toString() + "/test";
Files.createDirectories(Path.of(testDir));
Assertions.assertDoesNotThrow(() -> Files.createDirectories(Path.of(testDir)));
// Create a bunch of log files with dummy contents.
for (int fileIdx = 0; fileIdx < Logger.MAX_LOGS_TO_KEEP + 5; fileIdx++) {
@@ -71,7 +71,11 @@ public class LogFileManagementTest {
// Clean uptest directory
org.photonvision.common.util.file.FileUtils.deleteDirectory(Path.of(testDir));
Files.delete(Path.of(testDir));
try {
Files.delete(Path.of(testDir));
} catch (IOException e) {
// it's OK if this fails
}
}
private int countLogFiles(String testDir) {

1
photon-server/src/main/java/org/photonvision/Main.java
View File

@@ -334,6 +334,7 @@ public class Main {
Logger.setLevel(LogGroup.WebServer, logLevel);
Logger.setLevel(LogGroup.VisionModule, logLevel);
Logger.setLevel(LogGroup.Data, logLevel);
Logger.setLevel(LogGroup.Config, logLevel);
Logger.setLevel(LogGroup.General, logLevel);
logger.info("Logging initialized in debug mode.");