Websockets almost done, TODO ports,testing

Main/pom.xml

@@ -19,6 +19,9 @@
             </plugin>
         </plugins>
     </build>
+    <properties>
+        <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+    </properties>
     <repositories>
         <!--WPI official maven repo for frc libs-->
         <repository>
@@ -28,74 +31,132 @@
         </repository>
     </repositories>
     <dependencies>
-        <dependency>
         <!--javalin micro webservices framework-->
+        <dependency>
             <groupId>io.javalin</groupId>
             <artifactId>javalin</artifactId>
             <version>3.4.1</version>
         </dependency>
+
+        <!--org.json from saving and loading data-->
         <dependency>
-            <!--org.json from saving and loading data-->
             <groupId>org.json</groupId>
             <artifactId>json</artifactId>
-            <version>RELEASE</version>
+            <version>20190722</version>
         </dependency>
+
+        <!--slf4j for javalin -->
         <dependency>
-            <!--slf4j for javalin -->
             <groupId>org.slf4j</groupId>
             <artifactId>slf4j-simple</artifactId>
             <version>1.7.26</version>
         </dependency>
+
+        <!--apache common classes libs-->
         <dependency>
-            <!--frc cscore java libs-->
-            <groupId>edu.wpi.first.cscore</groupId>
-            <artifactId>cscore-java</artifactId>
-            <version>RELEASE</version>
-        </dependency>
-        <dependency>
-            <!--frc cscore interface libs-->
-            <groupId>edu.wpi.first.cscore</groupId>
-            <artifactId>cscore-jni</artifactId>
-            <version>RELEASE</version>
-            <classifier>all</classifier>
-        </dependency>
-        <dependency>
-            <!--frc camera server libs-->
-            <groupId>edu.wpi.first.cameraserver</groupId>
-            <artifactId>cameraserver-java</artifactId>
-            <version>RELEASE</version>
-        </dependency>
-        <dependency>
-            <!--frc network table java libs-->
-            <groupId>edu.wpi.first.ntcore</groupId>
-            <artifactId>ntcore-java</artifactId>
-            <version>RELEASE</version>
-        </dependency>
-        <dependency>
-            <!--frc network tables interface libs-->
-            <groupId>edu.wpi.first.ntcore</groupId>
-            <artifactId>ntcore-jni</artifactId>
-            <version>RELEASE</version>
-            <classifier>all</classifier>
-        </dependency>
-        <dependency>
-            <!--frc java libs-->
-            <groupId>edu.wpi.first.wpiutil</groupId>
-            <artifactId>wpiutil-java</artifactId>
-            <version>RELEASE</version>
-        </dependency>
-        <dependency>
-            <!--apache common classes libs-->
             <groupId>org.apache.commons</groupId>
             <artifactId>commons-math3</artifactId>
-            <version>RELEASE</version>
+            <version>3.6.1</version>
         </dependency>
+        <!--google json save and load library-->
         <dependency>
-            <!--google json save and load library-->
             <groupId>com.google.code.gson</groupId>
             <artifactId>gson</artifactId>
-            <version>RELEASE</version>
+            <version>2.8.5</version>
         </dependency>
+        <!--what is this for again?-->
+        <dependency>
+            <groupId>org.springframework</groupId>
+            <artifactId>spring-beans</artifactId>
+            <version>5.1.9.RELEASE</version>
+        </dependency>
+
+        <!-- supported platforms for wpilib JNI classifiers
+            linuxathena
+            linuxraspbian
+            linuxx86-64
+            windowsx86-64
+        -->
+        <!--frc cscore java libs-->
+        <dependency>
+            <groupId>edu.wpi.first.cscore</groupId>
+            <artifactId>cscore-java</artifactId>
+            <version>2019.4.1</version>
+        </dependency>
+        <!--frc cscore interface libs-->
+        <dependency>
+            <groupId>edu.wpi.first.cscore</groupId>
+            <artifactId>cscore-jni</artifactId>
+            <version>2019.4.1</version>
+            <classifier>linuxathena</classifier>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.cscore</groupId>
+            <artifactId>cscore-jni</artifactId>
+            <version>2019.4.1</version>
+            <classifier>linuxraspbian</classifier>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.cscore</groupId>
+            <artifactId>cscore-jni</artifactId>
+            <version>2019.4.1</version>
+            <classifier>linuxx86-64</classifier>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.cscore</groupId>
+            <artifactId>cscore-jni</artifactId>
+            <version>2019.4.1</version>
+            <classifier>windowsx86-64</classifier>
+        </dependency>
+
+        <!--frc camera server libs-->
+        <dependency>
+            <groupId>edu.wpi.first.cameraserver</groupId>
+            <artifactId>cameraserver-java</artifactId>
+            <version>2019.4.1</version>
+        </dependency>
+
+        <!--frc network table java libs-->
+        <dependency>
+            <groupId>edu.wpi.first.ntcore</groupId>
+            <artifactId>ntcore-java</artifactId>
+            <version>2019.4.1</version>
+        </dependency>
+
+        <!--frc network tables interface libs-->
+        <dependency>
+            <groupId>edu.wpi.first.ntcore</groupId>
+            <artifactId>ntcore-jni</artifactId>
+            <version>2019.4.1</version>
+            <classifier>linuxathena</classifier>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.ntcore</groupId>
+            <artifactId>ntcore-jni</artifactId>
+            <version>2019.4.1</version>
+            <classifier>linuxraspbian</classifier>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.ntcore</groupId>
+            <artifactId>ntcore-jni</artifactId>
+            <version>2019.4.1</version>
+            <classifier>linuxx86-64</classifier>
+        </dependency>
+        <dependency>
+            <groupId>edu.wpi.first.ntcore</groupId>
+            <artifactId>ntcore-jni</artifactId>
+            <version>2019.4.1</version>
+            <classifier>windowsx86-64</classifier>
+        </dependency>
+
+        <!--frc java libs-->
+        <dependency>
+            <groupId>edu.wpi.first.wpiutil</groupId>
+            <artifactId>wpiutil-java</artifactId>
+            <version>2019.4.1</version>
+        </dependency>
+
+        <!-- WPI OpenCV for all supported platforms -->
         <dependency>
             <groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
             <artifactId>opencv-java</artifactId>
@@ -106,7 +167,8 @@
             <artifactId>opencv-jni</artifactId>
             <version>3.4.4-5</version>
             <classifier>windowsx86-64</classifier>
-        </dependency>        <dependency>
+        </dependency>
+        <dependency>
             <groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
             <artifactId>opencv-jni</artifactId>
             <version>3.4.4-5</version>
@@ -124,10 +186,5 @@
             <version>3.4.4-5</version>
             <classifier>linuxraspbian</classifier>
         </dependency>
-        <dependency>
-            <groupId>org.springframework</groupId>
-            <artifactId>spring-beans</artifactId>
-            <version>5.1.9.RELEASE</version>
-        </dependency>
     </dependencies>
 </project>

Main/src/main/java/com/chameleonvision/MemoryManager.java

@@ -0,0 +1,41 @@
+package com.chameleonvision;
+
+public class MemoryManager {
+
+	private static final long MEGABYTE_FACTOR = 1024L * 1024L;
+
+	private int collectionThreshold;
+	private int lastUsedMb = 0;
+
+	public MemoryManager(int collectionThreshold) {
+		this.collectionThreshold = collectionThreshold;
+	}
+
+
+	public static long getUsedMemory() {
+		return Runtime.getRuntime().totalMemory() - Runtime.getRuntime().freeMemory();
+	}
+
+	public static int getUsedMemoryMB() {
+		return (int) (getUsedMemory() / MEGABYTE_FACTOR);
+	}
+
+	private static void collect() {
+		System.gc();
+		System.runFinalization();
+	}
+
+	public void run() {
+		var usedMem = getUsedMemoryMB();
+
+		if (usedMem != lastUsedMb) {
+			lastUsedMb = usedMem;
+			System.out.printf("Memory usage: %dMB\n", usedMem);
+		}
+
+		if (usedMem >= collectionThreshold) {
+			collect();
+			System.out.printf("Garbage collected at %dMB\n", usedMem);
+		}
+	}
+}

Main/src/main/java/com/chameleonvision/vision/Camera.java

@@ -8,5 +8,4 @@ public class Camera {
     public HashMap<String, Pipeline> pipelines;
     public int resolution = 0;
     public CamVideoMode camVideoMode;
-
 }

Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java

@@ -9,42 +9,53 @@ import java.util.HashMap;
 import java.util.List;
 
 public class VisionProcess {
-    private HashMap<String, Integer>TargetGrouping= new HashMap<String, Integer>(){{
-        put("Single",1);
-        put("Dual",2);
-        put("Triple",3);
-        put("Quadruple",4);
-        put("Quintuple",5);
+
+    private HashMap<String, Integer>TargetGrouping= new HashMap<>() {{
+        put("Single", 1);
+        put("Dual", 2);
+        put("Triple", 3);
+        put("Quadruple", 4);
+        put("Quintuple", 5);
     }};
-    private double CamArea,CenterX, CenterY;
+
+    private double CamArea, CenterX, CenterY;
+
     VisionProcess(double CenterX, double CenterY, double CamArea){
         this.CenterX = CenterX;
         this.CenterY = CenterY;
         this.CamArea = CamArea;
     }
+
     private Mat Kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
 
-    public Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation , @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
-        Mat hsv = new Mat();
-        Imgproc.cvtColor(image,hsv,Imgproc.COLOR_BGR2HSV,3);
-        new Scalar(hue.get(0),saturation.get(0),value.get(0));
-        Mat threshold = new Mat();
-        Core.inRange(hsv,new Scalar(hue.get(0),saturation.get(0),value.get(0)),new Scalar(hue.get(1),saturation.get(1),value.get(1)),threshold);
+    private Mat hsvMat = new Mat();
+    private Mat hsvThreshMat = new Mat();
+    private Scalar hsvLower, hsvUpper;
+
+    Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation, @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
+        Imgproc.cvtColor(image, hsvMat,Imgproc.COLOR_BGR2HSV,3);
+        hsvLower = new Scalar(hue.get(0), saturation.get(0), value.get(0));
+        hsvUpper = new Scalar(hue.get(1), saturation.get(1), value.get(1));
+        Core.inRange(hsvMat, hsvLower, hsvUpper, hsvThreshMat);
         if (IsErode){
-            Imgproc.erode(threshold,threshold, Kernel);
+            Imgproc.erode(hsvThreshMat, hsvThreshMat, Kernel);
         }
         if (IsDilate){
-            Imgproc.dilate(threshold,threshold, Kernel);
+            Imgproc.dilate(hsvThreshMat, hsvThreshMat, Kernel);
         }
-        return threshold;
+        return hsvThreshMat;
     }
+
+    private List<MatOfPoint> FoundContours = new ArrayList<>();
     public List<MatOfPoint> FindContours(Mat BinaryImage){
-        List<MatOfPoint> Contours = new ArrayList<>();
-        Imgproc.findContours(BinaryImage,Contours,new Mat(),Imgproc.RETR_EXTERNAL,Imgproc.CHAIN_APPROX_TC89_L1);
-        return Contours;
+        FoundContours.clear();
+        Imgproc.findContours(BinaryImage, FoundContours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_TC89_L1);
+        BinaryImage.release();
+        return FoundContours;
     }
-    public List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Integer> ratio, List<Integer> extent, String SortMode,String TargetIntersection , String TargetGrouping){
-        List<MatOfPoint> FilteredContours = new ArrayList<MatOfPoint>();
+
+    private List<MatOfPoint> FilteredContours = new ArrayList<MatOfPoint>();
+    public List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Integer> ratio, List<Integer> extent, String SortMode, String TargetIntersection, String TargetGrouping){
         for (MatOfPoint Contour : InputContours){
             try{
                 var contourArea = Imgproc.contourArea(Contour);
@@ -62,24 +73,29 @@ public class VisionProcess {
                     continue;
                 }
                 FilteredContours.add(Contour);
-            } catch (Exception e){
-                continue;
+            }
+            catch (Exception e) {
+
             }
         }
         return FilteredContours;
     }
-    private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint,String TargetGroup){
+
+    private List<MatOfPoint> FinalCountours = new ArrayList<>();
+    private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint,String TargetGroup) {
+        FinalCountours.clear();
         if (!TargetGroup.equals("Single")){
-            List<MatOfPoint> FinalCountours = new ArrayList<MatOfPoint>();
             for (var i = 0; i < InputContours.size(); i++){
                 var FinalContour = InputContours.get(i);
                 for (var c = 0; c < (TargetGrouping.get(TargetGroup)-1);c++){
                     try{
                         MatOfPoint firstContour = InputContours.get(i + c);
-                        MatOfPoint secoundContour = InputContours.get(i+c+1);
-                        if (IsIntersecting(firstContour,secoundContour, IntersectionPoint)){
+                        MatOfPoint secondContour = InputContours.get(i+c+1);
+                        if (IsIntersecting(firstContour, secondContour, IntersectionPoint)){
                             System.out.println("");
                         }
+                        firstContour.release();
+                        secondContour.release();
                     } catch (IndexOutOfBoundsException e){
                         FinalContour = new MatOfPoint();
                         break;
@@ -90,12 +106,13 @@ public class VisionProcess {
         }
         return InputContours;
     }
-    private boolean IsIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint){
-        Mat LineA = new Mat();
-        Imgproc.fitLine(ContourOne,LineA,Imgproc.CV_DIST_L2,0,0.01,0.01);
-        Mat LineB = new Mat();
-        Imgproc.fitLine(ContourTwo,LineB,Imgproc.CV_DIST_L2,0,0.01,0.01);
+
+    private Mat intersectMatA = new Mat();
+    private Mat intersectMatB = new Mat();
+    private boolean IsIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint) {
+        Imgproc.fitLine(ContourOne, intersectMatA, Imgproc.CV_DIST_L2,0,0.01,0.01);
+        Imgproc.fitLine(ContourTwo, intersectMatB, Imgproc.CV_DIST_L2,0,0.01,0.01);
+//        Rect2d =
         return true;
     }
-
 }