mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
Calibration and metrics clean up. (#68)
* Add more calibration metrics * Cleanup metrics * Rename PWM fields to match convention
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Xzibit
@@ -35,6 +35,7 @@ public class HardwareConfig {
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public final boolean ledsCanDim;
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public final ArrayList<Integer> ledPWMRange;
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public final String ledPWMSetRange;
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public final int ledPWMFrequency;
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public final String ledDimCommand;
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public final String ledBlinkCommand;
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@@ -54,6 +55,7 @@ public class HardwareConfig {
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ledSetCommand = "";
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ledsCanDim = false;
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ledPWMRange = new ArrayList<>();
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ledPWMFrequency = 0;
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ledPWMSetRange = "";
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ledDimCommand = "";
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@@ -81,6 +83,7 @@ public class HardwareConfig {
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this.ledsCanDim = (Boolean) hardware.get("ledsCanDim");
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this.ledPWMRange = (ArrayList<Integer>) hardware.get("ledPWMRange");
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this.ledPWMSetRange = (String) hardware.get("ledPWMSetRange");
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this.ledPWMFrequency = (Integer) hardware.get("ledPWMFrequency");
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this.ledDimCommand = (String) hardware.get("ledDimCommand");
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this.ledBlinkCommand = (String) hardware.get("ledBlinkCommand");
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@@ -35,10 +35,10 @@ public class PiGPIO extends GPIOBase {
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return Singleton.INSTANCE;
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}
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public PiGPIO(int address, int value, int range) {
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public PiGPIO(int address, int frequency, int range) {
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this.pin = address;
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try {
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getPigpioDaemon().setPWMFrequency(this.pin, value);
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getPigpioDaemon().setPWMFrequency(this.pin, frequency);
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getPigpioDaemon().setPWMRange(this.pin, range);
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} catch (PigpioException e) {
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logger.error("Could not set PWM settings on port " + this.pin);
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@@ -24,12 +24,9 @@ import org.photonvision.common.hardware.GPIO.GPIOBase;
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import org.photonvision.common.hardware.GPIO.PiGPIO;
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import org.photonvision.common.hardware.metrics.MetricsBase;
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import org.photonvision.common.hardware.metrics.MetricsPublisher;
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import org.photonvision.common.logging.LogGroup;
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import org.photonvision.common.logging.Logger;
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public class HardwareManager {
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HardwareConfig hardwareConfig;
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private static final Logger logger = new Logger(HardwareManager.class, LogGroup.General);
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private static final HashMap<Integer, GPIOBase> LEDs = new HashMap<>();
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public static HardwareManager getInstance() {
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@@ -44,14 +41,16 @@ public class HardwareManager {
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hardwareConfig.ledPins.forEach(
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pin -> {
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if (Platform.isRaspberryPi()) {
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LEDs.put(pin, new PiGPIO(pin, 0, hardwareConfig.ledPWMRange.get(1)));
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LEDs.put(
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pin,
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new PiGPIO(pin, hardwareConfig.ledPWMFrequency, hardwareConfig.ledPWMRange.get(1)));
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} else {
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LEDs.put(pin, new CustomGPIO(pin));
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}
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});
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// Start hardware metrics thread
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MetricsPublisher.getInstance().startThread();
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MetricsPublisher.getInstance().startTask();
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}
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/** Example: HardwareManager.getInstance().getPWM(port).dimLEDs(int dimValue); */
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public GPIOBase getGPIO(int pin) {
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@@ -17,7 +17,7 @@
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package org.photonvision.common.hardware.metrics;
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import java.util.Arrays;
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import java.io.IOException;
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import org.photonvision.common.configuration.HardwareConfig;
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import org.photonvision.common.hardware.Platform;
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import org.photonvision.common.logging.LogGroup;
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@@ -58,9 +58,25 @@ public abstract class MetricsBase {
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try {
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runCommand.executeBashCommand(command);
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return Double.parseDouble(runCommand.getOutput());
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} catch (Exception e) {
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logger.error(Arrays.toString(e.getStackTrace()));
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} catch (NumberFormatException e) {
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logger.error(
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"Command: \""
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+ command
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+ "\" returned a non-double output!"
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+ "\nOutput Received: "
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+ runCommand.getOutput()
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+ "\nStandard Error: "
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+ runCommand.getError()
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+ "\nCommand completed: "
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+ runCommand.isOutputCompleted()
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+ "\nError completed: "
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+ runCommand.isErrorCompleted()
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+ "\nExit code: "
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+ runCommand.getExitCode());
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return Double.NaN;
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} catch (IOException e) {
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MetricsPublisher.getInstance().stopTask();
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return -1;
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}
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}
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}
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@@ -18,54 +18,54 @@
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package org.photonvision.common.hardware.metrics;
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import java.util.HashMap;
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import java.util.Timer;
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import java.util.TimerTask;
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import org.photonvision.common.dataflow.DataChangeService;
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import org.photonvision.common.dataflow.events.OutgoingUIEvent;
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import org.photonvision.common.logging.LogGroup;
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import org.photonvision.common.logging.Logger;
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import org.photonvision.common.util.TimedTaskManager;
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import org.photonvision.server.UIUpdateType;
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public class MetricsPublisher {
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private final HashMap<String, Double> metrics;
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private final Thread metricsThread;
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private static final Logger logger = new Logger(MetricsPublisher.class, LogGroup.General);
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private static CPU cpu;
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private static GPU gpu;
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private static RAM ram;
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public static MetricsPublisher getInstance() {
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return Singleton.INSTANCE;
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}
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private MetricsPublisher() {
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var cpu = CPU.getInstance();
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var gpu = GPU.getInstance();
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var ram = RAM.getInstance();
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cpu = CPU.getInstance();
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gpu = GPU.getInstance();
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ram = RAM.getInstance();
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metrics = new HashMap<>();
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this.metricsThread =
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new Thread(
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() -> {
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var timer = new Timer();
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timer.schedule(
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new TimerTask() {
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public void run() {
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metrics.put("cpuTemp", cpu.getTemp());
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metrics.put("cpuUtil", cpu.getUtilization());
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metrics.put("cpuMem", cpu.getMemory());
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metrics.put("gpuTemp", gpu.getTemp());
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metrics.put("gpuMem", gpu.getMemory());
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metrics.put("ramUtil", ram.getUsedRam());
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DataChangeService.getInstance()
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.publishEvent(
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new OutgoingUIEvent<>(
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UIUpdateType.BROADCAST, "metrics", metrics, null));
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}
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},
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0,
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1000);
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});
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}
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public void startThread() {
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metricsThread.start();
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public void startTask() {
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TimedTaskManager.getInstance()
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.addTask(
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"Metrics",
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() -> {
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metrics.put("cpuTemp", cpu.getTemp());
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metrics.put("cpuUtil", cpu.getUtilization());
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metrics.put("cpuMem", cpu.getMemory());
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metrics.put("gpuTemp", gpu.getTemp());
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metrics.put("gpuMem", gpu.getMemory());
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metrics.put("ramUtil", ram.getUsedRam());
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DataChangeService.getInstance()
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.publishEvent(
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new OutgoingUIEvent<>(UIUpdateType.BROADCAST, "metrics", metrics, null));
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},
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1000);
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}
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public void stopTask() {
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TimedTaskManager.getInstance().cancelTask("Metrics");
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logger.info("This device does not support running bash commands. Stopped metrics thread.");
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}
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private static class Singleton {
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