[Hardware] Run command to start pigpio daemon before connecting to it (#107)

* Don't start metrics thread

* Start pigpio daemon before connecting to it

Co-authored-by: Matt <matthew.morley.ca@gmail.com>

photon-server/src/main/java/org/photonvision/common/hardware/GPIO/PiGPIO.java

@@ -189,9 +189,11 @@ public class PiGPIO extends GPIOBase {
 
         static {
             try {
+                // Make sure daemon is running before connecting to it
+                execute("pigpiod");
                 INSTANCE = new PigpioSocket("localhost", 8888);
             } catch (PigpioException e) {
-                logger.error("Could not connect to pigpio daemon");
+                logger.error("Could not connect to pigpio daemon.");
                 e.printStackTrace();
             }
         }

photon-server/src/main/java/org/photonvision/common/hardware/HardwareManager.java

@@ -29,7 +29,6 @@ import org.photonvision.common.hardware.GPIO.CustomGPIO;
 import org.photonvision.common.hardware.GPIO.GPIOBase;
 import org.photonvision.common.hardware.VisionLED.VisionLEDMode;
 import org.photonvision.common.hardware.metrics.MetricsBase;
-import org.photonvision.common.hardware.metrics.MetricsPublisher;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ShellExec;
@@ -71,8 +70,8 @@ public class HardwareManager {
         ledModeEntry.setNumber(VisionLEDMode.VLM_DEFAULT.value);
         ledModeListener = new NTDataChangeListener(ledModeEntry, visionLED::onLedModeChange);
 
-        // Start hardware metrics thread
-        if (Platform.isLinux()) MetricsPublisher.getInstance().startTask();
+        // Start hardware metrics thread (Disabled until implemented)
+        // if (Platform.isLinux()) MetricsPublisher.getInstance().startTask();
     }
 
     public boolean restartDevice() {

photon-server/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java

@@ -21,18 +21,18 @@ public class CPUMetrics extends MetricsBase {
 
     public CPUMetrics() {}
 
-    public double getMemory() {
-        if (cpuMemoryCommand.isEmpty()) return 0;
+    public String getMemory() {
+        if (cpuMemoryCommand.isEmpty()) return "";
         return execute(cpuMemoryCommand);
     }
 
     // TODO: Command should return in Celsius
-    public double getTemp() {
-        if (cpuTemperatureCommand.isEmpty()) return 0;
-        return execute(cpuTemperatureCommand) / 1000;
+    public String getTemp() {
+        if (cpuTemperatureCommand.isEmpty()) return "";
+        return execute(cpuTemperatureCommand);
     }
 
-    public double getUtilization() {
+    public String getUtilization() {
         return execute(cpuUtilizationCommand);
     }
 }

photon-server/src/main/java/org/photonvision/common/hardware/metrics/GPUMetrics.java

@@ -18,11 +18,11 @@
 package org.photonvision.common.hardware.metrics;
 
 public class GPUMetrics extends MetricsBase {
-    public double getMemory() {
+    public String getMemory() {
         return execute(gpuMemoryCommand);
     }
 
-    public double getTemp() {
-        return execute(gpuTemperatureCommand) / 10;
+    public String getTemp() {
+        return execute(gpuTemperatureCommand);
     }
 }

photon-server/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java

@@ -17,7 +17,6 @@
 
 package org.photonvision.common.hardware.metrics;
 
-import java.io.IOException;
 import org.photonvision.common.configuration.HardwareConfig;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
@@ -54,15 +53,15 @@ public abstract class MetricsBase {
         ramUsageCommand = config.ramUtilCommand;
     }
 
-    public static double execute(String command) {
+    public static String execute(String command) {
         try {
             runCommand.executeBashCommand(command);
-            return Double.parseDouble(runCommand.getOutput());
-        } catch (NumberFormatException e) {
+            return runCommand.getOutput();
+        } catch (Exception e) {
             logger.error(
                     "Command: \""
                             + command
-                            + "\" returned a non-double output!"
+                            + "\" returned an error!"
                             + "\nOutput Received: "
                             + runCommand.getOutput()
                             + "\nStandard Error: "
@@ -73,10 +72,7 @@ public abstract class MetricsBase {
                             + runCommand.isErrorCompleted()
                             + "\nExit code: "
                             + runCommand.getExitCode());
-            return Double.NaN;
-        } catch (IOException e) {
-            MetricsPublisher.getInstance().stopTask();
-            return -1;
+            return "";
         }
     }
 }

photon-server/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java

@@ -25,11 +25,11 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
 
 public class MetricsPublisher {
-    private final HashMap<String, Double> metrics;
+    private final HashMap<String, String> metrics;
     private static final Logger logger = new Logger(MetricsPublisher.class, LogGroup.General);
     private static CPUMetrics cpuMetrics;
-    // private static GPUMetrics gpuMetrics;
-    // private static RAMMetrics ramMetrics;
+    private static GPUMetrics gpuMetrics;
+    private static RAMMetrics ramMetrics;
 
     public static MetricsPublisher getInstance() {
         return Singleton.INSTANCE;
@@ -37,8 +37,8 @@ public class MetricsPublisher {
 
     private MetricsPublisher() {
         cpuMetrics = new CPUMetrics();
-        // gpuMetrics = new GPUMetrics();
-        // ramMetrics = new RAMMetrics();
+        gpuMetrics = new GPUMetrics();
+        ramMetrics = new RAMMetrics();
 
         metrics = new HashMap<>();
     }
@@ -51,12 +51,9 @@ public class MetricsPublisher {
                             metrics.put("cpuTemp", cpuMetrics.getTemp());
                             metrics.put("cpuUtil", cpuMetrics.getUtilization());
                             metrics.put("cpuMem", cpuMetrics.getMemory());
-                            /*Following metrics throw occasional errors and hence are commented out
-                            until a better solution for grabbing the metrics is found or patch for error is found.
-                            */
-                            // metrics.put("gpuTemp", gpuMetrics.getTemp());
-                            // metrics.put("gpuMem", gpuMetrics.getMemory());
-                            // metrics.put("ramUtil", ramMetrics.getUsedRam());
+                            metrics.put("gpuTemp", gpuMetrics.getTemp());
+                            metrics.put("gpuMem", gpuMetrics.getMemory());
+                            metrics.put("ramUtil", ramMetrics.getUsedRam());
 
                             DataChangeService.getInstance()
                                     .publishEvent(new OutgoingUIEvent<>("metrics", metrics));

photon-server/src/main/java/org/photonvision/common/hardware/metrics/RAMMetrics.java

@@ -19,8 +19,8 @@ package org.photonvision.common.hardware.metrics;
 
 public class RAMMetrics extends MetricsBase {
     // TODO: Output in MBs for consistency
-    public double getUsedRam() {
-        if (ramUsageCommand.isEmpty()) return 0;
-        return execute(ramUsageCommand) / 1000;
+    public String getUsedRam() {
+        if (ramUsageCommand.isEmpty()) return "";
+        return execute(ramUsageCommand);
     }
 }