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Recreate user pipeline on type change (#1290)

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* Recreate user pipeline on type change

* Fix typo

---------

Co-authored-by: shueja <32416547+shueja@users.noreply.github.com>
This commit is contained in:
Matt
2024-03-18 20:50:32 -04:00
committed by GitHub
parent e74afb9688
commit fa5d58147a
1 changed files with 45 additions and 36 deletions
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81
photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
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@@ -226,44 +226,10 @@ public class PipelineManager {
return;
}
// Cleanup potential old native resources before swapping over for user pipelines
if (currentUserPipeline != null && !(newIndex < 0)) {
currentUserPipeline.release();
}
currentPipelineIndex = newIndex;
if (newIndex >= 0) {
var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
switch (desiredPipelineSettings.pipelineType) {
case Reflective:
logger.debug("Creating Reflective pipeline");
currentUserPipeline =
new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
break;
case ColoredShape:
logger.debug("Creating ColoredShape pipeline");
currentUserPipeline =
new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
break;
case AprilTag:
logger.debug("Creating AprilTag pipeline");
currentUserPipeline =
new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
break;
case Aruco:
logger.debug("Creating Aruco Pipeline");
currentUserPipeline = new ArucoPipeline((ArucoPipelineSettings) desiredPipelineSettings);
break;
case ObjectDetection:
logger.debug("Creating ObjectDetection Pipeline");
currentUserPipeline =
new ObjectDetectionPipeline(
(ObjectDetectionPipelineSettings) desiredPipelineSettings);
default:
// Can be calib3d or drivermode, both of which are special cases
break;
}
if (newIndex >= 0) {
recreateUserPipeline();
}
DataChangeService.getInstance()
@@ -272,6 +238,48 @@ public class PipelineManager {
"fullsettings", ConfigManager.getInstance().getConfig().toHashMap()));
}
/**
* Recreate the current user pipeline with the current pipeline index. Useful to force a
* recreation after changing pipeline type
*/
private void recreateUserPipeline() {
// Cleanup potential old native resources before swapping over from a user pipeline
if (currentUserPipeline != null && !(currentPipelineIndex < 0)) {
currentUserPipeline.release();
}
var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
switch (desiredPipelineSettings.pipelineType) {
case Reflective:
logger.debug("Creating Reflective pipeline");
currentUserPipeline =
new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
break;
case ColoredShape:
logger.debug("Creating ColoredShape pipeline");
currentUserPipeline =
new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
break;
case AprilTag:
logger.debug("Creating AprilTag pipeline");
currentUserPipeline =
new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
break;
case Aruco:
logger.debug("Creating Aruco Pipeline");
currentUserPipeline = new ArucoPipeline((ArucoPipelineSettings) desiredPipelineSettings);
break;
case ObjectDetection:
logger.debug("Creating ObjectDetection Pipeline");
currentUserPipeline =
new ObjectDetectionPipeline((ObjectDetectionPipelineSettings) desiredPipelineSettings);
default:
// Can be calib3d or drivermode, both of which are special cases
break;
}
}
/**
* Enters or exits calibration mode based on the parameter. <br>
* <br>
@@ -502,5 +510,6 @@ public class PipelineManager {
userPipelineSettings.set(idx, newSettings);
setPipelineInternal(idx);
reassignIndexes();
recreateUserPipeline();
}
}