From fcafd9d6e28b66063357f9b924cf7da5463c7e3a Mon Sep 17 00:00:00 2001
From: Banks Troutman <bankst@roswellrobotics.com>
Date: Sat, 30 Nov 2019 20:31:55 -0500
Subject: [PATCH] Driver Mode fixes

---
 .../chameleonvision/vision/VisionProcess.java |  4 ++--
 .../vision/pipeline/DriverVisionPipeline.java |  9 ++-------
 .../vision/pipeline/PipelineManager.java      |  6 +++++-
 .../chameleonvision/web/RequestHandler.java   |  1 -
 .../chameleonvision/web/SocketHandler.java    | 19 ++++++++-----------
 5 files changed, 17 insertions(+), 22 deletions(-)

diff --git a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
index dbb983107..accc6965c 100644
--- a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
@@ -91,10 +91,10 @@ public class VisionProcess {
         initNT(newTable);
     }
 
-    public void setCameraName(String newName) {
+    public void setCameraNickname(String newName) {
+        getCamera().getProperties().setNickname(newName);
         var newTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + newName);
         resetNT(newTable);
-        pipelineManager.ntIndexEntry = ntPipelineEntry;
     }
 
     private void initNT(NetworkTable newTable) {
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
index ee3a03f84..7de7132f1 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
@@ -18,6 +18,7 @@ public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPip
     public DriverVisionPipeline(CVPipelineSettings settings) {
         super(settings);
         draw2dContoursSettings.showCrosshair = true;
+        draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, cameraCapture.getProperties().getStaticProperties());
     }
 
     @Override
@@ -25,13 +26,7 @@ public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPip
 
         inputMat.copyTo(outputMat);
 
-        var camProps = cameraCapture.getProperties().getStaticProperties();
-        if(draw2dContoursPipe == null) {
-            draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
-        } else {
-            draw2dContoursPipe.setConfig(false,camProps);
-        }
-
+        draw2dContoursPipe.setConfig(false, cameraCapture.getProperties().getStaticProperties());
         draw2dContoursPipe.run(Pair.of(outputMat, blankList)).getLeft().copyTo(outputMat);
 
         return new DriverPipelineResult(null, outputMat, 0);
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
index 847117a21..6aae03a87 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
@@ -98,7 +98,11 @@ public class PipelineManager {
     }
 
     public CVPipeline getCurrentPipeline() {
-        return pipelines.get(currentPipelineIndex);
+        if (currentPipelineIndex <= DRIVERMODE_INDEX) {
+            return driverModePipeline;
+        } else {
+            return pipelines.get(currentPipelineIndex);
+        }
     }
 
     public void setCurrentPipeline(int index) {
diff --git a/Main/src/main/java/com/chameleonvision/web/RequestHandler.java b/Main/src/main/java/com/chameleonvision/web/RequestHandler.java
index 02fcc428a..013c800f9 100644
--- a/Main/src/main/java/com/chameleonvision/web/RequestHandler.java
+++ b/Main/src/main/java/com/chameleonvision/web/RequestHandler.java
@@ -5,7 +5,6 @@ import com.chameleonvision.network.NetworkIPMode;
 import com.chameleonvision.vision.VisionManager;
 import com.chameleonvision.vision.VisionProcess;
 import com.chameleonvision.vision.camera.CameraCapture;
-import com.chameleonvision.vision.enums.StreamDivisor;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import io.javalin.http.Context;
diff --git a/Main/src/main/java/com/chameleonvision/web/SocketHandler.java b/Main/src/main/java/com/chameleonvision/web/SocketHandler.java
index 1848e4803..983b4ecbf 100644
--- a/Main/src/main/java/com/chameleonvision/web/SocketHandler.java
+++ b/Main/src/main/java/com/chameleonvision/web/SocketHandler.java
@@ -10,7 +10,6 @@ import com.chameleonvision.vision.pipeline.CVPipelineSettings;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.core.type.TypeReference;
 import com.fasterxml.jackson.databind.ObjectMapper;
-import edu.wpi.first.networktables.NetworkTable;
 import io.javalin.websocket.WsBinaryMessageContext;
 import io.javalin.websocket.WsCloseContext;
 import io.javalin.websocket.WsConnectContext;
@@ -66,8 +65,7 @@ public class SocketHandler {
                         break;
                     }
                     case "changeCameraName": {
-                        currentCamera.getProperties().setNickname((String) entry.getValue());
-                        currentProcess.setCameraName((String) entry.getValue());
+                        currentProcess.setCameraNickname((String) entry.getValue());
                         sendFullSettings();
                         VisionManager.saveCurrentCameraSettings();
                         break;
@@ -87,15 +85,12 @@ public class SocketHandler {
                         String val = mapper.writeValueAsString(origPipeline);
                         CVPipelineSettings newPipeline = mapper.readValue(val, origPipeline.getClass());
 
-                        // TODO: move to PipelineManager
-                        newPipeline.nickname += "(Copy)";
-
                         if (cameraIndex != -1) {
                             VisionProcess newProcess = VisionManager.getVisionProcessByIndex(cameraIndex);
                             if (newProcess != null) {
                                 currentProcess.pipelineManager.duplicatePipeline(newPipeline, newProcess);
                             } else {
-                                System.err.println("Failed to get new camera for pipeline duplication!");
+                                System.err.println("Failed to get destination camera for pipeline duplication!");
                             }
                         } else {
                             currentProcess.pipelineManager.duplicatePipeline(newPipeline);
@@ -141,9 +136,12 @@ public class SocketHandler {
                     default: {
 
                         // only change settings when we aren't in driver mode
-                        if(currentProcess.pipelineManager.getDriverMode()) break;
+                        if(currentProcess.pipelineManager.getDriverMode()) {
+                            setField(currentProcess.pipelineManager.driverModePipeline.settings, entry.getKey(), entry.getValue());
+                        } else {
+                            setField(currentPipeline.settings, entry.getKey(), entry.getValue());
+                        }
 
-                        setField(currentPipeline.settings, entry.getKey(), entry.getValue());
                         switch (entry.getKey()) {
                             case "exposure": {
                                 currentCamera.setExposure((Integer) entry.getValue());
@@ -158,8 +156,7 @@ public class SocketHandler {
                                 break;
                             }
                             case "streamDivisor":{
-                                VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
-                                currentVisionProcess.cameraStreamer.setDivisor(StreamDivisor.values()[(Integer) entry.getValue()], true);
+                                currentProcess.cameraStreamer.setDivisor(StreamDivisor.values()[(Integer) entry.getValue()], true);
                                 break;
                             }
                         }