PhotonVision/photon-server/src/main/java/org/photonvision/Main.java

/*
 * Copyright (C) Photon Vision.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

package org.photonvision;

import edu.wpi.cscore.CameraServerCvJNI;
import java.util.ArrayList;
import org.apache.commons.cli.*;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
import org.photonvision.common.hardware.HardwareManager;
import org.photonvision.common.hardware.Platform;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.LogLevel;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.networking.NetworkManager;
import org.photonvision.common.util.TestUtils;
import org.photonvision.common.util.numbers.IntegerCouple;
import org.photonvision.raspi.PicamJNI;
import org.photonvision.server.Server;
import org.photonvision.vision.camera.FileVisionSource;
import org.photonvision.vision.opencv.CVMat;
import org.photonvision.vision.opencv.ContourGroupingMode;
import org.photonvision.vision.opencv.ContourShape;
import org.photonvision.vision.pipeline.CVPipelineSettings;
import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
import org.photonvision.vision.pipeline.PipelineProfiler;
import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
import org.photonvision.vision.processes.VisionModule;
import org.photonvision.vision.processes.VisionModuleManager;
import org.photonvision.vision.processes.VisionSource;
import org.photonvision.vision.processes.VisionSourceManager;
import org.photonvision.vision.target.TargetModel;

public class Main {
    public static final int DEFAULT_WEBPORT = 5800;

    private static final Logger logger = new Logger(Main.class, LogGroup.General);
    private static final boolean isRelease = PhotonVersion.isRelease;

    private static boolean isTestMode;
    private static boolean printDebugLogs;

    private static boolean handleArgs(String[] args) throws ParseException {
        final var options = new Options();
        options.addOption("d", "debug", false, "Enable debug logging prints");
        options.addOption("h", "help", false, "Show this help text and exit");
        options.addOption(
                "t",
                "test-mode",
                false,
                "Run in test mode with 2019 and 2020 WPI field images in place of cameras");

        CommandLineParser parser = new DefaultParser();
        CommandLine cmd = parser.parse(options, args);

        if (cmd.hasOption("help")) {
            HelpFormatter formatter = new HelpFormatter();
            formatter.printHelp("java -jar photonvision.jar [options]", options);
            return false; // exit program
        } else {
            if (cmd.hasOption("debug")) {
                printDebugLogs = true;
                logger.info("Enabled debug logging");
            }

            if (cmd.hasOption("test-mode")) {
                isTestMode = true;
                logger.info("Running in test mode - Cameras will not be used");
            }
        }
        return true;
    }

    private static void addTestModeSources() {
        var collectedSources = new ArrayList<VisionSource>();

        var camConf2019 =
                new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
        camConf2019.FOV = TestUtils.WPI2019Image.FOV;
        camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));

        var pipeline2019 = new ReflectivePipelineSettings();
        pipeline2019.pipelineNickname = "CargoShip";
        pipeline2019.targetModel = TargetModel.k2019DualTarget;
        pipeline2019.outputShowMultipleTargets = true;
        pipeline2019.contourGroupingMode = ContourGroupingMode.Dual;

        var psList2019 = new ArrayList<CVPipelineSettings>();
        psList2019.add(pipeline2019);

        var fvs2019 = new FileVisionSource(camConf2019);

        var camConf2020 =
                new CameraConfiguration("WPI2020", TestUtils.getTestMode2020ImagePath().toString());
        camConf2020.FOV = TestUtils.WPI2020Image.FOV;
        camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));

        var pipeline2020 = new ReflectivePipelineSettings();
        pipeline2020.pipelineNickname = "OuterPort";
        pipeline2020.targetModel = TargetModel.k2020HighGoalOuter;
        camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));

        var psList2020 = new ArrayList<CVPipelineSettings>();
        psList2020.add(pipeline2020);

        var fvs2020 = new FileVisionSource(camConf2020);

        fvs2019.getCameraConfiguration().pipelineSettings = psList2019;
        fvs2020.getCameraConfiguration().pipelineSettings = psList2020;
        collectedSources.add(fvs2019);
        collectedSources.add(fvs2020);

        // Colored shape testing
        var camConfShape =
                new CameraConfiguration(
                        "Shape",
                        TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_1, true)
                                .toString());
        var settings = new ColoredShapePipelineSettings();
        settings.hsvHue = new IntegerCouple(0, 35);
        settings.hsvSaturation = new IntegerCouple(82, 255);
        settings.hsvValue = new IntegerCouple(62, 255);
        settings.contourShape = ContourShape.Triangle;
        settings.outputShowMultipleTargets = true;
        settings.circleAccuracy = 15;
        camConfShape.addPipelineSetting(settings);
        var fvsShape = new FileVisionSource(camConfShape);
        collectedSources.add(fvsShape);

        //                logger.info("Adding " + allSources.size() + " configs to VMM.");
        VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);
        ConfigManager.getInstance().addCameraConfigurations(collectedSources);
    }

    public static void main(String[] args) {
        try {
            if (!handleArgs(args)) return;
        } catch (ParseException e) {
            logger.error("Failed to parse command-line options!", e);
        }

        CVMat.enablePrint(false);
        PipelineProfiler.enablePrint(false);

        var logLevel = printDebugLogs ? LogLevel.TRACE : LogLevel.DEBUG;
        Logger.setLevel(LogGroup.Camera, logLevel);
        Logger.setLevel(LogGroup.WebServer, logLevel);
        Logger.setLevel(LogGroup.VisionModule, logLevel);
        Logger.setLevel(LogGroup.Data, logLevel);
        Logger.setLevel(LogGroup.General, logLevel);
        logger.info("Logging initialized in debug mode.");

        logger.info(
                "Starting PhotonVision version "
                        + PhotonVersion.versionString
                        + " on "
                        + Platform.CurrentPlatform.toString());

        try {
            CameraServerCvJNI.forceLoad();
            PicamJNI.forceLoad();
            TestUtils.loadLibraries();
            logger.info("Native libraries loaded.");
        } catch (Exception e) {
            logger.error("Failed to load native libraries!", e);
        }

        ConfigManager.getInstance().load(); // init config manager
        ConfigManager.getInstance().requestSave();

        // Force load the hardware manager
        HardwareManager.getInstance();

        NetworkManager.getInstance().reinitialize();

        NetworkTablesManager.getInstance()
                .setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());

        if (!isTestMode) {
            VisionSourceManager.getInstance()
                    .registerLoadedConfigs(
                            ConfigManager.getInstance().getConfig().getCameraConfigurations().values());
            VisionSourceManager.getInstance().registerTimedTask();
        } else {
            addTestModeSources();
        }

        Server.main(DEFAULT_WEBPORT);
    }
}