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Inital attempt at matching by path ID
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@MrRedness
MrRedness committed Nov 20, 2023
1 parent 994ea1e commit 1503402
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Showing 3 changed files with 112 additions and 61 deletions.
74 changes: 41 additions & 33 deletions photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ static class TableKeys {
static final String CAM_UNIQUE_NAME = "unique_name";
static final String CONFIG_JSON = "config_json";
static final String DRIVERMODE_JSON = "drivermode_json";
static final String OTHERPATHS_JSON = "otherpaths_json";
static final String PIPELINE_JSONS = "pipeline_jsons";

static final String NETWORK_CONFIG = "networkConfig";
Expand Down Expand Up @@ -131,9 +132,9 @@ private void initDatabase() {
createGlobalTableStatement = conn.createStatement();
String sql =
"CREATE TABLE IF NOT EXISTS global (\n"
+ " filename TINYTEXT PRIMARY KEY,\n"
+ " contents mediumtext NOT NULL\n"
+ ");";
+ " filename TINYTEXT PRIMARY KEY,\n"
+ " contents mediumtext NOT NULL\n"
+ ");";
createGlobalTableStatement.execute(sql);
} catch (SQLException e) {
logger.error("Err creating global table", e);
Expand All @@ -144,11 +145,12 @@ private void initDatabase() {
createCameraTableStatement = conn.createStatement();
var sql =
"CREATE TABLE IF NOT EXISTS cameras (\n"
+ " unique_name TINYTEXT PRIMARY KEY,\n"
+ " config_json text NOT NULL,\n"
+ " drivermode_json text NOT NULL,\n"
+ " pipeline_jsons mediumtext NOT NULL\n"
+ ");";
+ " unique_name TINYTEXT PRIMARY KEY,\n"
+ " config_json text NOT NULL,\n"
+ " drivermode_json text NOT NULL,\n"
+ " otherpaths_json text NOT NULL,\n"
+ " pipeline_jsons mediumtext NOT NULL\n"
+ ");";
createCameraTableStatement.execute(sql);
} catch (SQLException e) {
logger.error("Err creating cameras table", e);
Expand Down Expand Up @@ -210,7 +212,7 @@ public void load() {
try {
hardwareConfig =
JacksonUtils.deserialize(
getOneConfigFile(conn, TableKeys.HARDWARE_CONFIG), HardwareConfig.class);
getOneConfigFile(conn, TableKeys.HARDWARE_CONFIG), HardwareConfig.class);
} catch (IOException e) {
logger.error("Could not deserialize hardware config! Loading defaults");
hardwareConfig = new HardwareConfig();
Expand All @@ -219,7 +221,7 @@ public void load() {
try {
hardwareSettings =
JacksonUtils.deserialize(
getOneConfigFile(conn, TableKeys.HARDWARE_SETTINGS), HardwareSettings.class);
getOneConfigFile(conn, TableKeys.HARDWARE_SETTINGS), HardwareSettings.class);
} catch (IOException e) {
logger.error("Could not deserialize hardware settings! Loading defaults");
hardwareSettings = new HardwareSettings();
Expand All @@ -228,7 +230,7 @@ public void load() {
try {
networkConfig =
JacksonUtils.deserialize(
getOneConfigFile(conn, TableKeys.NETWORK_CONFIG), NetworkConfig.class);
getOneConfigFile(conn, TableKeys.NETWORK_CONFIG), NetworkConfig.class);
} catch (IOException e) {
logger.error("Could not deserialize network config! Loading defaults");
networkConfig = new NetworkConfig();
Expand All @@ -237,7 +239,7 @@ public void load() {
try {
atfl =
JacksonUtils.deserialize(
getOneConfigFile(conn, TableKeys.ATFL_CONFIG_FILE), AprilTagFieldLayout.class);
getOneConfigFile(conn, TableKeys.ATFL_CONFIG_FILE), AprilTagFieldLayout.class);
} catch (IOException e) {
logger.error("Could not deserialize apriltag layout! Loading defaults");
try {
Expand Down Expand Up @@ -295,8 +297,8 @@ private void saveCameras(Connection conn) {
try {
// Replace this camera's row with the new settings
var sqlString =
"REPLACE INTO cameras (unique_name, config_json, drivermode_json, pipeline_jsons) VALUES "
+ "(?,?,?,?);";
"REPLACE INTO cameras (unique_name, config_json, drivermode_json, otherpaths_json, pipeline_jsons) VALUES "
+ "(?,?,?,?,?);";

for (var c : config.getCameraConfigurations().entrySet()) {
PreparedStatement statement = conn.prepareStatement(sqlString);
Expand All @@ -305,23 +307,24 @@ private void saveCameras(Connection conn) {
statement.setString(1, c.getKey());
statement.setString(2, JacksonUtils.serializeToString(config));
statement.setString(3, JacksonUtils.serializeToString(config.driveModeSettings));
statement.setString(4, JacksonUtils.serializeToString(config.otherPaths));

// Serializing a list of abstract classes sucks. Instead, make it into an array
// of strings, which we can later unpack back into individual settings
List<String> settings =
config.pipelineSettings.stream()
.map(
it -> {
try {
return JacksonUtils.serializeToString(it);
} catch (IOException e) {
e.printStackTrace();
return null;
}
})
.filter(Objects::nonNull)
.collect(Collectors.toList());
statement.setString(4, JacksonUtils.serializeToString(settings));
config.pipelineSettings.stream()
.map(
it -> {
try {
return JacksonUtils.serializeToString(it);
} catch (IOException e) {
e.printStackTrace();
return null;
}
})
.filter(Objects::nonNull)
.collect(Collectors.toList());
statement.setString(5, JacksonUtils.serializeToString(settings));

statement.executeUpdate();
}
Expand Down Expand Up @@ -454,12 +457,13 @@ private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn)
try {
query =
conn.prepareStatement(
String.format(
"SELECT %s, %s, %s, %s FROM cameras",
TableKeys.CAM_UNIQUE_NAME,
TableKeys.CONFIG_JSON,
TableKeys.DRIVERMODE_JSON,
TableKeys.PIPELINE_JSONS));
String.format(
"SELECT %s, %s, %s, %s, %s FROM cameras",
TableKeys.CAM_UNIQUE_NAME,
TableKeys.CONFIG_JSON,
TableKeys.DRIVERMODE_JSON,
TableKeys.OTHERPATHS_JSON,
TableKeys.PIPELINE_JSONS));

var result = query.executeQuery();

Expand All @@ -474,6 +478,9 @@ private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn)
var driverMode =
JacksonUtils.deserialize(
result.getString(TableKeys.DRIVERMODE_JSON), DriverModePipelineSettings.class);
var otherPaths =
JacksonUtils.deserialize(
result.getString(TableKeys.OTHERPATHS_JSON), String[].class);
List<?> pipelineSettings =
JacksonUtils.deserialize(
result.getString(TableKeys.PIPELINE_JSONS), dummyList.getClass());
Expand All @@ -487,6 +494,7 @@ private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn)

config.pipelineSettings = loadedSettings;
config.driveModeSettings = driverMode;
config.otherPaths = otherPaths;
loadedConfigurations.put(uniqueName, config);
}
} catch (SQLException | IOException e) {
Expand Down
5 changes: 3 additions & 2 deletions photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -346,8 +346,9 @@ public boolean isVendorCamera() {
public boolean equals(Object o) {
if (this == o) return true;
if (o == null || getClass() != o.getClass()) return false;
USBCameraSource that = (USBCameraSource) o;
return cameraQuirks.equals(that.cameraQuirks);
// USBCameraSource that = (USBCameraSource) o;
// return cameraQuirks.equals(that.cameraQuirks);
return false;
}

@Override
Expand Down
94 changes: 68 additions & 26 deletions photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -148,8 +148,8 @@ protected List<VisionSource> tryMatchUSBCamImpl(boolean createSources) {
logger.warn(
() ->
"After matching, "
+ unmatchedLoadedConfigs.size()
+ " configs remained unmatched. Is your camera disconnected?");
+ unmatchedLoadedConfigs.size()
+ " configs remained unmatched. Is your camera disconnected?");
logger.warn(
"Unloaded configs: "
+ unmatchedLoadedConfigs.stream()
Expand Down Expand Up @@ -179,10 +179,10 @@ protected List<VisionSource> tryMatchUSBCamImpl(boolean createSources) {
logger.debug(
() ->
"Matched config for camera \""
+ src.getFrameProvider().getName()
+ "\" and loaded "
+ src.getCameraConfiguration().pipelineSettings.size()
+ " pipelines");
+ src.getFrameProvider().getName()
+ "\" and loaded "
+ src.getCameraConfiguration().pipelineSettings.size()
+ " pipelines");
}

return sources;
Expand All @@ -201,6 +201,8 @@ private List<CameraConfiguration> matchUSBCameras(
var detectedCameraList = new ArrayList<>(detectedCamInfos);
ArrayList<CameraConfiguration> cameraConfigurations = new ArrayList<>();

List<CameraConfiguration> unmatchedUsbConfigs = new CopyOnWriteArrayList<>(loadedUsbCamConfigs);

// loop over all the configs loaded from disk
for (CameraConfiguration config : loadedUsbCamConfigs) {
UsbCameraInfo cameraInfo;
Expand All @@ -212,25 +214,38 @@ private List<CameraConfiguration> matchUSBCameras(
+ " with path "
+ config.path);
cameraInfo =
detectedCameraList.stream()
.filter(
usbCameraInfo ->
usbCameraInfo.path.equals(config.path)
&& cameraNameToBaseName(usbCameraInfo.name).equals(config.baseName))
.findFirst()
.orElse(null);

// if path based fails, attempt basename only match
if (cameraInfo == null) {
logger.debug("Failed to match by path and name, falling back to name-only match");
cameraInfo =
detectedCameraList.stream()
.filter(
usbCameraInfo ->
cameraNameToBaseName(usbCameraInfo.name).equals(config.baseName))
.findFirst()
.orElse(null);
detectedCameraList.stream()
.filter(
usbCameraInfo ->
usbCameraInfo.otherPaths.length != 0
&& config.otherPaths.length != 0
&& usbCameraInfo.otherPaths[0].equals(config.otherPaths[0])
&& cameraNameToBaseName(usbCameraInfo.name).equals(config.baseName))
.findFirst()
.orElse(null);

// If we actually matched a camera to a config, remove that camera from the list and add it to
// the output
if (cameraInfo != null) {
logger.debug("Matched the config for " + config.baseName + " to a physical camera!");
detectedCameraList.remove(cameraInfo);
unmatchedUsbConfigs.remove(config);
cameraConfigurations.add(mergeInfoIntoConfig(config, cameraInfo));
}
}

// if path based fails, attempt basename only match
for (CameraConfiguration config : unmatchedUsbConfigs) {
UsbCameraInfo cameraInfo;

logger.debug("Failed to match by path and name, falling back to name-only match");
cameraInfo =
detectedCameraList.stream()
.filter(
usbCameraInfo ->
cameraNameToBaseName(usbCameraInfo.name).equals(config.baseName))
.findFirst()
.orElse(null);

// If we actually matched a camera to a config, remove that camera from the list and add it to
// the output
Expand All @@ -250,7 +265,7 @@ && cameraNameToBaseName(usbCameraInfo.name).equals(config.baseName))
String uniqueName = baseNameToUniqueName(baseName);

int suffix = 0;
while (containsName(cameraConfigurations, uniqueName)) {
while (containsName(cameraConfigurations, uniqueName) || containsName(uniqueName)) {
suffix++;
uniqueName = String.format("%s (%d)", uniqueName, suffix);
}
Expand Down Expand Up @@ -283,6 +298,21 @@ private CameraConfiguration mergeInfoIntoConfig(CameraConfiguration cfg, UsbCame
cfg.path = info.path;
}

if (cfg.otherPaths.length != info.otherPaths.length) {
logger.debug("Updating otherPath config from " + Arrays.toString(cfg.otherPaths) + " to "
+ Arrays.toString(info.otherPaths));
cfg.otherPaths = info.otherPaths.clone();
} else {
for (int i = 0; i < info.otherPaths.length; i++) {
if (!cfg.otherPaths[i].equals(info.otherPaths[i])) {
logger.debug("Updating otherPath config from " + Arrays.toString(cfg.otherPaths) + " to "
+ Arrays.toString(info.otherPaths));
cfg.otherPaths = info.otherPaths.clone();
break;
}
}
}

return cfg;
}

Expand Down Expand Up @@ -334,7 +364,7 @@ private static List<VisionSource> loadVisionSourcesFromCamConfigs(
// Picams should have csi-video in the path
boolean is_picam =
(Arrays.stream(configuration.otherPaths).anyMatch(it -> it.contains("csi-video"))
|| configuration.baseName.equals("unicam"));
|| configuration.baseName.equals("unicam"));
boolean is_pi = Platform.isRaspberryPi();
if (is_picam && is_pi) {
configuration.cameraType = CameraType.ZeroCopyPicam;
Expand Down Expand Up @@ -363,4 +393,16 @@ private boolean containsName(
return configList.stream()
.anyMatch(configuration -> configuration.uniqueName.equals(uniqueName));
}

/**
* Check if the current list of known cameras contains the given unique name.
*
* @param uniqueName The unique name.
* @return If the list of cameras contains the unique name.
*/
private boolean containsName(
final String uniqueName) {
return knownUsbCameras.stream()
.anyMatch(camera -> camera.name.equals(uniqueName));
}
}

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