Pi startup fix (#923)

PhotonVision · Sep 28, 2023 · 3c85291 · 3c85291
1 parent 43eefcf
commit 3c85291
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Showing 5 changed files with 36 additions and 21 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java b/photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java
@@ -75,16 +75,23 @@ public String toString() {
         }
     }
 
-    public static ArrayList<NMDeviceInfo> getAllInterfaces() {
+    private static List<NMDeviceInfo> allInterfaces = new ArrayList<>();
+    private static long lastReadTimestamp = 0;
+
+    public static List<NMDeviceInfo> getAllInterfaces() {
+        long now = System.currentTimeMillis();
+        if (now - lastReadTimestamp < 5000) return allInterfaces;
+        else lastReadTimestamp = now;
+
         var ret = new ArrayList<NMDeviceInfo>();
 
         if (!Platform.isLinux()) {
-            // Can't determine interface name on Linux, give up
+            // Can only determine interface name on Linux, give up
             return ret;
         }
 
         try {
-            var shell = new ShellExec(true, true);
+            var shell = new ShellExec(true, false);
             shell.executeBashCommand(
                     "nmcli -t -f GENERAL.CONNECTION,GENERAL.DEVICE,GENERAL.TYPE device show");
             String out = shell.getOutput();
@@ -103,6 +110,7 @@ public static ArrayList<NMDeviceInfo> getAllInterfaces() {
 
         logger.debug("Found network interfaces:\n" + ret.toString());
 
+        allInterfaces = ret;
         return ret;
     }
 

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
@@ -199,26 +199,27 @@ protected void setVideoModeInternal(VideoMode videoMode) {
         // We need to make sure that other threads don't try to do anything funny while we're recreating
         // the camera
         synchronized (LibCameraJNI.CAMERA_LOCK) {
-            boolean success = false;
             if (m_initialized) {
-                success |= LibCameraJNI.stopCamera();
-                success |= LibCameraJNI.destroyCamera();
+                logger.debug("Stopping libcamera");
+                if (!LibCameraJNI.stopCamera()) {
+                    logger.error("Couldn't stop a zero copy Pi Camera while switching video modes");
+                }
+                logger.debug("Destroying libcamera");
+                if (!LibCameraJNI.destroyCamera()) {
+                    logger.error("Couldn't destroy a zero copy Pi Camera while switching video modes");
+                }
             }
 
-            // if (!success) {
-            //     throw new RuntimeException(
-            //             "Couldn't destroy a zero copy Pi Camera while switching video modes");
-            // }
-
-            System.out.println("Starting camera");
-            success |=
-                    LibCameraJNI.createCamera(
-                            mode.width, mode.height, (m_rotationMode == ImageRotationMode.DEG_180 ? 180 : 0));
-            success |= LibCameraJNI.startCamera();
-            if (!success) {
-                throw new RuntimeException(
-                        "Couldn't create a zero copy Pi Camera while switching video modes");
+            logger.debug("Creating libcamera");
+            if (!LibCameraJNI.createCamera(
+                    mode.width, mode.height, (m_rotationMode == ImageRotationMode.DEG_180 ? 180 : 0))) {
+                logger.error("Couldn't create a zero copy Pi Camera while switching video modes");
             }
+            logger.debug("Starting libcamera");
+            if (!LibCameraJNI.startCamera()) {
+                logger.error("Couldn't start a zero copy Pi Camera while switching video modes");
+            }
+
             m_initialized = true;
         }
 

diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
@@ -326,7 +326,7 @@ private static List<VisionSource> loadVisionSourcesFromCamConfigs(
             List<CameraConfiguration> camConfigs) {
         var cameraSources = new ArrayList<VisionSource>();
         for (var configuration : camConfigs) {
-            System.out.println("Creating VisionSource for " + configuration);
+            logger.debug("Creating VisionSource for " + configuration);
 
             // Picams should have csi-video in the path
             boolean is_picam =

diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
@@ -26,7 +26,7 @@
 import org.photonvision.vision.frame.FrameStaticProperties;
 
 public abstract class VisionSourceSettables {
-    private static final Logger logger =
+    protected static final Logger logger =
             new Logger(VisionSourceSettables.class, LogGroup.VisionModule);
 
     private final CameraConfiguration configuration;

diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java
@@ -344,18 +344,23 @@ public static void main(String[] args) {
                         + Platform.getPlatformName()
                         + (Platform.isRaspberryPi() ? (" (Pi " + PiVersion.getPiVersion() + ")") : ""));
 
+        logger.debug("Loading ConfigManager...");
         ConfigManager.getInstance().load(); // init config manager
         ConfigManager.getInstance().requestSave();
 
+        logger.debug("Loading HardwareManager...");
         // Force load the hardware manager
         HardwareManager.getInstance();
 
+        logger.debug("Loading NetworkManager...");
         NetworkManager.getInstance().reinitialize();
 
+        logger.debug("Loading NetworkTablesManager...");
         NetworkTablesManager.getInstance()
                 .setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
 
         if (!isTestMode) {
+            logger.debug("Loading VisionSourceManager...");
             VisionSourceManager.getInstance()
                     .registerLoadedConfigs(
                             ConfigManager.getInstance().getConfig().getCameraConfigurations().values());
@@ -369,6 +374,7 @@ public static void main(String[] args) {
             }
         }
 
+        logger.info("Starting server...");
         Server.start(DEFAULT_WEBPORT);
     }
 }