Skip to content

Commit

Permalink
Update photon-server, format and lint
Browse files Browse the repository at this point in the history
  • Loading branch information
@Juniormunk
Juniormunk committed Nov 4, 2024
1 parent c94275c commit 869b60d
Show file tree
Hide file tree
Showing 17 changed files with 221 additions and 250 deletions.
22 changes: 10 additions & 12 deletions photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -39,25 +39,22 @@ public class NetworkConfig {
public boolean shouldPublishProto = false;

/**
* If we should ONLY match cameras by path, and NEVER only by base-name. For now
* default to false
* If we should ONLY match cameras by path, and NEVER only by base-name. For now default to false
* to preserve old matching logic.
*
* <p>
* This also disables creating new CameraConfigurations for detected "new"
* cameras.
* <p>This also disables creating new CameraConfigurations for detected "new" cameras.
*/
public boolean matchCamerasOnlyByPath = false;

@JsonIgnore
public static final String NM_IFACE_STRING = "${interface}";
@JsonIgnore
public static final String NM_IP_STRING = "${ipaddr}";
@JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
@JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";

public String networkManagerIface = "";
// TODO: remove these strings if no longer needed
public String setStaticCommand = "nmcli con mod ${interface} ipv4.addresses ${ipaddr}/8 ipv4.method \"manual\" ipv6.method \"disabled\"";
public String setDHCPcommand = "nmcli con mod ${interface} ipv4.method \"auto\" ipv6.method \"disabled\"";
public String setStaticCommand =
"nmcli con mod ${interface} ipv4.addresses ${ipaddr}/8 ipv4.method \"manual\" ipv6.method \"disabled\"";
public String setDHCPcommand =
"nmcli con mod ${interface} ipv4.method \"auto\" ipv6.method \"disabled\"";

public NetworkConfig() {
// We can (usually) manage networking on Linux devices, and if we can, we should
Expand All @@ -68,7 +65,8 @@ public NetworkConfig() {

@JsonCreator
public NetworkConfig(
@JsonProperty("ntServerAddress") @JsonAlias({ "ntServerAddress", "teamNumber" }) String ntServerAddress,
@JsonProperty("ntServerAddress") @JsonAlias({"ntServerAddress", "teamNumber"})
String ntServerAddress,
@JsonProperty("connectionType") NetworkMode connectionType,
@JsonProperty("staticIp") String staticIp,
@JsonProperty("hostname") String hostname,
Expand Down
59 changes: 24 additions & 35 deletions ...n-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelManager.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -42,20 +42,13 @@
/**
* Manages the loading of neural network models.
*
* <p>
* Models are loaded from the filesystem at the <code>modelsFolder</code>
* location. PhotonVision
* also supports shipping pre-trained models as resources in the JAR. If the
* model has already been
* <p>Models are loaded from the filesystem at the <code>modelsFolder</code> location. PhotonVision
* also supports shipping pre-trained models as resources in the JAR. If the model has already been
* extracted to the filesystem, it will not be extracted again.
*
* <p>
* Each model must have a corresponding <code>labels</code> file. The labels
* file format is
* simply a list of string names per label, one label per line. The labels file
* must have the same
* name as the model file, but with the suffix <code>-labels.txt</code> instead
* of <code>.rknn
* <p>Each model must have a corresponding <code>labels</code> file. The labels file format is
* simply a list of string names per label, one label per line. The labels file must have the same
* name as the model file, but with the suffix <code>-labels.txt</code> instead of <code>.rknn
* </code>.
*/
public class NeuralNetworkModelManager {
Expand Down Expand Up @@ -116,19 +109,16 @@ public List<String> getSupportedBackends() {
/**
* Stores model information, such as the model file, labels, and version.
*
* <p>
* The first model in the list is the default model.
* <p>The first model in the list is the default model.
*/
private Map<NeuralNetworkBackend, ArrayList<Model>> models;

/**
* Retrieves the deep neural network models available, in a format that can be
* used by the
* Retrieves the deep neural network models available, in a format that can be used by the
* frontend.
*
* @return A map containing the available models, where the key is the backend
* and the value is a
* list of model names.
* @return A map containing the available models, where the key is the backend and the value is a
* list of model names.
*/
public HashMap<String, ArrayList<String>> getModels() {
HashMap<String, ArrayList<String>> modelMap = new HashMap<>();
Expand All @@ -147,17 +137,13 @@ public HashMap<String, ArrayList<String>> getModels() {
}

/**
* Retrieves the model with the specified name, assuming it is available under a
* supported
* Retrieves the model with the specified name, assuming it is available under a supported
* backend.
*
* <p>
* If this method returns `Optional.of(..)` then the model should be safe to
* load.
* <p>If this method returns `Optional.of(..)` then the model should be safe to load.
*
* @param modelName the name of the model to retrieve
* @return an Optional containing the model if found, or an empty Optional if
* not found
* @return an Optional containing the model if found, or an empty Optional if not found
*/
public Optional<Model> getModel(String modelName) {
if (models == null) {
Expand All @@ -167,8 +153,8 @@ public Optional<Model> getModel(String modelName) {
// Check if the model exists in any supported backend
for (NeuralNetworkBackend backend : supportedBackends) {
if (models.containsKey(backend)) {
Optional<Model> model = models.get(backend).stream().filter(m -> m.getName().equals(modelName))
.findFirst();
Optional<Model> model =
models.get(backend).stream().filter(m -> m.getName().equals(modelName)).findFirst();
if (model.isPresent()) {
return model;
}
Expand Down Expand Up @@ -202,9 +188,10 @@ private void loadModel(File model) {
return;
}

Optional<NeuralNetworkBackend> backend = Arrays.stream(NeuralNetworkBackend.values())
.filter(b -> b.format.equals(modelExtension))
.findFirst();
Optional<NeuralNetworkBackend> backend =
Arrays.stream(NeuralNetworkBackend.values())
.filter(b -> b.format.equals(modelExtension))
.findFirst();

if (!backend.isPresent()) {
logger.warn("Model " + model.getName() + " has an unknown extension.");
Expand Down Expand Up @@ -261,7 +248,8 @@ public void discoverModels(File modelsFolder) {
// After loading all of the models, sort them by name to ensure a consistent
// ordering
models.forEach(
(backend, backendModels) -> backendModels.sort((a, b) -> a.getName().compareTo(b.getName())));
(backend, backendModels) ->
backendModels.sort((a, b) -> a.getName().compareTo(b.getName())));

// Log
StringBuilder sb = new StringBuilder();
Expand All @@ -287,16 +275,17 @@ public void extractModels(File modelsDirectory) {
String resource = "models";

try {
String jarPath = getClass().getProtectionDomain().getCodeSource().getLocation().toURI().getPath();
String jarPath =
getClass().getProtectionDomain().getCodeSource().getLocation().toURI().getPath();
try (JarFile jarFile = new JarFile(jarPath)) {
Enumeration<JarEntry> entries = jarFile.entries();
while (entries.hasMoreElements()) {
JarEntry entry = entries.nextElement();
if (!entry.getName().startsWith(resource + "/") || entry.isDirectory()) {
continue;
}
Path outputPath = modelsDirectory.toPath()
.resolve(entry.getName().substring(resource.length() + 1));
Path outputPath =
modelsDirectory.toPath().resolve(entry.getName().substring(resource.length() + 1));

if (Files.exists(outputPath)) {
logger.info("Skipping extraction of DNN resource: " + entry.getName());
Expand Down
3 changes: 1 addition & 2 deletions photon-core/src/main/java/org/photonvision/common/hardware/GPIO/CustomGPIO.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -91,8 +91,7 @@ public void setBrightnessImpl(int brightness) {
}

public static void setConfig(HardwareConfig config) {
if (Platform.getCurrentPlatform().isRaspberryPi())
return;
if (Platform.getCurrentPlatform().isRaspberryPi()) return;
commands.replace("setState", config.ledSetCommand);
commands.replace("dim", config.ledDimCommand);
commands.replace("blink", config.ledBlinkCommand);
Expand Down
60 changes: 32 additions & 28 deletions photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,15 +46,15 @@ public class HardwareManager {

private final MetricsManager metricsManager;

@SuppressWarnings({ "FieldCanBeLocal", "unused" })
@SuppressWarnings({"FieldCanBeLocal", "unused"})
private final StatusLED statusLED;

@SuppressWarnings("FieldCanBeLocal")
private final IntegerSubscriber ledModeRequest;

private final IntegerPublisher ledModeState;

@SuppressWarnings({ "FieldCanBeLocal", "unused" })
@SuppressWarnings({"FieldCanBeLocal", "unused"})
private final NTDataChangeListener ledModeListener;

public final VisionLED visionLED; // May be null if no LED is specified
Expand All @@ -76,10 +76,13 @@ private HardwareManager(HardwareConfig hardwareConfig, HardwareSettings hardware
this.metricsManager = new MetricsManager();
this.metricsManager.setConfig(hardwareConfig);

ledModeRequest = NetworkTablesManager.getInstance().kRootTable
.getIntegerTopic("ledModeRequest")
.subscribe(-1);
ledModeState = NetworkTablesManager.getInstance().kRootTable.getIntegerTopic("ledModeState").publish();
ledModeRequest =
NetworkTablesManager.getInstance()
.kRootTable
.getIntegerTopic("ledModeRequest")
.subscribe(-1);
ledModeState =
NetworkTablesManager.getInstance().kRootTable.getIntegerTopic("ledModeState").publish();
ledModeState.set(VisionLEDMode.kDefault.value);

CustomGPIO.setConfig(hardwareConfig);
Expand All @@ -90,30 +93,33 @@ private HardwareManager(HardwareConfig hardwareConfig, HardwareSettings hardware
pigpioSocket = null;
}

statusLED = hardwareConfig.statusRGBPins.size() == 3
? new StatusLED(hardwareConfig.statusRGBPins)
: null;
statusLED =
hardwareConfig.statusRGBPins.size() == 3
? new StatusLED(hardwareConfig.statusRGBPins)
: null;

if (statusLED != null) {
TimedTaskManager.getInstance().addTask("StatusLEDUpdate", this::statusLEDUpdate, 150);
}

var hasBrightnessRange = hardwareConfig.ledBrightnessRange.size() == 2;
visionLED = hardwareConfig.ledPins.isEmpty()
? null
: new VisionLED(
hardwareConfig.ledPins,
hasBrightnessRange ? hardwareConfig.ledBrightnessRange.get(0) : 0,
hasBrightnessRange ? hardwareConfig.ledBrightnessRange.get(1) : 100,
pigpioSocket,
ledModeState::set);

ledModeListener = visionLED == null
? null
: new NTDataChangeListener(
NetworkTablesManager.getInstance().kRootTable.getInstance(),
ledModeRequest,
visionLED::onLedModeChange);
visionLED =
hardwareConfig.ledPins.isEmpty()
? null
: new VisionLED(
hardwareConfig.ledPins,
hasBrightnessRange ? hardwareConfig.ledBrightnessRange.get(0) : 0,
hasBrightnessRange ? hardwareConfig.ledBrightnessRange.get(1) : 100,
pigpioSocket,
ledModeState::set);

ledModeListener =
visionLED == null
? null
: new NTDataChangeListener(
NetworkTablesManager.getInstance().kRootTable.getInstance(),
ledModeRequest,
visionLED::onLedModeChange);

Runtime.getRuntime().addShutdownHook(new Thread(this::onJvmExit));

Expand All @@ -129,17 +135,15 @@ private HardwareManager(HardwareConfig hardwareConfig, HardwareSettings hardware
public void setBrightnessPercent(int percent) {
if (percent != hardwareSettings.ledBrightnessPercentage) {
hardwareSettings.ledBrightnessPercentage = percent;
if (visionLED != null)
visionLED.setBrightness(percent);
if (visionLED != null) visionLED.setBrightness(percent);
ConfigManager.getInstance().requestSave();
logger.info("Setting led brightness to " + percent + "%");
}
}

private void onJvmExit() {
logger.info("Shutting down LEDs...");
if (visionLED != null)
visionLED.setState(false);
if (visionLED != null) visionLED.setState(false);

ConfigManager.getInstance().onJvmExit();
}
Expand Down
9 changes: 3 additions & 6 deletions photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -44,12 +44,10 @@ public static PiVersion getPiVersion() {
}

private static PiVersion calcPiVersion() {
if (!Platform.getCurrentPlatform().isRaspberryPi())
return PiVersion.UNKNOWN;
if (!Platform.getCurrentPlatform().isRaspberryPi()) return PiVersion.UNKNOWN;
String piString = getPiVersionString();
for (PiVersion p : PiVersion.values()) {
if (piString.toLowerCase().contains(p.identifier))
return p;
if (piString.toLowerCase().contains(p.identifier)) return p;
}
return UNKNOWN;
}
Expand All @@ -58,8 +56,7 @@ private static PiVersion calcPiVersion() {
// Versions here:
// https://github.com/raspberrypi/linux/blob/rpi-5.10.y/arch/arm/boot/dts/bcm2710-rpi-cm3.dts
private static String getPiVersionString() {
if (!Platform.getCurrentPlatform().isRaspberryPi())
return "";
if (!Platform.getCurrentPlatform().isRaspberryPi()) return "";
try {
shell.executeBashCommand("cat /proc/device-tree/model");
} catch (IOException e) {
Expand Down
3 changes: 1 addition & 2 deletions photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -155,8 +155,7 @@ void onLedModeChange(NetworkTableEvent entryNotification) {
}
setInternal(newLedMode, true);

if (modeConsumer != null)
modeConsumer.accept(newLedMode.value);
if (modeConsumer != null) modeConsumer.accept(newLedMode.value);
}
}

Expand Down
6 changes: 2 additions & 4 deletions photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsManager.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -57,8 +57,7 @@ public void setConfig(HardwareConfig config) {
}

public String safeExecute(String str) {
if (str.isEmpty())
return "";
if (str.isEmpty()) return "";
try {
return execute(str);
} catch (Exception e) {
Expand All @@ -69,8 +68,7 @@ public String safeExecute(String str) {
private String cpuMemSave = null;

public String getMemory() {
if (cmds.cpuMemoryCommand.isEmpty())
return "";
if (cmds.cpuMemoryCommand.isEmpty()) return "";
if (cpuMemSave == null) {
// save the value and only run it once
cpuMemSave = execute(cmds.cpuMemoryCommand);
Expand Down
9 changes: 4 additions & 5 deletions photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -80,10 +80,8 @@ public String toString() {

public static List<NMDeviceInfo> getAllInterfaces() {
long now = System.currentTimeMillis();
if (now - lastReadTimestamp < 5000)
return allInterfaces;
else
lastReadTimestamp = now;
if (now - lastReadTimestamp < 5000) return allInterfaces;
else lastReadTimestamp = now;

var ret = new ArrayList<NMDeviceInfo>();

Expand All @@ -100,7 +98,8 @@ public static List<NMDeviceInfo> getAllInterfaces() {
if (out == null) {
return new ArrayList<>();
}
Pattern pattern = Pattern.compile("GENERAL.CONNECTION:(.*)\nGENERAL.DEVICE:(.*)\nGENERAL.TYPE:(.*)");
Pattern pattern =
Pattern.compile("GENERAL.CONNECTION:(.*)\nGENERAL.DEVICE:(.*)\nGENERAL.TYPE:(.*)");
Matcher matcher = pattern.matcher(out);
while (matcher.find()) {
if (!matcher.group(2).equals("lo")) {
Expand Down
Loading

0 comments on commit 869b60d

Please sign in to comment.