More WIP splitting out settables

PhotonVision · Jul 12, 2024 · a70972a · a70972a
1 parent 2f04dfd
commit a70972a
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Showing 4 changed files with 33 additions and 44 deletions.
diff --git a/...re/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/...re/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -1,25 +1,23 @@
 package org.photonvision.vision.camera.USBCameras;
 
+import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.VideoException;
+import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.cscore.VideoProperty;
+import edu.wpi.first.util.PixelFormat;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Collections;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Optional;
 import java.util.stream.Collectors;
-
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
-import edu.wpi.first.cscore.UsbCamera;
-import edu.wpi.first.cscore.VideoException;
-import edu.wpi.first.cscore.VideoMode;
-import edu.wpi.first.cscore.VideoProperty;
-import edu.wpi.first.util.PixelFormat;
-
 public class GenericUSBCameraSettables extends VisionSourceSettables {
     // We need to remember the last exposure set when exiting
     // auto exposure mode so we can restore it
@@ -42,8 +40,7 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
     protected CameraConfiguration configuration;
 
     /**
-     * Forgiving "set this property" action. Produces a debug message but skips
-     * properties if they
+     * Forgiving "set this property" action. Produces a debug message but skips properties if they
      * aren't supported Errors if the property exists but the set fails.
      *
      * @param property
@@ -63,8 +60,7 @@ protected void softSet(String property, int value) {
     }
 
     /**
-     * Returns the first property with a name in the list. Useful to find gandolf
-     * property that goes
+     * Returns the first property with a name in the list. Useful to find gandolf property that goes
      * by many names in different os/releases/whatever
      *
      * @param options
@@ -92,10 +88,12 @@ protected Optional<VideoProperty> findProperty(String... options) {
         return Optional.ofNullable(retProp);
     }
 
-    protected void setUpExposureProperties(){
+    protected void setUpExposureProperties() {
         // Photonvision needs to be able to control absolute exposure. Make sure we can
         // first.
-        var expProp = findProperty("raw_exposure_absolute", "raw_exposure_time_absolute", "exposure", "raw_Exposure");
+        var expProp =
+                findProperty(
+                        "raw_exposure_absolute", "raw_exposure_time_absolute", "exposure", "raw_Exposure");
 
         // Photonvision needs to be able to control auto exposure. Make sure we can
         // first.
@@ -136,7 +134,6 @@ public GenericUSBCameraSettables(CameraConfiguration configuration, UsbCamera ca
             PROP_AUTO_EXPOSURE_ENABLED = 0;
             PROP_AUTO_EXPOSURE_DISABLED = 1;
         }
-
     }
 
     public void setAllCamDefaults() {
@@ -198,10 +195,10 @@ public void setExposureRaw(double exposureRaw) {
 
                 int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
 
-                //if (configuration.cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
+                // if (configuration.cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
                 //    // Lifecam only allows certain settings for exposure
                 //    propVal = MathUtils.quantize(propVal, CameraQuirkConstants.LifecamAllowableExposures);
-                //}
+                // }
 
                 logger.debug(
                         "Setting property "
@@ -296,14 +293,16 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
             }
 
             // Sort by resolution
-            var sortedList = videoModesList.stream()
-                    .distinct() // remove redundant video mode entries
-                    .sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
-                    .collect(Collectors.toList());
+            var sortedList =
+                    videoModesList.stream()
+                            .distinct() // remove redundant video mode entries
+                            .sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
+                            .collect(Collectors.toList());
             Collections.reverse(sortedList);
 
             // On vendor cameras, respect blacklisted indices
-            var indexBlacklist = ConfigManager.getInstance().getConfig().getHardwareConfig().blacklistedResIndices;
+            var indexBlacklist =
+                    ConfigManager.getInstance().getConfig().getHardwareConfig().blacklistedResIndices;
             for (int badIdx : indexBlacklist) {
                 sortedList.remove(badIdx);
             }

diff --git a/...-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java b/...-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSource.java
@@ -23,7 +23,6 @@
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.cscore.VideoProperty;
 import edu.wpi.first.util.RuntimeDetector;
-
 import java.util.*;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
@@ -42,7 +41,6 @@ public class GenericUSBCameraSource extends VisionSource {
     protected FrameProvider usbFrameProvider;
     private final CvSink cvSink;
 
-
     public GenericUSBCameraSource(CameraConfiguration config) {
         super(config);
 
@@ -72,8 +70,7 @@ public GenericUSBCameraSource(CameraConfiguration config) {
         // in
         printCameraProperaties();
 
-        var cameraBroken =
-                getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken);
+        var cameraBroken = getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken);
 
         if (cameraBroken) {
             // Known issues - Disable this camera
@@ -98,24 +95,24 @@ public GenericUSBCameraSource(CameraConfiguration config) {
                 // Functional camera, set up the frame provider and configure defaults
                 usbFrameProvider = new USBFrameProvider(cvSink, settables);
                 settables.setAllCamDefaults();
-
             }
         }
     }
 
     /**
      * Factory for making appropriate settables
+     *
      * @param config
      * @param camera
      * @return
      */
-    private GenericUSBCameraSettables createSettables(CameraConfiguration config, UsbCamera camera){
+    private GenericUSBCameraSettables createSettables(CameraConfiguration config, UsbCamera camera) {
 
         var quirks = getCameraConfiguration().cameraQuirks;
 
         GenericUSBCameraSettables settables;
 
-        if(quirks.hasQuirk(CameraQuirk.LifeCamExposure) && RuntimeDetector.isWindows()){
+        if (quirks.hasQuirk(CameraQuirk.LifeCamExposure) && RuntimeDetector.isWindows()) {
             logger.debug("Using Microsoft Lifecam 3000 Windows-Specific Settables");
             settables = new LifeCam3kWindowsCameraSettables(config, camera);
         } else {
@@ -126,10 +123,8 @@ private GenericUSBCameraSettables createSettables(CameraConfiguration config, Us
         settables.setUpExposureProperties();
 
         return settables;
-
     }
 
-
     private void printCameraProperaties() {
         VideoProperty[] cameraProperties = null;
         try {
@@ -176,7 +171,6 @@ public VisionSourceSettables getSettables() {
         return this.settables;
     }
 
-
     @Override
     public boolean isVendorCamera() {
         return false; // Vendors do not supply USB Cameras

diff --git a/.../main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java b/.../main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
@@ -1,10 +1,9 @@
 package org.photonvision.vision.camera.USBCameras;
-import org.photonvision.common.configuration.CameraConfiguration;
-import org.photonvision.common.util.math.MathUtils;
 
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoException;
-
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.util.math.MathUtils;
 
 public class LifeCam3kWindowsCameraSettables extends GenericUSBCameraSettables {
 
@@ -17,9 +16,9 @@ public LifeCam3kWindowsCameraSettables(CameraConfiguration configuration, UsbCam
     }
 
     @Override
-    protected void setUpExposureProperties(){
+    protected void setUpExposureProperties() {
 
-        autoExposureProp = null; //Not Used
+        autoExposureProp = null; // Not Used
 
         exposureAbsProp = camera.getProperty("raw_Exposure");
         this.minExposure = exposureAbsProp.getMin();
@@ -54,7 +53,6 @@ public void setExposureRaw(double exposureRaw) {
                 if (lastBrightness >= 0) {
                     setBrightness(lastBrightness - 1);
                 }
-
 
             } catch (VideoException e) {
                 logger.error("Failed to set camera exposure!", e);
@@ -82,10 +80,9 @@ public void setAutoExposure(boolean cameraAutoExposure) {
     public void setAllCamDefaults() {
         // Common settings for all cameras to attempt to get their image
         // as close as possible to what we want for image processing
-        softSet("raw_Contrast", 5); 
-        softSet("raw_Saturation", 85); 
-        softSet("raw_Sharpness", 25); 
-        softSet("WhiteBalance", 4000); 
+        softSet("raw_Contrast", 5);
+        softSet("raw_Saturation", 85);
+        softSet("raw_Sharpness", 25);
+        softSet("WhiteBalance", 4000);
     }
-
 }
diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java b/photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java
@@ -17,15 +17,14 @@
 
 package org.photonvision.vision.processes;
 
+import edu.wpi.first.cscore.UsbCamera;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.camera.USBCameras.GenericUSBCameraSettables;
 import org.photonvision.vision.camera.USBCameras.GenericUSBCameraSource;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 
-import edu.wpi.first.cscore.UsbCamera;
-
 public class MockUsbCameraSource extends GenericUSBCameraSource {
     /** Used for unit tests to better simulate a usb camera without a camera being present. */
     public MockUsbCameraSource(CameraConfiguration config, int pid, int vid) {