Formatting fixes

PhotonVision · Oct 10, 2023 · acbdd8f · acbdd8f
1 parent 14cd3fc
commit acbdd8f
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Showing 19 changed files with 46 additions and 63 deletions.
diff --git a/...on-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/...on-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
@@ -181,8 +181,7 @@ public void accept(CVPipelineResult result) {
         }
 
         // Something in the result can sometimes be null -- so check probably too many things
-        if (
-                result.inputAndOutputFrame != null
+        if (result.inputAndOutputFrame != null
                 && result.inputAndOutputFrame.frameStaticProperties != null
                 && result.inputAndOutputFrame.frameStaticProperties.cameraCalibration != null) {
             var fsp = result.inputAndOutputFrame.frameStaticProperties;
@@ -214,10 +213,7 @@ public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTar
             {
                 var points = t.getTargetCorners();
                 for (Point point : points) {
-                    detectedCorners.add(new TargetCorner(
-                            point.x,
-                            point.y
-                    ));
+                    detectedCorners.add(new TargetCorner(point.x, point.y));
                 }
             }
 

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java b/photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java
@@ -179,11 +179,7 @@ private void setInternal(VisionLEDMode newLedMode, boolean fromNT) {
             }
             currentLedMode = newLedMode;
             logger.info(
-                    "Changing LED mode from \""
-                            + lastLedMode.toString()
-                            + "\" to \""
-                            + newLedMode
-                            + "\"");
+                    "Changing LED mode from \"" + lastLedMode.toString() + "\" to \"" + newLedMode + "\"");
         } else {
             if (currentLedMode == VisionLEDMode.kDefault) {
                 switch (newLedMode) {

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
@@ -115,8 +115,8 @@ public static List<NMDeviceInfo> getAllInterfaces() {
     }
 
     public static List<NMDeviceInfo> getAllActiveInterfaces() {
-        // Seems like if an interface exists but isn't actually connected, the connection name will be an
-        // empty string. Check here and only return connections with non-empty names
+        // Seems like if an interface exists but isn't actually connected, the connection name will be
+        // an empty string. Check here and only return connections with non-empty names
         return getAllInterfaces().stream()
                 .filter(it -> !it.connName.trim().isEmpty())
                 .collect(Collectors.toList());

diff --git a/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java b/photon-core/src/main/java/org/photonvision/common/util/ShellExec.java
@@ -22,7 +22,7 @@
 import org.photonvision.common.logging.Logger;
 
 /** Execute external process and optionally read output buffer. */
-@SuppressWarnings({"unused" })
+@SuppressWarnings({"unused"})
 public class ShellExec {
     private static final Logger logger = new Logger(ShellExec.class, LogGroup.General);
 

diff --git a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java
@@ -168,8 +168,8 @@ public static native boolean setThresholds(
     public static native boolean awaitNewFrame();
 
     /**
-     * Get a pointer to the most recent color mat generated. Call this immediately after awaitNewFrame,
-     * and call only once per new frame!
+     * Get a pointer to the most recent color mat generated. Call this immediately after
+     * awaitNewFrame, and call only once per new frame!
      */
     public static native long takeColorFrame();
 

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -34,7 +34,8 @@ public class FileVisionSource extends VisionSource {
 
     public FileVisionSource(CameraConfiguration cameraConfiguration) {
         super(cameraConfiguration);
-        var calibration = !cameraConfiguration.calibrations.isEmpty()
+        var calibration =
+                !cameraConfiguration.calibrations.isEmpty()
                         ? cameraConfiguration.calibrations.get(0)
                         : null;
         frameProvider =

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -268,7 +268,8 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
                     }
                     for (VideoMode videoMode : modes) {
                         // Filter grey modes
-                        if (videoMode.pixelFormat == VideoMode.PixelFormat.kGray || videoMode.pixelFormat == VideoMode.PixelFormat.kUnknown) {
+                        if (videoMode.pixelFormat == VideoMode.PixelFormat.kGray
+                                || videoMode.pixelFormat == VideoMode.PixelFormat.kUnknown) {
                             continue;
                         }
 

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java
@@ -111,11 +111,7 @@ public CapturedFrame getInputMat() {
         }
 
         lastGetMillis = System.currentTimeMillis();
-        return new CapturedFrame(
-                out,
-                properties,
-                MathUtils.wpiNanoTime()
-        );
+        return new CapturedFrame(out, properties, MathUtils.wpiNanoTime());
     }
 
     @Override

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
@@ -48,11 +48,7 @@ public CapturedFrame getInputMat() {
             time = MathUtils.wpiNanoTime();
         }
 
-        return new CapturedFrame(
-                mat,
-                settables.getFrameStaticProperties(),
-                time
-        );
+        return new CapturedFrame(mat, settables.getFrameStaticProperties(), time);
     }
 
     @Override

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipeParams.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipeParams.java
@@ -47,7 +47,6 @@ public boolean equals(Object obj) {
         if (family != other.family) return false;
         if (detectorParams == null) {
             return other.detectorParams == null;
-        } else
-            return detectorParams.equals(other.detectorParams);
+        } else return detectorParams.equals(other.detectorParams);
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java
@@ -18,9 +18,7 @@
 package org.photonvision.vision.pipe.impl;
 
 import edu.wpi.first.math.geometry.Translation2d;
-
 import java.util.*;
-
 import org.opencv.core.MatOfPoint2f;
 import org.opencv.core.Point;
 import org.opencv.imgproc.Imgproc;
@@ -41,11 +39,9 @@ protected List<TrackedTarget> process(List<TrackedTarget> targetList) {
         for (var target : targetList) {
             // detect corners. Might implement more algorithms later but
             // APPROX_POLY_DP_AND_EXTREME_CORNERS should be year agnostic
-            if (Objects.requireNonNull(params.cornerDetectionStrategy) == DetectionStrategy.APPROX_POLY_DP_AND_EXTREME_CORNERS) {
-                var targetCorners = detectExtremeCornersByApproxPolyDp(
-                        target,
-                        params.calculateConvexHulls
-                );
+            if (Objects.requireNonNull(params.cornerDetectionStrategy)
+                    == DetectionStrategy.APPROX_POLY_DP_AND_EXTREME_CORNERS) {
+                var targetCorners = detectExtremeCornersByApproxPolyDp(target, params.calculateConvexHulls);
                 target.setTargetCorners(targetCorners);
             }
         }

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/GPUAcceleratedHSVPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/GPUAcceleratedHSVPipe.java
@@ -299,7 +299,9 @@ public GPUAcceleratedHSVPipe(PBOMode pboMode) {
         gl.glBindBuffer(GL_ARRAY_BUFFER, vertexVBOIds.get(0));
         gl.glBufferData(
                 GL_ARRAY_BUFFER,
-                (long) vertexBuffer.capacity() * Float.BYTES, vertexBuffer, GL_STATIC_DRAW);
+                (long) vertexBuffer.capacity() * Float.BYTES,
+                vertexBuffer,
+                GL_STATIC_DRAW);
 
         // Set up pixel unpack buffer (a PBO to transfer image data to the GPU)
         if (pboMode != PBOMode.NONE) {
@@ -391,13 +393,17 @@ protected Mat process(Mat in) {
                 gl.glBindBuffer(GLES3.GL_PIXEL_PACK_BUFFER, packPBOIds.get(0));
                 gl.glBufferData(
                         GLES3.GL_PIXEL_PACK_BUFFER,
-                        (long) in.width() * in.height(), null, GLES3.GL_STREAM_READ);
+                        (long) in.width() * in.height(),
+                        null,
+                        GLES3.GL_STREAM_READ);
 
                 if (pboMode == PBOMode.DOUBLE_BUFFERED) {
                     gl.glBindBuffer(GLES3.GL_PIXEL_PACK_BUFFER, packPBOIds.get(1));
                     gl.glBufferData(
                             GLES3.GL_PIXEL_PACK_BUFFER,
-                            (long) in.width() * in.height(), null, GLES3.GL_STREAM_READ);
+                            (long) in.width() * in.height(),
+                            null,
+                            GLES3.GL_STREAM_READ);
                 }
             }
         }
@@ -463,7 +469,9 @@ protected Mat process(Mat in) {
             // This causes the previous data in the PBO to be discarded
             gl.glBufferData(
                     GLES3.GL_PIXEL_UNPACK_BUFFER,
-                    (long) in.width() * in.height() * 3, null, GLES3.GL_STREAM_DRAW);
+                    (long) in.width() * in.height() * 3,
+                    null,
+                    GLES3.GL_STREAM_DRAW);
 
             // Map the buffer of GPU memory into a place that's accessible by us
             var buf =
@@ -531,8 +539,8 @@ private Mat saveMatPBO(GLES3 gl, int width, int height, boolean doubleBuffered)
         // Map the PBO into the CPU's memory
         gl.glBindBuffer(GLES3.GL_PIXEL_PACK_BUFFER, packPBOIds.get(packNextIndex));
         var buf =
-                gl.glMapBufferRange(GLES3.GL_PIXEL_PACK_BUFFER, 0,
-                        (long) width * height, GLES3.GL_MAP_READ_BIT);
+                gl.glMapBufferRange(
+                        GLES3.GL_PIXEL_PACK_BUFFER, 0, (long) width * height, GLES3.GL_MAP_READ_BIT);
         buf.get(outputBytes);
         outputMat.put(0, 0, outputBytes);
         gl.glUnmapBuffer(GLES3.GL_PIXEL_PACK_BUFFER);

diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -397,10 +397,7 @@ private static String createUniqueName(
                     var parenEnd = uniqueName.length() - 1;
                     var number = Integer.parseInt(uniqueName.substring(parenStart + 1, parenEnd)) + 1;
 
-                    uniqueName = new StringBuilder(uniqueName.substring(
-                            0,
-                            parenStart + 1
-                    ) + number + ")");
+                    uniqueName = new StringBuilder(uniqueName.substring(0, parenStart + 1) + number + ")");
                 } else {
                     uniqueName.append(" (1)");
                 }

diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -126,8 +126,7 @@ public TrackedTarget(
                 0,
                 bestPose.getTranslation().getX(),
                 bestPose.getTranslation().getY(),
-                bestPose.getTranslation().getZ()
-        );
+                bestPose.getTranslation().getZ());
         setCameraRelativeTvec(tvec);
 
         // Opencv expects a 3d vector with norm = angle and direction = axis
@@ -183,7 +182,8 @@ public TrackedTarget(ArucoDetectionResult result, TargetCalculationParameters pa
                     VecBuilder.fill(result.getRvec()[0], result.getRvec()[1], result.getRvec()[2]);
             Rotation3d rotation = new Rotation3d(axisangle, axisangle.normF());
 
-            m_bestCameraToTarget3d = MathUtils.convertOpenCVtoPhotonTransform(new Transform3d(translation, rotation));
+            m_bestCameraToTarget3d =
+                    MathUtils.convertOpenCVtoPhotonTransform(new Transform3d(translation, rotation));
         }
     }
 

diff --git a/photon-core/src/main/java/org/photonvision/vision/videoStream/SocketVideoStream.java b/photon-core/src/main/java/org/photonvision/vision/videoStream/SocketVideoStream.java
@@ -53,8 +53,7 @@ public SocketVideoStream(int portID) {
         this.portID = portID;
         oldSchoolServer =
                 new MJPGFrameConsumer(
-                        CameraServerJNI.getHostname() + "_Port_" + portID + "_MJPEG_Server",
-                        portID);
+                        CameraServerJNI.getHostname() + "_Port_" + portID + "_MJPEG_Server", portID);
     }
 
     @Override

diff --git a/photon-core/src/main/java/org/photonvision/vision/videoStream/SocketVideoStreamManager.java b/photon-core/src/main/java/org/photonvision/vision/videoStream/SocketVideoStreamManager.java
@@ -61,8 +61,7 @@ public void addSubscription(WsContext user, int streamPortID) {
             userSubscriptions.put(user, streamPortID);
             stream.addUser();
         } else {
-            logger.error(
-                    "User attempted to subscribe to non-existent port " + streamPortID);
+            logger.error("User attempted to subscribe to non-existent port " + streamPortID);
         }
     }
 

diff --git a/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java b/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java
@@ -58,19 +58,14 @@ public void fileCleanupTest() {
 
         // Confirm new log files were created
         Assertions.assertTrue(
-                Logger.MAX_LOGS_TO_KEEP + 5 <= countLogFiles(testDir),
-                "Not enough log files discovered"
-        );
+                Logger.MAX_LOGS_TO_KEEP + 5 <= countLogFiles(testDir), "Not enough log files discovered");
 
         // Run the log cleanup routine
         Logger.cleanLogs(Path.of(testDir));
 
         // Confirm we deleted log files
         Assertions.assertEquals(
-                Logger.MAX_LOGS_TO_KEEP,
-                countLogFiles(testDir),
-                "Not enough log files deleted"
-        );
+                Logger.MAX_LOGS_TO_KEEP, countLogFiles(testDir), "Not enough log files deleted");
 
         // Clean uptest directory
         org.photonvision.common.util.file.FileUtils.deleteDirectory(Path.of(testDir));

diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -168,7 +168,10 @@ public void testMultipleStreamIndex() {
         var modules = vmm.addSources(List.of(testSource, testSource2, testSource3));
 
         System.out.println(
-                Arrays.toString(modules.stream().map(it -> it.visionSource.getCameraConfiguration().streamIndex).toArray()));
+                Arrays.toString(
+                        modules.stream()
+                                .map(it -> it.visionSource.getCameraConfiguration().streamIndex)
+                                .toArray()));
         var idxs =
                 modules.stream()
                         .map(it -> it.visionSource.getCameraConfiguration().streamIndex)

diff --git a/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java b/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
@@ -34,7 +34,8 @@
 public class TargetCalculationsTest {
 
     private static final Size imageSize = new Size(800, 600);
-    private static final Point imageCenterPoint = new Point(imageSize.width / 2, imageSize.height / 2);
+    private static final Point imageCenterPoint =
+            new Point(imageSize.width / 2, imageSize.height / 2);
     private static final double diagFOV = Math.toRadians(70.0);
 
     private static final FrameStaticProperties props =