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Initial attempt at matching by path ID
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@MrRedness
MrRedness committed Nov 20, 2023
1 parent 994ea1e commit c1d7167
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Showing 3 changed files with 71 additions and 18 deletions.
15 changes: 11 additions & 4 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 @@ -147,6 +148,7 @@ private void initDatabase() {
+ " 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);
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 @@ -305,6 +307,7 @@ 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
Expand All @@ -321,7 +324,7 @@ private void saveCameras(Connection conn) {
})
.filter(Objects::nonNull)
.collect(Collectors.toList());
statement.setString(4, JacksonUtils.serializeToString(settings));
statement.setString(5, JacksonUtils.serializeToString(settings));

statement.executeUpdate();
}
Expand Down Expand Up @@ -455,10 +458,11 @@ private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn)
query =
conn.prepareStatement(
String.format(
"SELECT %s, %s, %s, %s FROM cameras",
"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 +478,8 @@ 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 +493,7 @@ 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
69 changes: 57 additions & 12 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 @@ -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 @@ -215,22 +217,34 @@ private List<CameraConfiguration> matchUSBCameras(
detectedCameraList.stream()
.filter(
usbCameraInfo ->
usbCameraInfo.path.equals(config.path)
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 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);
// 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 +264,7 @@ && 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 +297,27 @@ 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 @@ -363,4 +398,14 @@ 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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