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VisionModuleChangeSubscriber: refactor to use java 17 features and re…
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…duce nesting hell.
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@Alextopher
Alextopher committed Sep 29, 2024
1 parent 23ed578 commit 9453331
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Showing 2 changed files with 139 additions and 139 deletions.
251 changes: 128 additions & 123 deletions ...on-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
import org.photonvision.common.util.numbers.IntegerCouple;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
import org.photonvision.vision.pipeline.AdvancedPipelineSettings;
import org.photonvision.vision.pipeline.CVPipelineSettings;
import org.photonvision.vision.pipeline.PipelineType;
import org.photonvision.vision.pipeline.UICalibrationData;
import org.photonvision.vision.target.RobotOffsetPointOperation;
Expand All @@ -51,139 +52,45 @@ public VisionModuleChangeSubscriber(VisionModule parentModule) {

@Override
public void onDataChangeEvent(DataChangeEvent<?> event) {
if (event instanceof IncomingWebSocketEvent) {
var wsEvent = (IncomingWebSocketEvent<?>) event;

if (event instanceof IncomingWebSocketEvent wsEvent) {
// Camera index -1 means a "multicast event" (i.e. the event is received by all cameras)
if (wsEvent.cameraIndex != null
&& (wsEvent.cameraIndex == parentModule.moduleIndex || wsEvent.cameraIndex == -1)) {
logger.trace("Got PSC event - propName: " + wsEvent.propertyName);

var propName = wsEvent.propertyName;
var newPropValue = wsEvent.data;
var currentSettings = parentModule.pipelineManager.getCurrentPipeline().getSettings();
String propName = wsEvent.propertyName;
Object newPropValue = wsEvent.data;
CVPipelineSettings currentSettings =
parentModule.pipelineManager.getCurrentPipeline().getSettings();

// special case for non-PipelineSetting changes
switch (propName) {
// case "cameraNickname": // rename camera
// var newNickname = (String) newPropValue;
// logger.info("Changing nickname to " + newNickname);
// parentModule.setCameraNickname(newNickname);
// return;
case "pipelineName": // rename current pipeline
logger.info("Changing nick to " + newPropValue);
parentModule.pipelineManager.getCurrentPipelineSettings().pipelineNickname =
(String) newPropValue;
parentModule.saveAndBroadcastAll();
return;
case "newPipelineInfo": // add new pipeline
var typeName = (Pair<String, PipelineType>) newPropValue;
var type = typeName.getRight();
var name = typeName.getLeft();

logger.info("Adding a " + type + " pipeline with name " + name);

var addedSettings = parentModule.pipelineManager.addPipeline(type);
addedSettings.pipelineNickname = name;
parentModule.saveAndBroadcastAll();
return;
case "deleteCurrPipeline":
var indexToDelete = parentModule.pipelineManager.getRequestedIndex();
logger.info("Deleting current pipe at index " + indexToDelete);
int newIndex = parentModule.pipelineManager.removePipeline(indexToDelete);
parentModule.setPipeline(newIndex);
parentModule.saveAndBroadcastAll();
return;
case "changePipeline": // change active pipeline
var index = (Integer) newPropValue;
if (index == parentModule.pipelineManager.getRequestedIndex()) {
logger.debug("Skipping pipeline change, index " + index + " already active");
return;
case "pipelineName" -> newPipelineNickname((String) newPropValue);
case "newPipelineInfo" -> newPipelineInfo((Pair<String, PipelineType>) newPropValue);
case "deleteCurrPipeline" -> deleteCurrPipeline();
case "changePipeline" -> changePipeline((Integer) newPropValue);
case "startCalibration" -> startCalibration((Map<String, Object>) newPropValue);
case "saveInputSnapshot" -> parentModule.saveInputSnapshot();
case "saveOutputSnapshot" -> parentModule.saveOutputSnapshot();
case "takeCalSnapshot" -> parentModule.takeCalibrationSnapshot();
case "duplicatePipeline" -> duplicatePipeline((Integer) newPropValue);
case "calibrationUploaded" -> {
if (newPropValue instanceof CameraCalibrationCoefficients newCal) {
parentModule.addCalibrationToConfig(newCal);
} else {
logger.warn("Received invalid calibration data");
}
parentModule.setPipeline(index);
parentModule.saveAndBroadcastAll();
return;
case "startCalibration":
try {
var data =
JacksonUtils.deserialize(
(Map<String, Object>) newPropValue, UICalibrationData.class);
parentModule.startCalibration(data);
parentModule.saveAndBroadcastAll();
} catch (Exception e) {
logger.error("Error deserailizing start-cal request", e);
}
return;
case "saveInputSnapshot":
parentModule.saveInputSnapshot();
return;
case "saveOutputSnapshot":
parentModule.saveOutputSnapshot();
return;
case "takeCalSnapshot":
parentModule.takeCalibrationSnapshot();
return;
case "duplicatePipeline":
int idx = parentModule.pipelineManager.duplicatePipeline((Integer) newPropValue);
parentModule.setPipeline(idx);
parentModule.saveAndBroadcastAll();
return;
case "calibrationUploaded":
if (newPropValue instanceof CameraCalibrationCoefficients)
parentModule.addCalibrationToConfig((CameraCalibrationCoefficients) newPropValue);
return;
case "robotOffsetPoint":
if (currentSettings instanceof AdvancedPipelineSettings) {
var curAdvSettings = (AdvancedPipelineSettings) currentSettings;
var offsetOperation = RobotOffsetPointOperation.fromIndex((int) newPropValue);
var latestTarget = parentModule.lastPipelineResultBestTarget;

if (latestTarget != null) {
var newPoint = latestTarget.getTargetOffsetPoint();

switch (curAdvSettings.offsetRobotOffsetMode) {
case Single:
if (offsetOperation == RobotOffsetPointOperation.ROPO_CLEAR) {
curAdvSettings.offsetSinglePoint = new Point();
} else if (offsetOperation == RobotOffsetPointOperation.ROPO_TAKESINGLE) {
curAdvSettings.offsetSinglePoint = newPoint;
}
break;
case Dual:
if (offsetOperation == RobotOffsetPointOperation.ROPO_CLEAR) {
curAdvSettings.offsetDualPointA = new Point();
curAdvSettings.offsetDualPointAArea = 0;
curAdvSettings.offsetDualPointB = new Point();
curAdvSettings.offsetDualPointBArea = 0;
} else {
// update point and area
switch (offsetOperation) {
case ROPO_TAKEFIRSTDUAL:
curAdvSettings.offsetDualPointA = newPoint;
curAdvSettings.offsetDualPointAArea = latestTarget.getArea();
break;
case ROPO_TAKESECONDDUAL:
curAdvSettings.offsetDualPointB = newPoint;
curAdvSettings.offsetDualPointBArea = latestTarget.getArea();
break;
default:
break;
}
}
break;
default:
break;
}
}
}
case "robotOffsetPoint" -> {
if (currentSettings instanceof AdvancedPipelineSettings curAdvSettings) {
robotOffsetPoint(curAdvSettings, (Integer) newPropValue);
}
return;
case "changePipelineType":
}
case "changePipelineType" -> {
parentModule.changePipelineType((Integer) newPropValue);
parentModule.saveAndBroadcastAll();
return;
case "isDriverMode":
parentModule.setDriverMode((Boolean) newPropValue);
return;
}
case "isDriverMode" -> parentModule.setDriverMode((Boolean) newPropValue);
}

// special case for camera settables
Expand Down Expand Up @@ -223,6 +130,104 @@ public void onDataChangeEvent(DataChangeEvent<?> event) {
}
}

public void newPipelineNickname(String newNickname) {
logger.info("Changing pipeline nickname to " + newNickname);
parentModule.pipelineManager.getCurrentPipelineSettings().pipelineNickname = newNickname;
parentModule.saveAndBroadcastAll();
}

public void newPipelineInfo(Pair<String, PipelineType> typeName) {
var type = typeName.getRight();
var name = typeName.getLeft();

logger.info("Adding a " + type + " pipeline with name " + name);

var addedSettings = parentModule.pipelineManager.addPipeline(type);
addedSettings.pipelineNickname = name;
parentModule.saveAndBroadcastAll();
}

public void deleteCurrPipeline() {
var indexToDelete = parentModule.pipelineManager.getRequestedIndex();
logger.info("Deleting current pipe at index " + indexToDelete);
int newIndex = parentModule.pipelineManager.removePipeline(indexToDelete);
parentModule.setPipeline(newIndex);
parentModule.saveAndBroadcastAll();
}

public void changePipeline(int index) {
if (index == parentModule.pipelineManager.getRequestedIndex()) {
logger.debug("Skipping pipeline change, index " + index + " already active");
return;
}
parentModule.setPipeline(index);
parentModule.saveAndBroadcastAll();
}

public void startCalibration(Map<String, Object> data) {
try {
var deserialized = JacksonUtils.deserialize(data, UICalibrationData.class);
parentModule.startCalibration(deserialized);
parentModule.saveAndBroadcastAll();
} catch (Exception e) {
logger.error("Error deserailizing start-calibration request", e);
}
}

public void duplicatePipeline(int index) {
var newIndex = parentModule.pipelineManager.duplicatePipeline(index);
parentModule.setPipeline(newIndex);
parentModule.saveAndBroadcastAll();
}

public void robotOffsetPoint(AdvancedPipelineSettings curAdvSettings, int offsetIndex) {
RobotOffsetPointOperation offsetOperation = RobotOffsetPointOperation.fromIndex(offsetIndex);

var latestTarget = parentModule.lastPipelineResultBestTarget;
if (latestTarget == null) {
return;
}

var newPoint = latestTarget.getTargetOffsetPoint();
switch (curAdvSettings.offsetRobotOffsetMode) {
case Single -> {
switch (offsetOperation) {
case CLEAR -> curAdvSettings.offsetSinglePoint = new Point();
case TAKE_SINGLE -> curAdvSettings.offsetSinglePoint = newPoint;
case TAKE_FIRST_DUAL, TAKE_SECOND_DUAL -> {
logger.warn("Dual point operation in single point mode");
}
}
}
case Dual -> {
switch (offsetOperation) {
case CLEAR -> {
curAdvSettings.offsetDualPointA = new Point();
curAdvSettings.offsetDualPointAArea = 0;
curAdvSettings.offsetDualPointB = new Point();
curAdvSettings.offsetDualPointBArea = 0;
}
case TAKE_FIRST_DUAL -> {
// update point and area
curAdvSettings.offsetDualPointA = newPoint;
curAdvSettings.offsetDualPointAArea = latestTarget.getArea();
}
case TAKE_SECOND_DUAL -> {
// update point and area
curAdvSettings.offsetDualPointB = newPoint;
curAdvSettings.offsetDualPointBArea = latestTarget.getArea();
}
case TAKE_SINGLE -> {
logger.warn("Single point operation in dual point mode");
}
}
}
case None -> {
logger.warn("Robot offset point operation requested, but no offset mode set");
}
}
}

/**
* Sets the value of a property in the given object using reflection. This method should not be
* used generally and is only known to be correct in the context of `onDataChangeEvent`.
Expand Down Expand Up @@ -255,8 +260,8 @@ protected static void setProperty(Object currentSettings, String propName, Objec
} else if (propType.equals(Integer.TYPE)) {
propField.setInt(currentSettings, (Integer) newPropValue);
} else if (propType.equals(Boolean.TYPE)) {
if (newPropValue instanceof Integer) {
propField.setBoolean(currentSettings, (Integer) newPropValue != 0);
if (newPropValue instanceof Integer intValue) {
propField.setBoolean(currentSettings, intValue != 0);
} else {
propField.setBoolean(currentSettings, (Boolean) newPropValue);
}
Expand Down
27 changes: 11 additions & 16 deletions photon-core/src/main/java/org/photonvision/vision/target/RobotOffsetPointOperation.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -17,10 +17,10 @@
package org.photonvision.vision.target;

public enum RobotOffsetPointOperation {
ROPO_CLEAR(0),
ROPO_TAKESINGLE(1),
ROPO_TAKEFIRSTDUAL(2),
ROPO_TAKESECONDDUAL(3);
CLEAR(0),
TAKE_SINGLE(1),
TAKE_FIRST_DUAL(2),
TAKE_SECOND_DUAL(3);

public final int index;

Expand All @@ -29,17 +29,12 @@ public enum RobotOffsetPointOperation {
}

public static RobotOffsetPointOperation fromIndex(int index) {
switch (index) {
case 0:
return ROPO_CLEAR;
case 1:
return ROPO_TAKESINGLE;
case 2:
return ROPO_TAKEFIRSTDUAL;
case 3:
return ROPO_TAKESECONDDUAL;
default:
return ROPO_CLEAR;
}
return switch (index) {
case 0 -> CLEAR;
case 1 -> TAKE_SINGLE;
case 2 -> TAKE_FIRST_DUAL;
case 3 -> TAKE_SECOND_DUAL;
default -> CLEAR;
};
}
}

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