update

PhotonVision · Dec 24, 2023 · 184be30 · 184be30
1 parent 0356eee
commit 184be30
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Showing 47 changed files with 170 additions and 219 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -37,7 +37,7 @@ public class PhotonConfiguration {
     private final HardwareSettings hardwareSettings;
     private NetworkConfig networkConfig;
     private AprilTagFieldLayout atfl;
-    private HashMap<String, CameraConfiguration> cameraConfigurations;
+    private final HashMap<String, CameraConfiguration> cameraConfigurations;
 
     public PhotonConfiguration(
             HardwareConfig hardwareConfig,

diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
@@ -131,10 +131,11 @@ private void initDatabase() {
             try {
                 createGlobalTableStatement = conn.createStatement();
                 String sql =
-                        "CREATE TABLE IF NOT EXISTS global (\n"
-                                + " filename TINYTEXT PRIMARY KEY,\n"
-                                + " contents mediumtext NOT NULL\n"
-                                + ");";
+                        """
+                                CREATE TABLE IF NOT EXISTS global (
+                                 filename TINYTEXT PRIMARY KEY,
+                                 contents mediumtext NOT NULL
+                                );""";
                 createGlobalTableStatement.execute(sql);
             } catch (SQLException e) {
                 logger.error("Err creating global table", e);
@@ -144,13 +145,14 @@ private void initDatabase() {
             try {
                 createCameraTableStatement = conn.createStatement();
                 var sql =
-                        "CREATE TABLE IF NOT EXISTS cameras (\n"
-                                + " 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"
-                                + ");";
+                        """
+                                CREATE TABLE IF NOT EXISTS cameras (
+                                 unique_name TINYTEXT PRIMARY KEY,
+                                 config_json text NOT NULL,
+                                 drivermode_json text NOT NULL,
+                                 otherpaths_json text NOT NULL,
+                                 pipeline_jsons mediumtext NOT NULL
+                                );""";
                 createCameraTableStatement.execute(sql);
             } catch (SQLException e) {
                 logger.error("Err creating cameras table", e);

diff --git a/...re/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java b/...re/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -49,7 +49,7 @@ public class NetworkTablesManager {
 
     private boolean m_isRetryingConnection = false;
 
-    private StringSubscriber m_fieldLayoutSubscriber =
+    private final StringSubscriber m_fieldLayoutSubscriber =
             kRootTable.getStringTopic(kFieldLayoutName).subscribe("");
 
     private NetworkTablesManager() {

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/GPIOBase.java b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/GPIOBase.java
@@ -27,7 +27,7 @@ public abstract class GPIOBase {
     private static final Logger logger = new Logger(GPIOBase.class, LogGroup.General);
     private static final ShellExec runCommand = new ShellExec(true, true);
 
-    protected static HashMap<String, String> commands =
+    protected static final HashMap<String, String> commands =
             new HashMap<>() {
                 {
                     put("setState", "");

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java
@@ -18,9 +18,9 @@
 package org.photonvision.common.hardware.GPIO.pi;
 
 public class PigpioPulse {
-    int gpioOn;
-    int gpioOff;
-    int delayMicros;
+    final int gpioOn;
+    final int gpioOff;
+    final int delayMicros;
 
     /**
      * Initialises a pulse.

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java b/photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java
@@ -242,21 +242,14 @@ public void generateAndSendWaveform(int pulseTimeMillis, int blinks, int... pins
                 waveSendOnce(waveformId);
             }
         } else {
-            String error = "";
-            switch (waveformId) {
-                case PI_EMPTY_WAVEFORM:
-                    error = "Waveform empty";
-                    break;
-                case PI_TOO_MANY_CBS:
-                    error = "Too many CBS";
-                    break;
-                case PI_TOO_MANY_OOL:
-                    error = "Too many OOL";
-                    break;
-                case PI_NO_WAVEFORM_ID:
-                    error = "No waveform ID";
-                    break;
-            }
+            String error =
+                    switch (waveformId) {
+                        case PI_EMPTY_WAVEFORM -> "Waveform empty";
+                        case PI_TOO_MANY_CBS -> "Too many CBS";
+                        case PI_TOO_MANY_OOL -> "Too many OOL";
+                        case PI_NO_WAVEFORM_ID -> "No waveform ID";
+                        default -> "";
+                    };
             logger.error("Failed to send wave: " + error);
         }
     }

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
@@ -134,25 +134,17 @@ void onLedModeChange(NetworkTableEvent entryNotification) {
         var newLedModeRaw = (int) entryNotification.valueData.value.getInteger();
         logger.debug("Got LED mode " + newLedModeRaw);
         if (newLedModeRaw != currentLedMode.value) {
-            VisionLEDMode newLedMode;
-            switch (newLedModeRaw) {
-                case -1:
-                    newLedMode = VisionLEDMode.kDefault;
-                    break;
-                case 0:
-                    newLedMode = VisionLEDMode.kOff;
-                    break;
-                case 1:
-                    newLedMode = VisionLEDMode.kOn;
-                    break;
-                case 2:
-                    newLedMode = VisionLEDMode.kBlink;
-                    break;
-                default:
-                    logger.warn("User supplied invalid LED mode, falling back to Default");
-                    newLedMode = VisionLEDMode.kDefault;
-                    break;
-            }
+            VisionLEDMode newLedMode =
+                    switch (newLedModeRaw) {
+                        case -1 -> VisionLEDMode.kDefault;
+                        case 0 -> VisionLEDMode.kOff;
+                        case 1 -> VisionLEDMode.kOn;
+                        case 2 -> VisionLEDMode.kBlink;
+                        default -> {
+                            logger.warn("User supplied invalid LED mode, falling back to Default");
+                            yield VisionLEDMode.kDefault;
+                        }
+                    };
             setInternal(newLedMode, true);
 
             if (modeConsumer != null) modeConsumer.accept(newLedMode.value);

diff --git a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -84,7 +84,7 @@ public enum WPI2019Image {
         kRocketPanelAngleDark48in(1.2192),
         kRocketPanelAngleDark60in(1.524);
 
-        public static double FOV = 68.5;
+        public static final double FOV = 68.5;
 
         public final double distanceMeters;
         public final Path path;
@@ -122,7 +122,7 @@ public enum WPI2020Image {
         kRedLoading_084in(2.1336),
         kRedLoading_108in(2.7432);
 
-        public static double FOV = 68.5;
+        public static final double FOV = 68.5;
 
         public final double distanceMeters;
         public final Path path;
@@ -143,7 +143,7 @@ public enum WPI2023Apriltags {
         k162_36_Straight,
         k383_60_Angle2;
 
-        public static double FOV = 68.5;
+        public static final double FOV = 68.5;
 
         public final Translation2d approxPose;
         public final Path path;
@@ -170,7 +170,7 @@ public enum WPI2022Image {
         kTerminal12ft6in(Units.feetToMeters(12.5)),
         kTerminal22ft6in(Units.feetToMeters(22.5));
 
-        public static double FOV = 68.5;
+        public static final double FOV = 68.5;
 
         public final double distanceMeters;
         public final Path path;

diff --git a/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java b/photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java
@@ -51,11 +51,10 @@ public void set(T first, T second) {
 
     @Override
     public boolean equals(Object obj) {
-        if (!(obj instanceof NumberCouple)) {
+        if (!(obj instanceof NumberCouple couple)) {
             return false;
         }
 
-        var couple = (NumberCouple) obj;
         if (!couple.first.equals(first)) {
             return false;
         }

diff --git a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java
@@ -71,25 +71,16 @@ public enum SensorModel {
         Unknown;
 
         public String getFriendlyName() {
-            switch (this) {
-                case Disconnected:
-                    return "Disconnected Camera";
-                case OV5647:
-                    return "Camera Module v1";
-                case IMX219:
-                    return "Camera Module v2";
-                case IMX708:
-                    return "Camera Module v3";
-                case IMX477:
-                    return "HQ Camera";
-                case OV9281:
-                    return "OV9281";
-                case OV7251:
-                    return "OV7251";
-                case Unknown:
-                default:
-                    return "Unknown Camera";
-            }
+            return switch (this) {
+                case Disconnected -> "Disconnected Camera";
+                case OV5647 -> "Camera Module v1";
+                case IMX219 -> "Camera Module v2";
+                case IMX708 -> "Camera Module v3";
+                case IMX477 -> "HQ Camera";
+                case OV9281 -> "OV9281";
+                case OV7251 -> "OV7251";
+                default -> "Unknown Camera";
+            };
         }
     }
 

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -113,7 +113,7 @@ public static QuirkyCamera getQuirkyCamera(int usbVid, int usbPid, String baseNa
             // If we have a quirkycamera we need to copy the quirks from our predefined object and create
             // a quirkycamera object with the baseName.
             if (qc.usbVid == usbVid && qc.usbPid == usbPid && matchesBaseName) {
-                List<CameraQuirk> quirks = new ArrayList<CameraQuirk>();
+                List<CameraQuirk> quirks = new ArrayList<>();
                 for (var q : CameraQuirk.values()) {
                     if (qc.hasQuirk(q)) quirks.add(q);
                 }

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java b/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java
@@ -33,7 +33,7 @@ public class FrameStaticProperties {
     public final Point centerPoint;
     public final double horizontalFocalLength;
     public final double verticalFocalLength;
-    public CameraCalibrationCoefficients cameraCalibration;
+    public final CameraCalibrationCoefficients cameraCalibration;
 
     /**
      * Instantiates a new Frame static properties.

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
@@ -39,8 +39,8 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
     private static final String FILE_EXTENSION = ".jpg";
     private static final String NT_SUFFIX = "SaveImgCmd";
 
-    DateFormat df = new SimpleDateFormat("yyyy-MM-dd");
-    DateFormat tf = new SimpleDateFormat("hhmmssSS");
+    final DateFormat df = new SimpleDateFormat("yyyy-MM-dd");
+    final DateFormat tf = new SimpleDateFormat("hhmmssSS");
 
     private final NetworkTable rootTable;
     private NetworkTable subTable;

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
@@ -228,20 +228,14 @@ private static String videoModeToString(VideoMode mode) {
     }
 
     private static String pixelFormatToString(VideoMode.PixelFormat pixelFormat) {
-        switch (pixelFormat) {
-            case kMJPEG:
-                return "MJPEG";
-            case kYUYV:
-                return "YUYV";
-            case kRGB565:
-                return "RGB565";
-            case kBGR:
-                return "BGR";
-            case kGray:
-                return "Gray";
-            default:
-                return "Unknown";
-        }
+        return switch (pixelFormat) {
+            case kMJPEG -> "MJPEG";
+            case kYUYV -> "YUYV";
+            case kRGB565 -> "RGB565";
+            case kBGR -> "BGR";
+            case kGray -> "Gray";
+            default -> "Unknown";
+        };
     }
 
     @Override

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java
@@ -31,9 +31,9 @@
 
 public abstract class CpuImageProcessor implements FrameProvider {
     protected static class CapturedFrame {
-        CVMat colorImage;
-        FrameStaticProperties staticProps;
-        long captureTimestamp;
+        final CVMat colorImage;
+        final FrameStaticProperties staticProps;
+        final long captureTimestamp;
 
         public CapturedFrame(
                 CVMat colorImage, FrameStaticProperties staticProps, long captureTimestampNanos) {

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
@@ -25,10 +25,8 @@
 public class USBFrameProvider extends CpuImageProcessor {
     private final CvSink cvSink;
 
-    @SuppressWarnings("SpellCheckingInspection")
     private final VisionSourceSettables settables;
 
-    @SuppressWarnings("SpellCheckingInspection")
     public USBFrameProvider(CvSink sink, VisionSourceSettables visionSettables) {
         cvSink = sink;
         cvSink.setEnabled(true);

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java
@@ -26,7 +26,7 @@
  * @param <P> Parameters type for the pipe
  */
 public abstract class CVPipe<I, O, P> {
-    protected CVPipeResult<O> result = new CVPipeResult<>();
+    protected final CVPipeResult<O> result = new CVPipeResult<>();
     protected P params;
 
     public void setParams(P params) {

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagPoseEstimatorPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagPoseEstimatorPipe.java
@@ -39,7 +39,7 @@ public AprilTagPoseEstimatorPipe() {
         super();
     }
 
-    MatOfPoint2f temp = new MatOfPoint2f();
+    final MatOfPoint2f temp = new MatOfPoint2f();
 
     @Override
     protected AprilTagPoseEstimate process(AprilTagDetection in) {

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
@@ -35,7 +35,7 @@ public class ArucoDetectionPipeParams {
      *
      * <p>E.g. 36h11 -> 11 * errorCorrectionRate = Max error bits
      */
-    public double errorCorrectionRate = 0;
+    public final double errorCorrectionRate = 0;
 
     /**
      * If obtained corners should be iteratively refined. This should always be on for 3D estimation.
@@ -51,7 +51,7 @@ public class ArucoDetectionPipeParams {
      */
     public double refinementMinErrorPx = 0.005;
 
-    public boolean debugRefineWindow = false;
+    public final boolean debugRefineWindow = false;
 
     /**
      * If the 'Aruco3' speedup should be used. This is similar to AprilTag's 'decimate' value, but

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java
@@ -24,7 +24,7 @@
 public class CalculateFPSPipe
         extends CVPipe<Void, Integer, CalculateFPSPipe.CalculateFPSPipeParams> {
     private final LinearFilter fpsFilter = LinearFilter.movingAverage(20);
-    StopWatch clock = new StopWatch();
+    final StopWatch clock = new StopWatch();
 
     @Override
     protected Integer process(Void in) {

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
@@ -33,9 +33,9 @@ public class CornerDetectionPipe
                 List<TrackedTarget>,
                 List<TrackedTarget>,
                 CornerDetectionPipe.CornerDetectionPipeParameters> {
-    Comparator<Point> leftRightComparator = Comparator.comparingDouble(point -> point.x);
-    Comparator<Point> verticalComparator = Comparator.comparingDouble(point -> point.y);
-    MatOfPoint2f polyOutput = new MatOfPoint2f();
+    final Comparator<Point> leftRightComparator = Comparator.comparingDouble(point -> point.x);
+    final Comparator<Point> verticalComparator = Comparator.comparingDouble(point -> point.y);
+    final MatOfPoint2f polyOutput = new MatOfPoint2f();
 
     @Override
     protected List<TrackedTarget> process(List<TrackedTarget> targetList) {

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java
@@ -90,8 +90,8 @@ protected Void process(Pair<Mat, List<TrackedTarget>> in) {
     }
 
     public static class Draw2dCrosshairParams {
-        public boolean showCrosshair = true;
-        public Color crosshairColor = Color.GREEN;
+        public final boolean showCrosshair = true;
+        public final Color crosshairColor = Color.GREEN;
 
         public final boolean shouldDraw;
         public final FrameStaticProperties frameStaticProperties;