From fa5d58147a74e5bdf99d2752ddce00c4ca1337de Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Mon, 18 Mar 2024 20:50:32 -0400
Subject: [PATCH] Recreate user pipeline on type change (#1290)

* Recreate user pipeline on type change

* Fix typo

---------

Co-authored-by: shueja <32416547+shueja@users.noreply.github.com>
---
 .../vision/processes/PipelineManager.java     | 81 ++++++++++---------
 1 file changed, 45 insertions(+), 36 deletions(-)

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
index a10bfe6dc1..7cc6fff358 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -226,44 +226,10 @@ private void updatePipelineFromRequested() {
             return;
         }
 
-        // Cleanup potential old native resources before swapping over for user pipelines
-        if (currentUserPipeline != null && !(newIndex < 0)) {
-            currentUserPipeline.release();
-        }
-
         currentPipelineIndex = newIndex;
+
         if (newIndex >= 0) {
-            var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
-            switch (desiredPipelineSettings.pipelineType) {
-                case Reflective:
-                    logger.debug("Creating Reflective pipeline");
-                    currentUserPipeline =
-                            new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
-                    break;
-                case ColoredShape:
-                    logger.debug("Creating ColoredShape pipeline");
-                    currentUserPipeline =
-                            new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
-                    break;
-                case AprilTag:
-                    logger.debug("Creating AprilTag pipeline");
-                    currentUserPipeline =
-                            new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
-                    break;
-
-                case Aruco:
-                    logger.debug("Creating Aruco Pipeline");
-                    currentUserPipeline = new ArucoPipeline((ArucoPipelineSettings) desiredPipelineSettings);
-                    break;
-                case ObjectDetection:
-                    logger.debug("Creating ObjectDetection Pipeline");
-                    currentUserPipeline =
-                            new ObjectDetectionPipeline(
-                                    (ObjectDetectionPipelineSettings) desiredPipelineSettings);
-                default:
-                    // Can be calib3d or drivermode, both of which are special cases
-                    break;
-            }
+            recreateUserPipeline();
         }
 
         DataChangeService.getInstance()
@@ -272,6 +238,48 @@ private void updatePipelineFromRequested() {
                                 "fullsettings", ConfigManager.getInstance().getConfig().toHashMap()));
     }
 
+    /**
+     * Recreate the current user pipeline with the current pipeline index. Useful to force a
+     * recreation after changing pipeline type
+     */
+    private void recreateUserPipeline() {
+        // Cleanup potential old native resources before swapping over from a user pipeline
+        if (currentUserPipeline != null && !(currentPipelineIndex < 0)) {
+            currentUserPipeline.release();
+        }
+
+        var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
+        switch (desiredPipelineSettings.pipelineType) {
+            case Reflective:
+                logger.debug("Creating Reflective pipeline");
+                currentUserPipeline =
+                        new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
+                break;
+            case ColoredShape:
+                logger.debug("Creating ColoredShape pipeline");
+                currentUserPipeline =
+                        new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
+                break;
+            case AprilTag:
+                logger.debug("Creating AprilTag pipeline");
+                currentUserPipeline =
+                        new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
+                break;
+
+            case Aruco:
+                logger.debug("Creating Aruco Pipeline");
+                currentUserPipeline = new ArucoPipeline((ArucoPipelineSettings) desiredPipelineSettings);
+                break;
+            case ObjectDetection:
+                logger.debug("Creating ObjectDetection Pipeline");
+                currentUserPipeline =
+                        new ObjectDetectionPipeline((ObjectDetectionPipelineSettings) desiredPipelineSettings);
+            default:
+                // Can be calib3d or drivermode, both of which are special cases
+                break;
+        }
+    }
+
     /**
      * Enters or exits calibration mode based on the parameter. <br>
      * <br>
@@ -502,5 +510,6 @@ public void changePipelineType(int newType) {
         userPipelineSettings.set(idx, newSettings);
         setPipelineInternal(idx);
         reassignIndexes();
+        recreateUserPipeline();
     }
 }