Merge pull request #115 from deltacv/dev

Release 3.6.0

Common/src/main/java/androidx/annotation/ColorInt.java

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2015 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package androidx.annotation;
+import static java.lang.annotation.ElementType.FIELD;
+import static java.lang.annotation.ElementType.LOCAL_VARIABLE;
+import static java.lang.annotation.ElementType.METHOD;
+import static java.lang.annotation.ElementType.PARAMETER;
+import static java.lang.annotation.RetentionPolicy.CLASS;
+import java.lang.annotation.Retention;
+import java.lang.annotation.Target;
+/**
+ * Denotes that the annotated element represents a packed color
+ * int, {@code AARRGGBB}. If applied to an int array, every element
+ * in the array represents a color integer.
+ * <p>
+ * Example:
+ * <pre>{@code
+ *  public abstract void setTextColor(@ColorInt int color);
+ * }</pre>
+ */
+@Retention(CLASS)
+@Target({PARAMETER,METHOD,LOCAL_VARIABLE,FIELD})
+public @interface ColorInt {
+}

Common/src/main/java/com/github/serivesmejia/eocvsim/util/event/EventHandler.kt

@@ -114,6 +114,7 @@ class EventHandler(val name: String) : Runnable {
                     throw ex
                 } else {
                     logger.error("Error while running \"once\" ${listener.javaClass.name}", ex)
+                    removeOnceListener(listener)
                 }
             }
 

Common/src/main/java/com/qualcomm/robotcore/util/SortOrder.java

@@ -0,0 +1,28 @@
+/*
+ * Copyright (c) 2024 FIRST
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+package com.qualcomm.robotcore.util;
+
+public enum SortOrder
+{
+    ASCENDING,
+    DESCENDING
+}

EOCV-Sim/build.gradle

@@ -6,6 +6,8 @@ plugins {
     id 'org.jetbrains.kotlin.jvm'
     id 'com.github.johnrengelman.shadow'
     id 'maven-publish'
+
+    id 'edu.sc.seis.launch4j' version '3.0.6'
 }
 
 apply from: '../build.common.gradle'
@@ -32,6 +34,17 @@ test {
 
 apply from: '../test-logging.gradle'
 
+launch4j {
+    mainClassName = 'com.github.serivesmejia.eocvsim.Main'
+    icon = "${projectDir}/src/main/resources/images/icon/ico_eocvsim.ico"
+
+    outfile = "${project.name}-${standardVersion}.exe"
+
+    copyConfigurable = [] // Prevents copying dependencies
+    jarTask = shadowJar
+
+}
+
 dependencies {
     api project(':Common')
     api project(':Vision')
@@ -66,8 +79,6 @@ dependencies {
     testImplementation "io.kotest:kotest-assertions-core:$kotest_version"
 
     implementation 'com.moandjiezana.toml:toml4j:0.7.2'
-    implementation 'com.google.jimfs:jimfs:1.3.0'
-
     implementation 'org.ow2.asm:asm:9.7'
 }
 

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/EOCVSim.kt

@@ -23,6 +23,7 @@
 
 package com.github.serivesmejia.eocvsim
 
+import com.github.serivesmejia.eocvsim.EOCVSim.Parameters
 import com.github.serivesmejia.eocvsim.config.Config
 import com.github.serivesmejia.eocvsim.config.ConfigManager
 import com.github.serivesmejia.eocvsim.gui.DialogFactory
@@ -32,7 +33,6 @@ import com.github.serivesmejia.eocvsim.input.InputSourceManager
 import com.github.serivesmejia.eocvsim.output.VideoRecordingSession
 import com.github.serivesmejia.eocvsim.pipeline.PipelineManager
 import com.github.serivesmejia.eocvsim.pipeline.PipelineSource
-import io.github.deltacv.common.pipeline.util.PipelineStatisticsCalculator
 import com.github.serivesmejia.eocvsim.tuner.TunerManager
 import com.github.serivesmejia.eocvsim.util.ClasspathScan
 import com.github.serivesmejia.eocvsim.util.FileFilters
@@ -41,13 +41,13 @@ import com.github.serivesmejia.eocvsim.util.event.EventHandler
 import com.github.serivesmejia.eocvsim.util.exception.MaxActiveContextsException
 import com.github.serivesmejia.eocvsim.util.exception.handling.CrashReport
 import com.github.serivesmejia.eocvsim.util.exception.handling.EOCVSimUncaughtExceptionHandler
-import com.github.serivesmejia.eocvsim.util.extension.plus
 import com.github.serivesmejia.eocvsim.util.fps.FpsLimiter
 import com.github.serivesmejia.eocvsim.util.io.EOCVSimFolder
 import com.github.serivesmejia.eocvsim.util.loggerFor
 import com.github.serivesmejia.eocvsim.workspace.WorkspaceManager
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
 import com.qualcomm.robotcore.eventloop.opmode.OpModePipelineHandler
+import io.github.deltacv.common.pipeline.util.PipelineStatisticsCalculator
 import io.github.deltacv.common.util.ParsedVersion
 import io.github.deltacv.eocvsim.plugin.loader.PluginManager
 import io.github.deltacv.vision.external.PipelineRenderHook
@@ -242,7 +242,7 @@ class EOCVSim(val params: Parameters = Parameters()) {
      * @see destroy
      */
     enum class DestroyReason {
-        USER_REQUESTED, RESTART, CRASH
+        USER_REQUESTED, THREAD_EXIT, RESTART, CRASH
     }
 
     /**
@@ -437,9 +437,12 @@ class EOCVSim(val params: Parameters = Parameters()) {
 
         logger.warn("Main thread interrupted ($hexCode)")
 
+        if(!destroying) {
+            destroy(DestroyReason.THREAD_EXIT)
+        }
+
         if (isRestarting) {
             Thread.interrupted() //clear interrupted flag
-
             EOCVSim(params).init()
         }
     }
@@ -464,9 +467,14 @@ class EOCVSim(val params: Parameters = Parameters()) {
         configManager.saveToFile()
         visualizer.close()
 
-        eocvSimThread.interrupt()
         destroying = true
 
+        if(reason == DestroyReason.THREAD_EXIT) {
+            exitProcess(0)
+        } else {
+            eocvSimThread.interrupt()
+        }
+
         if (reason == DestroyReason.USER_REQUESTED || reason == DestroyReason.CRASH) jvmMainThread.interrupt()
     }
 

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/Main.kt

@@ -17,6 +17,8 @@ var currentMainThread: Thread = jvmMainThread
  * @see CommandLine
  */
 fun main(args: Array<String>) {
+    System.setProperty("sun.java2d.d3d", "false")
+
     val result = CommandLine(
         EOCVSimCommandInterface()
     ).setCaseInsensitiveEnumValuesAllowed(true).execute(*args)

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/gui/component/tuner/TunableFieldPanel.java

@@ -33,6 +33,7 @@
 import javax.swing.border.SoftBevelBorder;
 import java.awt.*;
 
+@SuppressWarnings("Unchecked")
 public class TunableFieldPanel extends JPanel {
 
     public final TunableField tunableField;

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/gui/component/tuner/TunableFieldPanelOptions.kt

@@ -151,7 +151,7 @@ class TunableFieldPanelOptions(val fieldPanel: TunableFieldPanel,
                 if(i < colorScalar.`val`.size) {
                     val colorVal = colorScalar.`val`[i]
                     fieldPanel.setFieldValue(i, colorVal)
-                    fieldPanel.tunableField.setGuiFieldValue(i, colorVal.toString())
+                    fieldPanel.tunableField.setFieldValueFromGui(i, colorVal.toString())
                 } else { break } //keep looping until we write the entire scalar value
             }
             colorPickButton.isSelected = false

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/gui/component/tuner/element/TunableComboBox.java

@@ -53,7 +53,7 @@ private void init() {
 
         addItemListener(evt -> eocvSim.onMainUpdate.doOnce(() -> {
             try {
-                tunableField.setGuiComboBoxValue(index, Objects.requireNonNull(getSelectedItem()).toString());
+                tunableField.setComboBoxValueFromGui(index, Objects.requireNonNull(getSelectedItem()).toString());
             } catch (IllegalAccessException ex) {
                 ex.printStackTrace();
             }

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/gui/component/tuner/element/TunableSlider.kt

@@ -45,7 +45,7 @@ class TunableSlider(val index: Int,
 
     private val changeFieldValue = EventListener {
         if(inControl) {
-            tunableField.setGuiFieldValue(index, scaledValue.toString())
+            tunableField.setFieldValueFromGui(index, scaledValue.toString())
 
             if (eocvSim.pipelineManager.paused)
                 eocvSim.pipelineManager.setPaused(false)

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/gui/component/tuner/element/TunableTextField.java

@@ -123,7 +123,7 @@ public void replace(FilterBypass fb, int offset, int length, String text, Attrib
             Runnable changeFieldValue = () -> {
                 if ((!hasValidText || !tunableField.isOnlyNumbers() || !getText().trim().equals(""))) {
                     try {
-                        tunableField.setGuiFieldValue(index, getText());
+                        tunableField.setFieldValueFromGui(index, getText());
                     } catch (Exception e) {
                         setRedBorder();
                     }

EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/pipeline/PipelineManager.kt

@@ -40,6 +40,10 @@ import com.github.serivesmejia.eocvsim.util.fps.FpsCounter
 import com.github.serivesmejia.eocvsim.util.loggerForThis
 import io.github.deltacv.common.image.MatPoster
 import io.github.deltacv.common.pipeline.util.PipelineStatisticsCalculator
+import io.github.deltacv.eocvsim.virtualreflect.VirtualField
+import io.github.deltacv.eocvsim.virtualreflect.VirtualReflectContext
+import io.github.deltacv.eocvsim.virtualreflect.VirtualReflection
+import io.github.deltacv.eocvsim.virtualreflect.jvm.JvmVirtualReflection
 import kotlinx.coroutines.*
 import org.firstinspires.ftc.robotcore.external.Telemetry
 import org.firstinspires.ftc.robotcore.internal.opmode.TelemetryImpl
@@ -89,14 +93,21 @@ class PipelineManager(
         private set
     @Volatile var currentPipelineData: PipelineData? = null
         private set
-    var currentTunerTarget: Any? = null
-        private set
     var currentPipelineName = ""
         private set
     var currentPipelineIndex = -1
         private set
     var previousPipelineIndex = 0
 
+    var virtualReflect: VirtualReflection = JvmVirtualReflection
+        set(value) {
+            eocvSim.tunerManager.setVirtualReflection(value)
+            field = value
+        }
+
+    var reflectTarget: Any? = null
+        private set
+
     @Volatile var previousPipeline: OpenCvPipeline? = null
         private set
 
@@ -130,7 +141,7 @@ class PipelineManager(
 
     var applyLatestSnapshotOnChange = false
 
-    val snapshotFieldFilter: (Field) -> Boolean = {
+    val snapshotFieldFilter: (VirtualField) -> Boolean = {
         // only snapshot fields managed by the variable tuner
         // when getTunableFieldOf returns null, it means that
         // it wasn't able to find a suitable TunableField for
@@ -258,6 +269,12 @@ class PipelineManager(
         val telemetry = currentTelemetry
         onUpdate.run()
 
+        for(activeContext in activePipelineContexts.toTypedArray()) {
+            if(!activeContext.isActive) {
+                activePipelineContexts.remove(activeContext)
+            }
+        }
+
         if(activePipelineContexts.size > MAX_ALLOWED_ACTIVE_PIPELINE_CONTEXTS) {
             throw MaxActiveContextsException("Current amount of active pipeline coroutine contexts (${activePipelineContexts.size}) is more than the maximum allowed. This generally means that there are multiple pipelines stuck in processFrame() running in the background, check for any lengthy operations in your pipelines.")
         }
@@ -347,22 +364,18 @@ class PipelineManager(
                     }
                 }
 
-                if(!isActive) {
-                    activePipelineContexts.remove(this.coroutineContext)
-                }
-
                 updateExceptionTracker()
             } catch (ex: Exception) { //handling exceptions from pipelines
                 if(!hasInitCurrentPipeline) {
-                    pipelineExceptionTracker.addMessage("Error while initializing requested pipeline, \"$currentPipelineName\". Falling back to previous one.")
+                    pipelineExceptionTracker.addMessage("Error while initializing requested pipeline, \"$currentPipelineName\". Falling back to default.")
                     pipelineExceptionTracker.addMessage(
                         StrUtil.fromException(ex).trim()
                     )
 
-                    eocvSim.visualizer.pipelineSelectorPanel.selectedIndex = previousPipelineIndex
-                    changePipeline(currentPipelineIndex)
+                    eocvSim.visualizer.pipelineSelectorPanel.selectedIndex = 0
+                    changePipeline(0)
 
-                    logger.error("Error while initializing requested pipeline, $currentPipelineName", ex)
+                    logger.error("Error while initializing requested pipeline, $currentPipelineName. Falling back to default.", ex)
                 } else {
                     updateExceptionTracker(ex)
                 }
@@ -386,8 +399,6 @@ class PipelineManager(
                 withTimeout(timeout) {
                     pipelineJob.join()
                 }
-
-                activePipelineContexts.remove(currentPipelineContext)
             } catch (ex: TimeoutCancellationException) {
                 //oops, pipeline ran out of time! we'll fall back
                 //to default pipeline to avoid further issues.
@@ -463,10 +474,14 @@ class PipelineManager(
     }
 
     fun addInstantiator(instantiatorFor: Class<*>, instantiator: PipelineInstantiator) {
-        pipelineInstantiators.put(instantiatorFor, instantiator)
+        pipelineInstantiators[instantiatorFor] = instantiator
     }
 
     fun getInstantiatorFor(clazz: Class<*>): PipelineInstantiator? {
+        if(pipelineInstantiators.containsKey(clazz)) {
+            return pipelineInstantiators[clazz]
+        }
+
         for((instantiatorFor, instantiator) in pipelineInstantiators) {
             if(ReflectUtil.hasSuperclass(clazz, instantiatorFor)) {
                 return instantiator
@@ -601,16 +616,18 @@ class PipelineManager(
         previousPipelineIndex = currentPipelineIndex
         previousPipeline = currentPipeline
 
-        currentPipeline      = nextPipeline
-        currentPipelineData  = pipelines[index]
-        currentTelemetry     = nextTelemetry
-        currentPipelineIndex = index
-        currentPipelineName  = currentPipeline!!.javaClass.simpleName
-        currentTunerTarget   = instantiator.variableTunerTargetObject(currentPipeline!!)
+        currentPipeline       = nextPipeline
+        currentPipelineData   = pipelines[index]
+        currentTelemetry      = nextTelemetry
+        currentPipelineIndex  = index
+        currentPipelineName   = currentPipeline!!.javaClass.simpleName
+
+        virtualReflect        = instantiator.virtualReflectOf(currentPipeline!!)
+        reflectTarget         = instantiator.variableTunerTarget(currentPipeline!!)
 
         currentTelemetry?.update() // clear telemetry
 
-        val snap = PipelineSnapshot(currentPipeline!!, snapshotFieldFilter)
+        val snap = PipelineSnapshot(virtualReflect.contextOf(reflectTarget!!)!!, snapshotFieldFilter)
 
         lastInitialSnapshot = if(applyLatestSnapshot) {
             applyLatestSnapshot()
@@ -668,13 +685,13 @@ class PipelineManager(
 
     fun captureSnapshot() {
         if(currentPipeline != null) {
-            latestSnapshot = PipelineSnapshot(currentPipeline!!, snapshotFieldFilter)
+            latestSnapshot = PipelineSnapshot(virtualReflect.contextOf(reflectTarget!!)!!, snapshotFieldFilter)
         }
     }
 
     fun captureStaticSnapshot() {
         if(currentPipeline != null) {
-            staticSnapshot = PipelineSnapshot(currentPipeline!!, snapshotFieldFilter)
+            staticSnapshot = PipelineSnapshot(virtualReflect.contextOf(reflectTarget!!)!!, snapshotFieldFilter)
         }
     }
 
@@ -698,7 +715,7 @@ class PipelineManager(
     fun getIndexOf(pipeline: OpenCvPipeline, source: PipelineSource = PipelineSource.CLASSPATH) =
         getIndexOf(pipeline::class.java, source)
 
-    fun getIndexOf(pipelineClass: Class<out OpenCvPipeline>, source: PipelineSource = PipelineSource.CLASSPATH): Int? {
+    fun getIndexOf(pipelineClass: Class<*>, source: PipelineSource = PipelineSource.CLASSPATH): Int? {
         for((i, pipelineData) in pipelines.withIndex()) {
             if(pipelineData.clazz.name == pipelineClass.name && pipelineData.source == source) {
                 return i