Added centerstage atag library & improved OpMode Exception handling

deltacv · Sep 24, 2023 · b2b584f · b2b584f
1 parent 128a1c7
commit b2b584f
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Showing 18 changed files with 222 additions and 51 deletions.
diff --git a/...m/src/main/java/com/github/serivesmejia/eocvsim/gui/util/icon/PipelineListIconRenderer.kt b/...m/src/main/java/com/github/serivesmejia/eocvsim/gui/util/icon/PipelineListIconRenderer.kt
@@ -28,12 +28,14 @@ class PipelineListIconRenderer(
             list, value, index, isSelected, cellHasFocus
         ) as JLabel
 
-        val source = pipelineManager.pipelines[indexMapProvider()[index]!!].source
-
-        label.icon = when(source) {
-            PipelineSource.COMPILED_ON_RUNTIME -> gearsIcon
-            else -> hammerIcon
-        }
+        try {
+            val source = pipelineManager.pipelines[indexMapProvider()[index]!!].source
+
+            label.icon = when (source) {
+                PipelineSource.COMPILED_ON_RUNTIME -> gearsIcon
+                else -> hammerIcon
+            }
+        } catch(ignored: Exception) { }
 
         return label
     }

diff --git a/EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/input/InputSourceManager.java b/EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/input/InputSourceManager.java
@@ -27,6 +27,7 @@
 import com.github.serivesmejia.eocvsim.gui.Visualizer;
 import com.github.serivesmejia.eocvsim.gui.component.visualizer.pipeline.SourceSelectorPanel;
 import com.github.serivesmejia.eocvsim.input.source.ImageSource;
+import com.github.serivesmejia.eocvsim.input.source.NullSource;
 import com.github.serivesmejia.eocvsim.pipeline.PipelineManager;
 import com.github.serivesmejia.eocvsim.util.SysUtil;
 import org.opencv.core.Mat;
@@ -70,6 +71,7 @@ public void init() {
             lastMatFromSource = new Mat();
 
         Size size = new Size(640, 480);
+
         createDefaultImgInputSource("/images/ug_4.jpg", "ug_eocvsim_4.jpg", "Ultimate Goal 4 Ring", size);
         createDefaultImgInputSource("/images/ug_1.jpg", "ug_eocvsim_1.jpg", "Ultimate Goal 1 Ring", size);
         createDefaultImgInputSource("/images/ug_0.jpg", "ug_eocvsim_0.jpg", "Ultimate Goal 0 Ring", size);
@@ -202,7 +204,13 @@ public boolean setInputSource(String sourceName, boolean makeDefault) {
     }
 
     public boolean setInputSource(String sourceName) {
-        InputSource src = sources.get(sourceName);
+        InputSource src = null;
+
+        if(sourceName == null) {
+            src = new NullSource();
+        } else {
+            src = sources.get(sourceName);
+        }
 
         if (src != null) {
             src.reset();

diff --git a/EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/input/source/NullSource.java b/EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/input/source/NullSource.java
@@ -0,0 +1,55 @@
+package com.github.serivesmejia.eocvsim.input.source;
+
+import com.github.serivesmejia.eocvsim.input.InputSource;
+import org.opencv.core.Mat;
+
+import javax.swing.filechooser.FileFilter;
+
+public class NullSource extends InputSource {
+    @Override
+    public boolean init() {
+        return true;
+    }
+
+    @Override
+    public void reset() {
+
+    }
+
+    @Override
+    public void close() {
+
+    }
+
+    Mat emptyMat = new Mat();
+
+    @Override
+    public Mat update() {
+        return emptyMat;
+    }
+
+    @Override
+    public void onPause() {
+
+    }
+
+    @Override
+    public void onResume() {
+
+    }
+
+    @Override
+    protected InputSource internalCloneSource() {
+        return new NullSource();
+    }
+
+    @Override
+    public FileFilter getFileFilters() {
+        return null;
+    }
+
+    @Override
+    public long getCaptureTimeNanos() {
+        return System.nanoTime();
+    }
+}
diff --git a/EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/pipeline/PipelineManager.kt b/EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/pipeline/PipelineManager.kt
@@ -56,10 +56,13 @@ import kotlin.coroutines.EmptyCoroutineContext
 import kotlin.math.roundToLong
 
 @OptIn(DelicateCoroutinesApi::class)
-class PipelineManager(var eocvSim: EOCVSim, val pipelineStatisticsCalculator: PipelineStatisticsCalculator) {
+class PipelineManager(
+    var eocvSim: EOCVSim,
+    val pipelineStatisticsCalculator: PipelineStatisticsCalculator
+) {
 
     companion object {
-        const val MAX_ALLOWED_ACTIVE_PIPELINE_CONTEXTS = 5
+        const val MAX_ALLOWED_ACTIVE_PIPELINE_CONTEXTS = 18
 
         var staticSnapshot: PipelineSnapshot? = null
             private set
@@ -190,7 +193,7 @@ class PipelineManager(var eocvSim: EOCVSim, val pipelineStatisticsCalculator: Pi
 
             if(telemetry is TelemetryImpl) {
                 telemetry.errItem.caption = "[/!\\]"
-                telemetry.errItem.setValue("Uncaught exception thrown in\n pipeline, check Workspace -> Output.")
+                telemetry.errItem.setValue("Uncaught exception thrown, check Workspace -> Output.")
                 telemetry.forceTelemetryTransmission()
             }
         }
@@ -222,6 +225,14 @@ class PipelineManager(var eocvSim: EOCVSim, val pipelineStatisticsCalculator: Pi
                 }
             }
         }
+
+        pipelineExceptionTracker.onPipelineException {
+            if(currentPipeline != null) {
+                for (pipelineHandler in pipelineHandlers) {
+                    pipelineHandler.onException()
+                }
+            }
+        }
     }
 
     private fun applyStaticSnapOrDef() {

diff --git a/EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/pipeline/handler/PipelineHandler.kt b/EOCV-Sim/src/main/java/com/github/serivesmejia/eocvsim/pipeline/handler/PipelineHandler.kt
@@ -35,6 +35,8 @@ interface PipelineHandler {
 
     fun processFrame(currentInputSource: InputSource?)
 
+    fun onException()
+
     fun onChange(beforePipeline: OpenCvPipeline?, newPipeline: OpenCvPipeline, telemetry: Telemetry)
 
 }
diff --git a/...m/src/main/java/com/github/serivesmejia/eocvsim/pipeline/util/PipelineExceptionTracker.kt b/...m/src/main/java/com/github/serivesmejia/eocvsim/pipeline/util/PipelineExceptionTracker.kt
@@ -31,7 +31,7 @@ import com.github.serivesmejia.eocvsim.util.loggerForThis
 class PipelineExceptionTracker(private val pipelineManager: PipelineManager) {
 
     companion object {
-        const val millisExceptionExpire = 25000L
+        const val millisExceptionExpire = 35000L
         const val cutStacktraceLines = 9
     }
 
@@ -70,8 +70,8 @@ class PipelineExceptionTracker(private val pipelineManager: PipelineManager) {
                     ex
                 )
 
-                logger.warn("Note that to avoid spam, continuously equal thrown exceptions are only logged once.")
-                logger.warn("It will be reported once the pipeline stops throwing the exception after $millisExceptionExpire ms")
+                logger.info("Note that to avoid spam, continuously equal thrown exceptions are only logged once.")
+                logger.info("It will be reported if the pipeline stops throwing the exception after $millisExceptionExpire ms")
 
                 exceptionsThrown[ex] = PipelineException(
                     0, exStr, System.currentTimeMillis()
@@ -111,17 +111,17 @@ class PipelineExceptionTracker(private val pipelineManager: PipelineManager) {
 
     val message: String get() {
         if(currentPipeline == null)
-            return "**No pipeline selected**"
+            return "**Nothing currently running**"
 
         val messageBuilder = StringBuilder()
         val pipelineName = currentPipeline!!.clazz.simpleName
 
         if(exceptionsThrown.isNotEmpty()) {
             messageBuilder
-                .append("**Pipeline $pipelineName is throwing ${exceptionsThrown.size} exception(s)**")
+                .append("**\"$pipelineName\" is throwing ${exceptionsThrown.size} exception(s)**")
                 .appendLine("\n")
         } else {
-            messageBuilder.append("**Pipeline $pipelineName ")
+            messageBuilder.append("**\"$pipelineName\" ")
 
             if(pipelineManager.paused) {
                 messageBuilder.append("is paused (last time was running at ${pipelineManager.pipelineFpsCounter.fps} FPS)")

diff --git a/EOCV-Sim/src/main/java/com/qualcomm/robotcore/eventloop/opmode/OpModePipelineHandler.kt b/EOCV-Sim/src/main/java/com/qualcomm/robotcore/eventloop/opmode/OpModePipelineHandler.kt
@@ -23,18 +23,25 @@ class OpModePipelineHandler(val inputSourceManager: InputSourceManager, private
     override fun preInit() {
         if(pipeline == null) return
 
-        inputSourceManager.setInputSource(inputSourceManager.defaultInputSource)
-        ThreadSourceHander.register(VisionInputSourceHander(pipeline!!.notifier, viewport))
+        inputSourceManager.setInputSource(null)
+        ThreadSourceHander.register(VisionInputSourceHander(pipeline?.notifier ?: return, viewport))
 
         pipeline?.telemetry = telemetry
-        pipeline?.hardwareMap = HardwareMap()
+        pipeline?.hardwareMap = HardwareMap();
     }
 
     override fun init() { }
 
     override fun processFrame(currentInputSource: InputSource?) {
     }
 
+    override fun onException() {
+        if(pipeline != null) {
+            pipeline!!.forceStop()
+            onStop.run()
+        }
+    }
+
     override fun onChange(beforePipeline: OpenCvPipeline?, newPipeline: OpenCvPipeline, telemetry: Telemetry) {
         if(beforePipeline is OpMode) {
             beforePipeline.forceStop()

diff --git a/EOCV-Sim/src/main/java/io/github/deltacv/eocvsim/input/VisionInputSource.kt b/EOCV-Sim/src/main/java/io/github/deltacv/eocvsim/input/VisionInputSource.kt
@@ -3,13 +3,15 @@ package io.github.deltacv.eocvsim.input
 import com.github.serivesmejia.eocvsim.input.InputSource
 import com.github.serivesmejia.eocvsim.util.loggerForThis
 import io.github.deltacv.vision.external.source.VisionSourceBase
+import io.github.deltacv.vision.external.util.ThrowableHandler
 import io.github.deltacv.vision.external.util.Timestamped
 import org.opencv.core.Mat
 import org.opencv.core.Size
 
 class VisionInputSource(
-        private val inputSource: InputSource
-) : VisionSourceBase() {
+    private val inputSource: InputSource,
+    throwableHandler: ThrowableHandler? = null
+) : VisionSourceBase(throwableHandler) {
 
     val logger by loggerForThis()
 
@@ -37,11 +39,11 @@ class VisionInputSource(
     private val emptyMat = Mat()
 
     override fun pullFrame(): Timestamped<Mat> {
-        try {
+        return try {
             val frame = inputSource.update();
-            return Timestamped(frame, inputSource.captureTimeNanos)
+            Timestamped(frame, inputSource.captureTimeNanos)
         } catch(e: Exception) {
-            return Timestamped(emptyMat, 0)
+            Timestamped(emptyMat, 0)
         }
     }
 

diff --git a/EOCV-Sim/src/main/java/io/github/deltacv/eocvsim/input/VisionInputSourceHander.kt b/EOCV-Sim/src/main/java/io/github/deltacv/eocvsim/input/VisionInputSourceHander.kt
@@ -10,6 +10,7 @@ import io.github.deltacv.vision.external.source.VisionSource
 import io.github.deltacv.vision.external.source.VisionSourceHander
 import io.github.deltacv.vision.internal.opmode.OpModeNotifier
 import io.github.deltacv.vision.internal.opmode.OpModeState
+import io.github.deltacv.vision.internal.opmode.RedirectToOpModeThrowableHandler
 import org.opencv.core.Mat
 import org.opencv.core.Size
 import org.opencv.videoio.VideoCapture
@@ -52,7 +53,7 @@ class VisionInputSourceHander(val notifier: OpModeNotifier, val viewport: OpenCv
                     else throw IllegalArgumentException("Unknown source $name")
 
             CameraSource(index, Size(640.0, 480.0))
-        })
+        }, RedirectToOpModeThrowableHandler(notifier))
 
         notifier.onStateChange {
             when(notifier.state) {

diff --git a/EOCV-Sim/src/main/java/org/openftc/easyopencv/TimestampedPipelineHandler.kt b/EOCV-Sim/src/main/java/org/openftc/easyopencv/TimestampedPipelineHandler.kt
@@ -41,4 +41,7 @@ class TimestampedPipelineHandler : SpecificPipelineHandler<TimestampedOpenCvPipe
     override fun processFrame(currentInputSource: InputSource?) {
         pipeline?.setTimestamp(currentInputSource?.captureTimeNanos ?: 0L)
     }
+
+    override fun onException() {
+    }
 }
diff --git a/Vision/src/main/java/com/qualcomm/robotcore/eventloop/opmode/LinearOpMode.java b/Vision/src/main/java/com/qualcomm/robotcore/eventloop/opmode/LinearOpMode.java
@@ -36,9 +36,9 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import org.slf4j.LoggerFactory;
 
 public abstract class LinearOpMode extends OpMode {
+
     protected final Object lock = new Object();
     private LinearOpModeHelperThread helper = new LinearOpModeHelperThread(this);
-    private RuntimeException catchedException = null;
 
     public LinearOpMode() {
     }
@@ -174,11 +174,6 @@ public final void start() {
 
     @Override
     public final void loop() {
-        synchronized (lock) {
-            if (catchedException != null) {
-                throw catchedException;
-            }
-        }
     }
 
     @Override
@@ -221,9 +216,7 @@ public void run() {
                 Thread.currentThread().interrupt();
                 logger.info("{}: interrupted", opMode.getClass().getSimpleName());
             } catch (RuntimeException e) {
-                synchronized (opMode.lock) {
-                    opMode.catchedException = e;
-                }
+                opMode.notifier.notify(e);
             }
 
             logger.info("{}: stopped", opMode.getClass().getSimpleName());

diff --git a/Vision/src/main/java/com/qualcomm/robotcore/eventloop/opmode/OpMode.java b/Vision/src/main/java/com/qualcomm/robotcore/eventloop/opmode/OpMode.java
@@ -113,7 +113,6 @@ public void requestOpModeStop() {
     }
 
     /* BEGIN OpenCvPipeline Impl */
-
     private boolean stopped = false;
 
     @Override
@@ -178,14 +177,26 @@ public final Mat processFrame(Mat input, long captureTimeNanos) {
                 break;
         }
 
+        Throwable e = notifier.pollException();
+
+        if(e != null) {
+            if(e instanceof RuntimeException) {
+                throw (RuntimeException) e;
+            } else if(e instanceof Error) {
+                throw (Error) e;
+            } else {
+                throw new RuntimeException(e);
+            }
+        }
+
         return null; // OpModes don't actually show anything to the viewport, we'll delegate that to OpenCvCamera-s
     }
 
     @Override
     public final void onViewportTapped() {
     }
 
-    public void forceStop() {
+    protected void forceStop() {
         if(stopped) return;
 
         notifier.notify(OpModeState.STOP);