Fixed cyclical bugs

deltacv · Aug 20, 2023 · c9dbea5 · c9dbea5
1 parent 907fe5e
commit c9dbea5
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Showing 10 changed files with 46 additions and 224 deletions.
diff --git a/...com/github/serivesmejia/eocvsim/gui/component/visualizer/PipelineOpModeSwitchablePanel.kt b/...com/github/serivesmejia/eocvsim/gui/component/visualizer/PipelineOpModeSwitchablePanel.kt
@@ -50,10 +50,10 @@ class PipelineOpModeSwitchablePanel(val eocvSim: EOCVSim) : JTabbedPane() {
             val index = sourceTabbedPane.selectedIndex
 
             if(index == 0) {
-                opModeSelectorPanel.reset(0)
-
                 pipelineSelectorPanel.isActive = true
                 opModeSelectorPanel.isActive = false
+
+                opModeSelectorPanel.reset(0)
             } else if(index == 1) {
                 opModeSelectorPanel.reset()
 
@@ -76,12 +76,12 @@ class PipelineOpModeSwitchablePanel(val eocvSim: EOCVSim) : JTabbedPane() {
 
     fun enableSwitching() {
         pipelineSelectorPanel.allowPipelineSwitching = true
-        opModeSelectorPanel.allowOpModeSwitching = true
+        opModeSelectorPanel.isActive = true
     }
 
     fun disableSwitching() {
         pipelineSelectorPanel.allowPipelineSwitching = false
-        opModeSelectorPanel.allowOpModeSwitching = false
+        opModeSelectorPanel.isActive = false
     }
 
     fun enableSwitchingBlocking() = runBlocking {

diff --git a/...va/com/github/serivesmejia/eocvsim/gui/component/visualizer/opmode/OpModeControlsPanel.kt b/...va/com/github/serivesmejia/eocvsim/gui/component/visualizer/opmode/OpModeControlsPanel.kt
@@ -8,8 +8,6 @@ import io.github.deltacv.vision.internal.opmode.OpModeNotification
 import io.github.deltacv.vision.internal.opmode.OpModeState
 import java.awt.BorderLayout
 import javax.swing.JPanel
-import java.awt.GridBagConstraints
-import java.awt.GridBagLayout
 import javax.swing.JButton
 import javax.swing.SwingUtilities
 
@@ -21,8 +19,9 @@ class OpModeControlsPanel(val eocvSim: EOCVSim) : JPanel() {
         private set
 
     private var currentManagerIndex: Int? = null
+    private var upcomingIndex: Int? = null
 
-    var allowOpModeSwitching = false
+    var isActive = false
 
     init {
         layout = BorderLayout()
@@ -36,6 +35,8 @@ class OpModeControlsPanel(val eocvSim: EOCVSim) : JPanel() {
             eocvSim.pipelineManager.onUpdate.doOnce {
                 if(eocvSim.pipelineManager.currentPipeline !is OpMode) return@doOnce
 
+                eocvSim.pipelineManager.setPaused(false, PipelineManager.PauseReason.NOT_PAUSED)
+
                 val opMode = eocvSim.pipelineManager.currentPipeline as OpMode
                 val state = opMode.notifier.state
 
@@ -50,17 +51,16 @@ class OpModeControlsPanel(val eocvSim: EOCVSim) : JPanel() {
     }
 
     fun stopCurrentOpMode() {
-        if(eocvSim.pipelineManager.currentPipeline !is OpMode) return
-
-        val opMode = eocvSim.pipelineManager.currentPipeline as OpMode
-        opMode.notifier.notify(OpModeNotification.STOP)
+        if(eocvSim.pipelineManager.currentPipeline != currentOpMode || currentOpMode == null) return
+        currentOpMode!!.notifier.notify(OpModeNotification.STOP)
     }
 
     private fun notifySelected() {
-        if(!allowOpModeSwitching) return
+        if(!isActive) return
 
         if(eocvSim.pipelineManager.currentPipeline !is OpMode) return
         val opMode = eocvSim.pipelineManager.currentPipeline as OpMode
+        val opModeIndex = currentManagerIndex!!
 
         opMode.notifier.onStateChange {
             val state = opMode.notifier.state
@@ -70,7 +70,10 @@ class OpModeControlsPanel(val eocvSim: EOCVSim) : JPanel() {
             }
 
             if(state == OpModeState.STOPPED) {
-                opModeSelected(currentManagerIndex!!)
+                if(isActive && opModeIndex == upcomingIndex) {
+                    opModeSelected(currentManagerIndex!!)
+                }
+
                 it.removeThis()
             }
         }
@@ -97,12 +100,16 @@ class OpModeControlsPanel(val eocvSim: EOCVSim) : JPanel() {
     }
 
     fun opModeSelected(managerIndex: Int, forceChangePipeline: Boolean = true) {
-        eocvSim.pipelineManager.setPaused(false)
+        eocvSim.pipelineManager.requestSetPaused(false)
+
+        if(forceChangePipeline) {
+            eocvSim.pipelineManager.requestForceChangePipeline(managerIndex)
+        }
 
-        if(forceChangePipeline) eocvSim.pipelineManager.requestForceChangePipeline(managerIndex)
-        currentManagerIndex = managerIndex
+        upcomingIndex = managerIndex
 
         eocvSim.pipelineManager.onUpdate.doOnce {
+            currentManagerIndex = managerIndex
             notifySelected()
         }
     }

diff --git a/...va/com/github/serivesmejia/eocvsim/gui/component/visualizer/opmode/OpModeSelectorPanel.kt b/...va/com/github/serivesmejia/eocvsim/gui/component/visualizer/opmode/OpModeSelectorPanel.kt
@@ -54,15 +54,12 @@ class OpModeSelectorPanel(val eocvSim: EOCVSim, val opModeControlsPanel: OpModeC
     val autonomousSelector = JList<String>()
     val teleopSelector     = JList<String>()
 
-    var allowOpModeSwitching = false
+    var isActive = false
         set(value) {
-            opModeControlsPanel.allowOpModeSwitching = value
+            opModeControlsPanel.isActive = value
             field = value
         }
 
-    var isActive = false
-        internal set
-
     init {
         layout = GridBagLayout()
         selectOpModeLabelsPanel.layout = GridBagLayout()
@@ -168,7 +165,7 @@ class OpModeSelectorPanel(val eocvSim: EOCVSim, val opModeControlsPanel: OpModeC
 
         autonomousSelector.addMouseListener(object: MouseAdapter() {
             override fun mouseClicked(e: MouseEvent) {
-                if (!allowOpModeSwitching) return
+                if (!isActive) return
 
                 val index = (e.source as JList<*>).locationToIndex(e.point)
                 if(index >= 0) {
@@ -179,7 +176,7 @@ class OpModeSelectorPanel(val eocvSim: EOCVSim, val opModeControlsPanel: OpModeC
 
         teleopSelector.addMouseListener(object: MouseAdapter() {
             override fun mouseClicked(e: MouseEvent) {
-                if (!allowOpModeSwitching) return
+                if (!isActive) return
 
                 val index = (e.source as JList<*>).locationToIndex(e.point)
                 if(index >= 0) {
@@ -189,12 +186,17 @@ class OpModeSelectorPanel(val eocvSim: EOCVSim, val opModeControlsPanel: OpModeC
         })
 
         eocvSim.pipelineManager.onPipelineChange {
-            // we are doing this to detect external pipeline changes
+            if(!isActive) return@onPipelineChange
+
+            // we are doing this to detect external pipeline changes and reflect them
+            // accordingly in the UI.
+            //
             // in the event that this change was triggered by us, OpModeSelectorPanel,
             // we need to hold on a cycle so that the state has been fully updated,
-            // just to be able to check correctly.
+            // just to be able to check correctly and, if it was requested by
+            // OpModeSelectorPanel, skip this message and not do anything.
             eocvSim.pipelineManager.onUpdate.doOnce {
-                if(isActive && opModeControlsPanel.currentOpMode != eocvSim.pipelineManager.currentPipeline) {
+                if(isActive && opModeControlsPanel.currentOpMode != eocvSim.pipelineManager.currentPipeline && eocvSim.pipelineManager.currentPipeline != null) {
                     val opMode = eocvSim.pipelineManager.currentPipeline
 
                     if(opMode is OpMode) {
@@ -205,7 +207,7 @@ class OpModeSelectorPanel(val eocvSim: EOCVSim, val opModeControlsPanel: OpModeC
                         logger.info("External change detected \"$name\"")
 
                         opModeSelected(eocvSim.pipelineManager.currentPipelineIndex, name, false)
-                    } else {
+                    } else if(isActive) {
                         reset(-1)
                     }
                 }
@@ -222,6 +224,8 @@ class OpModeSelectorPanel(val eocvSim: EOCVSim, val opModeControlsPanel: OpModeC
     }
 
     private fun opModeSelected(managerIndex: Int, name: String, forceChangePipeline: Boolean = true) {
+        if(!isActive) return
+
         opModeNameLabel.text = name
 
         textPanel.removeAll()
@@ -277,9 +281,9 @@ class OpModeSelectorPanel(val eocvSim: EOCVSim, val opModeControlsPanel: OpModeC
 
         opModeControlsPanel.reset()
 
-        if(eocvSim.pipelineManager.currentPipeline == opModeControlsPanel.currentOpMode) {
-            val opMode = opModeControlsPanel.currentOpMode
+        val opMode = opModeControlsPanel.currentOpMode
 
+        if(eocvSim.pipelineManager.currentPipeline == opMode && opMode != null && opMode.notifier.state != OpModeState.SELECTED) {
             opMode?.notifier?.onStateChange?.let {
                 it {
                     val state = opMode.notifier.state
@@ -289,7 +293,7 @@ class OpModeSelectorPanel(val eocvSim: EOCVSim, val opModeControlsPanel: OpModeC
 
                         if(nextPipeline == null || nextPipeline >= 0) {
                             eocvSim.pipelineManager.onUpdate.doOnce {
-                                eocvSim.pipelineManager.requestChangePipeline(nextPipeline)
+                                eocvSim.pipelineManager.changePipeline(nextPipeline)
                             }
                         }
                     }

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
@@ -109,7 +109,6 @@ public void update(boolean isPaused) {
             Mat m = currentInputSource.update();
 
             if(m != null && !m.empty()) {
-                lastMatFromSource.release();
                 m.copyTo(lastMatFromSource);
                 // add an extra alpha channel because that's what eocv returns for some reason... (more realistic simulation lol)
                 Imgproc.cvtColor(lastMatFromSource, lastMatFromSource, Imgproc.COLOR_RGB2RGBA);

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
@@ -108,6 +108,8 @@ class PipelineManager(var eocvSim: EOCVSim, val pipelineStatisticsCalculator: Pi
             return field
         }
 
+    var pauseOnImages = true
+
     var pauseReason = PauseReason.NOT_PAUSED
         private set
         get() {
@@ -615,7 +617,7 @@ class PipelineManager(var eocvSim: EOCVSim, val pipelineStatisticsCalculator: Pi
         setPaused(false)
 
         //if pause on images option is turned on by user
-        if (eocvSim.configManager.config.pauseOnImages) {
+        if (eocvSim.configManager.config.pauseOnImages && pauseOnImages) {
             //pause next frame if current selected input source is an image
             eocvSim.inputSourceManager.pauseIfImageTwoFrames()
         }

diff --git a/...in/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptStackProcessor.java b/...in/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptStackProcessor.java