backend is done?

Author: samfreund

photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java

@@ -294,6 +294,10 @@ public boolean saveUploadedAprilTagFieldLayout(Path uploadPath) {
         return m_provider.saveUploadedAprilTagFieldLayout(uploadPath);
     }
 
+    public boolean saveUploadedNeuralNetworkProperties(Path uploadPath) {
+        return m_provider.saveUploadedNeuralNetworkProperties(uploadPath);
+    }
+
     public void requestSave() {
         logger.trace("Requesting save...");
         saveRequestTimestamp = System.currentTimeMillis();

photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java

@@ -41,4 +41,6 @@ public void clearConfig() {
     public abstract boolean saveUploadedNetworkConfig(Path uploadPath);
 
     public abstract boolean saveUploadedAprilTagFieldLayout(Path uploadPath);
+
+    public abstract boolean saveUploadedNeuralNetworkProperties(Path uploadPath);
 }

photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java

@@ -214,7 +214,12 @@ public void load() {
 
         this.config =
                 new PhotonConfiguration(
-                        hardwareConfig, hardwareSettings, networkConfig, atfl, cameraConfigurations);
+                        hardwareConfig,
+                        hardwareSettings,
+                        networkConfig,
+                        atfl,
+                        new NeuralNetworkProperties(),
+                        cameraConfigurations);
     }
 
     @Override
@@ -484,4 +489,11 @@ private void saveAndWriteTask() {
     public void unloadCameraConfigs() {
         this.config.getCameraConfigurations().clear();
     }
+
+    @Override
+    public boolean saveUploadedNeuralNetworkProperties(Path uploadPath) {
+        // TODO I'm not implementing this cause nobody with the legacy config is gonna have one of these
+        throw new UnsupportedOperationException(
+                "Unimplemented method 'saveUploadedNeuralNetworkProperties'");
+    }
 }

photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelManager.java

@@ -27,6 +27,7 @@
 import java.util.ArrayList;
 import java.util.Enumeration;
 import java.util.HashMap;
+import java.util.LinkedList;
 import java.util.List;
 import java.util.Map;
 import java.util.Optional;
@@ -36,6 +37,7 @@
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.rknn.RknnJNI.ModelVersion;
 import org.photonvision.vision.objects.Model;
 import org.photonvision.vision.objects.RknnModel;
 
@@ -55,6 +57,27 @@ public class NeuralNetworkModelManager {
     /** Singleton instance of the NeuralNetworkModelManager */
     private static NeuralNetworkModelManager INSTANCE;
 
+    /**
+     * This function stores the properties of the shipped object detection models. It is stored as a
+     * function so that it can be dynamic, to adjust for the models directory.
+     */
+    private NeuralNetworkProperties getShippedProperties(File modelsDirectory) {
+        NeuralNetworkProperties nnProps = new NeuralNetworkProperties();
+
+        nnProps.addModelProperties(
+                nnProps
+                .new RknnModelProperties(
+                        Path.of(modelsDirectory.getAbsolutePath(), "NAMEHERE.rknn"),
+                        "foo",
+                        new LinkedList<String>(),
+                        0,
+                        0,
+                        Family.RKNN,
+                        ModelVersion.YOLO_V8));
+
+        return nnProps;
+    }
+
     /**
      * Private constructor to prevent instantiation
      *
@@ -177,6 +200,12 @@ private void loadModel(RknnModelProperties properties) {
             models = new HashMap<>();
         }
 
+        if (properties == null) {
+            logger.error(
+                    "Model properties are null, this could mean the models config was unable to be found in the database");
+            return;
+        }
+
         if (!supportedBackends.contains(properties.family)) {
             logger.warn(
                     "Model "
@@ -208,23 +237,33 @@ private void loadModel(RknnModelProperties properties) {
     /**
      * Discovers DNN models from the specified folder.
      *
+     * <p>This makes the assumption that
+     *
      * @param modelsDirectory The folder where the models are stored
      */
-    public void discoverModels(File modelsDirectory) {
+    public void discoverModels() {
         logger.info("Supported backends: " + supportedBackends);
 
+        File modelsDirectory = ConfigManager.getInstance().getModelsDirectory();
+
         if (!modelsDirectory.exists()) {
             logger.error("Models folder " + modelsDirectory.getAbsolutePath() + " does not exist.");
             return;
         }
 
         models = new HashMap<>();
 
-        // TODO: figure out how to get the JSON to object for each model
+        // TODO: Load neural network properties from json/create new one
         try {
             Files.walk(modelsDirectory.toPath())
                     .filter(Files::isRegularFile)
-                    .forEach(path -> loadModel(path.toFile()));
+                    .forEach(
+                            path ->
+                                    loadModel(
+                                            ConfigManager.getInstance()
+                                                    .getConfig()
+                                                    .getNeuralNetworkProperties()
+                                                    .getModelProperties(path)));
         } catch (IOException e) {
             logger.error("Failed to discover models at " + modelsDirectory.getAbsolutePath(), e);
         }
@@ -253,7 +292,9 @@ public void discoverModels(File modelsDirectory) {
      *
      * @param modelsDirectory the directory on disk to save models
      */
-    public void extractModels(File modelsDirectory) {
+    public void extractModels() {
+        File modelsDirectory = ConfigManager.getInstance().getModelsDirectory();
+
         if (!modelsDirectory.exists() && !modelsDirectory.mkdirs()) {
             throw new RuntimeException("Failed to create directory: " + modelsDirectory);
         }
@@ -290,5 +331,11 @@ public void extractModels(File modelsDirectory) {
         } catch (IOException | URISyntaxException e) {
             logger.error("Error extracting models", e);
         }
+
+        ConfigManager.getInstance()
+                .getConfig()
+                .setNeuralNetworkProperties(
+                        getShippedProperties(modelsDirectory)
+                                .add(ConfigManager.getInstance().getConfig().getNeuralNetworkProperties()));
     }
 }

photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkProperties.java

@@ -19,6 +19,8 @@
 
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import java.nio.file.Path;
+import java.util.HashMap;
 import java.util.LinkedList;
 import org.photonvision.common.configuration.NeuralNetworkModelManager.Family;
 import org.photonvision.rknn.RknnJNI;
@@ -30,7 +32,7 @@ public class NeuralNetworkProperties {
      * expand this modelProperties object, or create separate objects for each family.
      */
     public class RknnModelProperties {
-        public String modelPath;
+        public Path modelPath;
         public String nickname;
         public LinkedList<String> labels;
         public double resolutionWidth;
@@ -50,7 +52,7 @@ public class RknnModelProperties {
          * @param rknnVersion
          */
         public RknnModelProperties(
-                String modelPath,
+                Path modelPath,
                 String nickname,
                 LinkedList<String> labels,
                 double resolutionWidth,
@@ -67,16 +69,18 @@ public RknnModelProperties(
         }
     }
 
-    public LinkedList<RknnModelProperties> modelProperties = new LinkedList<RknnModelProperties>();
+    protected HashMap<Path, RknnModelProperties> properties =
+            new HashMap<Path, RknnModelProperties>();
 
     public NeuralNetworkProperties() {}
 
     @JsonCreator
     public NeuralNetworkProperties(
-            @JsonProperty("modelPropertiesList") LinkedList<RknnModelProperties> modelPropertiesList) {}
+            @JsonProperty("modelPropertiesList")
+                    HashMap<Path, RknnModelProperties> modelPropertiesList) {}
 
     public NeuralNetworkProperties(NeuralNetworkProperties NNMProperties) {
-        this(NNMProperties.modelProperties);
+        this(NNMProperties.properties);
     }
 
     @Override
@@ -85,8 +89,34 @@ public String toString() {
 
         toReturn += "NeuralNetworkProperties [";
 
-        toReturn += modelProperties.toString() + "]";
+        toReturn += properties.toString() + "]";
 
         return toReturn;
     }
+
+    public void addModelProperties(RknnModelProperties modelProperties) {
+        properties.put(modelProperties.modelPath, modelProperties);
+    }
+
+    /**
+     * Add two Neural Network Properties together.
+     *
+     * <p>Any keys in the object passed in will override those from the other object
+     *
+     * @param nnProps
+     * @return itself, so it can be chained and for adding where you want to pass into a function
+     */
+    public NeuralNetworkProperties add(NeuralNetworkProperties nnProps) {
+        properties.putAll(nnProps.properties);
+
+        return this;
+    }
+
+    public boolean removeModelProperties(Path modelPath) {
+        return properties.remove(modelPath) != null;
+    }
+
+    public RknnModelProperties getModelProperties(Path modelPath) {
+        return properties.get(modelPath);
+    }
 }

photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java

@@ -28,25 +28,35 @@ public class PhotonConfiguration {
     private final HardwareSettings hardwareSettings;
     private NetworkConfig networkConfig;
     private AprilTagFieldLayout atfl;
+    private NeuralNetworkProperties neuralNetworkProperties;
     private HashMap<String, CameraConfiguration> cameraConfigurations;
 
     public PhotonConfiguration(
             HardwareConfig hardwareConfig,
             HardwareSettings hardwareSettings,
             NetworkConfig networkConfig,
-            AprilTagFieldLayout atfl) {
-        this(hardwareConfig, hardwareSettings, networkConfig, atfl, new HashMap<>());
+            AprilTagFieldLayout atfl,
+            NeuralNetworkProperties neuralNetworkProperties) {
+        this(
+                hardwareConfig,
+                hardwareSettings,
+                networkConfig,
+                atfl,
+                neuralNetworkProperties,
+                new HashMap<>());
     }
 
     public PhotonConfiguration(
             HardwareConfig hardwareConfig,
             HardwareSettings hardwareSettings,
             NetworkConfig networkConfig,
             AprilTagFieldLayout atfl,
+            NeuralNetworkProperties neuralNetworkProperties,
             HashMap<String, CameraConfiguration> cameraConfigurations) {
         this.hardwareConfig = hardwareConfig;
         this.hardwareSettings = hardwareSettings;
         this.networkConfig = networkConfig;
+        this.neuralNetworkProperties = neuralNetworkProperties;
         this.cameraConfigurations = cameraConfigurations;
         this.atfl = atfl;
     }
@@ -56,7 +66,8 @@ public PhotonConfiguration() {
                 new HardwareConfig(),
                 new HardwareSettings(),
                 new NetworkConfig(),
-                new AprilTagFieldLayout(List.of(), 0, 0));
+                new AprilTagFieldLayout(List.of(), 0, 0),
+                new NeuralNetworkProperties());
     }
 
     public HardwareConfig getHardwareConfig() {
@@ -75,6 +86,10 @@ public AprilTagFieldLayout getApriltagFieldLayout() {
         return atfl;
     }
 
+    public NeuralNetworkProperties getNeuralNetworkProperties() {
+        return neuralNetworkProperties;
+    }
+
     public void setApriltagFieldLayout(AprilTagFieldLayout atfl) {
         this.atfl = atfl;
     }
@@ -83,6 +98,10 @@ public void setNetworkConfig(NetworkConfig networkConfig) {
         this.networkConfig = networkConfig;
     }
 
+    public void setNeuralNetworkProperties(NeuralNetworkProperties neuralNetworkProperties) {
+        this.neuralNetworkProperties = neuralNetworkProperties;
+    }
+
     public HashMap<String, CameraConfiguration> getCameraConfigurations() {
         return cameraConfigurations;
     }
@@ -121,6 +140,8 @@ public String toString() {
                 + networkConfig
                 + "\n  atfl="
                 + atfl
+                + "\n  neuralNetworkProperties="
+                + neuralNetworkProperties
                 + "\n  cameraConfigurations="
                 + cameraConfigurations
                 + "\n]";