TimeCrafters/FreightFrenzy
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Fixed not set checkTime variable, prevent rare crash do to telemetry iterating over a null object

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Cyberarm
2021-12-10 23:38:15 -06:00
parent e025034655
commit 23f4fd15a3
2 changed files with 29 additions and 16 deletions
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3
.idea/misc.xml generated
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@@ -1,6 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<project version="4"> <project version="4">
<component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK"> <component name="ExternalStorageConfigurationManager" enabled="true" />
<component name="ProjectRootManager" version="2" languageLevel="JDK_11" project-jdk-name="11" project-jdk-type="JavaSDK">
<output url="file://$PROJECT_DIR$/build/classes" /> <output url="file://$PROJECT_DIR$/build/classes" />
</component> </component>
<component name="ProjectType"> <component name="ProjectType">

42
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TensorFlowState.java
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@@ -1,5 +1,7 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.States; package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
import android.util.Log;
import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
@@ -13,8 +15,8 @@ public class TensorFlowState extends CyberarmState {
Robot robot; Robot robot;
private List<Recognition> recognitions; private List<Recognition> recognitions;
private double checkTime; private double checkTime;
private int manualPath; private int manualPath = 0;
private int path = 0; private int path = 3;
private double leftDuck; private double leftDuck;
private double middleDuck; private double middleDuck;
@@ -28,6 +30,7 @@ public class TensorFlowState extends CyberarmState {
this.armExtension = armExtension; this.armExtension = armExtension;
this.leftDuck = robot.configuration.variable(groupName, actionName, "leftDuck").value(); this.leftDuck = robot.configuration.variable(groupName, actionName, "leftDuck").value();
this.middleDuck = robot.configuration.variable(groupName, actionName, "middleDuck").value(); this.middleDuck = robot.configuration.variable(groupName, actionName, "middleDuck").value();
this.checkTime = robot.configuration.variable(groupName, actionName, "time").value();
} }
@Override @Override
@@ -41,23 +44,22 @@ public class TensorFlowState extends CyberarmState {
recognitions = robot.tensorflowDetections(); recognitions = robot.tensorflowDetections();
if (runTime() < checkTime) { if (runTime() < checkTime) {
if (manualPath != -1) { if (recognitions != null && recognitions.size() != 0) {
if (recognitions.size() == 1) {
Recognition recognition = recognitions.get(0);
if (recognitions != null) { if (recognition.getLeft() < leftDuck) {
if (recognitions.size() == 1) { path = 0;
Recognition recognition = recognitions.get(0);
if (recognition.getLeft() < leftDuck) {
path = 0;
} else {
path = 1;
}
} else { } else {
path = 2; path = 1;
} }
} }
} else {
path = 2;
} }
} else { } else {
Log.i(TAG, "Choosen path: " + path);
if (path == 0){ if (path == 0){
addState(new TurretArmExtension(robot, armExtension, groupName, "02_0")); addState(new TurretArmExtension(robot, armExtension, groupName, "02_0"));
addState(new TurretArmRiser(robot, armRiser, groupName, "03_0_bottom")); addState(new TurretArmRiser(robot, armRiser, groupName, "03_0_bottom"));
@@ -72,17 +74,27 @@ public class TensorFlowState extends CyberarmState {
addState(new TurretArmExtension(robot, armExtension, groupName, "04_0_top")); addState(new TurretArmExtension(robot, armExtension, groupName, "04_0_top"));
} }
setHasFinished(true); setHasFinished(true);
} }
} }
@Override @Override
public void telemetry() { public void telemetry() {
for (Recognition recognition : robot.tensorflowDetections()) { engine.telemetry.addData("Runtime", runTime());
engine.telemetry.addData("Check Time", checkTime);
engine.telemetry.addData("Path", path);
engine.telemetry.addLine();
if (recognitions == null) {
return;
}
for (Recognition recognition : recognitions) {
engine.telemetry.addData("Label", recognition.getLabel()); engine.telemetry.addData("Label", recognition.getLabel());
engine.telemetry.addData("Left", recognition.getLeft()); engine.telemetry.addData("Left", recognition.getLeft());
engine.telemetry.addData("Top", recognition.getTop()); engine.telemetry.addData("Top", recognition.getTop());
engine.telemetry.addData("Confidence", recognition.getConfidence()); engine.telemetry.addData("Confidence", recognition.getConfidence());
engine.telemetry.addLine();
} }
} }
} }