Make various refactors to clean up codebase

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

@@ -27,16 +27,19 @@
 public final class DatabaseSchema {
     public static final String[] migrations = {
         // #1 - initial schema
-        "CREATE TABLE IF NOT EXISTS global (\n"
-                + " filename TINYTEXT PRIMARY KEY,\n"
-                + " contents mediumtext NOT NULL\n"
-                + ");"
-                + "CREATE TABLE IF NOT EXISTS cameras (\n"
-                + " unique_name TINYTEXT PRIMARY KEY,\n"
-                + " config_json text NOT NULL,\n"
-                + " drivermode_json text NOT NULL,\n"
-                + " pipeline_jsons mediumtext NOT NULL\n"
-                + ");",
+        // spotless:off
+        """
+        CREATE TABLE IF NOT EXISTS global (
+         filename TINYTEXT PRIMARY KEY,
+         contents mediumtext NOT NULL
+        );
+        CREATE TABLE IF NOT EXISTS cameras (
+         unique_name TINYTEXT PRIMARY KEY,
+         config_json text NOT NULL,
+         drivermode_json text NOT NULL,
+         pipeline_jsons mediumtext NOT NULL
+         );""",
+        // spotless:on
         // #2 - add column otherpaths_json
         "ALTER TABLE cameras ADD COLUMN otherpaths_json TEXT NOT NULL DEFAULT '[]';",
         // add future migrations here

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

@@ -19,113 +19,59 @@
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
 
 @JsonIgnoreProperties(ignoreUnknown = true)
-public class HardwareConfig {
-    public final String deviceName;
-    public final String deviceLogoPath;
-    public final String supportURL;
+public record HardwareConfig(
+        String deviceName,
+        String deviceLogoPath,
+        String supportURL,
+        // LED control
 
-    // LED control
-    public final ArrayList<Integer> ledPins;
-    public final String ledSetCommand;
-    public final boolean ledsCanDim;
-    public final ArrayList<Integer> ledBrightnessRange;
-    public final String ledDimCommand;
-    public final String ledBlinkCommand;
-    public final ArrayList<Integer> statusRGBPins;
+        ArrayList<Integer> ledPins,
+        String ledSetCommand,
+        boolean ledsCanDim,
+        ArrayList<Integer> ledBrightnessRange,
+        String ledDimCommand,
+        String ledBlinkCommand,
+        ArrayList<Integer> statusRGBPins,
+        // Metrics
 
-    // Metrics
-    public final String cpuTempCommand;
-    public final String cpuMemoryCommand;
-    public final String cpuUtilCommand;
-    public final String cpuThrottleReasonCmd;
-    public final String cpuUptimeCommand;
-    public final String gpuMemoryCommand;
-    public final String ramUtilCommand;
-    public final String gpuMemUsageCommand;
-    public final String diskUsageCommand;
-
-    // Device stuff
-    public final String restartHardwareCommand;
-    public final double vendorFOV; // -1 for unmanaged
-    public final List<Integer> blacklistedResIndices; // this happens before the defaults are applied
+        String cpuTempCommand,
+        String cpuMemoryCommand,
+        String cpuUtilCommand,
+        String cpuThrottleReasonCmd,
+        String cpuUptimeCommand,
+        String gpuMemoryCommand,
+        String ramUtilCommand,
+        String gpuMemUsageCommand,
+        String diskUsageCommand,
+        // Device stuff
+        String restartHardwareCommand,
+        double vendorFOV) { // -1 for unmanaged
 
     public HardwareConfig() {
-        deviceName = "";
-        deviceLogoPath = "";
-        supportURL = "";
-        ledPins = new ArrayList<>();
-        ledSetCommand = "";
-        ledsCanDim = false;
-        ledBrightnessRange = new ArrayList<>();
-        statusRGBPins = new ArrayList<>();
-        ledDimCommand = "";
-
-        cpuTempCommand = "";
-        cpuMemoryCommand = "";
-        cpuUtilCommand = "";
-        cpuThrottleReasonCmd = "";
-        cpuUptimeCommand = "";
-        gpuMemoryCommand = "";
-        ramUtilCommand = "";
-        ledBlinkCommand = "";
-        gpuMemUsageCommand = "";
-        diskUsageCommand = "";
-
-        restartHardwareCommand = "";
-        vendorFOV = -1;
-        blacklistedResIndices = Collections.emptyList();
-    }
-
-    @SuppressWarnings("unused")
-    public HardwareConfig(
-            String deviceName,
-            String deviceLogoPath,
-            String supportURL,
-            ArrayList<Integer> ledPins,
-            String ledSetCommand,
-            boolean ledsCanDim,
-            ArrayList<Integer> ledBrightnessRange,
-            String ledDimCommand,
-            String ledBlinkCommand,
-            ArrayList<Integer> statusRGBPins,
-            String cpuTempCommand,
-            String cpuMemoryCommand,
-            String cpuUtilCommand,
-            String cpuThrottleReasonCmd,
-            String cpuUptimeCommand,
-            String gpuMemoryCommand,
-            String ramUtilCommand,
-            String gpuMemUsageCommand,
-            String diskUsageCommand,
-            String restartHardwareCommand,
-            double vendorFOV,
-            List<Integer> blacklistedResIndices) {
-        this.deviceName = deviceName;
-        this.deviceLogoPath = deviceLogoPath;
-        this.supportURL = supportURL;
-        this.ledPins = ledPins;
-        this.ledSetCommand = ledSetCommand;
-        this.ledsCanDim = ledsCanDim;
-        this.ledBrightnessRange = ledBrightnessRange;
-        this.ledDimCommand = ledDimCommand;
-        this.ledBlinkCommand = ledBlinkCommand;
-        this.statusRGBPins = statusRGBPins;
-        this.cpuTempCommand = cpuTempCommand;
-        this.cpuMemoryCommand = cpuMemoryCommand;
-        this.cpuUtilCommand = cpuUtilCommand;
-        this.cpuThrottleReasonCmd = cpuThrottleReasonCmd;
-        this.cpuUptimeCommand = cpuUptimeCommand;
-        this.gpuMemoryCommand = gpuMemoryCommand;
-        this.ramUtilCommand = ramUtilCommand;
-        this.gpuMemUsageCommand = gpuMemUsageCommand;
-        this.diskUsageCommand = diskUsageCommand;
-        this.restartHardwareCommand = restartHardwareCommand;
-        this.vendorFOV = vendorFOV;
-        this.blacklistedResIndices = blacklistedResIndices;
+        this(
+                "", // deviceName
+                "", // deviceLogoPath
+                "", // supportURL
+                new ArrayList<>(), // ledPins
+                "", // ledSetCommand
+                false, // ledsCanDim
+                new ArrayList<>(), // ledBrightnessRange
+                "", // ledDimCommand
+                "", // ledBlinkCommand
+                new ArrayList<>(), // statusRGBPins
+                "", // cpuTempCommand
+                "", // cpuMemoryCommand
+                "", // cpuUtilCommand
+                "", // cpuThrottleReasonCmd
+                "", // cpuUptimeCommand
+                "", // gpuMemoryCommand
+                "", // ramUtilCommand
+                "", // gpuMemUsageCommand
+                "", // diskUsageCommand
+                "", // restartHardwareCommand
+                -1); // vendorFOV
     }
 
     /**
@@ -150,53 +96,4 @@ public final boolean hasCommandsConfigured() {
                 || gpuMemUsageCommand != ""
                 || diskUsageCommand != "";
     }
-
-    @Override
-    public String toString() {
-        return "HardwareConfig [deviceName="
-                + deviceName
-                + ", deviceLogoPath="
-                + deviceLogoPath
-                + ", supportURL="
-                + supportURL
-                + ", ledPins="
-                + ledPins
-                + ", ledSetCommand="
-                + ledSetCommand
-                + ", ledsCanDim="
-                + ledsCanDim
-                + ", ledBrightnessRange="
-                + ledBrightnessRange
-                + ", ledDimCommand="
-                + ledDimCommand
-                + ", ledBlinkCommand="
-                + ledBlinkCommand
-                + ", statusRGBPins="
-                + statusRGBPins
-                + ", cpuTempCommand="
-                + cpuTempCommand
-                + ", cpuMemoryCommand="
-                + cpuMemoryCommand
-                + ", cpuUtilCommand="
-                + cpuUtilCommand
-                + ", cpuThrottleReasonCmd="
-                + cpuThrottleReasonCmd
-                + ", cpuUptimeCommand="
-                + cpuUptimeCommand
-                + ", gpuMemoryCommand="
-                + gpuMemoryCommand
-                + ", ramUtilCommand="
-                + ramUtilCommand
-                + ", gpuMemUsageCommand="
-                + gpuMemUsageCommand
-                + ", diskUsageCommand="
-                + diskUsageCommand
-                + ", restartHardwareCommand="
-                + restartHardwareCommand
-                + ", vendorFOV="
-                + vendorFOV
-                + ", blacklistedResIndices="
-                + blacklistedResIndices
-                + "]";
-    }
 }

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

@@ -32,7 +32,6 @@
 import java.time.format.DateTimeFormatter;
 import java.time.temporal.TemporalAccessor;
 import java.util.*;
-import java.util.stream.Collectors;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.file.FileUtils;
@@ -280,9 +279,7 @@ private HashMap<String, CameraConfiguration> loadCameraConfigs() {
         HashMap<String, CameraConfiguration> loadedConfigurations = new HashMap<>();
         try {
             var subdirectories =
-                    Files.list(camerasFolder.toPath())
-                            .filter(f -> f.toFile().isDirectory())
-                            .collect(Collectors.toList());
+                    Files.list(camerasFolder.toPath()).filter(f -> f.toFile().isDirectory()).toList();
 
             for (var subdir : subdirectories) {
                 var cameraConfigPath = Path.of(subdir.toString(), "config.json");
@@ -348,7 +345,7 @@ private HashMap<String, CameraConfiguration> loadCameraConfigs() {
                                                     return null;
                                                 })
                                         .filter(Objects::nonNull)
-                                        .collect(Collectors.toList())
+                                        .toList()
                                 : Collections.emptyList();
 
                 loadedConfig.driveModeSettings = driverMode;

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

@@ -398,7 +398,7 @@ private void saveCameras(Connection conn) {
                                             }
                                         })
                                 .filter(Objects::nonNull)
-                                .collect(Collectors.toList());
+                                .toList();
                 statement.setString(4, JacksonUtils.serializeToString(settings));
 
                 statement.executeUpdate();

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java

@@ -205,8 +205,8 @@ public void accept(CVPipelineResult result) {
             ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr());
             ts.cameraDistortionPublisher.accept(fsp.cameraCalibration.getDistCoeffsArr());
         } else {
-            ts.cameraIntrinsicsPublisher.accept(new double[] {});
-            ts.cameraDistortionPublisher.accept(new double[] {});
+            ts.cameraIntrinsicsPublisher.accept(new double[0]);
+            ts.cameraDistortionPublisher.accept(new double[0]);
         }
 
         ts.heartbeatPublisher.set(acceptedResult.sequenceID);

photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java

@@ -18,7 +18,6 @@
 package org.photonvision.common.dataflow.websocket;
 
 import java.util.List;
-import java.util.stream.Collectors;
 import org.photonvision.PhotonVersion;
 import org.photonvision.common.configuration.NeuralNetworkModelManager;
 import org.photonvision.common.configuration.PhotonConfiguration;
@@ -49,21 +48,21 @@ public static UIPhotonConfiguration programStateToUi(PhotonConfiguration c) {
                                 NetworkManager.getInstance().networkingIsDisabled),
                         new UILightingConfig(
                                 c.getHardwareSettings().ledBrightnessPercentage,
-                                !c.getHardwareConfig().ledPins.isEmpty()),
+                                !c.getHardwareConfig().ledPins().isEmpty()),
                         new UIGeneralSettings(
                                 PhotonVersion.versionString,
                                 // TODO add support for other types of GPU accel
                                 LibCameraJNILoader.isSupported() ? "Zerocopy Libcamera Working" : "",
                                 MrCalJNILoader.getInstance().isLoaded(),
                                 NeuralNetworkModelManager.getInstance().getModels(),
                                 NeuralNetworkModelManager.getInstance().getSupportedBackends(),
-                                c.getHardwareConfig().deviceName.isEmpty()
+                                c.getHardwareConfig().deviceName().isEmpty()
                                         ? Platform.getHardwareModel()
-                                        : c.getHardwareConfig().deviceName,
+                                        : c.getHardwareConfig().deviceName(),
                                 Platform.getPlatformName()),
                         c.getApriltagFieldLayout()),
                 VisionSourceManager.getInstance().getVisionModules().stream()
                         .map(VisionModule::toUICameraConfig)
-                        .collect(Collectors.toList()));
+                        .toList());
     }
 }

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/CustomGPIO.java

@@ -92,8 +92,8 @@ public void setBrightnessImpl(int brightness) {
 
     public static void setConfig(HardwareConfig config) {
         if (Platform.isRaspberryPi()) return;
-        commands.replace("setState", config.ledSetCommand);
-        commands.replace("dim", config.ledDimCommand);
-        commands.replace("blink", config.ledBlinkCommand);
+        commands.replace("setState", config.ledSetCommand());
+        commands.replace("dim", config.ledDimCommand());
+        commands.replace("blink", config.ledBlinkCommand());
     }
 }