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Rknn cleaner #2404

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Rknn cleaner #2404

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087e374
hopefully fixed the cleaner
Bobcat66 Mar 19, 2026
fe5ec65
ran linter
Bobcat66 Mar 19, 2026
b8744d1
removed unnecessary logic
Bobcat66 Mar 20, 2026
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24 changes: 8 additions & 16 deletions photon-core/src/main/java/org/photonvision/vision/objects/RknnObjectDetector.java
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Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,8 @@

import java.awt.Color;
import java.lang.ref.Cleaner;
import java.lang.ref.Cleaner.Cleanable;
import java.util.List;
import java.util.concurrent.atomic.AtomicBoolean;
import org.opencv.core.Mat;
import org.opencv.core.Size;
import org.photonvision.common.logging.LogGroup;
Expand All @@ -36,8 +36,11 @@ public class RknnObjectDetector implements ObjectDetector {
/** Cleaner instance to release the detector when it goes out of scope */
private final Cleaner cleaner = Cleaner.create();

/** Atomic boolean to ensure that the native object can only be released once. */
private AtomicBoolean released = new AtomicBoolean(false);
private final Cleanable cleanable;

private static Runnable cleanupAction(long ptr) {
return () -> RknnJNI.destroy(ptr);
}

/** Pointer to the native object */
private final long objPointer;
Expand Down Expand Up @@ -80,7 +83,7 @@ public RknnObjectDetector(RknnModel model, Size inputSize) {
logger.debug("Created detector for model " + model.modelFile.getName());

// Register the cleaner to release the detector when it goes out of scope
cleaner.register(this, this::release);
cleanable = cleaner.register(this, cleanupAction(objPointer));
}

/**
Expand Down Expand Up @@ -137,17 +140,6 @@ public List<NeuralNetworkPipeResult> detect(Mat in, double nmsThresh, double box
/** Thread-safe method to release the detector. */
@Override
public void release() {
// Checks if the atomic is 'false', and if so, sets it to 'true'
if (released.compareAndSet(false, true)) {
if (objPointer <= 0) {
logger.error(
"Detector is not initialized, and so it can't be released! Model: "
+ model.modelFile.getName());
return;
}

RknnJNI.destroy(objPointer);
logger.debug("Released detector for model " + model.modelFile.getName());
}
cleanable.clean();
}
}
23 changes: 8 additions & 15 deletions photon-core/src/main/java/org/photonvision/vision/objects/RubikObjectDetector.java
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Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,8 @@

import java.awt.Color;
import java.lang.ref.Cleaner;
import java.lang.ref.Cleaner.Cleanable;
import java.util.List;
import java.util.concurrent.atomic.AtomicBoolean;
import org.opencv.core.Mat;
import org.opencv.core.Size;
import org.photonvision.common.logging.LogGroup;
Expand All @@ -36,8 +36,11 @@ public class RubikObjectDetector implements ObjectDetector {
/** Cleaner instance to release the detector when it goes out of scope */
private final Cleaner cleaner = Cleaner.create();

/** Atomic boolean to ensure that the native object can only be released once. */
private AtomicBoolean released = new AtomicBoolean(false);
private final Cleanable cleanable;

private static Runnable cleanupAction(long ptr) {
return () -> RubikJNI.destroy(ptr);
}

/** Pointer to the native object */
private final long ptr;
Expand Down Expand Up @@ -88,7 +91,7 @@ public RubikObjectDetector(RubikModel model, Size inputSize) {
logger.debug("Created detector for model " + model.modelFile.getName());

// Register the cleaner to release the detector when it goes out of scope
cleaner.register(this, this::release);
cleanable = cleaner.register(this, cleanupAction(ptr));
}

/**
Expand Down Expand Up @@ -146,17 +149,7 @@ public List<NeuralNetworkPipeResult> detect(Mat in, double nmsThresh, double box
/** Thread-safe method to release the detector. */
@Override
public void release() {
// Checks if the atomic is 'false', and if so, sets it to 'true'
if (released.compareAndSet(false, true)) {
if (!isValid()) {
logger.error(
"Detector is not initialized, and so it can't be released! Model: "
+ model.modelFile.getName());
return;
}
RubikJNI.destroy(ptr);
logger.debug("Released detector for model " + model.modelFile.getName());
}
cleanable.clean();
}

private boolean isValid() {
Expand Down