remove reliance of HardwareManager.getInstance() first call on configmanager state

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

@@ -45,43 +45,37 @@ public class HardwareManager {
     private final ShellExec shellExec = new ShellExec(true, false);
     private final Logger logger = new Logger(HardwareManager.class, LogGroup.General);
 
-    private final HardwareConfig hardwareConfig;
-    private final HardwareSettings hardwareSettings;
+    private HardwareConfig hardwareConfig;
+    private HardwareSettings hardwareSettings;
 
     @SuppressWarnings({"FieldCanBeLocal", "unused"})
-    private final StatusLED statusLED;
+    private StatusLED statusLED;
 
     @SuppressWarnings("FieldCanBeLocal")
     private final IntegerSubscriber ledModeRequest;
 
     private final IntegerPublisher ledModeState;
 
     @SuppressWarnings({"FieldCanBeLocal", "unused"})
-    private final NTDataChangeListener ledModeListener;
+    private NTDataChangeListener ledModeListener;
 
-    public final VisionLED visionLED; // May be null if no LED is specified
+    private VisionLED visionLED; // May be null if no LED is specified
+
+    public VisionLED getVisionLED() {
+        return visionLED;
+    }
 
     public static HardwareManager getInstance() {
         if (instance == null) {
-            var conf = ConfigManager.getInstance().getConfig();
-            instance = new HardwareManager(conf.getHardwareConfig(), conf.getHardwareSettings());
+            instance = new HardwareManager();
         }
         return instance;
     }
 
-    private HardwareManager(HardwareConfig hardwareConfig, HardwareSettings hardwareSettings) {
+    public void setConfig(HardwareConfig hardwareConfig, HardwareSettings hardwareSettings) {
         this.hardwareConfig = hardwareConfig;
         this.hardwareSettings = hardwareSettings;
 
-        ledModeRequest =
-                NetworkTablesManager.getInstance()
-                        .kRootTable
-                        .getIntegerTopic("ledModeRequest")
-                        .subscribe(-1);
-        ledModeState =
-                NetworkTablesManager.getInstance().kRootTable.getIntegerTopic("ledModeState").publish();
-        ledModeState.set(VisionLEDMode.kDefault.value);
-
         // Device factory is lazy to prevent creating one if it will go unused.
         Supplier<NativeDeviceFactoryInterface> lazyDeviceFactory =
                 new Supplier<NativeDeviceFactoryInterface>() {
@@ -130,12 +124,23 @@ public NativeDeviceFactoryInterface get() {
                                 ledModeRequest,
                                 visionLED::onLedModeChange);
 
-        Runtime.getRuntime().addShutdownHook(new Thread(this::onJvmExit));
-
         if (visionLED != null) {
             visionLED.setBrightness(hardwareSettings.ledBrightnessPercentage);
             visionLED.blink(85, 4); // bootup blink
         }
+    }
+
+    private HardwareManager() {
+        ledModeRequest =
+                NetworkTablesManager.getInstance()
+                        .kRootTable
+                        .getIntegerTopic("ledModeRequest")
+                        .subscribe(-1);
+        ledModeState =
+                NetworkTablesManager.getInstance().kRootTable.getIntegerTopic("ledModeState").publish();
+        ledModeState.set(VisionLEDMode.kDefault.value);
+
+        Runtime.getRuntime().addShutdownHook(new Thread(this::onJvmExit));
 
         // Start hardware metrics thread (Disabled until implemented)
         // if (Platform.isLinux()) MetricsPublisher.getInstance().startTask();
@@ -169,6 +174,10 @@ public static NativeDeviceFactoryInterface configureCustomGPIO(HardwareConfig ha
     }
 
     public void setBrightnessPercent(int percent) {
+        if (hardwareSettings == null) {
+            logger.error("Could not set led brightness! No hardware settings found");
+            return;
+        }
         if (percent != hardwareSettings.ledBrightnessPercentage) {
             hardwareSettings.ledBrightnessPercentage = percent;
             if (visionLED != null) visionLED.setBrightness(percent);
@@ -194,6 +203,10 @@ public boolean restartDevice() {
             }
         }
         try {
+            if (hardwareConfig == null) {
+                logger.error("Could not restart device! No hardware configuration found");
+                return false;
+            }
             return shellExec.executeBashCommand(hardwareConfig.restartHardwareCommand) == 0;
         } catch (IOException e) {
             logger.error("Could not restart device!", e);

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -175,9 +175,9 @@ public VisionModule(PipelineManager pipelineManager, VisionSource visionSource)
         }
 
         // Configure LED's if supported by the underlying hardware
-        if (HardwareManager.getInstance().visionLED != null && this.camShouldControlLEDs()) {
+        if (HardwareManager.getInstance().getVisionLED() != null && this.camShouldControlLEDs()) {
             HardwareManager.getInstance()
-                    .visionLED
+                    .getVisionLED()
                     .setPipelineModeSupplier(() -> pipelineManager.getCurrentPipelineSettings().ledMode);
             setVisionLEDs(pipelineManager.getCurrentPipelineSettings().ledMode);
         }
@@ -513,8 +513,8 @@ private boolean camShouldControlLEDs() {
     }
 
     private void setVisionLEDs(boolean on) {
-        if (camShouldControlLEDs() && HardwareManager.getInstance().visionLED != null)
-            HardwareManager.getInstance().visionLED.setState(on);
+        if (camShouldControlLEDs() && HardwareManager.getInstance().getVisionLED() != null)
+            HardwareManager.getInstance().getVisionLED().setState(on);
     }
 
     public void saveModule() {

photon-server/src/main/java/org/photonvision/Main.java

@@ -328,7 +328,8 @@ public static void main(String[] args) {
 
         logger.debug("Loading HardwareManager...");
         // Force load the hardware manager
-        HardwareManager.getInstance();
+        var conf = ConfigManager.getInstance().getConfig();
+        HardwareManager.getInstance().setConfig(conf.getHardwareConfig(), conf.getHardwareSettings());
 
         if (isSmoketest) {
             logger.info("PhotonVision base functionality loaded -- smoketest complete");