Fixes windows not allowing auto exposure prop for the ov2311 (#1407)

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java

@@ -20,6 +20,9 @@
 import edu.wpi.first.cscore.UsbCamera;
 import org.photonvision.common.configuration.CameraConfiguration;
 
+/*
+ * This class holds the non-windows camera quirks for the Arducam OV2311. This version supports auto-exposure, while windows does not.
+ */
 public class ArduOV2311CameraSettables extends GenericUSBCameraSettables {
     public ArduOV2311CameraSettables(CameraConfiguration configuration, UsbCamera camera) {
         super(configuration, camera);

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311WindowsCameraSettables.java

@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.camera.USBCameras;
+
+import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.VideoException;
+import edu.wpi.first.math.MathUtil;
+import org.photonvision.common.configuration.CameraConfiguration;
+
+/*
+ * This class holds the windows specific camera quirks for the Arducam ov2311. A windows version is needed because windows doesn't expose the auto exposure properties of the arducam.
+ */
+public class ArduOV2311WindowsCameraSettables extends GenericUSBCameraSettables {
+    public ArduOV2311WindowsCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
+        super(configuration, camera);
+    }
+
+    @Override
+    protected void setUpExposureProperties() {
+        var expProp =
+                findProperty(
+                        "raw_exposure_absolute",
+                        "raw_exposure_time_absolute",
+                        "exposure",
+                        "raw_Exposure",
+                        "Exposure");
+
+        exposureAbsProp = expProp.get();
+        autoExposureProp = null;
+        this.minExposure = 1;
+        this.maxExposure = 140;
+    }
+
+    @Override
+    public void setExposureRaw(double exposureRaw) {
+        if (exposureRaw >= 0.0) {
+            try {
+                int propVal = (int) MathUtil.clamp(exposureRaw, minExposure, maxExposure);
+                camera.setExposureManual(propVal);
+                this.lastExposureRaw = exposureRaw;
+            } catch (VideoException e) {
+                logger.error("Failed to set camera exposure!", e);
+            }
+        }
+    }
+
+    public void setAutoExposure(boolean cameraAutoExposure) {
+        logger.debug("Setting auto exposure to " + cameraAutoExposure);
+
+        if (!cameraAutoExposure) {
+            // Most cameras leave exposure time absolute at the last value from their AE
+            // algorithm.
+            // Set it back to the exposure slider value
+            camera.setExposureManual((int) this.lastExposureRaw);
+        } else {
+            camera.setExposureAuto();
+        }
+    }
+}

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java

@@ -124,8 +124,13 @@ protected GenericUSBCameraSettables createSettables(
             logger.debug("Using PlayStation Eye Camera Settables");
             settables = new PsEyeCameraSettables(config, camera);
         } else if (quirks.hasQuirk(CameraQuirk.ArduOV2311Controls)) {
-            logger.debug("Using Arducam OV2311 Settables");
-            settables = new ArduOV2311CameraSettables(config, camera);
+            if (RuntimeDetector.isWindows()) {
+                logger.debug("Using Arducam OV2311 Windows-Specific Settables");
+                settables = new ArduOV2311WindowsCameraSettables(config, camera);
+            } else {
+                logger.debug("Using Arducam OV2311 Settables");
+                settables = new ArduOV2311CameraSettables(config, camera);
+            }
         } else if (quirks.hasQuirk(CameraQuirk.ArduOV9281Controls)) {
             logger.debug("Using Arducam OV9281 Settables");
             settables = new InnoOV9281CameraSettables(config, camera);