Merge branch 'PhotonVision:master' into master

.github/ISSUE_TEMPLATE/bug_report.md

@@ -18,7 +18,7 @@ Steps to reproduce the behavior:
 4. See error
 
 **Screenshots / Videos**
-If applicable, add screenshots to help explain your problem. Additionally, provide journalctl logs and settings zip export.
+If applicable, add screenshots to help explain your problem. Additionally, provide journalctl logs and settings zip export. If your issue is regarding the web dashboard, please provide screenshots and the output of the browser console.
 
 **Platform:**
  - Hardware Platform (ex. Raspberry Pi 4, Windows x64):

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

@@ -17,6 +17,8 @@
 
 package org.photonvision.vision.camera;
 
+import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Objects;
@@ -108,8 +110,20 @@ public static QuirkyCamera getQuirkyCamera(int usbVid, int usbPid, String baseNa
         for (var qc : quirkyCameras) {
             boolean hasBaseName = !qc.baseName.isEmpty();
             boolean matchesBaseName = qc.baseName.equals(baseName) || !hasBaseName;
+            // If we have a quirkycamera we need to copy the quirks from our predefined object and create
+            // a quirkycamera object with the baseName.
             if (qc.usbVid == usbVid && qc.usbPid == usbPid && matchesBaseName) {
-                return qc;
+                List<CameraQuirk> quirks = new ArrayList<CameraQuirk>();
+                for (var q : CameraQuirk.values()) {
+                    if (qc.hasQuirk(q)) quirks.add(q);
+                }
+                QuirkyCamera c =
+                        new QuirkyCamera(
+                                usbVid,
+                                usbPid,
+                                baseName,
+                                Arrays.copyOf(quirks.toArray(), quirks.size(), CameraQuirk[].class));
+                return c;
             }
         }
         return new QuirkyCamera(usbVid, usbPid, baseName);

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

@@ -28,7 +28,9 @@
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.frame.provider.USBFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
@@ -37,10 +39,10 @@ public class USBCameraSource extends VisionSource {
     private final Logger logger;
     private final UsbCamera camera;
     private final USBCameraSettables usbCameraSettables;
-    private final USBFrameProvider usbFrameProvider;
+    private FrameProvider usbFrameProvider;
     private final CvSink cvSink;
 
-    public final QuirkyCamera cameraQuirks;
+    private QuirkyCamera cameraQuirks;
 
     public USBCameraSource(CameraConfiguration config) {
         super(config);
@@ -77,6 +79,22 @@ public USBCameraSource(CameraConfiguration config) {
         }
     }
 
+    /**
+     * Mostly just used for unit tests to better simulate a usb camera without a camera being present.
+     */
+    public USBCameraSource(CameraConfiguration config, int pid, int vid, boolean unitTest) {
+        this(config);
+
+        cameraQuirks = QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
+
+        if (unitTest)
+            usbFrameProvider =
+                    new FileFrameProvider(
+                            TestUtils.getWPIImagePath(
+                                    TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
+                            TestUtils.WPI2019Image.FOV);
+    }
+
     void disableAutoFocus() {
         if (cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
             try {
@@ -88,6 +106,10 @@ void disableAutoFocus() {
         }
     }
 
+    public QuirkyCamera getCameraQuirks() {
+        return this.cameraQuirks;
+    }
+
     @Override
     public FrameProvider getFrameProvider() {
         return usbFrameProvider;
@@ -103,7 +125,7 @@ protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
             if (!cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
-                setVideoMode(videoModes.get(0)); // fixes double FPS set
+                if (!videoModes.isEmpty()) setVideoMode(videoModes.get(0)); // fixes double FPS set
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
@@ -343,11 +365,27 @@ public boolean isVendorCamera() {
     }
 
     @Override
-    public boolean equals(Object o) {
-        if (this == o) return true;
-        if (o == null || getClass() != o.getClass()) return false;
-        USBCameraSource that = (USBCameraSource) o;
-        return cameraQuirks.equals(that.cameraQuirks);
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (obj == null) return false;
+        if (getClass() != obj.getClass()) return false;
+        USBCameraSource other = (USBCameraSource) obj;
+        if (camera == null) {
+            if (other.camera != null) return false;
+        } else if (!camera.equals(other.camera)) return false;
+        if (usbCameraSettables == null) {
+            if (other.usbCameraSettables != null) return false;
+        } else if (!usbCameraSettables.equals(other.usbCameraSettables)) return false;
+        if (usbFrameProvider == null) {
+            if (other.usbFrameProvider != null) return false;
+        } else if (!usbFrameProvider.equals(other.usbFrameProvider)) return false;
+        if (cvSink == null) {
+            if (other.cvSink != null) return false;
+        } else if (!cvSink.equals(other.cvSink)) return false;
+        if (cameraQuirks == null) {
+            if (other.cameraQuirks != null) return false;
+        } else if (!cameraQuirks.equals(other.cameraQuirks)) return false;
+        return true;
     }
 
     @Override

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

@@ -95,7 +95,7 @@ public VisionModule(PipelineManager pipelineManager, VisionSource visionSource,
 
         // Find quirks for the current camera
         if (visionSource instanceof USBCameraSource) {
-            cameraQuirks = ((USBCameraSource) visionSource).cameraQuirks;
+            cameraQuirks = ((USBCameraSource) visionSource).getCameraQuirks();
         } else if (visionSource instanceof LibcameraGpuSource) {
             cameraQuirks = QuirkyCamera.ZeroCopyPiCamera;
         } else {

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

@@ -342,7 +342,7 @@ private static List<VisionSource> loadVisionSourcesFromCamConfigs(
                 cameraSources.add(piCamSrc);
             } else {
                 var newCam = new USBCameraSource(configuration);
-                if (!newCam.cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)
+                if (!newCam.getCameraQuirks().hasQuirk(CameraQuirk.CompletelyBroken)
                         && !newCam.getSettables().videoModes.isEmpty()) {
                     cameraSources.add(newCam);
                 }

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

@@ -59,7 +59,7 @@ public void setBlueGain(int blue) {}
     public abstract VideoMode getCurrentVideoMode();
 
     public void setVideoModeInternal(int index) {
-        setVideoMode(getAllVideoModes().get(index));
+        if (!getAllVideoModes().isEmpty()) setVideoMode(getAllVideoModes().get(index));
     }
 
     public void setVideoMode(VideoMode mode) {

photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java

@@ -31,6 +31,7 @@
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.camera.USBCameraSource;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
@@ -165,7 +166,16 @@ public void testMultipleStreamIndex() {
                         TestUtils.WPI2019Image.FOV);
         var testSource3 = new TestSource(ffp3, conf3);
 
-        var modules = vmm.addSources(List.of(testSource, testSource2, testSource3));
+        // Arducam OV9281 UC844 raspberry pi test.
+        var conf4 = new CameraConfiguration("Left", "dev/video1");
+        USBCameraSource usbSimulation = new USBCameraSource(conf4, 0x6366, 0x0c45, true);
+
+        var conf5 = new CameraConfiguration("Right", "dev/video2");
+        USBCameraSource usbSimulation2 = new USBCameraSource(conf5, 0x6366, 0x0c45, true);
+
+        var modules =
+                vmm.addSources(
+                        List.of(testSource, testSource2, testSource3, usbSimulation, usbSimulation2));
 
         System.out.println(
                 Arrays.toString(
@@ -176,9 +186,15 @@ public void testMultipleStreamIndex() {
                 modules.stream()
                         .map(it -> it.visionSource.getCameraConfiguration().streamIndex)
                         .collect(Collectors.toList());
+
+        assertTrue(usbSimulation.equals(usbSimulation));
+        assertTrue(!usbSimulation.equals(usbSimulation2));
+
         assertTrue(idxs.contains(0));
         assertTrue(idxs.contains(1));
         assertTrue(idxs.contains(2));
+        assertTrue(idxs.contains(3));
+        assertTrue(idxs.contains(4));
     }
 
     private static void printTestResults(CVPipelineResult pipelineResult) {