Skip to content

Commit

Permalink
Fix no otherpaths bugs, Add unit test.
Browse files Browse the repository at this point in the history
  • Loading branch information
@BytingBulldogs3539
BytingBulldogs3539 committed Nov 25, 2023
1 parent 82f4344 commit 6969c2b
Show file tree
Hide file tree
Showing 2 changed files with 144 additions and 25 deletions.
76 changes: 55 additions & 21 deletions photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,15 @@ protected List<VisionSource> tryMatchUSBCamImpl(boolean createSources) {
logger.debug("Trying to match " + usbCamConfigs.size() + " unmatched configs...");

// Match camera configs to physical cameras
var matchedCameras = matchUSBCameras(notYetLoadedCams, unmatchedLoadedConfigs);

List<CameraConfiguration> matchedCameras;

if (!createSources) {
matchedCameras = matchUSBCameras(notYetLoadedCams, unmatchedLoadedConfigs, false);
} else {
matchedCameras = matchUSBCameras(notYetLoadedCams, unmatchedLoadedConfigs);
}

unmatchedLoadedConfigs.removeAll(matchedCameras);
if (!unmatchedLoadedConfigs.isEmpty() && !hasWarned) {
logger.warn(
Expand Down Expand Up @@ -198,6 +206,22 @@ protected List<VisionSource> tryMatchUSBCamImpl(boolean createSources) {
*/
private List<CameraConfiguration> matchUSBCameras(
List<UsbCameraInfo> detectedCamInfos, List<CameraConfiguration> loadedUsbCamConfigs) {
return matchUSBCameras(detectedCamInfos, loadedUsbCamConfigs, true);
}

/**
* Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
* disk.
*
* @param detectedCamInfos Information about currently connected USB cameras.
* @param loadedUsbCamConfigs The USB {@link CameraConfiguration}s loaded from disk.
* @param useJNI If false, this is a unit test and the JNI should not be used for CSI devices.
* @return the matched configurations.
*/
private List<CameraConfiguration> matchUSBCameras(
List<UsbCameraInfo> detectedCamInfos,
List<CameraConfiguration> loadedUsbCamConfigs,
boolean useJNI) {
var detectedCameraList = new ArrayList<>(detectedCamInfos);
ArrayList<CameraConfiguration> cameraConfigurations = new ArrayList<>();

Expand Down Expand Up @@ -260,7 +284,11 @@ && cameraNameToBaseName(usbCameraInfo.name).equals(config.baseName))
// HACK -- for picams, we want to use the camera model
String nickname = uniqueName;
if (isCsiCamera(info)) {
nickname = LibCameraJNI.getSensorModel().toString();
if (useJNI) {
nickname = LibCameraJNI.getSensorModel().toString();
} else {
nickname = "CSICAM-DEV";
}
}

CameraConfiguration configuration =
Expand Down Expand Up @@ -302,30 +330,36 @@ private List<UsbCameraInfo> filterAllowedDevices(List<UsbCameraInfo> allDevices)

List<String> paths = new ArrayList<>();

// Use the other paths to filter out devices that share the same path other than the index
// select only the lowest index.
// A ov5647 on a raspi 5 would show another path as platform-1000880000.pisp_be-video-index0,
// platform-1000880000.pisp_be-video-index4, and platform-1000880000.pisp_be-video-index5.
// This code will remove "indexX" from all the other paths from all the devices and make sure
// that we only take one camera stream from each device the stream with the lowest index.
for (String p : device.otherPaths) {
paths.add(p.split("index")[0]);
}
boolean skip = false;
for (var otherDevice : filteredDevices) {
List<String> otherPaths = new ArrayList<>();
for (String p : otherDevice.otherPaths) {
otherPaths.add(p.split("index")[0]);
if (device.otherPaths.length != 0) {
// Use the other paths to filter out devices that share the same path other than the index
// select only the lowest index.
// A ov5647 on a raspi 5 would show another path as
// platform-1000880000.pisp_be-video-index0,
// platform-1000880000.pisp_be-video-index4, and platform-1000880000.pisp_be-video-index5.
// This code will remove "indexX" from all the other paths from all the devices and make
// sure
// that we only take one camera stream from each device the stream with the lowest index.
for (String p : device.otherPaths) {
paths.add(p.split("index")[0]);
}
if (paths.containsAll(otherPaths)) {
if (otherDevice.dev >= device.dev) {
badDevices.add(otherDevice);
} else {
skip = true;
break;
for (var otherDevice : filteredDevices) {
if (otherDevice.otherPaths.length == 0) continue;
List<String> otherPaths = new ArrayList<>();
for (String p : otherDevice.otherPaths) {
otherPaths.add(p.split("index")[0]);
}
if (paths.containsAll(otherPaths)) {
if (otherDevice.dev >= device.dev) {
badDevices.add(otherDevice);
} else {
skip = true;
break;
}
}
}
}

filteredDevices.removeAll(badDevices);
if (deviceBlacklist.contains(device.name)) {
logger.trace(
Expand Down
93 changes: 89 additions & 4 deletions photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -35,23 +35,108 @@ public void visionSourceTest() {
ConfigManager.getInstance().load();

inst.tryMatchUSBCamImpl();
var config = new CameraConfiguration("secondTestVideo", "dev/video1");
UsbCameraInfo info1 = new UsbCameraInfo(0, "dev/video0", "testVideo", new String[0], 1, 2);
var config = new CameraConfiguration("secondTestVideo", "/dev/video1");

UsbCameraInfo info1 = new UsbCameraInfo(0, "/dev/video0", "testVideo", new String[0], 1, 2);
infoList.add(info1);

inst.registerLoadedConfigs(config);
var sources = inst.tryMatchUSBCamImpl(false);
inst.tryMatchUSBCamImpl(false);

assertTrue(inst.knownUsbCameras.contains(info1));
assertEquals(1, inst.unmatchedLoadedConfigs.size());

UsbCameraInfo info2 =
new UsbCameraInfo(0, "dev/video1", "secondTestVideo", new String[0], 2, 1);
new UsbCameraInfo(1, "/dev/video1", "secondTestVideo", new String[0], 2, 1);
infoList.add(info2);

inst.tryMatchUSBCamImpl(false);

assertTrue(inst.knownUsbCameras.contains(info2));
assertEquals(2, inst.knownUsbCameras.size());
assertEquals(0, inst.unmatchedLoadedConfigs.size());

UsbCameraInfo info3 =
new UsbCameraInfo(
2,
"/dev/video2",
"Left Camera",
new String[] {
"/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Left_Camera_12345-video-index0",
"/dev/v4l/by-path/platform-xhci-hcd.0-usb-0:2:1.0-video-index0"
},
3,
4);
infoList.add(info3);
inst.tryMatchUSBCamImpl(false);

assertTrue(inst.knownUsbCameras.contains(info3));
assertEquals(3, inst.knownUsbCameras.size());
assertEquals(0, inst.unmatchedLoadedConfigs.size());

UsbCameraInfo info4 =
new UsbCameraInfo(
3,
"dev/video3",
"Right Camera",
new String[] {
"/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Right_Camera_123456-video-index0",
"/dev/v4l/by-path/platform-xhci-hcd.1-usb-0:1:1.0-video-index0"
},
5,
6);
infoList.add(info4);
inst.tryMatchUSBCamImpl(false);

assertTrue(inst.knownUsbCameras.contains(info4));
assertEquals(4, inst.knownUsbCameras.size());
assertEquals(0, inst.unmatchedLoadedConfigs.size());

// RPI 5 CSI Tests

UsbCameraInfo info5 =
new UsbCameraInfo(
4,
"dev/video4",
"CSICAM-DEV", // Typically rp1-cfe for unit test changed to CSICAM-DEV
new String[] {"/dev/v4l/by-path/platform-1f00110000.csi-video-index0"},
7,
8);
infoList.add(info5);
inst.tryMatchUSBCamImpl(false);

assertTrue(inst.knownUsbCameras.contains(info5));
assertEquals(5, inst.knownUsbCameras.size());
assertEquals(0, inst.unmatchedLoadedConfigs.size());

UsbCameraInfo info6 =
new UsbCameraInfo(
5,
"dev/video8",
"CSICAM-DEV", // Typically rp1-cfe for unit test changed to CSICAM-DEV
new String[] {"/dev/v4l/by-path/platform-1f00110000.csi-video-index4"},
9,
10);
infoList.add(info6);
inst.tryMatchUSBCamImpl(false);

assertTrue(!inst.knownUsbCameras.contains(info6)); // This camera should not be recognized/used.
assertEquals(5, inst.knownUsbCameras.size());
assertEquals(0, inst.unmatchedLoadedConfigs.size());

UsbCameraInfo info7 =
new UsbCameraInfo(
6,
"dev/video9",
"CSICAM-DEV", // Typically rp1-cfe for unit test changed to CSICAM-DEV
new String[] {"/dev/v4l/by-path/platform-1f00110000.csi-video-index5"},
11,
12);
infoList.add(info7);
inst.tryMatchUSBCamImpl(false);

assertTrue(!inst.knownUsbCameras.contains(info7)); // This camera should not be recognized/used.
assertEquals(5, inst.knownUsbCameras.size());
assertEquals(0, inst.unmatchedLoadedConfigs.size());
}
}

0 comments on commit 6969c2b

Please sign in to comment.