Merge branch '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):

.github/workflows/build.yml

@@ -119,7 +119,7 @@ jobs:
           path: build/html
   build-photonlib-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 11
+      MACOSX_DEPLOYMENT_TARGET: 12
     strategy:
       fail-fast: false
       matrix:

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.22.0"
-    id "edu.wpi.first.NativeUtils" version "2024.2.0" apply false
+    id "edu.wpi.first.NativeUtils" version "2024.3.2" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
@@ -21,6 +21,7 @@ apply from: "versioningHelper.gradle"
 
 ext {
     wpilibVersion = "2024.1.1-beta-3"
+    wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
@@ -36,16 +37,11 @@ ext {
     if (nativeName == "macx64") nativeName = "osxx86-64";
     if (nativeName == "macarm64") nativeName = "osxarm64";
     jniPlatform = nativeName
-    println("Building for platform " + jniPlatform)
+    println("Building for platform: " + jniPlatform)
+    println("Using Wpilib: " + wpilibVersion)
+    println("Using OpenCV: " + openCVversion)
 }
 
-wpilibTools.deps.wpilibVersion = wpilibVersion
-
-// Tell gradlerio what version of things to use (that we care about)
-// See: https://github.com/wpilibsuite/GradleRIO/blob/main/src/main/java/edu/wpi/first/gradlerio/wpi/WPIVersionsExtension.java
-wpi.getVersions().getOpencvVersion().convention(openCVversion);
-wpi.getVersions().getWpilibVersion().convention(wpilibVersion);
-
 spotless {
     java {
         target fileTree('.') {

photon-client/src/components/app/photon-camera-stream.vue

@@ -8,7 +8,7 @@ import PvIcon from "@/components/common/pv-icon.vue";
 
 const props = defineProps<{
   streamType: "Raw" | "Processed";
-  id?: string;
+  id: string;
 }>();
 
 const streamSrc = computed<string>(() => {
@@ -25,8 +25,6 @@ const streamDesc = computed<string>(() => `${props.streamType} Stream View`);
 const streamStyle = computed<StyleValue>(() => {
   if (useStateStore().colorPickingMode) {
     return { width: "100%", cursor: "crosshair" };
-  } else if (streamSrc.value !== loadingImage) {
-    return { width: "100%", cursor: "pointer" };
   }
 
   return { width: "100%" };
@@ -40,37 +38,45 @@ const overlayStyle = computed<StyleValue>(() => {
   }
 });
 
-const handleStreamClick = () => {
-  if (!useStateStore().colorPickingMode && streamSrc.value !== loadingImage) {
-    window.open(streamSrc.value);
-  }
-};
 const handleCaptureClick = () => {
   if (props.streamType === "Raw") {
     useCameraSettingsStore().saveInputSnapshot();
   } else {
     useCameraSettingsStore().saveOutputSnapshot();
   }
 };
+const handlePopoutClick = () => {
+  window.open(streamSrc.value);
+};
+const handleFullscreenRequest = () => {
+  const stream = document.getElementById(props.id);
+  if (!stream) return;
+  stream.requestFullscreen();
+};
 </script>
 
 <template>
   <div class="stream-container">
-    <img
-      :id="id"
-      crossorigin="anonymous"
-      :src="streamSrc"
-      :alt="streamDesc"
-      :style="streamStyle"
-      @click="handleStreamClick"
-    />
+    <img :id="id" crossorigin="anonymous" :src="streamSrc" :alt="streamDesc" :style="streamStyle" />
     <div class="stream-overlay" :style="overlayStyle">
       <pv-icon
         icon-name="mdi-camera-image"
         tooltip="Capture and save a frame of this stream"
         class="ma-1 mr-2"
         @click="handleCaptureClick"
       />
+      <pv-icon
+        icon-name="mdi-fullscreen"
+        tooltip="Open this stream in fullscreen"
+        class="ma-1 mr-2"
+        @click="handleFullscreenRequest"
+      />
+      <pv-icon
+        icon-name="mdi-open-in-new"
+        tooltip="Open this stream in a new window"
+        class="ma-1 mr-2"
+        @click="handlePopoutClick"
+      />
     </div>
   </div>
 </template>
@@ -81,6 +87,7 @@ const handleCaptureClick = () => {
 }
 
 .stream-overlay {
+  display: flex;
   opacity: 0;
   transition: 0.1s ease;
   position: absolute;

photon-client/src/components/cameras/CamerasView.vue

@@ -78,10 +78,20 @@ const fpsTooLow = computed<boolean>(() => {
     </v-card-title>
     <div class="stream-container pb-4">
       <div class="stream">
-        <photon-camera-stream v-show="value.includes(0)" stream-type="Raw" style="max-width: 100%" />
+        <photon-camera-stream
+          v-show="value.includes(0)"
+          id="input-camera-stream"
+          stream-type="Raw"
+          style="max-width: 100%"
+        />
       </div>
       <div class="stream">
-        <photon-camera-stream v-show="value.includes(1)" stream-type="Processed" style="max-width: 100%" />
+        <photon-camera-stream
+          v-show="value.includes(1)"
+          id="output-camera-stream"
+          stream-type="Processed"
+          style="max-width: 100%"
+        />
       </div>
     </div>
     <v-divider />

photon-client/src/components/dashboard/tabs/TargetsTab.vue

@@ -41,7 +41,7 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
                   useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
                 "
               >
-                <th class="text-center">Ambiguity %</th>
+                <th class="text-center">Ambiguity Ratio</th>
               </template>
             </tr>
           </thead>
@@ -73,7 +73,7 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
                   useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
                 "
               >
-                <td>{{ target.ambiguity >= 0 ? target.ambiguity?.toFixed(2) + "%" : "(In Multi-Target)" }}</td>
+                <td>{{ target.ambiguity >= 0 ? target.ambiguity.toFixed(2) : "(In Multi-Target)" }}</td>
               </template>
             </tr>
           </tbody>
@@ -102,7 +102,14 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
         <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
           <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(2) }}&nbsp;m</td>
           <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(2) }}&nbsp;m</td>
-          <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z.toFixed(2) }}&deg;</td>
+          <td>
+            {{
+              (
+                useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z *
+                (180.0 / Math.PI)
+              ).toFixed(2)
+            }}&deg;
+          </td>
           <td>{{ useStateStore().currentPipelineResults?.multitagResult?.fiducialIDsUsed }}</td>
         </tbody>
       </v-simple-table>

photon-core/build.gradle

@@ -1,38 +1,24 @@
-plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
-}
-
 import java.nio.file.Path
 
 apply from: "${rootDir}/shared/common.gradle"
 
 dependencies {
-    implementation project(':photon-targeting')
-
-    implementation "io.javalin:javalin:$javalinVersion"
-
-    implementation 'org.msgpack:msgpack-core:0.9.0'
-    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'
-
     // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
     implementation "org.jogamp.jogl:jogl-all:$joglVersion"
-
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-linux-aarch64"
     implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"
 
     // Zip
     implementation 'org.zeroturnaround:zt-zip:1.14'
 
-    implementation wpilibTools.deps.wpilibJava("apriltag")
-
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
 }
 
-task writeCurrentVersionJava {
+task writeCurrentVersion {
     def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
     writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
             versionString)
 }
 
-build.dependsOn writeCurrentVersionJava
+build.dependsOn writeCurrentVersion

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