Pipe vision/source telemetry up to UI

docs/source/docs/contributing/building-photon.md

@@ -290,5 +290,5 @@ Then, run the examples:
 Using the [GitHub CLI](https://cli.github.com/), we can download artifacts from pipelines by run ID and name:
 
 ```
-~/photonvision$ gh run download 11759699679 -n jar-Linux 
+~/photonvision$ gh run download 11759699679 -n jar-Linux
 ```

photon-client/src/components/app/photon-sidebar.vue

@@ -40,7 +40,7 @@ const mdAndUp = computed<boolean>(() => getCurrentInstance()?.proxy.$vuetify.bre
           <v-icon>mdi-camera</v-icon>
         </v-list-item-icon>
         <v-list-item-content>
-          <v-list-item-title>Cameras</v-list-item-title>
+          <v-list-item-title>Camera</v-list-item-title>
         </v-list-item-content>
       </v-list-item>
       <v-list-item link to="/settings">
@@ -51,6 +51,14 @@ const mdAndUp = computed<boolean>(() => getCurrentInstance()?.proxy.$vuetify.bre
           <v-list-item-title>Settings</v-list-item-title>
         </v-list-item-content>
       </v-list-item>
+      <v-list-item link to="/cameraConfigs">
+        <v-list-item-icon>
+          <v-icon>mdi-notebook</v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title>Camera Configs</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
       <v-list-item link to="/docs">
         <v-list-item-icon>
           <v-icon>mdi-bookshelf</v-icon>

photon-client/src/router/index.ts

@@ -6,6 +6,7 @@ import CameraSettingsView from "@/views/CameraSettingsView.vue";
 import GeneralSettingsView from "@/views/GeneralSettingsView.vue";
 import DocsView from "@/views/DocsView.vue";
 import NotFoundView from "@/views/NotFoundView.vue";
+import CameraMatchingView from "@/views/CameraMatchingView.vue";
 
 Vue.use(VueRouter);
 
@@ -33,6 +34,11 @@ const router = new VueRouter({
       name: "Settings",
       component: GeneralSettingsView
     },
+    {
+      path: "/cameraConfigs",
+      name: "Camera Configs",
+      component: CameraMatchingView
+    },
     {
       path: "/docs",
       name: "Docs",

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -88,6 +88,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
   actions: {
     updateCameraSettingsFromWebsocket(data: WebsocketCameraSettingsUpdate[]) {
       const configuredCameras = data.map<CameraSettings>((d) => ({
+        cameraPath: d.cameraPath,
+
         nickname: d.nickname,
         uniqueName: d.uniqueName,
         fov: {

photon-client/src/stores/settings/GeneralSettingsStore.ts

@@ -4,20 +4,21 @@
   GeneralSettings,
   LightingSettings,
   MetricData,
-  NetworkSettings
+  NetworkSettings,
+  VisionSourceManagerState
 } from "@/types/SettingTypes";
 import { NetworkConnectionType } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";
 import axios from "axios";
 import type { WebsocketSettingsUpdate } from "@/types/WebsocketDataTypes";
 import type { AprilTagFieldLayout } from "@/types/PhotonTrackingTypes";
 
 interface GeneralSettingsStore {
   general: GeneralSettings;
   network: NetworkSettings;
   lighting: LightingSettings;
   metrics: MetricData;
-  currentFieldLayout: AprilTagFieldLayout;
+  visionSourceManagerState: VisionSourceManagerState;
 }
 
 export const useSettingsStore = defineStore("settings", {
@@ -71,6 +72,20 @@
         width: 8.2296
       },
       tags: []
+    },
+    visionSourceManagerState: {
+      knownCameras: [
+        {
+          cameraType: "USBCamera",
+          dev: 1,
+          name: "foobar",
+          otherPaths: ["asdf", "bfdsa"],
+          path: "/some/path",
+          vendorId: 1,
+          productId: 2
+        }
+      ],
+      unmatchedLoadedConfigs: []
     }
   }),
   getters: {
@@ -112,6 +127,8 @@
       this.lighting = data.lighting;
       this.network = data.networkSettings;
       this.currentFieldLayout = data.atfl;
+
+      this.visionSourceManagerState = data.visionSourceManagerState;
     },
     updateGeneralSettings(payload: Required<ConfigurableNetworkSettings>) {
       return axios.post("/settings/general", payload);

photon-client/src/types/PhotonTrackingTypes.ts

@@ -67,6 +67,7 @@ export interface MultitagResult {
 }
 
 export interface PipelineResult {
+  sequenceID: number;
   fps: number;
   latency: number;
   targets: PhotonTarget[];

photon-client/src/types/SettingTypes.ts

@@ -56,6 +56,24 @@ export type ConfigurableNetworkSettings = Omit<
   "canManage" | "networkInterfaceNames" | "networkingDisabled"
 >;
 
+export interface UiCameraConfiguration {}
+export interface CameraConfiguration {}
+
+export interface PvCameraInfo {
+  cameraType: string; // CameraType -- todo
+  dev: number;
+  path: string;
+  name: string;
+  otherPaths: string[];
+  vendorId: number;
+  productId: number;
+}
+
+export interface VisionSourceManagerState {
+  knownCameras: PvCameraInfo[];
+  unmatchedLoadedConfigs: CameraConfiguration[];
+}
+
 export interface LightingSettings {
   supported: boolean;
   brightness: number;
@@ -173,6 +191,8 @@ export interface QuirkyCamera {
 }
 
 export interface CameraSettings {
+  cameraPath: string;
+
   nickname: string;
   uniqueName: string;
 

photon-client/src/types/WebsocketDataTypes.ts

@@ -5,7 +5,8 @@ import type {
   LogLevel,
   MetricData,
   NetworkSettings,
-  QuirkyCamera
+  QuirkyCamera,
+  VisionSourceManagerState
 } from "@/types/SettingTypes";
 import type { ActivePipelineSettings } from "@/types/PipelineTypes";
 import type { AprilTagFieldLayout, PipelineResult } from "@/types/PhotonTrackingTypes";
@@ -21,6 +22,7 @@ export interface WebsocketSettingsUpdate {
   lighting: Required<LightingSettings>;
   networkSettings: NetworkSettings;
   atfl: AprilTagFieldLayout;
+  visionSourceManagerState: VisionSourceManagerState;
 }
 
 export interface WebsocketNumberPair {
@@ -44,7 +46,10 @@ export type WebsocketVideoFormat = Record<
   }
 >;
 
+// Companion to UICameraConfiguration in Java
 export interface WebsocketCameraSettingsUpdate {
+  cameraPath: string;
+
   calibrations: CameraCalibrationResult[];
   currentPipelineIndex: number;
   currentPipelineSettings: ActivePipelineSettings;

photon-client/src/views/CameraMatchingView.vue

@@ -0,0 +1,139 @@
+<script setup lang="ts">
+import MetricsCard from "@/components/settings/MetricsCard.vue";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { inject } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+
+const formatUrl = (port) => `http://${inject("backendHostname")}:${port}/stream.mjpg`;
+</script>
+
+<template>
+  <div class="pa-3">
+    <v-card dark class="mb-3 pr-6 pb-3" style="background-color: #006492">
+      <v-card-title style="display: flex; justify-content: space-between">
+        <span class="ml-3">Active Vision Modules</span>
+      </v-card-title>
+
+      <v-row class="ml-3">
+        <v-card
+          dark
+          class="camera-card pa-4 mb-4 mr-3"
+          v-for="(module, index) in useCameraSettingsStore().cameras"
+          :value="index"
+        >
+          <v-card-title class="pb-8">{{ module.nickname }}</v-card-title>
+          <v-card-text>
+            <v-simple-table dense height="100%" class="camera-card-table mt-2">
+              <tbody>
+                <tr>
+                  <td>Matched Path</td>
+                  <td>
+                    {{ module.cameraPath }}
+                  </td>
+                </tr>
+                <tr>
+                  <td>Streams:</td>
+                  <td>
+                    <a :href="formatUrl(module.stream.inputPort)" target="_blank"> Input Stream </a>/<a
+                      :href="formatUrl(module.stream.outputPort)"
+                      target="_blank"
+                    >
+                      Output Stream
+                    </a>
+                  </td>
+                </tr>
+                <tr>
+                  <td>Pipelines</td>
+                  <td>{{ module.pipelineNicknames.join(", ") }}</td>
+                </tr>
+                <tr>
+                  <td>Frames Processed</td>
+                  <td>
+                    {{ useStateStore().backendResults[index].sequenceID }} ({{
+                      useStateStore().backendResults[index].fps
+                    }}
+                    FPS)
+                  </td>
+                </tr>
+                <tr>
+                  <td>Connected?</td>
+                  <td>Via [USB, CSI, totally bjork]</td>
+                </tr>
+              </tbody>
+            </v-simple-table>
+          </v-card-text>
+        </v-card>
+      </v-row>
+    </v-card>
+    <v-card dark class="mb-3 pr-6 pb-3" style="background-color: #006492">
+      <v-card-title>
+        <span> USB Cameras </span>
+      </v-card-title>
+
+      <v-row class="ml-3">
+        <v-card
+          dark
+          class="camera-card pa-4 mb-4 mr-3"
+          v-for="(camera, index) in useSettingsStore().visionSourceManagerState.knownCameras"
+          :value="index"
+        >
+          <v-card-title class="pb-8">{{ camera.name }}</v-card-title>
+          <v-card-text>
+            <v-simple-table dense height="100%" class="camera-card-table mt-2">
+              <tbody>
+                <tr>
+                  <td>USB Product String Descriptor</td>
+                  <td>
+                    {{ camera.name }}
+                  </td>
+                </tr>
+                <tr>
+                  <td>USB Vendor ID</td>
+                  <td>0x{{ camera.vendorId.toString(16).padStart(4, "0") }}</td>
+                </tr>
+                <tr>
+                  <td>USB Product ID</td>
+                  <td>0x{{ camera.productId.toString(16).padStart(4, "0") }}</td>
+                </tr>
+                <tr>
+                  <td>Type</td>
+                  <td>
+                    {{ camera.cameraType }}
+                  </td>
+                </tr>
+                <tr>
+                  <td>USB Path(s)</td>
+                  <td>
+                    <span
+                      v-for="(path, idx) in [camera.path].concat(camera.otherPaths)"
+                      :key="idx"
+                      style="display: block"
+                    >
+                      {{ path }}
+                    </span>
+                  </td>
+                </tr>
+                <tr>
+                  <td>Device Number</td>
+                  <td>
+                    {{ camera.dev }}
+                  </td>
+                </tr>
+              </tbody>
+            </v-simple-table>
+          </v-card-text>
+        </v-card>
+      </v-row>
+    </v-card>
+  </div>
+</template>
+
+<style scoped>
+.camera-card {
+  background-color: #005281 !important;
+}
+.camera-card-table {
+  background-color: #b49b0d !important;
+}
+</style>

photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java

@@ -197,6 +197,18 @@ public String toShortString() {
                 + usbVID;
     }
 
+    /**
+     * cscore will auto-reconnect to the camera path we give it. v4l does not guarantee that if i swap
+     * cameras around, the same /dev/videoN ID will be assigned to that camera. So instead default to
+     * pinning to a particular USB port, or by "path" (appears to be a global identifier on Windows).
+     *
+     * <p>This represents our best guess at an immutable path to detect a camera at.
+     */
+    @JsonIgnore
+    public String getUsbPathOrDefault() {
+        return getUSBPath().orElse(path);
+    }
+
     @Override
     public String toString() {
         return "CameraConfiguration [baseName="

photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java

@@ -35,6 +35,7 @@
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.processes.VisionSource;
+import org.photonvision.vision.processes.VisionSourceManager;
 
 public class PhotonConfiguration {
     private final HardwareConfig hardwareConfig;
@@ -161,6 +162,8 @@ public Map<String, Object> toHashMap() {
         // AprilTagFieldLayout
         settingsSubmap.put("atfl", this.atfl);
 
+        settingsSubmap.put("visionSourceManagerState", VisionSourceManager.getInstance().getState());
+
         map.put(
                 "cameraSettings",
                 VisionModuleManager.getInstance().getModules().stream()
@@ -178,21 +181,23 @@ public static class UILightingConfig {
     }
 
     public static class UICameraConfiguration {
-        @SuppressWarnings("unused")
-        public double fov;
+        // Path to the camera device. On Linux, this is a special file in /dev/v4l/by-id or /dev/videoN.
+        // This is the path we hand to CSCore to do auto-reconnect on
+        public String cameraPath;
 
+        public List<UICameraCalibrationCoefficients> calibrations;
+        public int currentPipelineIndex;
+        public HashMap<String, Object> currentPipelineSettings;
+        public double fov;
+        public int inputStreamPort;
+        public boolean isFovConfigurable = true;
+        public boolean isCSICamera;
         public String nickname;
         public String uniqueName;
-        public HashMap<String, Object> currentPipelineSettings;
-        public int currentPipelineIndex;
+        public int outputStreamPort;
         public List<String> pipelineNicknames;
         public HashMap<Integer, HashMap<String, Object>> videoFormatList;
-        public int outputStreamPort;
-        public int inputStreamPort;
-        public List<UICameraCalibrationCoefficients> calibrations;
-        public boolean isFovConfigurable = true;
         public QuirkyCamera cameraQuirks;
-        public boolean isCSICamera;
         public double minExposureRaw;
         public double maxExposureRaw;
         public double minWhiteBalanceTemp;

photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java

@@ -46,6 +46,7 @@ public void accept(CVPipelineResult result) {
         if (lastUIResultUpdateTime + 1000.0 / 10.0 > now) return;
 
         var dataMap = new HashMap<String, Object>();
+        dataMap.put("sequenceID", result.sequenceID);
         dataMap.put("fps", result.fps);
         dataMap.put("latency", result.getLatencyMillis());
         var uiTargets = new ArrayList<HashMap<String, Object>>(result.targets.size());