PhotonVision · mcm001 · Dec 28, 2022 · Dec 20, 2022 · Dec 20, 2022 · Dec 20, 2022
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -375,7 +375,7 @@ jobs:
           ./gradlew photon-server:shadowJar --max-workers 2
         if: ${{ (matrix.arch-override == 'none') }}
 
-      # The image will only pull the Pi JAR in
+      # The image will only pull the Pi32 JAR in
       - name: Generate image
         if: ${{ github.event_name != 'pull_request' && (matrix.artifact-name) == 'LinuxArm32' }}
         run: |

diff --git a/build.gradle b/build.gradle
@@ -36,9 +36,10 @@ ext {
         jniPlatforms = ['linuxarm32']
     } else if(project.hasProperty('winonly')) {
         jniPlatforms = ['windowsx86-64']
+    } else if(project.hasProperty('aarch64only')) {
+        jniPlatforms = ['linuxaarch64bionic']
     } else {
         jniPlatforms = ['linuxarm64', 'linuxarm32', 'linuxx86-64', 'osxuniversal', 'windowsx86-64']
-
     }
 
     println("Building for archs " + jniPlatforms)

diff --git a/photon-client/package-lock.json b/photon-client/package-lock.json
diff --git a/photon-client/src/views/CamerasView.vue b/photon-client/src/views/CamerasView.vue
@@ -218,6 +218,17 @@
                   tooltip="Enables or Disables camera automatic adjustment for current lighting conditions"
                   @input="e => handlePipelineUpdate('cameraAutoExposure', e)"
                 />
+                <CVslider
+                  v-if="cameraGain >= 0"
+                  v-model="cameraGain"
+                  name="Camera Gain"
+                  min="0"
+                  max="100"
+                  tooltip="Controls camera gain, similar to brightness"
+                  :slider-cols="largeBox"
+                  @input="handlePipelineData('cameraGain')"
+                  @rollback="e => rollback('cameraGain', e)"
+                />
                 <CVslider
                   v-if="$store.getters.currentPipelineSettings.cameraRedGain !== -1"
                   v-model="$store.getters.currentPipelineSettings.cameraRedGain"
@@ -410,6 +421,15 @@ export default {
             }
         },
 
+        cameraGain: {
+          get() {
+              return parseInt(this.$store.getters.currentPipelineSettings.cameraGain)
+          },
+          set(val) {
+              this.$store.commit("mutatePipeline", {"cameraGain": parseInt(val)});
+          }
+        },
+
         // Makes sure there's only one entry per resolution
         filteredResolutionList: {
             get() {

diff --git a/photon-client/src/views/PipelineView.vue b/photon-client/src/views/PipelineView.vue
@@ -34,9 +34,9 @@
                 :text-color="fpsTooLow ? 'white' : 'grey'"
               >
                 <span class="pr-1">Processing @ {{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
-                <span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 9999) }} ms latency</span>
-                <span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
-                <span v-else>stop viewing the raw stream for better performance</span>
+                <span v-if="fpsTooLow && !$store.getters.currentPipelineSettings.inputShouldShow && $store.getters.pipelineType == 2">HSV thresholds are too broad; narrow them for better performance</span>
+                <span v-else-if="$fpsTooLow && getters.currentCameraSettings.inputShouldShow">stop viewing the raw stream for better performance</span>
+                <span v-else>{{ Math.min(Math.round($store.state.pipelineResults.latency), 9999) }} ms latency</span>
               </v-chip>
               <v-switch
                 v-model="driverMode"

diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
@@ -21,6 +21,7 @@
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.List;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -45,6 +46,8 @@ public class CameraConfiguration {
     /** Can be either path (ex /dev/videoX) or index (ex 1). */
     public String path = "";
 
+    @JsonIgnore public String[] otherPaths = {};
+
     public CameraType cameraType = CameraType.UsbCamera;
     public double FOV = 70;
     public final List<CameraCalibrationCoefficients> calibrations;
@@ -59,15 +62,17 @@ public class CameraConfiguration {
     public DriverModePipelineSettings driveModeSettings = new DriverModePipelineSettings();
 
     public CameraConfiguration(String baseName, String path) {
-        this(baseName, baseName, baseName, path);
+        this(baseName, baseName, baseName, path, new String[0]);
     }
 
-    public CameraConfiguration(String baseName, String uniqueName, String nickname, String path) {
+    public CameraConfiguration(
+            String baseName, String uniqueName, String nickname, String path, String[] alternates) {
         this.baseName = baseName;
         this.uniqueName = uniqueName;
         this.nickname = nickname;
         this.path = path;
         this.calibrations = new ArrayList<>();
+        this.otherPaths = alternates;
 
         logger.debug(
                 "Creating USB camera configuration for "
@@ -145,4 +150,33 @@ public void addCalibration(CameraCalibrationCoefficients calibration) {
                 .ifPresent(calibrations::remove);
         calibrations.add(calibration);
     }
+
+    @Override
+    public String toString() {
+        return "CameraConfiguration [baseName="
+                + baseName
+                + ", uniqueName="
+                + uniqueName
+                + ", nickname="
+                + nickname
+                + ", path="
+                + path
+                + ", otherPaths="
+                + Arrays.toString(otherPaths)
+                + ", cameraType="
+                + cameraType
+                + ", FOV="
+                + FOV
+                + ", calibrations="
+                + calibrations
+                + ", currentPipelineIndex="
+                + currentPipelineIndex
+                + ", streamIndex="
+                + streamIndex
+                + ", pipelineSettings="
+                + pipelineSettings
+                + ", driveModeSettings="
+                + driveModeSettings
+                + "]";
+    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -25,7 +25,7 @@
 import org.photonvision.PhotonVersion;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.util.SerializationUtils;
-import org.photonvision.raspi.PicamJNI;
+import org.photonvision.raspi.LibCameraJNI;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.processes.VisionSource;
@@ -110,8 +110,8 @@ public Map<String, Object> toHashMap() {
         generalSubmap.put("version", PhotonVersion.versionString);
         generalSubmap.put(
                 "gpuAcceleration",
-                PicamJNI.isSupported()
-                        ? "Zerocopy MMAL on " + PicamJNI.getSensorModel().getFriendlyName()
+                LibCameraJNI.isSupported()
+                        ? "Zerocopy Libcamera on " + LibCameraJNI.getSensorModel().getFriendlyName()
                         : ""); // TODO add support for other types of GPU accel
         generalSubmap.put("hardwareModel", hardwareConfig.deviceName);
         generalSubmap.put("hardwarePlatform", Platform.getPlatformName());

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java b/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java
@@ -34,7 +34,7 @@ public enum PiVersion {
     private static final ShellExec shell = new ShellExec(true, false);
     private static final PiVersion currentPiVersion = calcPiVersion();
 
-    PiVersion(String s) {
+    private PiVersion(String s) {
         this.identifier = s.toLowerCase();
     }
 

diff --git a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -330,6 +330,7 @@ public static CameraCalibrationCoefficients getLaptop() {
     private static int DefaultTimeoutMillis = 5000;
 
     public static void showImage(Mat frame, String title, int timeoutMs) {
+        if (frame.empty()) return;
         try {
             HighGui.imshow(title, frame);
             HighGui.waitKey(timeoutMs);