Add camera mismatch banner to dashboard (#1921)

## Description

Detects if a camera mismatch is present in any camera and displays a
banner in the dashboard for better visibility to the user. All detection
occurs in the backend, and is sent to the frontend via use of a mismatch
boolean included in each vision module.

<img width="1235" alt="image"
src="https://github.com/user-attachments/assets/19219a56-c366-4c56-8c4b-cb5a36fe4a04"
/>

Closes #1920

## Meta

Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [x] If this PR touches configuration, this is backwards compatible
with settings back to v2024.3.1
- [x] If this PR touches pipeline settings or anything related to data
exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added

---------

Co-authored-by: Sam Freund <[email protected]>
Co-authored-by: samfreund <[email protected]>
Co-authored-by: Matt Morley <[email protected]>

Author: 3 people

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

@@ -142,7 +142,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
           maxWhiteBalanceTemp: d.maxWhiteBalanceTemp,
           matchedCameraInfo: d.matchedCameraInfo,
           isConnected: d.isConnected,
-          hasConnected: d.hasConnected
+          hasConnected: d.hasConnected,
+          mismatch: d.mismatch
         };
         return acc;
       }, {});

photon-client/src/types/SettingTypes.ts

@@ -266,6 +266,7 @@ export interface UiCameraConfiguration {
   matchedCameraInfo: PVCameraInfo;
   isConnected: boolean;
   hasConnected: boolean;
+  mismatch: boolean;
 }
 
 export interface CameraSettingsChangeRequest {
@@ -388,7 +389,8 @@ export const PlaceholderCameraSettings: UiCameraConfiguration = {
     PVUsbCameraInfo: undefined
   },
   isConnected: true,
-  hasConnected: true
+  hasConnected: true,
+  mismatch: false
 };
 
 export enum CalibrationBoardTypes {

photon-client/src/types/WebsocketDataTypes.ts

@@ -69,6 +69,7 @@ export interface WebsocketCameraSettingsUpdate {
   matchedCameraInfo: PVCameraInfo;
   isConnected: boolean;
   hasConnected: boolean;
+  mismatch: boolean;
 }
 export interface WebsocketNTUpdate {
   connected: boolean;

photon-client/src/views/CameraMatchingView.vue

@@ -168,64 +168,7 @@ const deleteThisCamera = (cameraName: string) => {
     });
 };
 
-const camerasMatch = (camera1: PVCameraInfo, camera2: PVCameraInfo) => {
-  if (camera1.PVUsbCameraInfo && camera2.PVUsbCameraInfo)
-    return (
-      camera1.PVUsbCameraInfo.name === camera2.PVUsbCameraInfo.name &&
-      camera1.PVUsbCameraInfo.vendorId === camera2.PVUsbCameraInfo.vendorId &&
-      camera1.PVUsbCameraInfo.productId === camera2.PVUsbCameraInfo.productId &&
-      camera1.PVUsbCameraInfo.uniquePath === camera2.PVUsbCameraInfo.uniquePath
-    );
-  else if (camera1.PVCSICameraInfo && camera2.PVCSICameraInfo)
-    return (
-      camera1.PVCSICameraInfo.uniquePath === camera2.PVCSICameraInfo.uniquePath &&
-      camera1.PVCSICameraInfo.baseName === camera2.PVCSICameraInfo.baseName
-    );
-  else if (camera1.PVFileCameraInfo && camera2.PVFileCameraInfo)
-    return (
-      camera1.PVFileCameraInfo.uniquePath === camera2.PVFileCameraInfo.uniquePath &&
-      camera1.PVFileCameraInfo.name === camera2.PVFileCameraInfo.name
-    );
-  else return false;
-};
-
-const cameraInfoFor = (camera: PVCameraInfo | null): PVUsbCameraInfo | PVCSICameraInfo | PVFileCameraInfo | any => {
-  if (!camera) return null;
-  if (camera.PVUsbCameraInfo) {
-    return camera.PVUsbCameraInfo;
-  }
-  if (camera.PVCSICameraInfo) {
-    return camera.PVCSICameraInfo;
-  }
-  if (camera.PVFileCameraInfo) {
-    return camera.PVFileCameraInfo;
-  }
-  return {};
-};
-
-/**
- * Find the PVCameraInfo currently occupying the same uniquepath as the the given module
- */
-const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
-  if (!info) {
-    return {
-      PVFileCameraInfo: undefined,
-      PVCSICameraInfo: undefined,
-      PVUsbCameraInfo: undefined
-    };
-  }
-  return (
-    useStateStore().vsmState.allConnectedCameras.find(
-      (it) => cameraInfoFor(it).uniquePath === cameraInfoFor(info).uniquePath
-    ) || {
-      PVFileCameraInfo: undefined,
-      PVCSICameraInfo: undefined,
-      PVUsbCameraInfo: undefined
-    }
-  );
-};
-
-const cameraCononected = (uniquePath: string): boolean => {
+const cameraConnected = (uniquePath: string): boolean => {
   return (
     useStateStore().vsmState.allConnectedCameras.find((it) => cameraInfoFor(it).uniquePath === uniquePath) !== undefined
   );
@@ -252,8 +195,8 @@ const activeVisionModules = computed(() =>
     // Display connected cameras first
     .sort(
       (first, second) =>
-        (cameraCononected(cameraInfoFor(second.matchedCameraInfo).uniquePath) ? 1 : 0) -
-        (cameraCononected(cameraInfoFor(first.matchedCameraInfo).uniquePath) ? 1 : 0)
+        (cameraConnected(cameraInfoFor(second.matchedCameraInfo).uniquePath) ? 1 : 0) -
+        (cameraConnected(cameraInfoFor(first.matchedCameraInfo).uniquePath) ? 1 : 0)
     )
 );
 
@@ -274,6 +217,45 @@ const setCameraDeleting = (camera: UiCameraConfiguration | WebsocketCameraSettin
   cameraToDelete.value = camera;
 };
 const yesDeleteMySettingsText = ref("");
+
+/**
+ * Get the connection-type-specific camera info from the given PVCameraInfo object.
+ */
+const cameraInfoFor = (camera: PVCameraInfo | null): PVUsbCameraInfo | PVCSICameraInfo | PVFileCameraInfo | any => {
+  if (!camera) return null;
+  if (camera.PVUsbCameraInfo) {
+    return camera.PVUsbCameraInfo;
+  }
+  if (camera.PVCSICameraInfo) {
+    return camera.PVCSICameraInfo;
+  }
+  if (camera.PVFileCameraInfo) {
+    return camera.PVFileCameraInfo;
+  }
+  return {};
+};
+
+/**
+ * Find the PVCameraInfo currently occupying the same uniquePath as the the given module
+ */
+const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
+  if (!info) {
+    return {
+      PVFileCameraInfo: undefined,
+      PVCSICameraInfo: undefined,
+      PVUsbCameraInfo: undefined
+    };
+  }
+  return (
+    useStateStore().vsmState.allConnectedCameras.find(
+      (it) => cameraInfoFor(it).uniquePath === cameraInfoFor(info).uniquePath
+    ) || {
+      PVFileCameraInfo: undefined,
+      PVCSICameraInfo: undefined,
+      PVUsbCameraInfo: undefined
+    }
+  );
+};
 </script>
 
 <template>
@@ -290,14 +272,11 @@ const yesDeleteMySettingsText = ref("");
       >
         <v-card color="surface" class="rounded-12">
           <v-card-title>{{ cameraInfoFor(module.matchedCameraInfo).name }}</v-card-title>
-          <v-card-subtitle v-if="!cameraCononected(cameraInfoFor(module.matchedCameraInfo).uniquePath)"
+          <v-card-subtitle v-if="!cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)"
             >Status: <span class="inactive-status">Disconnected</span></v-card-subtitle
           >
           <v-card-subtitle
-            v-else-if="
-              cameraCononected(cameraInfoFor(module.matchedCameraInfo).uniquePath) &&
-              camerasMatch(getMatchedDevice(module.matchedCameraInfo), module.matchedCameraInfo)
-            "
+            v-else-if="cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath) && !module.mismatch"
             >Status: <span class="active-status">Active</span></v-card-subtitle
           >
           <v-card-subtitle v-else>Status: <span class="mismatch-status">Mismatch</span></v-card-subtitle>
@@ -306,7 +285,7 @@ const yesDeleteMySettingsText = ref("");
               <tbody>
                 <tr
                   v-if="
-                    cameraCononected(cameraInfoFor(module.matchedCameraInfo).uniquePath) &&
+                    cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath) &&
                     useStateStore().backendResults[module.uniqueName]
                   "
                 >
@@ -348,7 +327,7 @@ const yesDeleteMySettingsText = ref("");
               </tbody>
             </v-table>
             <div
-              v-if="cameraCononected(cameraInfoFor(module.matchedCameraInfo).uniquePath)"
+              v-if="cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)"
               :id="`stream-container-${index}`"
               class="d-flex flex-column justify-center align-center mt-3"
               style="height: 250px"
@@ -370,7 +349,7 @@ const yesDeleteMySettingsText = ref("");
                   @click="
                     setCameraView(
                       module.matchedCameraInfo,
-                      cameraCononected(cameraInfoFor(module.matchedCameraInfo).uniquePath)
+                      cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)
                     )
                   "
                 >
@@ -441,7 +420,7 @@ const yesDeleteMySettingsText = ref("");
                 </tr>
                 <tr>
                   <td>Connected</td>
-                  <td>{{ cameraCononected(cameraInfoFor(module.matchedCameraInfo).uniquePath) }}</td>
+                  <td>{{ cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath) }}</td>
                 </tr>
               </tbody>
             </v-table>
@@ -456,7 +435,7 @@ const yesDeleteMySettingsText = ref("");
                   @click="
                     setCameraView(
                       module.matchedCameraInfo,
-                      cameraCononected(cameraInfoFor(module.matchedCameraInfo).uniquePath)
+                      cameraConnected(cameraInfoFor(module.matchedCameraInfo).uniquePath)
                     )
                   "
                 >
@@ -562,7 +541,13 @@ const yesDeleteMySettingsText = ref("");
         <v-card-text v-if="!viewingCamera[1]">
           <PvCameraInfoCard :camera="viewingCamera[0]" />
         </v-card-text>
-        <v-card-text v-else-if="!camerasMatch(getMatchedDevice(viewingCamera[0]), viewingCamera[0])">
+        <v-card-text
+          v-else-if="
+            activeVisionModules.find(
+              (it) => cameraInfoFor(it.matchedCameraInfo).uniquePath === cameraInfoFor(viewingCamera[0]).uniquePath
+            )?.mismatch
+          "
+        >
           <v-alert
             class="mb-3"
             color="buttonActive"

photon-client/src/views/DashboardView.vue

@@ -10,6 +10,7 @@ import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { useTheme } from "vuetify";
 
 const theme = useTheme();
+import { PlaceholderCameraSettings } from "@/types/SettingTypes";
 
 const cameraViewType = computed<number[]>({
   get: (): number[] => {
@@ -54,6 +55,17 @@ const arducamWarningShown = computed<boolean>(() => {
   );
 });
 
+const cameraMismatchWarningShown = computed<boolean>(() => {
+  return (
+    Object.values(useCameraSettingsStore().cameras)
+      // Ignore placeholder camera
+      .filter((camera) => JSON.stringify(camera) !== JSON.stringify(PlaceholderCameraSettings))
+      .some((camera) => {
+        return camera.mismatch;
+      })
+  );
+});
+
 const conflictingHostnameShown = computed<boolean>(() => {
   return useSettingsStore().general.conflictingHostname;
 });
@@ -104,6 +116,21 @@ const showCameraSetupDialog = ref(useCameraSettingsStore().needsCameraConfigurat
         {{ useSettingsStore().general.conflictingCameras }}!
       </span>
     </v-alert>
+    <v-banner
+      v-if="cameraMismatchWarningShown"
+      v-model="cameraMismatchWarningShown"
+      rounded
+      color="error"
+      dark
+      class="mb-3"
+      icon="mdi-alert-circle-outline"
+    >
+      <span
+        >Camera Mismatch Detected! Visit the <a href="#/cameraConfigs">Camera Matching</a> page for more information.
+        Note: Camera matching is done by USB port. Ensure cameras are plugged into the same USB ports as when they were
+        activated.
+      </span>
+    </v-banner>
     <v-row no-gutters>
       <v-col cols="12" class="pb-3 pr-lg-3" lg="8" align-self="stretch">
         <CamerasCard v-model="cameraViewType" />

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -70,6 +70,8 @@ public class NetworkTablesManager {
     // Creating the alert up here since it should be persistent
     private final Alert conflictAlert = new Alert("PhotonAlerts", "", AlertType.kWarning);
 
+    private final Alert mismatchAlert = new Alert("PhotonAlerts", "", AlertType.kWarning);
+
     public boolean conflictingHostname = false;
     public String conflictingCameras = "";
     private String currentMacAddress;
@@ -95,6 +97,7 @@ private NetworkTablesManager() {
 
         // This should start as false, since we don't know if there's a conflict yet
         conflictAlert.set(false);
+        mismatchAlert.set(false);
 
         // Get the UI state in sync with the backend. NT should fire a callback when it
         // first connects to the robot
@@ -115,6 +118,14 @@ public static NetworkTablesManager getInstance() {
         return INSTANCE;
     }
 
+    public void setMismatchAlert(boolean on, String message) {
+        if (mismatchAlert != null) {
+            mismatchAlert.set(on);
+            mismatchAlert.setText(message);
+            SmartDashboard.updateValues();
+        }
+    }
+
     private void logNtMessage(NetworkTableEvent event) {
         String levelmsg = "DEBUG";
         LogLevel pvlevel = LogLevel.DEBUG;

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

@@ -52,6 +52,7 @@ public class UICameraConfiguration {
     public double minWhiteBalanceTemp;
     public double maxWhiteBalanceTemp;
     public PVCameraInfo matchedCameraInfo;
+    public boolean mismatch;
 
     // Status for if the underlying device is present and such
     public boolean isConnected;

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

@@ -26,6 +26,7 @@
 import com.fasterxml.jackson.annotation.JsonTypeName;
 import edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.Arrays;
+import java.util.Objects;
 
 @JsonTypeInfo(use = JsonTypeInfo.Id.NAME, include = JsonTypeInfo.As.WRAPPER_OBJECT)
 @JsonIgnoreProperties(ignoreUnknown = true)
@@ -70,8 +71,15 @@ default String humanReadableName() {
 
     CameraType type();
 
+    /**
+     * Default equals implementation that delegates to the implementing class's equals method. This
+     * method checks type compatibility first, then delegates to the actual implementation.
+     */
     default boolean equals(PVCameraInfo other) {
-        return uniquePath().equals(other.uniquePath());
+        if (other == null) return false;
+        if (this.type() != other.type()) return false;
+        // Delegate to the actual equals(Object) implementation of this instance
+        return this.equals((Object) other);
     }
 
     @JsonTypeName("PVUsbCameraInfo")
@@ -125,7 +133,17 @@ public CameraType type() {
         public boolean equals(Object obj) {
             if (this == obj) return true;
             if (obj == null) return false;
-            return obj instanceof PVCameraInfo info && equals(info);
+            if (!(obj instanceof PVUsbCameraInfo info)) return false;
+
+            return super.name.equals(info.name)
+                    && super.vendorId == info.vendorId
+                    && super.productId == info.productId
+                    && uniquePath().equals(info.uniquePath());
+        }
+
+        @Override
+        public int hashCode() {
+            return Objects.hash(super.name, super.vendorId, super.productId, uniquePath());
         }
 
         @Override
@@ -191,7 +209,14 @@ public CameraType type() {
         public boolean equals(Object obj) {
             if (this == obj) return true;
             if (obj == null) return false;
-            return obj instanceof PVCameraInfo info && equals(info);
+            if (!(obj instanceof PVCSICameraInfo info)) return false;
+
+            return baseName.equals(info.baseName) && path.equals(info.path);
+        }
+
+        @Override
+        public int hashCode() {
+            return Objects.hash(baseName, path);
         }
 
         @Override
@@ -248,7 +273,14 @@ public CameraType type() {
         public boolean equals(Object obj) {
             if (this == obj) return true;
             if (obj == null) return false;
-            return obj instanceof PVFileCameraInfo info && equals(info);
+            if (!(obj instanceof PVFileCameraInfo info)) return false;
+
+            return name.equals(info.name) && path.equals(info.path);
+        }
+
+        @Override
+        public int hashCode() {
+            return Objects.hash(name, path);
         }
 
         @Override