Enable multi-CSI-camera with libcamera (#1068)

We should continue being paranoid about multi-cam with all these changes


---------

Co-authored-by: Matt <[email protected]>

Author: BytingBulldogs3539

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

@@ -137,7 +137,7 @@ public Map<String, Object> toHashMap() {
         generalSubmap.put(
                 "gpuAcceleration",
                 LibCameraJNI.isSupported()
-                        ? "Zerocopy Libcamera on " + LibCameraJNI.getSensorModel().getFriendlyName()
+                        ? "Zerocopy Libcamera Working"
                         : ""); // TODO add support for other types of GPU accel
         generalSubmap.put("hardwareModel", hardwareConfig.deviceName);
         generalSubmap.put("hardwarePlatform", Platform.getPlatformName());

photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/LinuxCmds.java

@@ -22,7 +22,7 @@
 public class LinuxCmds extends CmdBase {
     public void initCmds(HardwareConfig config) {
         // CPU
-        cpuMemoryCommand = "awk '/MemTotal:/ {print int($2 / 1000);}' /proc/meminfo";
+        cpuMemoryCommand = "free -m | awk 'FNR == 2 {print $3}'";
 
         // TODO: boards have lots of thermal devices. Hard to pick the CPU
 
@@ -32,7 +32,7 @@ public void initCmds(HardwareConfig config) {
         cpuUptimeCommand = "uptime -p | cut -c 4-";
 
         // RAM
-        ramUsageCommand = "awk '/MemAvailable:/ {print int($2 / 1000);}' /proc/meminfo";
+        ramUsageCommand = "free -m | awk 'FNR == 2 {print $3}'";
 
         // Disk
         diskUsageCommand = "df ./ --output=pcent | tail -n +2";

photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/PiCmds.java

@@ -25,7 +25,7 @@ public void initCmds(HardwareConfig config) {
         super.initCmds(config);
 
         // CPU
-        cpuMemoryCommand = "vcgencmd get_mem arm | grep -Eo '[0-9]+'";
+        cpuMemoryCommand = "free -m | awk 'FNR == 2 {print $2}'";
         cpuTemperatureCommand = "sed 's/.\\{3\\}$/.&/' /sys/class/thermal/thermal_zone0/temp";
         cpuThrottleReasonCmd =
                 "if   ((  $(( $(vcgencmd get_throttled | grep -Eo 0x[0-9a-fA-F]*) & 0x01 )) != 0x00 )); then echo \"LOW VOLTAGE\"; "

photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java

@@ -30,8 +30,6 @@ public class LibCameraJNI {
     private static boolean libraryLoaded = false;
     private static final Logger logger = new Logger(LibCameraJNI.class, LogGroup.Camera);
 
-    public static final Object CAMERA_LOCK = new Object();
-
     public static synchronized void forceLoad() throws IOException {
         if (libraryLoaded) return;
 
@@ -93,8 +91,13 @@ public String getFriendlyName() {
         }
     }
 
-    public static SensorModel getSensorModel() {
-        int model = getSensorModelRaw();
+    public static SensorModel getSensorModel(long r_ptr) {
+        int model = getSensorModelRaw(r_ptr);
+        return SensorModel.values()[model];
+    }
+
+    public static SensorModel getSensorModel(String name) {
+        int model = getSensorModelRaw(name);
         return SensorModel.values()[model];
     }
 
@@ -107,88 +110,101 @@ public static boolean isSupported() {
 
     private static native boolean isLibraryWorking();
 
-    public static native int getSensorModelRaw();
+    public static native int getSensorModelRaw(long r_ptr);
+
+    public static native int getSensorModelRaw(String name);
 
     // ======================================================== //
 
     /**
      * Creates a new runner with a given width/height/fps
      *
+     * @param the path / name of the camera as given from libcamera.
      * @param width Camera video mode width in pixels
      * @param height Camera video mode height in pixels
      * @param fps Camera video mode FPS
-     * @return success of creating a camera object
+     * @return the runner pointer for the camera.
      */
-    public static native boolean createCamera(int width, int height, int rotation);
+    public static native long createCamera(String name, int width, int height, int rotation);
 
     /**
      * Starts the camera thresholder and display threads running. Make sure that this function is
      * called synchronously with stopCamera and returnFrame!
      */
-    public static native boolean startCamera();
+    public static native boolean startCamera(long r_ptr);
 
     /** Stops the camera runner. Make sure to call prior to destroying the camera! */
-    public static native boolean stopCamera();
+    public static native boolean stopCamera(long r_ptr);
 
     // Destroy all native resources associated with a camera. Ensure stop is called prior!
-    public static native boolean destroyCamera();
+    public static native boolean destroyCamera(long r_ptr);
 
     // ======================================================== //
 
     // Set thresholds on [0..1]
     public static native boolean setThresholds(
-            double hl, double sl, double vl, double hu, double su, double vu, boolean hueInverted);
+            long r_ptr,
+            double hl,
+            double sl,
+            double vl,
+            double hu,
+            double su,
+            double vu,
+            boolean hueInverted);
 
-    public static native boolean setAutoExposure(boolean doAutoExposure);
+    public static native boolean setAutoExposure(long r_ptr, boolean doAutoExposure);
 
     // Exposure time, in microseconds
-    public static native boolean setExposure(int exposureUs);
+    public static native boolean setExposure(long r_ptr, int exposureUs);
 
     // Set brightness on [-1, 1]
-    public static native boolean setBrightness(double brightness);
+    public static native boolean setBrightness(long r_ptr, double brightness);
 
     // Unknown ranges for red and blue AWB gain
-    public static native boolean setAwbGain(double red, double blue);
+    public static native boolean setAwbGain(long r_ptr, double red, double blue);
 
     /**
      * Get the time when the first pixel exposure was started, in the same timebase as libcamera gives
      * the frame capture time. Units are nanoseconds.
      */
-    public static native long getFrameCaptureTime();
+    public static native long getFrameCaptureTime(long p_ptr);
 
     /**
      * Get the current time, in the same timebase as libcamera gives the frame capture time. Units are
      * nanoseconds.
      */
     public static native long getLibcameraTimestamp();
 
-    public static native long setFramesToCopy(boolean copyIn, boolean copyOut);
+    public static native long setFramesToCopy(long r_ptr, boolean copyIn, boolean copyOut);
 
     // Analog gain multiplier to apply to all color channels, on [1, Big Number]
-    public static native boolean setAnalogGain(double analog);
+    public static native boolean setAnalogGain(long r_ptr, double analog);
 
     /** Block until a new frame is available from native code. */
-    public static native boolean awaitNewFrame();
+    public static native long awaitNewFrame(long r_ptr);
 
     /**
      * Get a pointer to the most recent color mat generated. Call this immediately after
      * awaitNewFrame, and call only once per new frame!
      */
-    public static native long takeColorFrame();
+    public static native long takeColorFrame(long pair_ptr);
 
     /**
      * Get a pointer to the most recent processed mat generated. Call this immediately after
      * awaitNewFrame, and call only once per new frame!
      */
-    public static native long takeProcessedFrame();
+    public static native long takeProcessedFrame(long pair_ptr);
 
     /**
      * Set the GPU processing type we should do. Enum of [none, HSV, greyscale, adaptive threshold].
      */
-    public static native boolean setGpuProcessType(int type);
+    public static native boolean setGpuProcessType(long r_ptr, int type);
+
+    public static native int getGpuProcessType(long p_ptr);
 
-    public static native int getGpuProcessType();
+    /** Release a pair pointer back to the libcamera driver code to be filled again */
+    public static native boolean releasePair(long p_ptr);
 
-    // Release a frame pointer back to the libcamera driver code to be filled again */
-    // public static native long returnFrame(long frame);
+    /** Get an array containing the names/ids/paths of all connected CSI cameras from libcamera. */
+    public static native String[] getCameraNames();
 }

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

@@ -0,0 +1,83 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.camera;
+
+import edu.wpi.first.cscore.UsbCameraInfo;
+import java.util.Arrays;
+
+public class CameraInfo extends UsbCameraInfo {
+    public final CameraType cameraType;
+
+    public CameraInfo(
+            int dev, String path, String name, String[] otherPaths, int vendorId, int productId) {
+        super(dev, path, name, otherPaths, vendorId, productId);
+        cameraType = CameraType.UsbCamera;
+    }
+
+    public CameraInfo(
+            int dev,
+            String path,
+            String name,
+            String[] otherPaths,
+            int vendorId,
+            int productId,
+            CameraType cameraType) {
+        super(dev, path, name, otherPaths, vendorId, productId);
+        this.cameraType = cameraType;
+    }
+
+    public CameraInfo(UsbCameraInfo info) {
+        super(info.dev, info.path, info.name, info.otherPaths, info.vendorId, info.productId);
+        cameraType = CameraType.UsbCamera;
+    }
+
+    /**
+     * @return True, if this camera is reported from V4L and is a CSI camera.
+     */
+    public boolean getIsV4lCsiCamera() {
+        return (Arrays.stream(otherPaths).anyMatch(it -> it.contains("csi-video"))
+                || getBaseName().equals("unicam"));
+    }
+
+    /**
+     * @return The base name of the camera aka the name as just ascii.
+     */
+    public String getBaseName() {
+        return name.replaceAll("[^\\x00-\\x7F]", "");
+    }
+
+    /**
+     * @param baseName
+     * @return Returns a human readable name
+     */
+    public String getHumanReadableName() {
+        return getBaseName().replaceAll(" ", "_");
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (o == this) return true;
+        if (!(o instanceof UsbCameraInfo || o instanceof CameraInfo)) return false;
+        UsbCameraInfo other = (UsbCameraInfo) o;
+        return path.equals(other.path)
+                // && a.dev == b.dev (dev is not constant in Windows)
+                && name.equals(other.name)
+                && productId == other.productId
+                && vendorId == other.vendorId;
+    }
+}