WIP: Add support for basler cameras

.envrc

@@ -0,0 +1 @@
+use nix

.gitignore

@@ -148,3 +148,6 @@ node_modules
 dist
 components.d.ts
 photon-server/src/main/resources/web/index.html
+
+# Direnv
+.direnv

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
     "python.testing.unittestEnabled": false,
     "python.testing.pytestEnabled": true,
-    "python.testing.cwd": "photon-lib/py"
+    "python.testing.cwd": "photon-lib/py",
+    "java.configuration.updateBuildConfiguration": "interactive"
 }

build.gradle

@@ -40,6 +40,7 @@ ext {
     libcameraDriverVersion = "v2025.0.4"
     rknnVersion = "dev-v2025.0.0-5-g666c0c6"
     rubikVersion = "dev-v2025.1.0-8-g067a316"
+    baslerVersion = "local"
     frcYear = "2025"
     mrcalVersion = "v2025.0.0";
 

photon-client/src/components/common/pv-camera-info-card.vue

@@ -18,6 +18,9 @@ const cameraInfoFor: any = (camera: PVCameraInfo) => {
   if (camera.PVFileCameraInfo) {
     return camera.PVFileCameraInfo;
   }
+  if (camera.PVBaslerCameraInfo) {
+    return camera.PVBaslerCameraInfo;
+  }
   return {};
 };
 </script>
@@ -39,6 +42,7 @@ const cameraInfoFor: any = (camera: PVCameraInfo) => {
           <td v-if="camera.PVUsbCameraInfo" class="mb-3">USB Camera</td>
           <td v-else-if="camera.PVCSICameraInfo" class="mb-3">CSI Camera</td>
           <td v-else-if="camera.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-else-if="camera.PVBaslerCameraInfo" class="mb-3">Basler Camera</td>
           <td v-else>Unidentified Camera Type</td>
         </tr>
         <tr v-if="cameraInfoFor(camera).baseName !== undefined && cameraInfoFor(camera).baseName !== null">

photon-client/src/components/common/pv-camera-match-card.vue

@@ -36,6 +36,9 @@ const cameraInfoFor = (camera: PVCameraInfo): any => {
   if (camera.PVFileCameraInfo) {
     return camera.PVFileCameraInfo;
   }
+  if (camera.PVBaslerCameraInfo) {
+    return camera.PVBaslerCameraInfo;
+  }
   return {};
 };
 </script>
@@ -78,10 +81,12 @@ const cameraInfoFor = (camera: PVCameraInfo): any => {
           <td v-if="saved.PVUsbCameraInfo" class="mb-3">USB Camera</td>
           <td v-else-if="saved.PVCSICameraInfo" class="mb-3">CSI Camera</td>
           <td v-else-if="saved.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-else-if="saved.PVBaslerCameraInfo" class="mb-3">Basler Camera</td>
           <td v-else>Unidentified Camera Type</td>
           <td v-if="current.PVUsbCameraInfo" class="mb-3">USB Camera</td>
           <td v-else-if="current.PVCSICameraInfo" class="mb-3">CSI Camera</td>
           <td v-else-if="current.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-else-if="current.PVBaslerCameraInfo" class="mb-3">Basler Camera</td>
           <td v-else>Unidentified Camera Type</td>
         </tr>
         <tr

photon-client/src/types/SettingTypes.ts

@@ -74,7 +74,7 @@ export interface PVCameraInfoBase {
   Huge hack. In Jackson, this is set based on the underlying type -- this
   then maps to one of the 3 subclasses here below. Not sure how to best deal with this.
   */
-  cameraTypename: "PVUsbCameraInfo" | "PVCSICameraInfo" | "PVFileCameraInfo";
+  cameraTypename: "PVUsbCameraInfo" | "PVCSICameraInfo" | "PVFileCameraInfo" | "PVBaslerCameraInfo";
 }
 
 export interface PVUsbCameraInfo {
@@ -103,11 +103,20 @@ export interface PVFileCameraInfo {
   uniquePath: string;
 }
 
+export interface PVBaslerCameraInfo {
+  serial: string;
+  model: string;
+
+  uniquePath: string;
+
+}
+
 // This camera info will only ever hold one of its members - the others should be undefined.
 export class PVCameraInfo {
   PVUsbCameraInfo: PVUsbCameraInfo | undefined;
   PVCSICameraInfo: PVCSICameraInfo | undefined;
   PVFileCameraInfo: PVFileCameraInfo | undefined;
+  PVBaslerCameraInfo: PVBaslerCameraInfo | undefined;
 }
 
 export interface VsmState {
@@ -386,7 +395,8 @@ export const PlaceholderCameraSettings: UiCameraConfiguration = {
       uniquePath: "/dev/foobar2"
     },
     PVCSICameraInfo: undefined,
-    PVUsbCameraInfo: undefined
+    PVUsbCameraInfo: undefined,
+    PVBaslerCameraInfo: undefined,
   },
   isConnected: true,
   hasConnected: true,

photon-client/src/views/CameraMatchingView.vue

@@ -5,6 +5,7 @@
 import {
   PlaceholderCameraSettings,
   PVCameraInfo,
+  type PVBaslerCameraInfo,
   type PVCSICameraInfo,
   type PVFileCameraInfo,
   type PVUsbCameraInfo,

photon-core/build.gradle

@@ -47,6 +47,9 @@ dependencies {
     implementation("org.photonvision:photon-libcamera-gl-driver-jni:$libcameraDriverVersion:linuxarm64") {
         transitive = false
     }
+    implementation("org.teamdeadbolts:basler_jni-linuxx64:$baslerVersion") {
+        transitive = false
+    }
     implementation "org.photonvision:photon-libcamera-gl-driver-java:$libcameraDriverVersion"
 
     implementation "org.photonvision:photon-mrcal-java:$mrcalVersion"

photon-core/src/main/java/org/photonvision/jni/BaslerCameraJNI.java

@@ -0,0 +1,36 @@
+package org.photonvision.jni;
+
+import java.io.IOException;
+import java.util.List;
+import org.photonvision.common.util.TestUtils;
+
+public class BaslerCameraJNI extends PhotonJNICommon {
+    private boolean isLoaded;
+    private static BaslerCameraJNI instance = null;
+
+    private BaslerCameraJNI() {
+        isLoaded = false;
+    }
+
+    public static BaslerCameraJNI getInstance() {
+        if (instance == null) instance = new BaslerCameraJNI();
+
+        return instance;
+    }
+
+    public static synchronized void forceLoad() throws IOException {
+        TestUtils.loadLibraries();
+
+        forceLoad(getInstance(), BaslerCameraJNI.class, List.of("baslerjni"));
+    }
+
+    @Override
+    public boolean isLoaded() {
+        return isLoaded;
+    }
+
+    @Override
+    public void setLoaded(boolean state) {
+        isLoaded = state;
+    }
+}

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

@@ -20,5 +20,6 @@
 public enum CameraType {
     UsbCamera,
     ZeroCopyPicam,
+    BaslerCamera,
     FileCamera // special case for File-based vision sources
 }

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

@@ -26,14 +26,17 @@
 import com.fasterxml.jackson.annotation.JsonTypeName;
 import edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.Arrays;
+import org.teamdeadbolts.basler.BaslerJNI;
+import org.teamdeadbolts.basler.BaslerJNI.CameraModel;
 import java.util.Objects;
 
 @JsonTypeInfo(use = JsonTypeInfo.Id.NAME, include = JsonTypeInfo.As.WRAPPER_OBJECT)
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonSubTypes({
     @JsonSubTypes.Type(value = PVCameraInfo.PVUsbCameraInfo.class),
     @JsonSubTypes.Type(value = PVCameraInfo.PVCSICameraInfo.class),
-    @JsonSubTypes.Type(value = PVCameraInfo.PVFileCameraInfo.class)
+    @JsonSubTypes.Type(value = PVCameraInfo.PVFileCameraInfo.class),
+    @JsonSubTypes.Type(value = PVCameraInfo.PVBaslerCameraInfo.class)
 })
 public sealed interface PVCameraInfo {
     /**
@@ -289,6 +292,48 @@ public String toString() {
         }
     }
 
+    @JsonTypeName("PVBaslerCameraInfo")
+    public static final class PVBaslerCameraInfo implements PVCameraInfo {
+
+        public final String serial;
+        public final BaslerJNI.CameraModel model;
+
+        public PVBaslerCameraInfo(
+                @JsonProperty("serial") String serial, @JsonProperty("model") BaslerJNI.CameraModel model) {
+            this.serial = serial;
+            this.model = model;
+        }
+
+        @Override
+        public String path() {
+            return this.serial;
+        }
+
+        @Override
+        public String name() {
+            return this.model.getFriendlyName();
+        }
+
+        @Override
+        public String uniquePath() {
+            return this.serial;
+        }
+
+        @Override
+        public String[] otherPaths() {
+            return new String[] {};
+        }
+
+        @Override
+        public CameraType type() {
+            return CameraType.BaslerCamera;
+        }
+
+        public BaslerJNI.CameraModel getModel() {
+            return this.model;
+        }
+    }
+
     public static PVCameraInfo fromUsbCameraInfo(UsbCameraInfo info) {
         return new PVUsbCameraInfo(info);
     }
@@ -300,4 +345,8 @@ public static PVCameraInfo fromCSICameraInfo(String path, String baseName) {
     public static PVCameraInfo fromFileInfo(String path, String baseName) {
         return new PVFileCameraInfo(path, baseName);
     }
+
+    public static PVCameraInfo fromBaslerCameraInfo(String serial, CameraModel model) {
+        return new PVBaslerCameraInfo(serial, model);
+    }
 }