Make the latency/fps setting per camera instead of global (#2260)

There's a new `low latency mode` switch on the input tab.

This replaces use_new_cscore_frametime and makes it per pipeline.

<img width="684" height="535" alt="image"
src="https://github.com/user-attachments/assets/a7ba8bc0-69b6-44f3-83e3-9b88d8219dfa"
/>

The default behavior is still to block for new frames (ie, preserve old
behavior)

---------

Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>

photon-client/src/components/dashboard/tabs/InputTab.vue

@@ -158,6 +158,16 @@ const interactiveCols = computed(() =>
         (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraWhiteBalanceTemp: args }, false)
       "
     />
+    <pv-switch
+      v-model="useCameraSettingsStore().currentPipelineSettings.blockForFrames"
+      :disabled="!useCameraSettingsStore().currentCameraSettings.matchedCameraInfo.PVUsbCameraInfo"
+      label="Low Latency Mode"
+      :switch-cols="interactiveCols"
+      tooltip="When enabled, USB cameras wait for the next camera frame for lowest latency. When disabled, uses the most recent available frame for higher FPS."
+      @update:modelValue="
+        (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ blockForFrames: args }, false)
+      "
+    />
     <pv-select
       v-model="useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode"
       label="Orientation"

photon-client/src/types/PipelineTypes.ts

@@ -84,6 +84,8 @@ export interface PipelineSettings {
 
   cameraAutoWhiteBalance: boolean;
   cameraWhiteBalanceTemp: number;
+
+  blockForFrames: boolean;
 }
 export type ConfigurablePipelineSettings = Partial<
   Omit<
@@ -148,7 +150,8 @@ export const DefaultPipelineSettings: Omit<
   cameraAutoWhiteBalance: false,
   cameraWhiteBalanceTemp: 4000,
   cameraMinExposureRaw: 1,
-  cameraMaxExposureRaw: 2
+  cameraMaxExposureRaw: 2,
+  blockForFrames: true
 };
 
 export interface ReflectivePipelineSettings extends PipelineSettings {

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

@@ -191,9 +191,10 @@ public class CameraConfiguration {
     }
 
     /**
-     * Remove a calibration from our list.
+     * Remove a calibration from our list. If found, the calibration will be "released". If not found,
+     * no-op.
      *
-     * @param calibration The calibration to remove
+     * @param unrotatedImageSize The resolution to remove.
      */
     public void removeCalibration(Size unrotatedImageSize) {
         logger.info("deleting calibration " + unrotatedImageSize);

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

@@ -81,6 +81,12 @@ public class TestSource extends VisionSource {
                 throw new UnsupportedOperationException("Unimplemented method 'requestHsvSettings'");
             }
 
+            @Override
+            public void requestBlockForFrames(boolean blockForFrames) {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'requestBlockForFrames'");
+            }
+
             @Override
             public void release() {
                 // TODO Auto-generated method stub

photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java

@@ -59,4 +59,7 @@ public abstract class FrameProvider implements Supplier<Frame>, Releasable {
 
     /** Ask the camera to rotate frames it outputs */
     public abstract void requestHsvSettings(HSVPipe.HSVParams params);
+
+    /** Ask the camera to block for new frames (true) or use latest available (false) */
+    public abstract void requestBlockForFrames(boolean blockForFrames);
 }

photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java

@@ -47,6 +47,7 @@ public abstract class CpuImageProcessor extends FrameProvider {
     private final RotateImagePipe m_rImagePipe = new RotateImagePipe();
     private final GrayscalePipe m_grayPipe = new GrayscalePipe();
     FrameThresholdType m_processType;
+    boolean m_blockForFrames = true;
 
     private final Object m_mutex = new Object();
 
@@ -129,4 +130,11 @@ public abstract class CpuImageProcessor extends FrameProvider {
     public void requestFrameCopies(boolean copyInput, boolean copyOutput) {
         // We don't actually do zero-copy, so this method is a no-op
     }
+
+    @Override
+    public void requestBlockForFrames(boolean blockForFrames) {
+        synchronized (m_mutex) {
+            this.m_blockForFrames = blockForFrames;
+        }
+    }
 }

photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java

@@ -135,6 +135,11 @@ public class LibcameraGpuFrameProvider extends FrameProvider {
         LibCameraJNI.setFramesToCopy(settables.r_ptr, copyInput, copyOutput);
     }
 
+    @Override
+    public void requestBlockForFrames(boolean blockForFrames) {
+        // GPU provider always blocks for frames, so this is a no-op
+    }
+
     @Override
     public void release() {
         synchronized (settables.CAMERA_LOCK) {

photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java

@@ -20,11 +20,9 @@ package org.photonvision.vision.frame.provider;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.CvSink;
 import edu.wpi.first.cscore.UsbCamera;
-import edu.wpi.first.networktables.BooleanSubscriber;
 import edu.wpi.first.util.PixelFormat;
 import edu.wpi.first.util.RawFrame;
 import org.opencv.core.Mat;
-import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.jni.CscoreExtras;
@@ -44,9 +42,6 @@ public class USBFrameProvider extends CpuImageProcessor {
 
     private long lastTime = 0;
 
-    // subscribers are lightweight, and I'm lazy
-    private final BooleanSubscriber useNewBehaviorSub;
-
     @SuppressWarnings("SpellCheckingInspection")
     public USBFrameProvider(
             UsbCamera camera, VisionSourceSettables visionSettables, Runnable connectedCallback) {
@@ -59,10 +54,6 @@ public class USBFrameProvider extends CpuImageProcessor {
 
         this.settables = visionSettables;
 
-        var useNewBehaviorTopic =
-                NetworkTablesManager.getInstance().kRootTable.getBooleanTopic("use_new_cscore_frametime");
-
-        useNewBehaviorSub = useNewBehaviorTopic.subscribe(false);
         this.connectedCallback = connectedCallback;
     }
 
@@ -86,7 +77,7 @@ public class USBFrameProvider extends CpuImageProcessor {
             onCameraConnected();
         }
 
-        if (!useNewBehaviorSub.get()) {
+        if (m_blockForFrames) {
             // We allocate memory so we don't fill a Mat in use by another thread (memory model is easier)
             var mat = new CVMat();
             // This is from wpi::Now, or WPIUtilJNI.now(). The epoch from grabFrame is uS since

photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java

@@ -61,6 +61,8 @@ public class CVPipelineSettings implements Cloneable {
     public boolean cameraAutoWhiteBalance = false;
     public double cameraWhiteBalanceTemp = 4000;
 
+    public boolean blockForFrames = true;
+
     @Override
     public boolean equals(Object o) {
         if (this == o) return true;

photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java

@@ -181,6 +181,7 @@ public class VisionRunner {
             }
             frameSupplier.requestFrameRotation(settings.inputImageRotationMode);
             frameSupplier.requestFrameCopies(settings.inputShouldShow, settings.outputShouldShow);
+            frameSupplier.requestBlockForFrames(settings.blockForFrames);
 
             // Grab the new camera frame
             var frame = frameSupplier.get();

photon-lib/src/main/java/org/photonvision/EstimatedRobotPose.java

@@ -49,7 +49,6 @@ public class EstimatedRobotPose {
      * @param estimatedPose estimated pose
      * @param timestampSeconds timestamp of the estimate
      * @param targetsUsed list of targets used
-     * @param strategy pose strategy
      */
     public EstimatedRobotPose(
             Pose3d estimatedPose, double timestampSeconds, List<PhotonTrackedTarget> targetsUsed) {