Add sensor model detection (#194)

photon-client/src/views/SettingsViews/General.vue

@@ -205,7 +205,7 @@ export default {
           return `${this.settings.hardwarePlatform}`;
         },
         gpuAccel() {
-          return  `${this.settings.gpuAcceleration ? "Enabled" : "Unsupported"}${this.settings.gpuAcceleration ? " (" + this.settings.gpuAcceleration + " mode)" : ""}`
+          return  `${this.settings.gpuAcceleration ? "Enabled" : "Unsupported"} ${this.settings.gpuAcceleration ? "(" + this.settings.gpuAcceleration + ")" : ""}`
         },
         metrics() {
           console.log(this.$store.state.metrics);

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

@@ -111,7 +111,7 @@ public class PhotonConfiguration {
         generalSubmap.put(
                 "gpuAcceleration",
                 PicamJNI.isSupported()
-                        ? "Zerocopy MMAL"
+                        ? "Zerocopy MMAL on " + PicamJNI.getSensorModel().getFriendlyName()
                         : ""); // TODO add support for other types of GPU accel
         generalSubmap.put("hardwareModel", hardwareConfig.deviceName);
         generalSubmap.put("hardwarePlatform", Platform.getCurrentPlatform().toString());

photon-server/src/main/java/org/photonvision/raspi/PicamJNI.java

@@ -32,6 +32,30 @@ public class PicamJNI {
     private static boolean libraryLoaded = false;
     private static Logger logger = new Logger(PicamJNI.class, LogGroup.Camera);
 
+    public enum SensorModel {
+        Disconnected,
+        OV5647, // Picam v1
+        IMX219, // Picam v2
+        IMX477, // Picam HQ
+        Unknown;
+
+        public String getFriendlyName() {
+            switch (this) {
+                case Disconnected:
+                    return "Disconnected Camera";
+                case OV5647:
+                    return "Camera Module v1";
+                case IMX219:
+                    return "Camera Module v2";
+                case IMX477:
+                    return "HQ Camera";
+                case Unknown:
+                default:
+                    return "Unknown Camera";
+            }
+        }
+    }
+
     public static synchronized void forceLoad() throws IOException {
         if (libraryLoaded || !Platform.isRaspberryPi()) return;
 
@@ -61,9 +85,26 @@ public class PicamJNI {
     }
 
     public static boolean isSupported() {
-        return libraryLoaded;
+        return libraryLoaded && getSensorModel() != SensorModel.Disconnected;
     }
 
+    public static SensorModel getSensorModel() {
+        switch (getSensorModelRaw().toLowerCase()) {
+            case "":
+                return SensorModel.Disconnected;
+            case "ov5647":
+                return SensorModel.OV5647;
+            case "imx219":
+                return SensorModel.IMX219;
+            case "imx477":
+                return SensorModel.IMX477;
+            default:
+                return SensorModel.Unknown;
+        }
+    }
+
+    private static native String getSensorModelRaw();
+
     // Everything here is static because multiple picams are unsupported at the hardware level
 
     /**

photon-server/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java

@@ -21,6 +21,8 @@ import edu.wpi.cscore.VideoMode;
 import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
 import org.photonvision.raspi.PicamJNI;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.provider.AcceleratedPicamFrameProvider;
@@ -28,6 +30,7 @@ import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
 public class ZeroCopyPicamSource implements VisionSource {
+    private static final Logger logger = new Logger(ZeroCopyPicamSource.class, LogGroup.Camera);
 
     private final VisionSourceSettables settables;
     private final AcceleratedPicamFrameProvider frameProvider;
@@ -88,12 +91,10 @@ public class ZeroCopyPicamSource implements VisionSource {
             super(configuration);
 
             videoModes = new HashMap<>();
+            PicamJNI.SensorModel sensorModel = PicamJNI.getSensorModel();
 
-            // TODO add IMX219 detection to the picam driver
-            //            if(PicamJNI.isIMX219()) {
-            if (false) {
-                // Settings for the Picam V2
-                // TODO determine multipliers
+            if (sensorModel == PicamJNI.SensorModel.IMX219) {
+                // Settings for the IMX219 sensor, which is used on the Pi Camera Module v2
                 videoModes.put(
                         0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 120, 120, .39));
                 videoModes.put(
@@ -103,7 +104,15 @@ public class ZeroCopyPicamSource implements VisionSource {
                 videoModes.put(
                         3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
             } else {
-                // "High Quality" picam falls back on settings for OV sensor
+                if (sensorModel == PicamJNI.SensorModel.IMX477) {
+                    logger.warn(
+                            "It appears you are using a Pi HQ Camera. This camera is not officially supported. You will have to set your camera FOV differently based on resolution.");
+                } else if (sensorModel == PicamJNI.SensorModel.Unknown) {
+                    logger.warn(
+                            "You have an unknown sensor connected to your Pi over CSI! This is likely a bug. If it is not, then you will have to set your camera FOV differently based on resolution.");
+                }
+
+                // Settings for the OV5647 sensor, which is used by the Pi Camera Module v1
                 videoModes.put(
                         0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 90, 90, 1));
                 videoModes.put(