Fix Camera Index Assignment. (#1031)

Fixes a bug where multiple cameras would receive identical stream indexes and would cause at least one camera to not function at all and the other to not display a stream.

One of the reasons the that usbcamerasource equals method used to incorrectly determine equality was because the quirkycamera object didn't have a basename. When a camera that had a quirk was found it would set equal to a predefined quirkycamera without changing the name first. Add unit test that will better test the equality of two usbcamerasources. This required a few changes to allow creating a fake usbcamerasource.

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

@@ -17,6 +17,8 @@
 
 package org.photonvision.vision.camera;
 
+import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Objects;
@@ -108,8 +110,20 @@ public class QuirkyCamera {
         for (var qc : quirkyCameras) {
             boolean hasBaseName = !qc.baseName.isEmpty();
             boolean matchesBaseName = qc.baseName.equals(baseName) || !hasBaseName;
+            // If we have a quirkycamera we need to copy the quirks from our predefined object and create
+            // a quirkycamera object with the baseName.
             if (qc.usbVid == usbVid && qc.usbPid == usbPid && matchesBaseName) {
-                return qc;
+                List<CameraQuirk> quirks = new ArrayList<CameraQuirk>();
+                for (var q : CameraQuirk.values()) {
+                    if (qc.hasQuirk(q)) quirks.add(q);
+                }
+                QuirkyCamera c =
+                        new QuirkyCamera(
+                                usbVid,
+                                usbPid,
+                                baseName,
+                                Arrays.copyOf(quirks.toArray(), quirks.size(), CameraQuirk[].class));
+                return c;
             }
         }
         return new QuirkyCamera(usbVid, usbPid, baseName);

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

@@ -28,7 +28,9 @@ 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.common.util.TestUtils;
 import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.frame.provider.USBFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
@@ -37,10 +39,10 @@ public class USBCameraSource extends VisionSource {
     private final Logger logger;
     private final UsbCamera camera;
     private final USBCameraSettables usbCameraSettables;
-    private final USBFrameProvider usbFrameProvider;
+    private FrameProvider usbFrameProvider;
     private final CvSink cvSink;
 
-    public final QuirkyCamera cameraQuirks;
+    private QuirkyCamera cameraQuirks;
 
     public USBCameraSource(CameraConfiguration config) {
         super(config);
@@ -77,6 +79,22 @@ public class USBCameraSource extends VisionSource {
         }
     }
 
+    /**
+     * Mostly just used for unit tests to better simulate a usb camera without a camera being present.
+     */
+    public USBCameraSource(CameraConfiguration config, int pid, int vid, boolean unitTest) {
+        this(config);
+
+        cameraQuirks = QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
+
+        if (unitTest)
+            usbFrameProvider =
+                    new FileFrameProvider(
+                            TestUtils.getWPIImagePath(
+                                    TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
+                            TestUtils.WPI2019Image.FOV);
+    }
+
     void disableAutoFocus() {
         if (cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
             try {
@@ -88,6 +106,10 @@ public class USBCameraSource extends VisionSource {
         }
     }
 
+    public QuirkyCamera getCameraQuirks() {
+        return this.cameraQuirks;
+    }
+
     @Override
     public FrameProvider getFrameProvider() {
         return usbFrameProvider;
@@ -103,7 +125,7 @@ public class USBCameraSource extends VisionSource {
             super(configuration);
             getAllVideoModes();
             if (!cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
-                setVideoMode(videoModes.get(0)); // fixes double FPS set
+                if (!videoModes.isEmpty()) setVideoMode(videoModes.get(0)); // fixes double FPS set
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
@@ -343,11 +365,27 @@ public class USBCameraSource extends VisionSource {
     }
 
     @Override
-    public boolean equals(Object o) {
-        if (this == o) return true;
-        if (o == null || getClass() != o.getClass()) return false;
-        USBCameraSource that = (USBCameraSource) o;
-        return cameraQuirks.equals(that.cameraQuirks);
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (obj == null) return false;
+        if (getClass() != obj.getClass()) return false;
+        USBCameraSource other = (USBCameraSource) obj;
+        if (camera == null) {
+            if (other.camera != null) return false;
+        } else if (!camera.equals(other.camera)) return false;
+        if (usbCameraSettables == null) {
+            if (other.usbCameraSettables != null) return false;
+        } else if (!usbCameraSettables.equals(other.usbCameraSettables)) return false;
+        if (usbFrameProvider == null) {
+            if (other.usbFrameProvider != null) return false;
+        } else if (!usbFrameProvider.equals(other.usbFrameProvider)) return false;
+        if (cvSink == null) {
+            if (other.cvSink != null) return false;
+        } else if (!cvSink.equals(other.cvSink)) return false;
+        if (cameraQuirks == null) {
+            if (other.cameraQuirks != null) return false;
+        } else if (!cameraQuirks.equals(other.cameraQuirks)) return false;
+        return true;
     }
 
     @Override

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

@@ -95,7 +95,7 @@ public class VisionModule {
 
         // Find quirks for the current camera
         if (visionSource instanceof USBCameraSource) {
-            cameraQuirks = ((USBCameraSource) visionSource).cameraQuirks;
+            cameraQuirks = ((USBCameraSource) visionSource).getCameraQuirks();
         } else if (visionSource instanceof LibcameraGpuSource) {
             cameraQuirks = QuirkyCamera.ZeroCopyPiCamera;
         } else {

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

@@ -342,7 +342,7 @@ public class VisionSourceManager {
                 cameraSources.add(piCamSrc);
             } else {
                 var newCam = new USBCameraSource(configuration);
-                if (!newCam.cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)
+                if (!newCam.getCameraQuirks().hasQuirk(CameraQuirk.CompletelyBroken)
                         && !newCam.getSettables().videoModes.isEmpty()) {
                     cameraSources.add(newCam);
                 }

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

@@ -59,7 +59,7 @@ public abstract class VisionSourceSettables {
     public abstract VideoMode getCurrentVideoMode();
 
     public void setVideoModeInternal(int index) {
-        setVideoMode(getAllVideoModes().get(index));
+        if (!getAllVideoModes().isEmpty()) setVideoMode(getAllVideoModes().get(index));
     }
 
     public void setVideoMode(VideoMode mode) {

photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java

@@ -31,6 +31,7 @@ import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.camera.USBCameraSource;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
@@ -165,7 +166,16 @@ public class VisionModuleManagerTest {
                         TestUtils.WPI2019Image.FOV);
         var testSource3 = new TestSource(ffp3, conf3);
 
-        var modules = vmm.addSources(List.of(testSource, testSource2, testSource3));
+        // Arducam OV9281 UC844 raspberry pi test.
+        var conf4 = new CameraConfiguration("Left", "dev/video1");
+        USBCameraSource usbSimulation = new USBCameraSource(conf4, 0x6366, 0x0c45, true);
+
+        var conf5 = new CameraConfiguration("Right", "dev/video2");
+        USBCameraSource usbSimulation2 = new USBCameraSource(conf5, 0x6366, 0x0c45, true);
+
+        var modules =
+                vmm.addSources(
+                        List.of(testSource, testSource2, testSource3, usbSimulation, usbSimulation2));
 
         System.out.println(
                 Arrays.toString(
@@ -176,9 +186,15 @@ public class VisionModuleManagerTest {
                 modules.stream()
                         .map(it -> it.visionSource.getCameraConfiguration().streamIndex)
                         .collect(Collectors.toList());
+
+        assertTrue(usbSimulation.equals(usbSimulation));
+        assertTrue(!usbSimulation.equals(usbSimulation2));
+
         assertTrue(idxs.contains(0));
         assertTrue(idxs.contains(1));
         assertTrue(idxs.contains(2));
+        assertTrue(idxs.contains(3));
+        assertTrue(idxs.contains(4));
     }
 
     private static void printTestResults(CVPipelineResult pipelineResult) {