Move CameraConfiguration to VisionSource (#244)

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

@@ -28,14 +28,13 @@ import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
-public class FileVisionSource implements VisionSource {
+public class FileVisionSource extends VisionSource {
 
-    private final CameraConfiguration cameraConfiguration;
     private final FileFrameProvider frameProvider;
     private final FileSourceSettables settables;
 
     public FileVisionSource(CameraConfiguration cameraConfiguration) {
-        this.cameraConfiguration = cameraConfiguration;
+        super(cameraConfiguration);
         frameProvider =
                 new FileFrameProvider(
                         Path.of(cameraConfiguration.path),
@@ -48,7 +47,7 @@ public class FileVisionSource implements VisionSource {
     }
 
     public FileVisionSource(String name, String imagePath, double fov) {
-        cameraConfiguration = new CameraConfiguration(name, imagePath);
+        super(new CameraConfiguration(name, imagePath));
         frameProvider = new FileFrameProvider(imagePath, fov);
         settables =
                 new FileSourceSettables(cameraConfiguration, frameProvider.get().frameStaticProperties);

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

@@ -33,19 +33,18 @@ import org.photonvision.vision.frame.provider.USBFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
-public class USBCameraSource implements VisionSource {
+public class USBCameraSource extends VisionSource {
     private final Logger logger;
     private final UsbCamera camera;
     private final USBCameraSettables usbCameraSettables;
     private final USBFrameProvider usbFrameProvider;
-    public final CameraConfiguration configuration;
     private final CvSink cvSink;
 
     public final QuirkyCamera cameraQuirks;
 
     public USBCameraSource(CameraConfiguration config) {
+        super(config);
         logger = new Logger(USBCameraSource.class, config.nickname, LogGroup.Camera);
-        configuration = config;
         camera = new UsbCamera(config.nickname, config.path);
         cvSink = CameraServer.getInstance().getVideo(this.camera);
 
@@ -88,7 +87,6 @@ public class USBCameraSource implements VisionSource {
             super(configuration);
             getAllVideoModes();
             setVideoMode(videoModes.get(0));
-            calculateFrameStaticProps();
         }
 
         private int timeToPiCamV2RawExposure(double time_us) {
@@ -281,6 +279,6 @@ public class USBCameraSource implements VisionSource {
     @Override
     public int hashCode() {
         return Objects.hash(
-                camera, usbCameraSettables, usbFrameProvider, configuration, cvSink, cameraQuirks);
+                camera, usbCameraSettables, usbFrameProvider, cameraConfiguration, cvSink, cameraQuirks);
     }
 }

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

@@ -29,13 +29,14 @@ import org.photonvision.vision.frame.provider.AcceleratedPicamFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
-public class ZeroCopyPicamSource implements VisionSource {
+public class ZeroCopyPicamSource extends VisionSource {
     private static final Logger logger = new Logger(ZeroCopyPicamSource.class, LogGroup.Camera);
 
     private final VisionSourceSettables settables;
     private final AcceleratedPicamFrameProvider frameProvider;
 
     public ZeroCopyPicamSource(CameraConfiguration configuration) {
+        super(configuration);
         if (configuration.cameraType != CameraType.ZeroCopyPicam) {
             throw new IllegalArgumentException(
                     "GPUAcceleratedPicamSource only accepts CameraConfigurations with type Picam");

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

@@ -347,7 +347,6 @@ public class VisionModule {
         if (ret != null) {
             logger.debug("Saving calibration...");
             visionSource.getSettables().getConfiguration().addCalibration(ret);
-            visionSource.getSettables().calculateFrameStaticProps();
         } else {
             logger.error("Calibration failed...");
         }

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

@@ -17,12 +17,24 @@
 
 package org.photonvision.vision.processes;
 
+import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.vision.frame.FrameProvider;
 
-public interface VisionSource {
+public abstract class VisionSource {
-    FrameProvider getFrameProvider();
 
-    VisionSourceSettables getSettables();
+    protected final CameraConfiguration cameraConfiguration;
 
-    boolean isVendorCamera();
+    protected VisionSource(CameraConfiguration cameraConfiguration) {
+        this.cameraConfiguration = cameraConfiguration;
+    }
+
+    public CameraConfiguration getCameraConfiguration() {
+        return cameraConfiguration;
+    }
+
+    public abstract FrameProvider getFrameProvider();
+
+    public abstract VisionSourceSettables getSettables();
+
+    public abstract boolean isVendorCamera();
 }

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

@@ -23,6 +23,7 @@ import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.frame.FrameStaticProperties;
 
 public abstract class VisionSourceSettables {
@@ -86,7 +87,12 @@ public abstract class VisionSourceSettables {
         calculateFrameStaticProps();
     }
 
-    public void calculateFrameStaticProps() {
+    public void addCalibration(CameraCalibrationCoefficients calibrationCoefficients) {
+        configuration.addCalibration(calibrationCoefficients);
+        calculateFrameStaticProps();
+    }
+
+    private void calculateFrameStaticProps() {
         var videoMode = getCurrentVideoMode();
         this.frameStaticProperties =
                 new FrameStaticProperties(

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

@@ -37,12 +37,12 @@ public class VisionModuleManagerTest {
         TestUtils.loadLibraries();
     }
 
-    private static class TestSource implements VisionSource {
+    private static class TestSource extends VisionSource {
 
         private final FrameProvider provider;
 
         public TestSource(FrameProvider provider) {
-
+            super(new CameraConfiguration("", "", "", ""));
             this.provider = provider;
         }
 
@@ -53,7 +53,7 @@ public class VisionModuleManagerTest {
 
         @Override
         public VisionSourceSettables getSettables() {
-            return new TestSettables(new CameraConfiguration("", "", "", ""));
+            return new TestSettables(getCameraConfiguration());
         }
 
         @Override