Add libpicam with gain slider bugfix (#278)

* Add libpicam with gain slider bugfix

* Patches to get zero-copy working with Pi3.

-- Success/Failure mistmatch assumptions - lots of functions in the JNI return true on failure (not true on success)
-- isVSCMSupported() is currently implemented to be "isVSCMNotSupported()"

Likely, we'll want at least some .so changes

Co-authored-by: Chris Gerth <chrisgerth010592@gmail.com>

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

@@ -85,7 +85,7 @@ public class PicamJNI {
     }
 
     public static boolean isSupported() {
-        return libraryLoaded && isVCSMSupported() && getSensorModel() != SensorModel.Disconnected;
+        return libraryLoaded && !isVCSMSupported() && getSensorModel() != SensorModel.Disconnected;
     }
 
     public static SensorModel getSensorModel() {

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

@@ -136,22 +136,22 @@ public class ZeroCopyPicamSource extends VisionSource {
         @Override
         public void setExposure(double exposure) {
             lastExposure = exposure;
-            var success = PicamJNI.setExposure((int) Math.round(exposure));
-            if (!success) logger.warn("Couldn't set Pi camera exposure");
+            var failure = PicamJNI.setExposure((int) Math.round(exposure));
+            if (failure) logger.warn("Couldn't set Pi camera exposure");
         }
 
         @Override
         public void setBrightness(int brightness) {
             lastBrightness = brightness;
-            var success = PicamJNI.setBrightness(brightness);
-            if (!success) logger.warn("Couldn't set Pi camera brightness");
+            var failure = PicamJNI.setBrightness(brightness);
+            if (failure) logger.warn("Couldn't set Pi camera brightness");
         }
 
         @Override
         public void setGain(int gain) {
             lastGain = gain;
-            var success = PicamJNI.setGain(gain);
-            if (!success) logger.warn("Couldn't set Pi camera gain");
+            var failure = PicamJNI.setGain(gain);
+            if (failure) logger.warn("Couldn't set Pi camera gain");
         }
 
         @Override
@@ -162,12 +162,12 @@ public class ZeroCopyPicamSource extends VisionSource {
         @Override
         protected void setVideoModeInternal(VideoMode videoMode) {
             var mode = (FPSRatedVideoMode) videoMode;
-            var success = PicamJNI.destroyCamera();
-            if (!success)
+            var failure = PicamJNI.destroyCamera();
+            if (failure)
                 throw new RuntimeException(
                         "Couldn't destroy a zero copy Pi camera while switching video modes");
-            success = PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
-            if (!success)
+            failure = PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
+            if (failure)
                 throw new RuntimeException(
                         "Couldn't create a zero copy Pi camera while switching video modes");
 

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

@@ -35,10 +35,10 @@ public class AcceleratedPicamFrameProvider implements FrameProvider {
         this.settables = visionSettables;
 
         var vidMode = settables.getCurrentVideoMode();
-        var success = PicamJNI.createCamera(vidMode.width, vidMode.height, vidMode.fps);
-        if (!success) {
-            success = PicamJNI.destroyCamera();
-            if (!success) throw new RuntimeException("Couldn't destroy Pi camera after init failure!");
+        var failure = PicamJNI.createCamera(vidMode.width, vidMode.height, vidMode.fps);
+        if (failure) {
+            failure = PicamJNI.destroyCamera();
+            if (failure) throw new RuntimeException("Couldn't destroy Pi camera after init failure!");
             throw new RuntimeException(
                     "Couldn't initialize zero copy Pi camera; check stdout for native code logs");
         }

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

@@ -302,6 +302,7 @@ public class VisionSourceManager {
         var cameraSources = new ArrayList<VisionSource>();
         for (var configuration : camConfigs) {
             if (configuration.baseName.startsWith("mmal service") && PicamJNI.isSupported()) {
+                configuration.cameraType = CameraType.ZeroCopyPicam;
                 var piCamSrc = new ZeroCopyPicamSource(configuration);
 
                 configuration.cameraType = CameraType.ZeroCopyPicam;