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Add disabled param for PhotonCamera (#2484)

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This commit is contained in:
Matt Morley
2026-05-16 07:41:59 -07:00
committed by GitHub
parent 0e834f0851
commit 996ca3649e
14 changed files with 231 additions and 28 deletions
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4
photon-client/src/stores/settings/CameraSettingsStore.ts
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@@ -91,6 +91,9 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
fpsLimit(): number {
return this.currentCameraSettings.fpsLimit;
},
isEnabled(): boolean {
return this.currentCameraSettings.isEnabled;
},
isConnected(): boolean {
return this.currentCameraSettings.isConnected;
},
@@ -142,6 +145,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
maxWhiteBalanceTemp: d.maxWhiteBalanceTemp,
matchedCameraInfo: d.matchedCameraInfo,
fpsLimit: d.fpsLimit,
isEnabled: d.isEnabled,
isConnected: d.isConnected,
hasConnected: d.hasConnected,
mismatch: d.mismatch

2
photon-client/src/types/SettingTypes.ts
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@@ -276,6 +276,7 @@ export interface UiCameraConfiguration {
maxWhiteBalanceTemp: number;
fpsLimit: number;
isEnabled: boolean;
matchedCameraInfo: PVCameraInfo;
isConnected: boolean;
@@ -447,6 +448,7 @@ export const PlaceholderCameraSettings: UiCameraConfiguration = reactive({
PVUsbCameraInfo: undefined
},
fpsLimit: -1,
isEnabled: true,
isConnected: true,
hasConnected: true,
mismatch: false

1
photon-client/src/types/WebsocketDataTypes.ts
View File

@@ -68,6 +68,7 @@ export interface WebsocketCameraSettingsUpdate {
maxWhiteBalanceTemp: number;
matchedCameraInfo: PVCameraInfo;
fpsLimit: number;
isEnabled: boolean;
isConnected: boolean;
hasConnected: boolean;
mismatch: boolean;

30
photon-client/src/views/DashboardView.vue
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@@ -77,8 +77,18 @@ const conflictingCameraShown = computed<boolean>(() => {
return useSettingsStore().general.conflictingCameras.length > 0;
});
const fpsLimitWarningShown = computed<boolean>(() => {
return Object.values(useCameraSettingsStore().cameras).some((c) => c.fpsLimit > 0);
const fpsLimitedCameras = computed<string>(() => {
return Object.values(useCameraSettingsStore().cameras)
.filter((c) => c.fpsLimit > 0)
.map((c) => c.nickname)
.join(", ");
});
const disabledCameras = computed<string>(() => {
return Object.values(useCameraSettingsStore().cameras)
.filter((c) => !c.isEnabled)
.map((c) => c.nickname)
.join(", ");
});
const showCameraSetupDialog = ref(useCameraSettingsStore().needsCameraConfiguration);
@@ -111,7 +121,7 @@ const showCameraSetupDialog = ref(useCameraSettingsStore().needsCameraConfigurat
</span>
</v-alert>
<v-alert
v-if="fpsLimitWarningShown"
v-if="fpsLimitedCameras"
class="mb-3"
color="error"
density="compact"
@@ -119,10 +129,22 @@ const showCameraSetupDialog = ref(useCameraSettingsStore().needsCameraConfigurat
:variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
>
<span
>One or more cameras have an FPS limit set! This may cause performance issues. Check your logs for more
>{{ fpsLimitedCameras }} have an FPS limit set! This may cause performance issues. Check your logs for more
information.
</span>
</v-alert>
<v-alert
v-if="disabledCameras"
class="mb-3"
color="error"
density="compact"
icon="mdi-alert-circle-outline"
:variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
>
<span
>{{ disabledCameras }} are disabled! This may cause performance issues. Check your logs for more information.
</span>
</v-alert>
<v-alert
v-if="conflictingCameraShown"
class="mb-3"

28
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
View File

@@ -55,6 +55,10 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
private final Consumer<Integer> fpsLimitConsumer;
private final Supplier<Integer> fpsLimitSupplier;
NTDataChangeListener isEnabledListener;
private final Consumer<Boolean> isEnabledConsumer;
private final BooleanSupplier enabledSupplier;
public NTDataPublisher(
String cameraNickname,
Supplier<Integer> pipelineIndexSupplier,
@@ -62,13 +66,17 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
BooleanSupplier driverModeSupplier,
Consumer<Boolean> driverModeConsumer,
Supplier<Integer> fpsLimitSupplier,
Consumer<Integer> fpsLimitConsumer) {
Consumer<Integer> fpsLimitConsumer,
BooleanSupplier enabledSupplier,
Consumer<Boolean> isEnabledConsumer) {
this.pipelineIndexSupplier = pipelineIndexSupplier;
this.pipelineIndexConsumer = pipelineIndexConsumer;
this.driverModeSupplier = driverModeSupplier;
this.driverModeConsumer = driverModeConsumer;
this.fpsLimitSupplier = fpsLimitSupplier;
this.fpsLimitConsumer = fpsLimitConsumer;
this.enabledSupplier = enabledSupplier;
this.isEnabledConsumer = isEnabledConsumer;
updateCameraNickname(cameraNickname);
updateEntries();
@@ -124,6 +132,19 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
logger.debug("Set FPS limit to " + newFPSLimit);
}
private void onEnabledChange(NetworkTableEvent entryNotification) {
var newEnabled = entryNotification.valueData.value.getBoolean();
var originalEnabled = enabledSupplier.getAsBoolean();
if (newEnabled == originalEnabled) {
logger.debug("Enabled value is already " + newEnabled);
return;
}
isEnabledConsumer.accept(newEnabled);
logger.debug("Set is enabled to " + newEnabled);
}
private void removeEntries() {
if (pipelineIndexListener != null) pipelineIndexListener.remove();
if (driverModeListener != null) driverModeListener.remove();
@@ -148,6 +169,10 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
fpsLimitListener =
new NTDataChangeListener(
ts.subTable.getInstance(), ts.fpsLimitSubscriber, this::onFPSLimitChange);
isEnabledListener =
new NTDataChangeListener(
ts.subTable.getInstance(), ts.enabledSubscriber, this::onEnabledChange);
}
public void updateCameraNickname(String newCameraNickname) {
@@ -198,6 +223,7 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get());
ts.driverModePublisher.set(driverModeSupplier.getAsBoolean());
ts.fpsLimitPublisher.set(fpsLimitSupplier.get());
ts.enabledPublisher.set(enabledSupplier.getAsBoolean());
ts.latencyMillisEntry.set(acceptedResult.getLatencyMillis());
ts.fpsEntry.set(acceptedResult.fps);
ts.hasTargetEntry.set(acceptedResult.hasTargets());

1
photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UICameraConfiguration.java
View File

@@ -55,6 +55,7 @@ public class UICameraConfiguration {
public boolean mismatch;
public int fpsLimit;
public boolean isEnabled;
// Status for if the underlying device is present and such
public boolean isConnected;

27
photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
View File

@@ -88,6 +88,7 @@ public class VisionModule {
private int outputStreamPort = -1;
private int fpsLimit = -1;
private boolean enabled = true;
FileSaveFrameConsumer inputFrameSaver;
FileSaveFrameConsumer outputFrameSaver;
@@ -137,7 +138,8 @@ public class VisionModule {
this::consumeResult,
this.cameraQuirks,
getChangeSubscriber(),
this::getFPSLimit);
this::getFPSLimit,
this::getEnabled);
this.streamRunnable = new StreamRunnable(new OutputStreamPipeline());
changeSubscriberHandle = DataChangeService.getInstance().addSubscriber(changeSubscriber);
@@ -153,7 +155,9 @@ public class VisionModule {
pipelineManager::getDriverMode,
this::setDriverMode,
this::getFPSLimit,
this::setFPSLimit);
this::setFPSLimit,
this::getEnabled,
this::setEnabled);
uiDataConsumer = new UIDataPublisher(visionSource.getSettables().getConfiguration().uniqueName);
statusLEDsConsumer =
new StatusLEDConsumer(visionSource.getSettables().getConfiguration().uniqueName);
@@ -645,6 +649,25 @@ public class VisionModule {
return fpsLimit;
}
/**
* Sets whether the camera is enabled/disabled, disabling the camera allows you to reduce util
* while keeping the vision runner up for fast toggling.
*/
public void setEnabled(boolean enabled) {
this.enabled = enabled;
saveAndBroadcastAll();
}
/**
* Gets whether the camera is enabled or disabled, if disabled the vision runner will still be
* running but the camera will not capture frames, allowing for fast toggling.
*
* @return the enabled state of the camera
*/
public boolean getEnabled() {
return enabled;
}
public CameraConfiguration getStateAsCameraConfig() {
var config = visionSource.getSettables().getConfiguration();
config.setPipelineSettings(pipelineManager.userPipelineSettings);

62
photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
View File

@@ -50,6 +50,7 @@ public class VisionRunner {
private final List<Runnable> runnableList = new ArrayList<Runnable>();
private final QuirkyCamera cameraQuirks;
private final Supplier<Integer> fpsLimitSupplier;
private final Supplier<Boolean> enabledSupplier;
private long loopCount;
@@ -57,9 +58,14 @@ public class VisionRunner {
* VisionRunner contains a thread to run a pipeline, given a frame, and will give the result to
* the consumer.
*
* @param frameSupplier The supplier of the latest frame.
* @param pipelineSupplier The supplier of the current pipeline.
* @param pipelineResultConsumer The consumer of the latest result.
* @param frameSupplier
* @param pipelineSupplier
* @param pipelineResultConsumer
* @param cameraQuirks
* @param changeSubscriber The subscriber to setting changes for this VisionRunner, so it can
* update its settings when they change.
* @param fpsLimitSupplier
* @param enabledSupplier
*/
public VisionRunner(
FrameProvider frameSupplier,
@@ -67,13 +73,15 @@ public class VisionRunner {
Consumer<CVPipelineResult> pipelineResultConsumer,
QuirkyCamera cameraQuirks,
VisionModuleChangeSubscriber changeSubscriber,
Supplier<Integer> fpsLimitSupplier) {
Supplier<Integer> fpsLimitSupplier,
Supplier<Boolean> enabledSupplier) {
this.frameSupplier = frameSupplier;
this.pipelineSupplier = pipelineSupplier;
this.pipelineResultConsumer = pipelineResultConsumer;
this.cameraQuirks = cameraQuirks;
this.changeSubscriber = changeSubscriber;
this.fpsLimitSupplier = fpsLimitSupplier;
this.enabledSupplier = enabledSupplier;
visionProcessThread = new Thread(this::update);
visionProcessThread.setName("VisionRunner - " + frameSupplier.getName());
@@ -130,6 +138,28 @@ public class VisionRunner {
return future;
}
/**
* Waits until the next time this VisionRunner should run its pipeline, based on current FPS limit
*/
private void waitUntilNextTick(long start) {
int fpsLimit = fpsLimitSupplier.get();
if (fpsLimit > 0) {
long sleepTime = (long) (1000 / fpsLimit - (System.currentTimeMillis() - start));
if (sleepTime > 0) {
try {
Thread.sleep(sleepTime);
} catch (InterruptedException e) {
}
}
return;
} else {
// Fall through to no limit
return;
}
}
private void update() {
// wait for the camera to connect
while (!frameSupplier.isConnected() && !Thread.interrupted()) {
@@ -194,11 +224,23 @@ public class VisionRunner {
frame.release();
pipelineResultConsumer.accept(new CVPipelineResult(0l, 0, 0, null, new Frame()));
} else if (pipeline == pipelineSupplier.get()) {
if (!enabledSupplier.get()) {
// If we are skipping processing due to the camera being disabled, we still want to send a
// result with the new frame and settings, just with a null pipeline result
pipelineResultConsumer.accept(new CVPipelineResult(0l, 0, 0, null, new Frame()));
frame.release();
continue;
}
// If the pipeline has changed while we are getting our frame we should scrap
// that frame it may result in incorrect frame settings like hsv values
// There's no guarantee the processing type change will occur this tick, so
// pipelines should check themselves
// If we have an FPS limit, check if it's 0, in which case we skip processing and just send
// a blank frame, otherwise we sleep until the next tick
waitUntilNextTick(start);
try {
var pipelineResult = pipeline.run(frame, cameraQuirks);
pipelineResultConsumer.accept(pipelineResult);
@@ -207,18 +249,6 @@ public class VisionRunner {
}
loopCount++;
}
int fpsLimit = fpsLimitSupplier.get();
if (fpsLimit > 0) {
long sleepTime = (long) (1000 / fpsLimit - (System.currentTimeMillis() - start));
if (sleepTime > 0) {
try {
Thread.sleep(sleepTime);
} catch (InterruptedException e) {
return;
}
}
}
}
}
}

7
photon-lib/py/photonlibpy/networktables/NTTopicSet.py
View File

@@ -54,6 +54,13 @@ class NTTopicSet:
self.fpsLimitSubscriber.getTopic().publish().setDefault(-1)
self.enabledPublisher = self.subTable.getBooleanTopic("enabled").publish()
self.enabledSubscriber = self.subTable.getBooleanTopic(
"enabledRequest"
).subscribe(True)
self.enabledSubscriber.getTopic().publish().setDefault(True)
self.latencyMillisEntry = self.subTable.getDoubleTopic(
"latencyMillis"
).publish()

25
photon-lib/py/photonlibpy/photonCamera.py
View File

@@ -80,6 +80,12 @@ class PhotonCamera:
self._fpsLimitSubscriber = self._cameraTable.getIntegerTopic(
"fpsLimit"
).subscribe(-1)
self._enabledPublisher = self._cameraTable.getBooleanTopic(
"enabledRequest"
).publish()
self._enabledSubscriber = self._cameraTable.getBooleanTopic(
"enabled"
).subscribe(True)
self._inputSaveImgEntry = self._cameraTable.getIntegerTopic(
"inputSaveImgCmd"
).getEntry(0)
@@ -204,11 +210,28 @@ class PhotonCamera:
def setFPSLimit(self, fpsLimit: int) -> None:
"""Sets the FPS limit on the camera.
:param fpsLimit: The FPS limit to set. Set to -1 for unlimited FPS.
<p>A negative FPS limit is treated as no FPS limit, and will run as fast as possible.
<p>Otherwise, will limit processing to at most the provided FPS limit
:param fpsLimit: The FPS limit to set.
"""
self._fpsLimitPublisher.set(fpsLimit)
def getEnabled(self) -> bool:
""":returns: Whether the camera is enabled."""
return self._enabledSubscriber.get()
def setEnabled(self, enabled: bool) -> None:
"""Sets whether the camera is enabled, default is true.
:param enabled: Whether to enable the camera.
"""
self._enabledPublisher.set(enabled)
def takeInputSnapshot(self) -> None:
"""Request the camera to save a new image file from the input camera stream with overlays. Images
take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk

30
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
View File

@@ -65,6 +65,8 @@ public class PhotonCamera implements AutoCloseable {
BooleanSubscriber driverModeSubscriber;
IntegerPublisher fpsLimitPublisher;
IntegerSubscriber fpsLimitSubscriber;
BooleanSubscriber enabledSubscriber;
BooleanPublisher enabledPublisher;
StringSubscriber versionEntry;
IntegerEntry inputSaveImgEntry, outputSaveImgEntry;
IntegerPublisher pipelineIndexRequest, ledModeRequest;
@@ -82,6 +84,8 @@ public class PhotonCamera implements AutoCloseable {
driverModeSubscriber.close();
fpsLimitPublisher.close();
fpsLimitSubscriber.close();
enabledPublisher.close();
enabledSubscriber.close();
versionEntry.close();
inputSaveImgEntry.close();
outputSaveImgEntry.close();
@@ -155,6 +159,8 @@ public class PhotonCamera implements AutoCloseable {
driverModeSubscriber = cameraTable.getBooleanTopic("driverMode").subscribe(false);
fpsLimitPublisher = cameraTable.getIntegerTopic("fpsLimitRequest").publish();
fpsLimitSubscriber = cameraTable.getIntegerTopic("fpsLimit").subscribe(-1);
enabledPublisher = cameraTable.getBooleanTopic("enabledRequest").publish();
enabledSubscriber = cameraTable.getBooleanTopic("enabled").subscribe(true);
inputSaveImgEntry = cameraTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);
outputSaveImgEntry = cameraTable.getIntegerTopic("outputSaveImgCmd").getEntry(0);
pipelineIndexRequest = cameraTable.getIntegerTopic("pipelineIndexRequest").publish();
@@ -344,8 +350,6 @@ public class PhotonCamera implements AutoCloseable {
}
/**
* Gets the FPS limit set on the camera.
*
* @return The current FPS limit.
*/
public int getFPSLimit() {
@@ -355,12 +359,32 @@ public class PhotonCamera implements AutoCloseable {
/**
* Sets the FPS limit on the camera.
*
* @param fps The FPS limit to set. Set to -1 for unlimited FPS.
* <p>A negative FPS limit is treated as no FPS limit, and will run as fast as possible.
*
* <p>Otherwise, will limit processing to at most the provided FPS limit
*
* @param fps The FPS limit to set.
*/
public void setFPSLimit(int fps) {
fpsLimitPublisher.set(fps);
}
/**
* Sets whether the camera is enabled, default is true.
*
* @param enabled Whether to enable the camera.
*/
public void setEnabled(boolean enabled) {
enabledPublisher.set(enabled);
}
/**
* @return Whether the camera is enabled.
*/
public boolean getEnabled() {
return enabledSubscriber.get();
}
/**
* Request the camera to save a new image file from the input camera stream with overlays. Images
* take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk

6
photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
View File

@@ -157,6 +157,8 @@ PhotonCamera::PhotonCamera(wpi::nt::NetworkTableInstance instance,
fpsLimitSubscriber(rootTable->GetIntegerTopic("fpsLimit").Subscribe(-1)),
fpsLimitPublisher(
rootTable->GetIntegerTopic("fpsLimitRequest").Publish()),
enabledSubscriber(rootTable->GetBooleanTopic("enabled").Subscribe(true)),
enabledPublisher(rootTable->GetBooleanTopic("enabledRequest").Publish()),
heartbeatSubscriber(
rootTable->GetIntegerTopic("heartbeat").Subscribe(-1)),
topicNameSubscriber(instance, PHOTON_PREFIX, {.topicsOnly = true}),
@@ -291,6 +293,10 @@ void PhotonCamera::SetFPSLimit(int fpsLimit) {
fpsLimitPublisher.Set(fpsLimit);
}
bool PhotonCamera::GetEnabled() const { return enabledSubscriber.Get(); }
void PhotonCamera::SetEnabled(bool enabled) { enabledPublisher.Set(enabled); }
void PhotonCamera::TakeInputSnapshot() {
inputSaveImgEntry.Set(inputSaveImgSubscriber.Get() + 1);
}

25
photon-lib/src/main/native/include/photon/PhotonCamera.h
View File

@@ -104,7 +104,17 @@ class PhotonCamera {
bool GetDriverMode() const;
/**
* @param fpsLimit The FPS limit to set. Use -1 for unlimited FPS.
* Sets the FPS limit on the camera.
*
* <p>An FPS of 0 means to pause processing until a FPS limit greater than 0
* is set.
*
* <p>A negative FPS limit is treated as no FPS limit, and will run as fast as
* possible.
*
* <p>Otherwise, will limit processing to at most the provided FPS limit
*
* @param fps The FPS limit to set.
*/
void SetFPSLimit(int fpsLimit);
@@ -113,6 +123,17 @@ class PhotonCamera {
*/
int GetFPSLimit() const;
/**
* Sets whether the camera is enabled, default is true.
* @param enabled Whether to enable the camera.
*/
void SetEnabled(bool enabled);
/**
* @return Whether the camera is enabled.
*/
bool GetEnabled() const;
/**
* Request the camera to save a new image file from the input
* camera stream with overlays.
@@ -233,6 +254,8 @@ class PhotonCamera {
wpi::nt::BooleanPublisher driverModePublisher;
wpi::nt::IntegerSubscriber fpsLimitSubscriber;
wpi::nt::IntegerPublisher fpsLimitPublisher;
wpi::nt::BooleanSubscriber enabledSubscriber;
wpi::nt::BooleanPublisher enabledPublisher;
wpi::nt::IntegerSubscriber ledModeSubscriber;

11
photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
View File

@@ -57,6 +57,9 @@ public class NTTopicSet {
public IntegerPublisher fpsLimitPublisher;
public IntegerSubscriber fpsLimitSubscriber;
public BooleanPublisher enabledPublisher;
public BooleanSubscriber enabledSubscriber;
public DoublePublisher latencyMillisEntry;
public DoublePublisher fpsEntry;
public BooleanPublisher hasTargetEntry;
@@ -109,6 +112,11 @@ public class NTTopicSet {
fpsLimitSubscriber.getTopic().publish().setDefault(-1);
enabledPublisher = subTable.getBooleanTopic("enabled").publish();
enabledSubscriber = subTable.getBooleanTopic("enabledRequest").subscribe(true);
enabledSubscriber.getTopic().publish().setDefault(true);
latencyMillisEntry = subTable.getDoubleTopic("latencyMillis").publish();
fpsEntry = subTable.getDoubleTopic("fps").publish();
hasTargetEntry = subTable.getBooleanTopic("hasTarget").publish();
@@ -141,6 +149,9 @@ public class NTTopicSet {
if (fpsLimitPublisher != null) fpsLimitPublisher.close();
if (fpsLimitSubscriber != null) fpsLimitSubscriber.close();
if (enabledPublisher != null) enabledPublisher.close();
if (enabledSubscriber != null) enabledSubscriber.close();
if (latencyMillisEntry != null) latencyMillisEntry.close();
if (fpsEntry != null) fpsEntry.close();
if (hasTargetEntry != null) hasTargetEntry.close();