From adfa39b6f44d1f2e50f91f9b1936068c2fdadbe6 Mon Sep 17 00:00:00 2001
From: Alan Everett <thatcomputerguy0101@gmail.com>
Date: Mon, 4 May 2026 07:24:05 -0400
Subject: [PATCH] Don't interact with Libcamera cameras until connected (#2447)

---
 .../photonvision/vision/frame/FrameProvider.java | 14 ++++++++++++--
 .../provider/LibcameraGpuFrameProvider.java      | 15 +++++++--------
 .../vision/frame/provider/USBFrameProvider.java  | 16 +++-------------
 .../vision/processes/VisionRunner.java           |  2 +-
 4 files changed, 23 insertions(+), 24 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
index 66b90423c..7361a41a8 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
@@ -35,9 +35,19 @@ public abstract class FrameProvider implements Supplier<Frame>, Releasable {
         cameraPropertiesCached = true;
     }
 
-    public abstract boolean isConnected();
+    /** Internal provider for if the camera is currently connected. */
+    protected abstract boolean checkCameraConnected();
 
-    public abstract boolean checkCameraConnected();
+    /** Checks if the camera is currently connected. Also handles connection events. */
+    public boolean isConnected() {
+        boolean connected = this.checkCameraConnected();
+
+        if (!cameraPropertiesCached && connected) {
+            onCameraConnected();
+        }
+
+        return connected;
+    }
 
     /**
      * Returns if the camera has connected at some point. This is not if it is currently connected.
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
index e805602fe..fe7d48e6f 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
@@ -37,11 +37,6 @@ public class LibcameraGpuFrameProvider extends FrameProvider {
 
     public LibcameraGpuFrameProvider(LibcameraGpuSettables visionSettables) {
         this.settables = visionSettables;
-
-        var vidMode = settables.getCurrentVideoMode();
-        settables.setVideoMode(vidMode);
-        this.cameraPropertiesCached =
-                true; // Camera properties are not able to be changed so they are always cached
     }
 
     @Override
@@ -160,9 +155,13 @@ public class LibcameraGpuFrameProvider extends FrameProvider {
         return false;
     }
 
-    // To our knowledge the camera is always connected (after boot) with csi cameras
     @Override
-    public boolean isConnected() {
-        return checkCameraConnected();
+    protected void onCameraConnected() {
+        logger.info("Camera connected! running callback");
+
+        super.onCameraConnected();
+
+        var vidMode = settables.getCurrentVideoMode();
+        settables.setVideoMode(vidMode);
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
index 85d461ca1..86ba006dc 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
@@ -57,18 +57,6 @@ public class USBFrameProvider extends CpuImageProcessor {
         this.connectedCallback = connectedCallback;
     }
 
-    @Override
-    public boolean checkCameraConnected() {
-        boolean connected = camera.isConnected();
-
-        if (!cameraPropertiesCached && connected) {
-            logger.info("Camera connected! running callback");
-            onCameraConnected();
-        }
-
-        return connected;
-    }
-
     final double CSCORE_DEFAULT_FRAME_TIMEOUT = 1.0 / 4.0;
 
     @Override
@@ -145,13 +133,15 @@ public class USBFrameProvider extends CpuImageProcessor {
 
     @Override
     public void onCameraConnected() {
+        logger.info("Camera connected! running callback");
+
         super.onCameraConnected();
 
         this.connectedCallback.run();
     }
 
     @Override
-    public boolean isConnected() {
+    public boolean checkCameraConnected() {
         return camera.isConnected();
     }
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
index 6835bf1e9..f1b99d6fd 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
@@ -132,7 +132,7 @@ public class VisionRunner {
 
     private void update() {
         // wait for the camera to connect
-        while (!frameSupplier.checkCameraConnected() && !Thread.interrupted()) {
+        while (!frameSupplier.isConnected() && !Thread.interrupted()) {
             // yield
             pipelineResultConsumer.accept(new CVPipelineResult(0l, 0, 0, null, new Frame()));
             try {