Add GPU Acceleration on the Raspberry Pi (#140)

* Add native stuff

* use runtimeloader

* add more native methods

* more stuff

* Switch JNI methods to static

* Remove non-java classes from the picam jni

* Add gradle task for JNI generation

* Migrate my previous GPU accel work

* Initial work on defining JNI interface

* Change libpicam to a symlink for now

* Initial work on adding no-copy OMX GPU accel on the pi

* Make DIRECT_OMX GPU accel mode not crash

* Clean up OMX changes (still not getting valid data back)

* Re-add GPU unit test

* A couple debugging tweaks/notes

* Add temporary special cases to get RGB out of ProcessingMode.NONE

* Code clarity improvements; fix possible VBO bug

* Get DIRECT_OMX working

* Remove some debugging switches in GPUAccelerator

* Pipe in VCSM stuff to read out pixels FAST

* Apply Spotless

* Revert versioningHelper changes

* Add missing import

* Convert to MMAL and move everything to native

* Re-add shared object

* Rework to use MMAL and do everything natively

* Condense pipeline settings classes

* Add OutputStreamPipeline

* Apply spotless

* Fix duplicate variable inits and add more video modes

* Integrate color frames and latency measurements for GPU

* Fix camera detection on pi and other platforms

* Add proper color copy disabling and camera settings calls

* Fix things that were broken by rebase

* Fix spotless issues and remove uneeded prints

* Remove libpicam symlink

* Fix stream resolution limiting

* Remove testing code in GPUAcceleratedHSVPipe

* Make profiling options general to all computers

* Make PicamJNI load from resources

* run spotlessApply

* Address review comments

* Update Maven repo for JOGL

* Fix release race condition

* Only run GPU accel test on the pi

* Lint fix and merge conflict accident fixes

* Make Jackson ignore extra fields when unmarshalling HardwareConfig

* Fix Mat releasing data race

* Spotless apply

* Remove broken header generation task

* Fix shared library loading typo

* Add a ZeroCopyPicam quirk to allow setting gain with the MMAL backend

* Make sure that exposure/brightness/gain get set after res changes

* Make rawInputMat properly local

* Remove bogus set of shouldRun flag

* Clean up small GPUHSVPipe print

* Add in some things that missed the ZeroCopyPiCameraSource rename

* Fix incorrect scoping introduced in past rebase

* Don't filter out too-low resolutions

* Only show latency when GPU accel is enabled

* Don't free Mats in stream thread before we use them

* Fix use-after-free and latency caluclation bugs on USB camera source

* Update libpicam

* Remove unwanted print

* Add libpicam forceLoad in unit test

* Fix streaming during camera calibration

* Fix zerocopy Picam calculation

* Use logger trace method instead of raw prints

* Fix calibration and driver mode pipes with the Picam

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>

photon-server/src/main/java/org/photonvision/server/SocketHandler.java

@@ -84,6 +84,12 @@ public class SocketHandler {
         var reason = context.reason() != null ? context.reason() : "Connection closed by client";
         logger.info("Closing websocket connection from " + host + " for reason: " + reason);
         users.remove(context);
+
+        if (users.size() == 0) {
+            dcService.publishEvent(
+                    new IncomingWebSocketEvent<>(
+                            DataChangeDestination.DCD_ACTIVEPIPELINESETTINGS, "inputShouldShow", false));
+        }
     }
 
     @SuppressWarnings({"unchecked"})