Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-21 01:01:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Ensure cameras with gain will always have it enabled (#388)

Browse Source
This commit is contained in:
Matt
2022-01-11 17:12:30 -08:00
committed by GitHub
parent 80a0d8de1c
commit da8d70f887
1 changed files with 15 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
View File

@@ -89,7 +89,7 @@ public class VisionModule {
visionSource.getSettables().getConfiguration().nickname,
LogGroup.VisionModule);
// do this
// Find quirks for the current camera
if (visionSource instanceof USBCameraSource) {
cameraQuirks = ((USBCameraSource) visionSource).cameraQuirks;
} else if (visionSource instanceof ZeroCopyPicamSource) {
@@ -98,6 +98,15 @@ public class VisionModule {
cameraQuirks = QuirkyCamera.DefaultCamera;
}
// We don't show gain if the config says it's -1. So check here to make sure it's non-negative
// if it _is_ supported
if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
pipelineManager.userPipelineSettings.forEach(
it -> {
if (it.cameraGain == -1) it.cameraGain = 20; // Sane default
});
}
this.pipelineManager = pipelineManager;
this.visionSource = visionSource;
this.visionRunner =
@@ -371,10 +380,12 @@ public class VisionModule {
visionSource.getSettables().setExposure(config.cameraExposure);
visionSource.getSettables().setGain(config.cameraGain);
if (!cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
config.cameraGain = -1;
} else {
if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
// If the gain is disabled for some reason, re-enable it
if (config.cameraGain == -1) config.cameraGain = 20;
visionSource.getSettables().setGain(Math.max(0, config.cameraGain));
} else {
config.cameraGain = -1;
}
setVisionLEDs(config.ledMode);