Bump wpilib to beta-3 (#998)

Disable setting first video mode on boot. Resolution is actually set immediately after

README.md

@@ -22,10 +22,10 @@ Note that these are case sensitive!
     * linuxathena
     * linuxarm32
     * linuxarm64
-    * arm32"
-    * arm64"
-    * x86-64"
-    * x86"
+    * arm32
+    * arm64
+    * x86-64
+    * x86
 - `-PtgtIp`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
 - `-Pprofile`: enables JVM profiling
 

build.gradle

@@ -2,7 +2,7 @@ plugins {
     id "com.diffplug.spotless" version "6.22.0"
     id "edu.wpi.first.NativeUtils" version "2024.2.0" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
 }
 
@@ -20,8 +20,8 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.1.1-beta-2"
-    openCVversion = "4.8.0-1"
+    wpilibVersion = "2024.1.1-beta-3"
+    openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
     frcYear = "2024"
@@ -41,6 +41,11 @@ ext {
 
 wpilibTools.deps.wpilibVersion = wpilibVersion
 
+// Tell gradlerio what version of things to use (that we care about)
+// See: https://github.com/wpilibsuite/GradleRIO/blob/main/src/main/java/edu/wpi/first/gradlerio/wpi/WPIVersionsExtension.java
+wpi.getVersions().getOpencvVersion().convention(openCVversion);
+wpi.getVersions().getWpilibVersion().convention(wpilibVersion);
+
 spotless {
     java {
         target fileTree('.') {

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

@@ -30,4 +30,6 @@ public enum CameraQuirk {
     CompletelyBroken,
     /** Has adjustable focus and autofocus switch */
     AdjustableFocus,
+    /** Changing FPS repeatedly with small delay does not work correctly */
+    StickyFPS,
 }

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

@@ -44,7 +44,8 @@ public class QuirkyCamera {
                     new QuirkyCamera(
                             -1, -1, "mmal service 16.1", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
                     new QuirkyCamera(-1, -1, "unicam", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
-                    new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus) // Logitech C925-e
+                    new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus), // Logitech C925-e
+                    new QuirkyCamera(0x6366, 0x0c45, CameraQuirk.StickyFPS) // Arducam OV2311
                     );
 
     public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, "");

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

@@ -102,7 +102,8 @@ public class USBCameraSource extends VisionSource {
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
-            setVideoMode(videoModes.get(0));
+            if (!cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
+                setVideoMode(videoModes.get(0)); // fixes double FPS set
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {

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

@@ -53,8 +53,6 @@ public class DataSocketHandler {
     @SuppressWarnings("FieldCanBeLocal")
     private final UIOutboundSubscriber uiOutboundSubscriber = new UIOutboundSubscriber(this);
 
-    public static class UIMap extends HashMap<String, Object> {}
-
     private static class ThreadSafeSingleton {
         private static final DataSocketHandler INSTANCE = new DataSocketHandler();
     }
@@ -70,23 +68,23 @@ public class DataSocketHandler {
     }
 
     public void onConnect(WsConnectContext context) {
+        users.add(context);
         context.session.setIdleTimeout(
                 Duration.ofMillis(Long.MAX_VALUE)); // TODO: determine better value
         var remote = (InetSocketAddress) context.session.getRemoteAddress();
         var host = remote.getAddress().toString() + ":" + remote.getPort();
         logger.info("New websocket connection from " + host);
-        users.add(context);
         dcService.publishEvent(
                 new IncomingWebSocketEvent<>(
                         DataChangeDestination.DCD_GENSETTINGS, "userConnected", context));
     }
 
     protected void onClose(WsCloseContext context) {
+        users.remove(context);
         var remote = (InetSocketAddress) context.session.getRemoteAddress();
         var host = remote.getAddress().toString() + ":" + remote.getPort();
         var reason = context.reason() != null ? context.reason() : "Connection closed by client";
         logger.info("Closing websocket connection from " + host + " for reason: " + reason);
-        users.remove(context);
     }
 
     @SuppressWarnings({"unchecked"})
@@ -349,7 +347,9 @@ public class DataSocketHandler {
 
     private void sendMessage(Object message, WsContext user) throws JsonProcessingException {
         ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(message));
-        user.send(b);
+        if (user.session.isOpen()) {
+            user.send(b);
+        }
     }
 
     public void broadcastMessage(Object message, WsContext userToSkip)

photonlib-cpp-examples/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.1.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2" apply false
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3" apply false
 }
 
 allprojects {

photonlib-java-examples/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.1.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2" apply false
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3" apply false
 }
 
 apply from: "examples.gradle"