From 02bbe9bc490fb987cd992f5aebce144a668958e7 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Fri, 5 Jan 2024 18:32:58 -0700
Subject: [PATCH] Actually implement OV9281/2311 things

---
 .../components/cameras/CameraSettingsCard.vue | 57 ++++++++++++++++++-
 .../stores/settings/CameraSettingsStore.ts    |  3 +-
 photon-client/src/types/SettingTypes.ts       | 32 ++++++++++-
 photon-client/src/types/WebsocketDataTypes.ts |  3 +-
 .../configuration/PhotonConfiguration.java    |  2 +
 .../vision/camera/CameraQuirk.java            |  8 +++
 .../vision/camera/QuirkyCamera.java           | 30 ++++++++--
 .../vision/processes/VisionModule.java        | 10 ++++
 .../photonvision/server/RequestHandler.java   | 19 ++++++-
 9 files changed, 152 insertions(+), 12 deletions(-)

diff --git a/photon-client/src/components/cameras/CameraSettingsCard.vue b/photon-client/src/components/cameras/CameraSettingsCard.vue
index 844b6d3f66..0430984d40 100644
--- a/photon-client/src/components/cameras/CameraSettingsCard.vue
+++ b/photon-client/src/components/cameras/CameraSettingsCard.vue
@@ -3,13 +3,14 @@ import PvSelect from "@/components/common/pv-select.vue";
 import PvNumberInput from "@/components/common/pv-number-input.vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
-import { ref, watchEffect } from "vue";
+import { computed, ref, watchEffect } from "vue";
+import { CameraSettings } from "@/types/SettingTypes";
 
 const currentFov = ref();
 
 const saveCameraSettings = () => {
   useCameraSettingsStore()
-    .updateCameraSettings({ fov: currentFov.value }, false)
+    .updateCameraSettings({ fov: currentFov.value, quirksToChange: quirksToChange.value }, false)
     .then((response) => {
       useCameraSettingsStore().currentCameraSettings.fov.value = currentFov.value;
       useStateStore().showSnackbarMessage({
@@ -41,6 +42,50 @@ const saveCameraSettings = () => {
 watchEffect(() => {
   currentFov.value = useCameraSettingsStore().currentCameraSettings.fov.value;
 });
+
+const quirksToChange = ref({
+  ArduOV9281: false,
+  ArduOV2311: false,
+})
+
+let arducams = ["N/A", "OV9281", "OV2311"]
+
+const arducamModel = computed({
+  get() {
+    const quirks = useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks;
+
+    if (quirks.ArduOV9281) {
+      return 1;
+    } else if (quirks.ArduOV2311) {
+      return 2;
+    }
+    return 0;
+  },
+  set(value) {
+    console.log("hi")
+    console.log(value)
+
+    if (value === 1) {
+      quirksToChange.value.ArduOV9281 = true;
+      quirksToChange.value.ArduOV2311 = false;
+    } else if (value === 2) {
+      quirksToChange.value.ArduOV9281 = false;
+      quirksToChange.value.ArduOV2311 = true;
+    } else {
+      quirksToChange.value.ArduOV9281 = false;
+      quirksToChange.value.ArduOV2311 = false;
+    }
+  }
+})
+
+
+const isArducam = () => {
+  const settings = useCameraSettingsStore().currentCameraSettings;
+  // console.log("Is arducam?")
+  // console.log(settings.cameraQuirks.quirks.ArudcamCamera)
+  return settings.cameraQuirks.quirks.ArudcamCamera;
+}
+
 </script>
 
 <template>
@@ -70,12 +115,18 @@ watchEffect(() => {
         :disabled="useCameraSettingsStore().currentCameraSettings.fov.managedByVendor"
         :label-cols="4"
       />
+      <pv-select
+        v-model="arducamModel"
+        label="Arducam Model"
+        :disabled="!isArducam()"
+        :items="arducams"
+        :select-cols="8"
+      />
       <br />
       <v-btn
         style="margin-top: 10px"
         small
         color="secondary"
-        :disabled="currentFov === useCameraSettingsStore().currentCameraSettings.fov.value"
         @click="saveCameraSettings"
       >
         <v-icon left> mdi-content-save </v-icon>
diff --git a/photon-client/src/stores/settings/CameraSettingsStore.ts b/photon-client/src/stores/settings/CameraSettingsStore.ts
index 861b192ec3..1ab5265f48 100644
--- a/photon-client/src/stores/settings/CameraSettingsStore.ts
+++ b/photon-client/src/stores/settings/CameraSettingsStore.ts
@@ -101,7 +101,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         })),
         pipelineNicknames: d.pipelineNicknames,
         currentPipelineIndex: d.currentPipelineIndex,
-        pipelineSettings: d.currentPipelineSettings
+        pipelineSettings: d.currentPipelineSettings,
+        cameraQuirks: d.cameraQuirks
       }));
     },
     /**
diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
index 83bff3cd09..035ad7de15 100644
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -91,6 +91,27 @@ export interface CameraCalibrationResult {
 
 export interface ConfigurableCameraSettings {
   fov: number;
+  // Need map of (quirk name string) -> boolean
+  quirksToChange: object
+}
+
+export interface QuirkyCamera {
+  baseName: string;
+  usbVid: number;
+  usbPid: number;
+  displayName: string;
+  quirks: {
+    AWBGain: boolean;
+    AdjustableFocus: boolean;
+    ArduOV9281: boolean;
+    ArduOV2311: boolean;
+    ArudcamCamera: boolean;
+    CompletelyBroken: boolean;
+    FPSCap100: boolean;
+    Gain: boolean;
+    PiCam: boolean;
+    StickyFPS: boolean;
+  };
 }
 
 export interface CameraSettings {
@@ -112,6 +133,8 @@ export interface CameraSettings {
   currentPipelineIndex: number;
   pipelineNicknames: string[];
   pipelineSettings: ActivePipelineSettings;
+
+  cameraQuirks: QuirkyCamera;
 }
 
 export const PlaceholderCameraSettings: CameraSettings = {
@@ -145,7 +168,14 @@ export const PlaceholderCameraSettings: CameraSettings = {
   pipelineNicknames: ["Placeholder Pipeline"],
   lastPipelineIndex: 0,
   currentPipelineIndex: 0,
-  pipelineSettings: DefaultAprilTagPipelineSettings
+  pipelineSettings: DefaultAprilTagPipelineSettings,
+  cameraQuirks: {
+    displayName: "Blank 1",
+    baseName: "Blank 2",
+    usbVid: -1,
+    usbPid: -1,
+    quirks: {}
+  }
 };
 
 export enum CalibrationBoardTypes {
diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts
index 0114e19e79..beb223a7bf 100644
--- a/photon-client/src/types/WebsocketDataTypes.ts
+++ b/photon-client/src/types/WebsocketDataTypes.ts
@@ -1,4 +1,4 @@
-import type { GeneralSettings, LightingSettings, LogLevel, MetricData, NetworkSettings } from "@/types/SettingTypes";
+import type { GeneralSettings, LightingSettings, LogLevel, MetricData, NetworkSettings, QuirkyCamera } from "@/types/SettingTypes";
 import type { ActivePipelineSettings } from "@/types/PipelineTypes";
 import type { AprilTagFieldLayout, PipelineResult } from "@/types/PhotonTrackingTypes";
 
@@ -56,6 +56,7 @@ export interface WebsocketCameraSettingsUpdate {
   outputStreamPort: number;
   pipelineNicknames: string[];
   videoFormatList: WebsocketVideoFormat;
+  cameraQuirks: QuirkyCamera;
 }
 export interface WebsocketNTUpdate {
   connected: boolean;
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
index cfd3b677a8..1bb2e7a0ce 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -28,6 +28,7 @@
 import org.photonvision.common.networking.NetworkUtils;
 import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.raspi.LibCameraJNI;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.processes.VisionSource;
@@ -174,5 +175,6 @@ public static class UICameraConfiguration {
         public int inputStreamPort;
         public List<HashMap<String, Object>> calibrations;
         public boolean isFovConfigurable = true;
+        public QuirkyCamera cameraQuirks;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
index 5c2e4a6136..f4b8d89ce1 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
@@ -32,9 +32,17 @@ public enum CameraQuirk {
     AdjustableFocus,
     /** Changing FPS repeatedly with small delay does not work correctly */
     StickyFPS,
+    /**
+     * Camera is an arducam. This means it shares VID/PID with other arducams (ew)
+     */
+    ArudcamCamera,
     /**
      * Camera is an arducam ov9281 which has a funky exposure issue where it is defined in v4l as
      * 1-5000 instead of 1-75
      */
     ArduOV9281,
+    /**
+     * Dummy quirk to tell OV2311 from OV9281
+     */
+    ArduOV2311,
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index d3c96d1b31..d9050050e6 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -49,12 +49,15 @@ public class 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
+                    // Generic arducam. Since OV2311 can't be differentiated at first boot, apply stickyFPS to the generic case, too
                     new QuirkyCamera(
-                            0x6366, 0x0c45, "", "Arducam Generic"),
+                            0x6366, 0x0c45, "", "Arducam Generic", CameraQuirk.ArudcamCamera, CameraQuirk.StickyFPS),
+                            // Arducam OV2311
                     new QuirkyCamera(
-                            0x6366, 0x0c45, "OV2311", "OV2311", CameraQuirk.StickyFPS), // Arducam OV2311
+                            0x6366, 0x0c45, "OV2311", "OV2311", CameraQuirk.ArudcamCamera, CameraQuirk.ArduOV2311, CameraQuirk.StickyFPS), 
+                             // Arducam OV9281
                     new QuirkyCamera(
-                            0x6366, 0x0c45, "OV9281", "OV9281", CameraQuirk.ArduOV9281) // Arducam OV9281
+                            0x6366, 0x0c45, "OV9281", "OV9281", CameraQuirk.ArudcamCamera, CameraQuirk.ArduOV9281)
                     );
 
     public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, "");
@@ -67,10 +70,15 @@ public class QuirkyCamera {
                     CameraQuirk.Gain,
                     CameraQuirk.AWBGain); // PiCam (special zerocopy version)
 
+    @JsonProperty("baseName")
     public final String baseName;
+    @JsonProperty("usbVid")
     public final int usbVid;
+    @JsonProperty("usbPid")
     public final int usbPid;
+    @JsonProperty("displayName")
     public final String displayName;
+    @JsonProperty("quirks")
     public final HashMap<CameraQuirk, Boolean> quirks;
 
     /**
@@ -102,6 +110,7 @@ private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk... qui
      * @param usbVid USB VID of camera
      * @param usbPid USB PID of camera
      * @param baseName CSCore name of camera
+     * @param displayName Human-friendly quicky camera name
      * @param quirks Camera quirks
      */
     private QuirkyCamera(
@@ -125,7 +134,7 @@ public QuirkyCamera(
             @JsonProperty("baseName") String baseName,
             @JsonProperty("usbVid") int usbVid,
             @JsonProperty("usbPid") int usbPid,
-            @JsonProperty("usbPid") String displayName,
+            @JsonProperty("displayName") String displayName,
             @JsonProperty("quirks") HashMap<CameraQuirk, Boolean> quirks) {
         this.baseName = baseName;
         this.usbPid = usbPid;
@@ -201,4 +210,17 @@ public String toString() {
     public int hashCode() {
         return Objects.hash(usbVid, usbPid, baseName, quirks);
     }
+
+    /**
+     * Add/remove quirks from the camera we're controlling
+     * @param quirksToChange map of true/false for quirks we should change
+     */
+    public void updateQuirks(HashMap<CameraQuirk, Boolean> quirksToChange) {
+        for (var q : quirksToChange.entrySet()) {
+            var quirk = q.getKey();
+            var hasQuirk = q.getValue();
+
+            this.quirks.put(quirk, hasQuirk);
+        }
+    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 38becf9227..2a901ee252 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -503,6 +503,7 @@ public PhotonConfiguration.UICameraConfiguration toUICameraConfig() {
                 SerializationUtils.objectToHashMap(pipelineManager.getCurrentPipelineSettings());
         ret.currentPipelineIndex = pipelineManager.getCurrentPipelineIndex();
         ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
+        ret.cameraQuirks = visionSource.getSettables().getConfiguration().cameraQuirks;
 
         // TODO refactor into helper method
         var temp = new HashMap<Integer, HashMap<String, Object>>();
@@ -613,4 +614,13 @@ public void addCalibrationToConfig(CameraCalibrationCoefficients newCalibration)
 
         saveAndBroadcastAll();
     }
+
+    /**
+     * Add/remove quirks from the camera we're controlling
+     * @param quirksToChange map of true/false for quirks we should change
+     */
+    public void changeCameraQuirks(HashMap<CameraQuirk, Boolean> quirksToChange) {
+        visionSource.getCameraConfiguration().cameraQuirks.updateQuirks(quirksToChange);
+        saveAndBroadcastAll();
+    }
 }
diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
index 1d490c1875..99ca04ca60 100644
--- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -17,7 +17,9 @@
 
 package org.photonvision.server;
 
+import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.core.type.TypeReference;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import io.javalin.http.Context;
 import io.javalin.http.UploadedFile;
@@ -30,6 +32,7 @@
 import java.util.Optional;
 import javax.imageio.ImageIO;
 import org.apache.commons.io.FileUtils;
+import org.eclipse.jetty.util.VirtualThreads.Configurable;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.dataflow.DataChangeDestination;
@@ -43,8 +46,10 @@
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.ShellExec;
 import org.photonvision.common.util.TimedTaskManager;
+import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.common.util.file.ProgramDirectoryUtilities;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.processes.VisionModuleManager;
 
 public class RequestHandler {
@@ -364,22 +369,32 @@ public static void onGeneralSettingsRequest(Context ctx) {
         NetworkTablesManager.getInstance().setConfig(config);
     }
 
+    public static class UICameraSettingsRequest {
+        @JsonProperty("fov")
+        double fov;
+        @JsonProperty("quirksToChange")
+        HashMap<CameraQuirk, Boolean> quirksToChange;
+    }
+
     public static void onCameraSettingsRequest(Context ctx) {
         try {
             var data = kObjectMapper.readTree(ctx.body());
 
             int index = data.get("index").asInt();
-            double fov = data.get("settings").get("fov").asDouble();
+            // double fov = data.get("settings").get("fov").asDouble();
+            var settings = JacksonUtils.deserialize(data.get("settings").toString(), UICameraSettingsRequest.class);
+            var fov = settings.fov;
 
             var module = VisionModuleManager.getInstance().getModule(index);
             module.setFov(fov);
+            module.changeCameraQuirks(settings.quirksToChange);
 
             module.saveModule();
 
             ctx.status(200);
             ctx.result("Successfully saved camera settings");
             logger.info("Successfully saved camera settings");
-        } catch (JsonProcessingException | NullPointerException e) {
+        } catch (NullPointerException | IOException e) {
             ctx.status(400);
             ctx.result("The provided camera settings were malformed");
             logger.error("The provided camera settings were malformed", e);