From 608ba1aa427c0c8b6f09b6cd5a486e4bae24381a Mon Sep 17 00:00:00 2001
From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date: Thu, 20 Jul 2023 19:30:05 -0400
Subject: [PATCH] Revert "Add checking of current and requested video_mode
 (#859)"

This reverts commit 013ff5e7c01d02cde3d7172f91a8e4fc5f043600.
---
 .../common/util/vision/OpenCvUtils.java       | 33 -------------------
 .../vision/processes/PipelineManager.java     |  2 +-
 .../processes/VisionSourceSettables.java      |  6 ----
 .../include/photonlib/SimPhotonCamera.h       |  1 +
 4 files changed, 2 insertions(+), 40 deletions(-)
 delete mode 100644 photon-core/src/main/java/org/photonvision/common/util/vision/OpenCvUtils.java

diff --git a/photon-core/src/main/java/org/photonvision/common/util/vision/OpenCvUtils.java b/photon-core/src/main/java/org/photonvision/common/util/vision/OpenCvUtils.java
deleted file mode 100644
index 8c19eccc9c..0000000000
--- a/photon-core/src/main/java/org/photonvision/common/util/vision/OpenCvUtils.java
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.util.vision;
-
-import edu.wpi.first.cscore.VideoMode;
-
-public class OpenCvUtils {
-    private OpenCvUtils() {}
-
-    public static boolean videoModeEquals(VideoMode a, VideoMode b) {
-        // WPILib doesn't provide an equals(), so implement our own here
-        if (a.pixelFormat != b.pixelFormat) return false;
-        if (a.width != b.width) return false;
-        if (a.height != b.height) return false;
-        if (a.fps != b.fps) return false;
-        return true;
-    }
-}
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
index f44f6aceee..f898aad573 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -261,7 +261,7 @@ public boolean getDriverMode() {
     /**
      * Sorts the pipeline list by index, and reassigns their indexes to match the new order. <br>
      * <br>
-     * I don't like this but I have no other ideas, and it works so ¯\_(ツ)_/¯
+     * I don't like this but I have no other ideas, and it works so
      */
     private void reassignIndexes() {
         userPipelineSettings.sort(PipelineSettingsIndexComparator);
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
index 7bda17cafc..63e643c8bb 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
@@ -22,7 +22,6 @@
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.vision.OpenCvUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.frame.FrameStaticProperties;
 
@@ -64,11 +63,6 @@ public void setVideoModeInternal(int index) {
     }
 
     public void setVideoMode(VideoMode mode) {
-        if (OpenCvUtils.videoModeEquals(mode, getCurrentVideoMode())) {
-            logger.info("Requested video mode is already the current video mode");
-            return;
-        }
-
         logger.info(
                 "Setting video mode to "
                         + "FPS: "
diff --git a/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h b/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
index 863c572501..44ab0917a2 100644
--- a/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
+++ b/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
@@ -25,6 +25,7 @@
 #pragma once
 
 #include <algorithm>
+#include <functional>
 #include <memory>
 #include <string>
 #include <vector>