Remove socket camera streaming (#985)

Removes websocket-based camera streaming functionality. 

Fixes #975. This was caused by destroying the camera streams and recreating them on nickname change. Even when directly using `MJPGFrameConsumer` and the streams were exactly the same, the freeze would occur when creating a new `MjpegServer` and require a refresh. I think this is simply how cscore works?

photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java

@@ -28,12 +28,18 @@
 import org.opencv.core.Rect;
 import org.opencv.imgproc.Imgproc;
 import org.photonvision.common.util.ColorHelper;
+import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.opencv.CVMat;
 
-public class MJPGFrameConsumer {
-    public static final Mat EMPTY_MAT = new Mat(60, 15 * 7, CvType.CV_8UC3);
+public class MJPGFrameConsumer implements AutoCloseable {
+    private static final double MAX_FRAMERATE = -1;
+    private static final long MAX_FRAME_PERIOD_NS = Math.round(1e9 / MAX_FRAMERATE);
+    private long lastFrameTimeNs;
+
+    private static final Mat EMPTY_MAT = new Mat(60, 15 * 7, CvType.CV_8UC3);
     private static final double EMPTY_FRAMERATE = 2;
-    private long lastEmptyTime;
+    private static final long EMPTY_FRAME_PERIOD_NS = Math.round(1e9 / EMPTY_FRAMERATE);
+    private long lastEmptyTimeNs;
 
     static {
         EMPTY_MAT.setTo(ColorHelper.colorToScalar(Color.BLACK));
@@ -168,11 +174,15 @@ public MJPGFrameConsumer(String name, int port) {
 
     public void accept(CVMat image) {
         if (image != null && !image.getMat().empty()) {
-            cvSource.putFrame(image.getMat());
+            long now = MathUtils.wpiNanoTime();
+            if (now - lastFrameTimeNs > MAX_FRAME_PERIOD_NS) {
+                lastFrameTimeNs = now;
+                cvSource.putFrame(image.getMat());
+            }
 
             // Make sure our disabled framerate limiting doesn't get confused
             isDisabled = false;
-            lastEmptyTime = 0;
+            lastEmptyTimeNs = 0;
         }
     }
 
@@ -182,9 +192,10 @@ public void disabledTick() {
             isDisabled = true;
         }
 
-        if (System.currentTimeMillis() - lastEmptyTime > 1000.0 / EMPTY_FRAMERATE) {
+        long now = MathUtils.wpiNanoTime();
+        if (now - lastEmptyTimeNs > EMPTY_FRAME_PERIOD_NS) {
+            lastEmptyTimeNs = now;
             cvSource.putFrame(EMPTY_MAT);
-            lastEmptyTime = System.currentTimeMillis();
         }
     }
 
@@ -233,6 +244,7 @@ private static String pixelFormatToString(VideoMode.PixelFormat pixelFormat) {
         }
     }
 
+    @Override
     public void close() {
         table.getEntry("connected").setBoolean(false);
         mjpegServer.close();

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

@@ -17,6 +17,7 @@
 
 package org.photonvision.vision.processes;
 
+import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.math.util.Units;
 import io.javalin.websocket.WsContext;
@@ -44,15 +45,14 @@
 import org.photonvision.vision.camera.USBCameraSource;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.consumer.FileSaveFrameConsumer;
+import org.photonvision.vision.frame.consumer.MJPGFrameConsumer;
 import org.photonvision.vision.pipeline.AdvancedPipelineSettings;
 import org.photonvision.vision.pipeline.OutputStreamPipeline;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
 import org.photonvision.vision.pipeline.UICalibrationData;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;
-import org.photonvision.vision.videoStream.SocketVideoStream;
-import org.photonvision.vision.videoStream.SocketVideoStreamManager;
 
 /**
  * This is the God Class
@@ -83,8 +83,8 @@ public class VisionModule {
     FileSaveFrameConsumer inputFrameSaver;
     FileSaveFrameConsumer outputFrameSaver;
 
-    SocketVideoStream inputVideoStreamer;
-    SocketVideoStream outputVideoStreamer;
+    MJPGFrameConsumer inputVideoStreamer;
+    MJPGFrameConsumer outputVideoStreamer;
 
     public VisionModule(PipelineManager pipelineManager, VisionSource visionSource, int index) {
         logger =
@@ -169,11 +169,6 @@ public VisionModule(PipelineManager pipelineManager, VisionSource visionSource,
         saveAndBroadcastAll();
     }
 
-    private void destroyStreams() {
-        SocketVideoStreamManager.getInstance().removeStream(inputVideoStreamer);
-        SocketVideoStreamManager.getInstance().removeStream(outputVideoStreamer);
-    }
-
     private void createStreams() {
         var camStreamIdx = visionSource.getSettables().getConfiguration().streamIndex;
         // If idx = 0, we want (1181, 1182)
@@ -186,10 +181,13 @@ private void createStreams() {
                 new FileSaveFrameConsumer(
                         visionSource.getSettables().getConfiguration().nickname, "output");
 
-        inputVideoStreamer = new SocketVideoStream(this.inputStreamPort);
-        outputVideoStreamer = new SocketVideoStream(this.outputStreamPort);
-        SocketVideoStreamManager.getInstance().addStream(inputVideoStreamer);
-        SocketVideoStreamManager.getInstance().addStream(outputVideoStreamer);
+        String camHostname = CameraServerJNI.getHostname();
+        inputVideoStreamer =
+                new MJPGFrameConsumer(
+                        camHostname + "_Port_" + inputStreamPort + "_Input_MJPEG_Server", inputStreamPort);
+        outputVideoStreamer =
+                new MJPGFrameConsumer(
+                        camHostname + "_Port_" + outputStreamPort + "_Output_MJPEG_Server", outputStreamPort);
     }
 
     private void recreateStreamResultConsumers() {
@@ -483,16 +481,6 @@ public void setCameraNickname(String newName) {
         inputFrameSaver.updateCameraNickname(newName);
         outputFrameSaver.updateCameraNickname(newName);
 
-        // Rename streams
-        streamResultConsumers.clear();
-
-        // Teardown and recreate streams
-        destroyStreams();
-        createStreams();
-
-        // Rebuild streamers
-        recreateStreamResultConsumers();
-
         // Push new data to the UI
         saveAndBroadcastAll();
     }