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Enable multi-CSI-camera with libcamera (PhotonVision#1068)
We should continue being paranoid about multi-cam with all these changes --------- Co-authored-by: Matt <[email protected]>
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photon-core/src/main/java/org/photonvision/vision/camera/CameraInfo.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| /* | ||
| * 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.vision.camera; | ||
|
|
||
| import edu.wpi.first.cscore.UsbCameraInfo; | ||
| import java.util.Arrays; | ||
|
|
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| public class CameraInfo extends UsbCameraInfo { | ||
| public final CameraType cameraType; | ||
|
|
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| public CameraInfo( | ||
| int dev, String path, String name, String[] otherPaths, int vendorId, int productId) { | ||
| super(dev, path, name, otherPaths, vendorId, productId); | ||
| cameraType = CameraType.UsbCamera; | ||
| } | ||
|
|
||
| public CameraInfo( | ||
| int dev, | ||
| String path, | ||
| String name, | ||
| String[] otherPaths, | ||
| int vendorId, | ||
| int productId, | ||
| CameraType cameraType) { | ||
| super(dev, path, name, otherPaths, vendorId, productId); | ||
| this.cameraType = cameraType; | ||
| } | ||
|
|
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| public CameraInfo(UsbCameraInfo info) { | ||
| super(info.dev, info.path, info.name, info.otherPaths, info.vendorId, info.productId); | ||
| cameraType = CameraType.UsbCamera; | ||
| } | ||
|
|
||
| /** | ||
| * @return True, if this camera is reported from V4L and is a CSI camera. | ||
| */ | ||
| public boolean getIsV4lCsiCamera() { | ||
| return (Arrays.stream(otherPaths).anyMatch(it -> it.contains("csi-video")) | ||
| || getBaseName().equals("unicam")); | ||
| } | ||
|
|
||
| /** | ||
| * @return The base name of the camera aka the name as just ascii. | ||
| */ | ||
| public String getBaseName() { | ||
| return name.replaceAll("[^\\x00-\\x7F]", ""); | ||
| } | ||
|
|
||
| /** | ||
| * @param baseName | ||
| * @return Returns a human readable name | ||
| */ | ||
| public String getHumanReadableName() { | ||
| return getBaseName().replaceAll(" ", "_"); | ||
| } | ||
|
|
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| @Override | ||
| public boolean equals(Object o) { | ||
| if (o == this) return true; | ||
| if (!(o instanceof UsbCameraInfo || o instanceof CameraInfo)) return false; | ||
| UsbCameraInfo other = (UsbCameraInfo) o; | ||
| return path.equals(other.path) | ||
| // && a.dev == b.dev (dev is not constant in Windows) | ||
| && name.equals(other.name) | ||
| && productId == other.productId | ||
| && vendorId == other.vendorId; | ||
| } | ||
| } |
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