From e685334baad1be4b205262efa09b59a5f99cc93d Mon Sep 17 00:00:00 2001
From: Programmers3539 <bbprogrammers3539@gmail.com>
Date: Tue, 2 Jan 2024 20:35:24 -0800
Subject: [PATCH] Fix grayscale passthrough (#1083)

Fix grayscale passthrough with libcamera. Additionally fixes issue #1091.

Must go with PhotonVision/photon-libcamera-gl-driver#11.

When grayscale passthrough is used currently the frames that are returned do not have the type grayscale so calculations that need grayscale to not run. With these changes pipelines that need grayscale will now run and properly display fps.
---
 build.gradle                                  |  2 +-
 .../vision/camera/LibcameraGpuSettables.java  | 32 ++++++++++++-------
 .../provider/LibcameraGpuFrameProvider.java   |  5 +--
 3 files changed, 23 insertions(+), 16 deletions(-)

diff --git a/build.gradle b/build.gradle
index 9cfb7e8c6f..9530468842 100644
--- a/build.gradle
+++ b/build.gradle
@@ -27,7 +27,7 @@ ext {
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
-    photonGlDriverLibVersion = "dev-v2023.1.0-6-g5e6f7fa"
+    photonGlDriverLibVersion = "dev-v2023.1.0-8-g38bbe74"
     frcYear = "2024"
 
     pubVersion = versionString
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
index 5c32be296a..81cfd75823 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
@@ -18,6 +18,7 @@
 package org.photonvision.vision.camera;
 
 import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Pair;
 import edu.wpi.first.util.PixelFormat;
 import java.util.HashMap;
@@ -119,23 +120,28 @@ public void setExposure(double exposure) {
             return;
         }
 
+        // Store the exposure for use when we need to recreate the camera.
+        lastManualExposure = exposure;
+
+        // Minimum exposure can't be below 1uS cause otherwise it would be 0 and 0 is auto exposure.
+        double minExposure = 1;
+
         // HACKS!
         // If we set exposure too low, libcamera crashes or slows down
         // Very weird and smelly
         // For now, band-aid this by just not setting it lower than the "it breaks" limit
-        //  is different depending on camera.
+        // is different depending on camera.
+        // All units are uS.
         if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
-            if (exposure < 6.0) {
-                exposure = 6.0;
-            }
+            minExposure = 4800;
         } else if (sensorModel == LibCameraJNI.SensorModel.OV5647) {
-            if (exposure < 0.7) {
-                exposure = 0.7;
-            }
+            minExposure = 560;
         }
+        // 80,000 uS seems like an exposure value that will be greater than ever needed while giving
+        // enough control over exposure.
+        exposure = MathUtils.map(exposure, 0, 100, minExposure, 80000);
 
-        lastManualExposure = exposure;
-        var success = LibCameraJNI.setExposure(r_ptr, (int) Math.round(exposure) * 800);
+        var success = LibCameraJNI.setExposure(r_ptr, (int) exposure);
         if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera exposure");
     }
 
@@ -150,8 +156,12 @@ public void setBrightness(int brightness) {
     @Override
     public void setGain(int gain) {
         lastGain = gain;
-        // TODO units here seem odd -- 5ish seems legit? So divide by 10
-        var success = LibCameraJNI.setAnalogGain(r_ptr, gain / 10.0);
+
+        // Map and clamp gain to values between 1 and 10 (libcamera min and gain that just seems higher
+        // than ever needed) from 0 to 100 (UI values).
+        var success =
+                LibCameraJNI.setAnalogGain(
+                        r_ptr, MathUtil.clamp(MathUtils.map(gain, 0.0, 100.0, 1.0, 10.0), 1.0, 10.0));
         if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera gain");
     }
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
index 36ebe47cfb..6e49ce153d 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
@@ -20,7 +20,6 @@
 import org.opencv.core.Mat;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.raspi.LibCameraJNI;
-import org.photonvision.raspi.LibCameraJNI.SensorModel;
 import org.photonvision.vision.camera.LibcameraGpuSettables;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameProvider;
@@ -91,9 +90,7 @@ public Frame get() {
 
     @Override
     public void requestFrameThresholdType(FrameThresholdType type) {
-        if (settables.getModel() == SensorModel.OV9281 && type.equals(FrameThresholdType.GREYSCALE))
-            LibCameraJNI.setGpuProcessType(settables.r_ptr, 4); // 4 = Grayscale pass through.
-        else LibCameraJNI.setGpuProcessType(settables.r_ptr, type.ordinal());
+        LibCameraJNI.setGpuProcessType(settables.r_ptr, type.ordinal());
     }
 
     @Override