From 06d41dbd8174c10e5221eb3420327250db5c292b Mon Sep 17 00:00:00 2001
From: thatcomputerguy0101 <thatcomputerguy0101@gmail.com>
Date: Mon, 27 Apr 2026 18:50:28 -0400
Subject: [PATCH] Refactor isConnected/checkCameraConnected to be shared for
 Libcamera provider to only init on camera connection

---
 .../vision/frame/FrameProvider.java             | 15 ++++++++++++++-
 .../provider/LibcameraGpuFrameProvider.java     | 17 ++++++++---------
 .../vision/frame/provider/USBFrameProvider.java | 14 ++------------
 3 files changed, 24 insertions(+), 22 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
index 66b90423c3..c0fdbbb5bb 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
@@ -35,9 +35,22 @@ protected void onCameraConnected() {
         cameraPropertiesCached = true;
     }
 
+    /**
+     * Returns if the camera is currently connected. Use checkCameraConnected instead to properly
+     * handle camera connection.
+     */
     public abstract boolean isConnected();
 
-    public abstract boolean checkCameraConnected();
+    /** Checks if the camera is currently connected. Also handles connection events. */
+    public boolean checkCameraConnected() {
+        boolean connected = this.isConnected();
+
+        if (!cameraPropertiesCached && connected) {
+            onCameraConnected();
+        }
+
+        return connected;
+    }
 
     /**
      * Returns if the camera has connected at some point. This is not if it is currently connected.
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 e805602fe0..d12ed556e9 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
@@ -37,11 +37,6 @@ public class LibcameraGpuFrameProvider extends FrameProvider {
 
     public LibcameraGpuFrameProvider(LibcameraGpuSettables visionSettables) {
         this.settables = visionSettables;
-
-        var vidMode = settables.getCurrentVideoMode();
-        settables.setVideoMode(vidMode);
-        this.cameraPropertiesCached =
-                true; // Camera properties are not able to be changed so they are always cached
     }
 
     @Override
@@ -150,7 +145,7 @@ public void release() {
     }
 
     @Override
-    public boolean checkCameraConnected() {
+    public boolean isConnected() {
         String[] cameraNames = LibCameraJNI.getCameraNames();
         for (String name : cameraNames) {
             if (name.equals(settables.getConfiguration().getDevicePath())) {
@@ -160,9 +155,13 @@ public boolean checkCameraConnected() {
         return false;
     }
 
-    // To our knowledge the camera is always connected (after boot) with csi cameras
     @Override
-    public boolean isConnected() {
-        return checkCameraConnected();
+    protected void onCameraConnected() {
+        logger.info("Camera connected! running callback");
+
+        super.onCameraConnected();
+
+        var vidMode = settables.getCurrentVideoMode();
+        settables.setVideoMode(vidMode);
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
index 85d461ca18..64b51edf70 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
@@ -57,18 +57,6 @@ public USBFrameProvider(
         this.connectedCallback = connectedCallback;
     }
 
-    @Override
-    public boolean checkCameraConnected() {
-        boolean connected = camera.isConnected();
-
-        if (!cameraPropertiesCached && connected) {
-            logger.info("Camera connected! running callback");
-            onCameraConnected();
-        }
-
-        return connected;
-    }
-
     final double CSCORE_DEFAULT_FRAME_TIMEOUT = 1.0 / 4.0;
 
     @Override
@@ -145,6 +133,8 @@ public void release() {
 
     @Override
     public void onCameraConnected() {
+        logger.info("Camera connected! running callback");
+
         super.onCameraConnected();
 
         this.connectedCallback.run();