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Don't interact with Libcamera cameras until connected #2447

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Don't interact with Libcamera cameras until connected #2447

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15 changes: 14 additions & 1 deletion photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
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@thatcomputerguy0101 thatcomputerguy0101 Apr 28, 2026

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With how I restructured things isConnected probably should not be called by unrelated classes. The only place it is currently called is in VisionModule, for which I'm not sure which method yields better results.


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.
Expand Down
17 changes: 8 additions & 9 deletions ...-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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())) {
Expand All @@ -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);
}
}
14 changes: 2 additions & 12 deletions photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -145,6 +133,8 @@ public void release() {

@Override
public void onCameraConnected() {
logger.info("Camera connected! running callback");

super.onCameraConnected();

this.connectedCallback.run();
Expand Down
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