Merge branch 'PhotonVision:master' into master

Author: levyishai

photon-client/src/components/app/photon-camera-stream.vue

@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { computed, inject } from "vue";
+import { computed, inject, ref, onBeforeUnmount } from "vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
 import loadingImage from "@/assets/images/loading.svg";
@@ -53,11 +53,17 @@ const handleFullscreenRequest = () => {
   if (!stream) return;
   stream.requestFullscreen();
 };
+
+const mjpgStream: any = ref(null);
+onBeforeUnmount(() => {
+  if (!mjpgStream.value) return;
+  mjpgStream.value["src"] = null;
+});
 </script>
 
 <template>
   <div class="stream-container">
-    <img :id="id" crossorigin="anonymous" :src="streamSrc" :alt="streamDesc" :style="streamStyle" />
+    <img :id="id" crossorigin="anonymous" :src="streamSrc" :alt="streamDesc" :style="streamStyle" ref="mjpgStream" />
     <div class="stream-overlay" :style="overlayStyle">
       <pv-icon
         icon-name="mdi-camera-image"

photon-client/src/components/cameras/CamerasView.vue

@@ -151,6 +151,12 @@ th {
   justify-content: center;
 }
 
+@media only screen and (min-width: 960px) {
+  #camera-settings-camera-view-card {
+    position: sticky;
+    top: 12px;
+  }
+}
 @media only screen and (min-width: 512px) and (max-width: 960px) {
   .stream-container {
     flex-wrap: nowrap;

photon-client/src/components/dashboard/tabs/TargetsTab.vue

@@ -28,7 +28,7 @@ const calculateStdDev = (values: number[]): number => {
 };
 const resetCurrentBuffer = () => {
   // Need to clear the array in place
-  while (useStateStore().currentMultitagBuffer?.length != 0) useStateStore().currentMultitagBuffer?.pop();
+  if (useStateStore().currentMultitagBuffer) useStateStore().currentMultitagBuffer!.length = 0;
 };
 </script>
 

photon-client/src/stores/StateStore.ts

@@ -84,7 +84,8 @@ export const useStateStore = defineStore("state", {
       return this.backendResults[this.currentCameraIndex.toString()];
     },
     currentMultitagBuffer(): MultitagResult[] | undefined {
-      return this.multitagResultBuffer[this.currentCameraIndex.toString()];
+      if (!this.multitagResultBuffer[this.currentCameraIndex]) this.multitagResultBuffer[this.currentCameraIndex] = [];
+      return this.multitagResultBuffer[this.currentCameraIndex];
     }
   },
   actions: {

photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java

@@ -18,11 +18,14 @@
 package org.photonvision.vision.frame.provider;
 
 import edu.wpi.first.cscore.CvSink;
-import org.photonvision.common.util.math.MathUtils;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
 public class USBFrameProvider extends CpuImageProcessor {
+    private static final Logger logger = new Logger(USBFrameProvider.class, LogGroup.Camera);
+
     private final CvSink cvSink;
 
     @SuppressWarnings("SpellCheckingInspection")
@@ -43,9 +46,9 @@ public CapturedFrame getInputMat() {
                 cvSink.grabFrame(mat.getMat())
                         * 1000; // Units are microseconds, epoch is the same as the Unix epoch
 
-        // Sometimes CSCore gives us a zero frametime.
-        if (time <= 1e-6) {
-            time = MathUtils.wpiNanoTime();
+        if (time == 0) {
+            var error = cvSink.getError();
+            logger.error("Error grabbing image: " + error);
         }
 
         return new CapturedFrame(mat, settables.getFrameStaticProperties(), time);

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

@@ -92,6 +92,12 @@ private void update() {
             // Grab the new camera frame
             var frame = frameSupplier.get();
 
+            // Frame empty -- no point in trying to do anything more?
+            if (frame.processedImage.getMat().empty() && frame.colorImage.getMat().empty()) {
+                // give up without increasing loop count
+                continue;
+            }
+
             // There's no guarantee the processing type change will occur this tick, so pipelines should
             // check themselves
             try {