Add multi camera support to backend (#9)

* Move stuff into own folders

* Refactor JNI

* create tasks/launch

* Fix jni types

* Fix el stupid

* fix pedantic warnings

* run format

* Fix compile

* Clang-format memes

* fix weird wpiformat things

* Add grey-passthrough shader

* asdf

* Remove prints and fix indexing

.gitignore

@@ -3,3 +3,5 @@
 build
 .cache/
 compile_commands.json
+photon_sysroot*
+build-pi/*

.styleguide

@@ -0,0 +1,33 @@
+cppHeaderFileInclude {
+  \.h$
+  \.hpp$
+  \.inc$
+  \.inl$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+modifiableFileExclude {
+  \.jpg$
+  \.jpeg$
+  \.png$
+  \.gif$
+  \.so$
+  \.dll$
+  \.webp$
+  \.ico$
+  gradlew
+}
+
+includeProject {
+  ^photonLib/
+}
+
+includeOtherLibs {
+  ^frc/
+  ^networktables/
+  ^units/
+  ^wpi/
+}

.styleguide-license

@@ -0,0 +1,16 @@
+/*
+ * 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/>.
+ */

.vscode/launch.json

@@ -0,0 +1,40 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "type": "java",
+            "name": "LibCameraJNI",
+            "request": "launch",
+            "mainClass": "org.photonvision.raspi.LibCameraJNI",
+            "projectName": "photon-libcamera-gl-driver_ef1a9c31"
+        },
+        {
+            "name": "(gdb) Launch",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/build/libcamera_meme",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${fileDirname}",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Set Disassembly Flavor to Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                }
+            ],
+            "preLaunchTask": "Build libcamera_meme"
+        }
+    ]
+}

.vscode/tasks.json

@@ -0,0 +1,22 @@
+{
+  "tasks": [
+    {
+      "label": "Build libcamera_meme",
+      "type": "shell",
+      "command": "cmake",
+      "args": [
+        "--build",
+        "build",
+        "--target",
+        "libcamera_meme"
+      ],
+      "options": {
+        "cwd": "${workspaceFolder}/"
+      },
+      "group": {
+        "kind": "build",
+        "isDefault": true
+      }
+    },
+  ]
+}

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.25.1)
+cmake_minimum_required(VERSION 3.18)
 project(libcamera_meme)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
@@ -25,23 +25,26 @@ endif ()
 SET(FAST_FLAGS "-Ofast -ftree-vectorize -fPIC")
 add_definitions(${FAST_FLAGS})
 
-add_library(photonlibcamera SHARED concurrent_blocking_queue.h
-        camera_grabber.cpp dma_buf_alloc.cpp
-        gl_hsv_thresholder.cpp
-        libcamera_opengl_utility.cpp
-        libcamera_jni.cpp
-        camera_manager.cpp
-        camera_runner.cpp
-        camera_model.cpp
-        headless_opengl.cpp
+
+add_library(photonlibcamera SHARED 
+        src/camera_grabber.cpp 
+        src/dma_buf_alloc.cpp
+        src/gl_hsv_thresholder.cpp
+        src/libcamera_opengl_utility.cpp
+        src/camera_manager.cpp
+        src/camera_runner.cpp
+        src/camera_model.cpp
+        src/headless_opengl.cpp
+        src/libcamera_jni.cpp
 )
 target_compile_definitions(photonlibcamera PUBLIC EGL_NO_X11=1)
-target_include_directories(photonlibcamera PUBLIC ${OPENGL_INCLUDE_DIRS} ${LIBDRM_INCLUDE_DIRS} ${LIBCAMERA_INCLUDE_DIRS}
+target_include_directories(photonlibcamera PUBLIC include ${OPENGL_INCLUDE_DIRS} ${LIBDRM_INCLUDE_DIRS} ${LIBCAMERA_INCLUDE_DIRS}
         ${LIBGBM_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${JNI_INCLUDE_DIRS})
 target_link_libraries(photonlibcamera PUBLIC OpenGL::GL OpenGL::EGL Threads::Threads ${LIBCAMERA_LINK_LIBRARIES}
         ${LIBGBM_LINK_LIBRARIES} ${OpenCV_LIBS} ${LIBDRM_LINK_LIBRARIES})
+target_compile_options(photonlibcamera PRIVATE -Wall -Wextra -Wpedantic -Werror)
 
 add_executable(libcamera_meme main.cpp)
 target_include_directories(libcamera_meme PUBLIC ${OPENGL_INCLUDE_DIRS} ${LIBDRM_INCLUDE_DIRS} ${LIBCAMERA_INCLUDE_DIRS}
         ${LIBGBM_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${JNI_INCLUDE_DIRS})
-target_link_libraries(libcamera_meme photonlibcamera)
+target_link_libraries(libcamera_meme photonlibcamera)

include/blocking_future.h

@@ -0,0 +1,49 @@
+/*
+ * 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/>.
+ */
+
+#pragma once
+
+#include <condition_variable>
+#include <mutex>
+#include <optional>
+#include <utility>
+
+template <typename T> class BlockingFuture {
+  public:
+    BlockingFuture() = default;
+
+    void set(T &&item) {
+        std::unique_lock<std::mutex> lock(m_mutex);
+        m_data = std::make_optional<>(std::forward<T>(item));
+        lock.unlock();
+        m_cond.notify_one();
+    }
+
+    T take() {
+        std::unique_lock<std::mutex> lock(m_mutex);
+        m_cond.wait(lock, [&] { return m_data.has_value(); });
+
+        auto item = std::move(m_data.value());
+        m_data.reset();
+        return item;
+    }
+
+  private:
+    std::optional<T> m_data;
+    std::mutex m_mutex;
+    std::condition_variable m_cond;
+};