Added FPS counter and "infinite" FPS mode

lib/src/camera.dart

@@ -3,27 +3,46 @@ import "package:opencv_ffi/opencv_ffi.dart";
 import "dart:async";
 import "collection.dart";
 
+/// Prints the actual FPS of this camera at the debug [LogLevel].
+const bool countFps = false;
+
 /// Class to manage [Camera] objects 
 class CameraManager {
   /// Camera that is being controlled
-  late final Camera camera;
+  Camera camera;
   /// Holds the current details of the camera
-  late final CameraDetails details;
+  CameraDetails details;
   /// Timer that is run constantly to send frames
   Timer? timer;
+  bool _isLoading = false;
+
+  /// Records how many FPS this camera is actually running at. Enable [countFps] to see it in the logs.
+  int fpsCount = 0;
 
   /// Constructor
   CameraManager({required this.camera, required this.details});
 
+  /// The name of this camera (where it is on the rover).
+  CameraName get name => details.name;
+
+  /// Starts the camera and FPS timers.
+  void startTimer() {
+    final delay = details.fps == 0 ? Duration.zero : Duration(milliseconds: 1000 ~/ details.fps);
+    logger.verbose("Waiting for delay: $delay");
+    timer?.cancel();
+    timer = Timer.periodic(delay, sendFrame);
+    if (countFps) Timer.periodic(const Duration(seconds: 5), (_) {logger.debug("Sent ${fpsCount ~/ 5} frames"); fpsCount = 0;});
+  }
+
   /// Initializes the timer
   Future<void> init() async{  
-    if(!camera.isOpened){
+    if (camera.isOpened){
+      logger.verbose("Initializing camera: ${details.name}");
+      startTimer();      
+    } else {
+      logger.verbose("Camera $name is not connected");
       details.mergeFromMessage(CameraDetails(status: CameraStatus.CAMERA_DISCONNECTED));
-      return;
     }
-    timer = Timer.periodic(Duration(milliseconds: 1000 ~/ details.fps), (runner) {
-      sendFrame();
-    });
   }
 
   /// disposes of the camera and the timer
@@ -36,21 +55,27 @@ class CameraManager {
   /// 
   /// reset the timer for FPS if needed, change resolution, enable or disable
   void updateDetails({required CameraDetails details}){  
-    details.mergeFromMessage(details);
+    this.details = details;
+    startTimer();
   }
 
   /// Sends frame to dashboard
   /// 
   /// If the camera was connected and then returns a null frame then its status changes to [CameraStatus.CAMERA_NOT_RESPONDING]
-  void sendFrame(){  // run this with the timer. Read frame, send to dashboard, handle errors
-    final frame = camera.getJpg();
-    if(frame == null){
+  void sendFrame(_) {  // run this with the timer. Read frame, send to dashboard, handle errors
+    if (_isLoading) return;
+    if (countFps) fpsCount++;
+    _isLoading = true;
+    final frame = camera.getJpg(quality: details.quality);
+    collection.videoServer.sendMessage(VideoData(details: details));
+    if (frame == null) {
       updateDetails(details: CameraDetails(status: CameraStatus.CAMERA_NOT_RESPONDING));
       collection.videoServer.sendMessage(VideoData(details: details));
       timer?.cancel();
     } else {
       collection.videoServer.sendMessage(VideoData(frame: frame.data, details: CameraDetails(name: CameraName.ROVER_FRONT, status: CameraStatus.CAMERA_ENABLED)));
       frame.dispose();
     }
+    _isLoading = false;
   }
 }