Phantom CSI Camera crashing

[LucienMorey]

Describe the bug
If you leave a CSI camera activated, and remove it while powered off photonvision will constantly segfault on any further startup until the device is plugged in again.
To Reproduce
Steps to reproduce the behavior:

1. Image PI with dev build photonlib-v2025.0.0-beta-8-47-gd78f2b86
2. activate CSI camera
3. Turn off platform
4. Remove CSI camera
5. Turn on platform
6. Check the journal for the photonvision service and which it be sad from now on

Screenshots / Videos

Jan 15 11:07:21 photonvision java[1202]: [2025-01-15 11:07:21] [Camera - VisionSourceManager] [DEBUG] Creating VisionSource for CameraConfiguration [uniqueName=31f0f7f5-db31-4142-b781-8176ea74c64a, matchedCameraInfo=PVCsiCameraInfo[type=ZeroCopyPicam, basename=HQ Camera, path='/base/soc/i2c0mux/i2c@1/imx477@1a', uniquePath='/base/soc/i2c0mux/i2c@1/imx477@1a'], nickname=HQ_Camera, deactivated=true, cameraQuirks=QuirkyCamera [baseName=unicam, displayName=, usbVid=-1, usbPid=-1, quirks={LifeCamControls=false, ArduCamCamera=false, ArduOV9782Controls=false, See3Cam_24CUG=false, AdjustableFocus=false, ArduOV9281Controls=false, AwbRedBlueGain=true, StickyFPS=false, InnoOV9281Controls=false, PsEyeControls=false, ArduOV9782=false, Gain=true, FPSCap100=false, CompletelyBroken=false, ArduOV2311Controls=false}], FOV=70.0]
Jan 15 11:07:21 photonvision java[1202]: [2025-01-15 11:07:21] [Camera - LibcameraGpuSource] [WARN] You have an unknown sensor connected to your Pi over CSI! This is likely a bug. If it is not, then you will have to set your camera FOV differently based on resolution.
Jan 15 11:07:21 photonvision java[1202]: [2025-01-15 11:07:21] [VisionModule - VisionSourceSettables - HQ_Camera] [INFO] Setting video mode to FPS: 90 Width: 320 Height: 240 Pixel Format: kUnknown
Jan 15 11:07:21 photonvision java[1202]: [2025-01-15 11:07:21] [VisionModule - VisionSourceSettables - HQ_Camera] [DEBUG] Creating libcamera
Jan 15 11:07:21 photonvision java[1202]: [2025-01-15 11:07:21] [VisionModule - VisionSourceSettables - HQ_Camera] [ERROR] Couldn't create a zero copy Pi Camera while switching video modes
Jan 15 11:07:21 photonvision java[1202]: [2025-01-15 11:07:21] [VisionModule - VisionSourceSettables - HQ_Camera] [ERROR] Couldn't destroy a zero copy Pi Camera while switching video modes
Jan 15 11:07:21 photonvision java[1202]: [2025-01-15 11:07:21] [VisionModule - VisionSourceSettables - HQ_Camera] [DEBUG] Starting libcamera
Jan 15 11:07:21 photonvision java[1202]: #
Jan 15 11:07:21 photonvision java[1202]: # A fatal error has been detected by the Java Runtime Environment:
Jan 15 11:07:21 photonvision java[1202]: #
Jan 15 11:07:21 photonvision java[1202]: #  SIGSEGV (0xb) at pc=0x0000007f27f79260, pid=1202, tid=1337
Jan 15 11:07:21 photonvision java[1202]: #
Jan 15 11:07:21 photonvision java[1202]: # JRE version: OpenJDK Runtime Environment (17.0.13+11) (build 17.0.13+11-Debian-2deb12u1)
Jan 15 11:07:21 photonvision java[1202]: # Java VM: OpenJDK 64-Bit Server VM (17.0.13+11-Debian-2deb12u1, mixed mode, sharing, tiered, compressed oops, compressed class ptrs, g1 gc, linux-aarch64)
Jan 15 11:07:21 photonvision java[1202]: # Problematic frame:
Jan 15 11:07:21 photonvision java[1202]: # C  [libphotonlibcamera.so+0x9260]  CameraGrabber::streamConfiguration()+0x0
Jan 15 11:07:21 photonvision java[1202]: #
Jan 15 11:07:21 photonvision java[1202]: # No core dump will be written. Core dumps have been disabled. To enable core dumping, try "ulimit -c unlimited" before starting Java again
Jan 15 11:07:21 photonvision java[1202]: #
Jan 15 11:07:21 photonvision java[1202]: # An error report file with more information is saved as:
Jan 15 11:07:21 photonvision java[1202]: # /opt/photonvision/hs_err_pid1202.log
Jan 15 11:07:21 photonvision java[1202]: #
Jan 15 11:07:21 photonvision java[1202]: # If you would like to submit a bug report, please visit:
Jan 15 11:07:21 photonvision java[1202]: #   https://bugs.debian.org/openjdk-17
Jan 15 11:07:21 photonvision java[1202]: # The crash happened outside the Java Virtual Machine in native code.
Jan 15 11:07:21 photonvision java[1202]: # See problematic frame for where to report the bug.
Jan 15 11:07:21 photonvision java[1202]: #
Jan 15 11:07:21 photonvision systemd[1]: photonvision.service: Main process exited, code=killed, status=6/ABRT
Jan 15 11:07:21 photonvision systemd[1]: photonvision.service: Failed with result 'signal'.
Jan 15 11:07:21 photonvision systemd[1]: photonvision.service: Consumed 14.480s CPU time.
Jan 15 11:07:22 photonvision systemd[1]: photonvision.service: Scheduled restart job, restart counter is at 2.
Jan 15 11:07:22 photonvision systemd[1]: Stopped photonvision.service - Service that runs PhotonVision.
Jan 15 11:07:22 photonvision systemd[1]: photonvision.service: Consumed 14.480s CPU time.
Jan 15 11:07:22 photonvision systemd[1]: Started photonvision.service - Service that runs PhotonVision.

Platform:

• Hardware Platform Raspberry Pi 4, Raspberry Pi 5
• Network Configuration: PC to platform through switch. Both devices are being served a DHCP lease from home router
• PhotonVision Version: photonlib-v2025.0.0-beta-8-47-gd78f2b86
• Browser (with Version) (Chrome, Edge, Firefox, etc.): Firefox Version 134.0 (64-bit)
• Camera(s) Used: Official Raspi HQ Cam v1.0 2018

Additional context

I tried this with any other old USB cam, and I noticed that the device has another state: disconnected. I guess CSI cams can't get there because that port is always active or something?

Reconnecting the device to go through the UI and deactivating it stops further segfaulting.

Activating the device while it is disconnected results in an immediate segfault and then recovery with the device still deactivated.

[mcm001]

Do you have /opt/photonvision/hs_err_pid1202.log handy?

[LucienMorey]

I do have log handy hs_err_pid1202.log