From a2e4c710b69cea5c8abe0b8ecc483b9460c41f4f Mon Sep 17 00:00:00 2001
From: scorbett123 <50634068+scorbett123@users.noreply.github.com>
Date: Wed, 9 Nov 2022 21:05:05 +0000
Subject: [PATCH 1/4] Search for USB cams in RoboConUSBCamera instead of just
 assuming /dev/video0

---
 robot/vision.py | 19 ++++++++++++++++++-
 1 file changed, 18 insertions(+), 1 deletion(-)

diff --git a/robot/vision.py b/robot/vision.py
index 9411796..19f200b 100644
--- a/robot/vision.py
+++ b/robot/vision.py
@@ -6,6 +6,7 @@
 import os
 import threading
 import queue
+import subprocess as sp
 
 from datetime import datetime
 from typing import NamedTuple, Any
@@ -209,13 +210,29 @@ class RoboConUSBCamera(Camera):
     def __init__(self,
                  start_res=(1296, 736),
                  focal_lengths=None):
-        self._cv_capture = cv2.VideoCapture(0)
+        self._source = self.find_usb_cam()
+        if self._source == None:
+            raise Exception("No USB camera detected")
+        self._cv_capture = cv2.VideoCapture(self._source)
         self._res = start_res
         self.focal_lengths = (LOGITECH_C270_FOCAL_LENGTHS
                               if focal_lengths is None
                               else focal_lengths)
         self._update_camera_params(self.focal_lengths)
 
+    def find_usb_cam(self):
+        indicator_string = "bm2835" # if this string is present in the output then it is a pi cam
+        options = ["/dev/video0", "/dev/video1"] # Only two options so this is hardcoded
+        for option in options:
+            try:
+                output = sp.check_output(["v4l2-ctl", "-d", option, "-D"]).decode()
+            except sp.CalledProcessError:
+                continue
+
+            if indicator_string not in output:
+                return option
+        return None
+
     @property
     def res(self):
         return self._res

From ff97dbc36c9a1654d20e1ed6c0ed12b085cab5b0 Mon Sep 17 00:00:00 2001
From: scorbett123 <50634068+scorbett123@users.noreply.github.com>
Date: Thu, 10 Nov 2022 10:59:36 +0000
Subject: [PATCH 2/4] Add next steps to no USB camera detected error

Co-authored-by: Skyler <skyler3665@gmail.com>
---
 robot/vision.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robot/vision.py b/robot/vision.py
index 19f200b..819a4ef 100644
--- a/robot/vision.py
+++ b/robot/vision.py
@@ -212,7 +212,7 @@ def __init__(self,
                  focal_lengths=None):
         self._source = self.find_usb_cam()
         if self._source == None:
-            raise Exception("No USB camera detected")
+            raise Exception("No USB camera detected, please make sure it's plugged in")
         self._cv_capture = cv2.VideoCapture(self._source)
         self._res = start_res
         self.focal_lengths = (LOGITECH_C270_FOCAL_LENGTHS

From 42feb838c05ed0ab09729901a62c47f426f0da9b Mon Sep 17 00:00:00 2001
From: scorbett123 <50634068+scorbett123@users.noreply.github.com>
Date: Thu, 10 Nov 2022 13:38:42 +0000
Subject: [PATCH 3/4] Improve find_usb_camera

search all of /dev/videoX
Check whether a camera is a USB cam instead of not being a pi cam

Co-authored-by: Skyler <skyler3665@gmail.com>
---
 robot/vision.py | 22 ++++++++++++++++------
 1 file changed, 16 insertions(+), 6 deletions(-)

diff --git a/robot/vision.py b/robot/vision.py
index 819a4ef..0b6ac75 100644
--- a/robot/vision.py
+++ b/robot/vision.py
@@ -221,17 +221,27 @@ def __init__(self,
         self._update_camera_params(self.focal_lengths)
 
     def find_usb_cam(self):
-        indicator_string = "bm2835" # if this string is present in the output then it is a pi cam
-        options = ["/dev/video0", "/dev/video1"] # Only two options so this is hardcoded
+        options = filter(lambda file: file.startswith("video"),
+                         os.listdir("/dev/"))
         for option in options:
             try:
-                output = sp.check_output(["v4l2-ctl", "-d", option, "-D"]).decode()
+                output = sp.check_output(["v4l2-ctl", "-d", f"/dev/{option}", "-D"]).decode()
             except sp.CalledProcessError:
                 continue
 
-            if indicator_string not in output:
-                return option
-        return None
+            bus_info = re.search(r"Bus info *: (.*)", output)
+
+            if bus_info is None or "usb" not in bus_info.group(1):
+                # If this isn't a USB camera...
+                continue
+
+            video_capture_capabilities = re.search(
+                r"Device Caps *: .*(\n\t\t(.*))*\n\t\tVideo Capture\n", output, re.MULTILINE
+            )
+
+            if video_capture_capabilities is not None:
+                # If we have Video Capture listed under capabilities
+                return f"/dev/{option}"
 
     @property
     def res(self):

From 9d81ba2d8720fbe1e4471e899f6731797f910795 Mon Sep 17 00:00:00 2001
From: scorbett123 <50634068+scorbett123@users.noreply.github.com>
Date: Thu, 10 Nov 2022 13:39:10 +0000
Subject: [PATCH 4/4] Add re import

Forgot this

Co-authored-by: Skyler <skyler3665@gmail.com>
---
 robot/vision.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/robot/vision.py b/robot/vision.py
index 0b6ac75..8778976 100644
--- a/robot/vision.py
+++ b/robot/vision.py
@@ -7,6 +7,7 @@
 import threading
 import queue
 import subprocess as sp
+import re
 
 from datetime import datetime
 from typing import NamedTuple, Any