sagi this is for you

backend/Main.py

@@ -1,22 +1,33 @@
 import tornado.ioloop
+import multiprocessing
 
 from app.ChameleonVisionApp import ChameleonApplication
 from app.classes.SettingsManager import SettingsManager
 from tornado.options import options
 from app.handlers.VisionHandler import VisionHandler
 
-if __name__ == "__main__":
-    SettingsManager()
-    
-    VisionHandler().run()
-    # SettingsManager().save_settings()
-
+def run_server():
     tornado.options.parse_command_line()
     app = ChameleonApplication()
     print(f"Serving on port {options.port}")
     app.listen(options.port)
     tornado.ioloop.IOLoop.current().start()
 
+if __name__ == "__main__":
+    SettingsManager()
+    
+    procs = VisionHandler().run()
+    # proc = multiprocessing.Process(target=run_server)
+    # procs.append(proc)
+    # proc.start()
+
+
+    for i in procs:
+        i.start()
+    # SettingsManager().save_settings()
+
+
+
 #TODO: create process for each camera
 # create proccess loop and camera publisher
 # bridge network tables for each camera

backend/app/handlers/VisionHandler.py

@@ -70,14 +70,17 @@ class VisionHandler:
         return input_image
 
     def run(self):
+        procs = []
         camera_server = cscore.CameraServer.getInstance()
         # NetworkTables.startClientTeam(team=SettingsManager.general_settings.get("team_number", 1577))
         NetworkTables.initialize("localhost")
         # NetworkTables.initialize()
 
         for cam in SettingsManager().usb_cameras:
-            multiprocessing.Process(target=self.camera_process(SettingsManager().usb_cameras[cam],cam))
+            proc = multiprocessing.Process(target=self.camera_process, args=(SettingsManager().usb_cameras[cam],cam))
+            procs.append(proc)
             # self.camera_process(SettingsManager().usb_cameras[cam],cam)
+        return procs
 
     def camera_process(self, camera,cam_name):
 
@@ -102,7 +105,7 @@ class VisionHandler:
                                  flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
         table.addEntryListenerEx(mode_listener, key="Driver_Mode",
                                  flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
-        change_camera_values()
+        # change_camera_values()
         cs = CameraServer.getInstance()
         cv_sink = cs.getVideo(camera=camera)
         cv_publish = cs.putVideo(name=cam_name, width=SettingsManager().cams[cam_name]["video_mode"]["width"],