Continued work on loading from configs

Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraProperties.java

@@ -1,7 +1,9 @@
 package com.chameleonvision.classabstraction.camera;
 
 import com.chameleonvision.Main;
+import com.chameleonvision.classabstraction.config.CameraConfig;
 import com.chameleonvision.settings.Platform;
+import com.chameleonvision.vision.camera.USBCamera;
 import edu.wpi.cscore.UsbCamera;
 import edu.wpi.cscore.UsbCameraInfo;
 import edu.wpi.cscore.VideoMode;
@@ -33,23 +35,36 @@ public class CameraProperties {
     public final double FOV;
     public final List<VideoMode> videoModes;
 
+    private final UsbCamera baseCamera;
+
     private String nickname;
 
-    public CameraProperties(UsbCamera baseCamera, double fov) {
-        FOV = fov;
-        videoModes = filterVideoModes(baseCamera.enumerateVideoModes());
-        name = baseCamera.getName();
+    public final boolean hasGain;
 
-        UsbCameraInfo baseCamInfo = baseCamera.getInfo();
+    public CameraProperties(UsbCamera baseCamera, CameraConfig config) {
+        FOV = config.fov;
+        name = config.name;
+        path = config.path;
+        nickname = config.nickname;
+        this.baseCamera = baseCamera;
 
-        if (Platform.CurrentPlatform.isWindows()) {
-            path = baseCamInfo.path;
-        } else {
-            var truePath = Arrays.stream(baseCamInfo.otherPaths).filter(x -> x.contains("/dev/v4l/by-path")).findFirst();
-            path = truePath.orElse(baseCamInfo.path);
+        // wait for camera USB init on Windows, Windows USB is slow...
+        if (Platform.CurrentPlatform == Platform.WINDOWS_64 && !baseCamera.isConnected()) {
+            System.out.print("Waiting on camera... ");
+            long initTimeout = System.nanoTime();
+            while (!baseCamera.isConnected()) {
+                if (((System.nanoTime() - initTimeout) / 1e6) >= MAX_INIT_MS) {
+                    break;
+                }
+            }
+            var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
+            System.out.printf("USBCameraProcess initialized in %.2fms\n", initTimeMs);
         }
 
-        nickname = name;
+        hasGain = false;
+        var props = baseCamera.enumerateProperties();
+
+        videoModes = filterVideoModes(baseCamera.enumerateVideoModes());
     }
 
     public void setNickname(String nickname) {

Main/src/main/java/com/chameleonvision/classabstraction/camera/USBCameraProcess.java

@@ -17,6 +17,7 @@ public class USBCameraProcess implements CameraProcess {
 
     public USBCameraProcess(UsbCamera camera, CameraConfig config) {
         baseCamera = camera;
+
         cvSink = CameraServer.getInstance().getVideo(baseCamera);
         properties = new CameraProperties(baseCamera, config.fov);
 

Main/src/main/java/com/chameleonvision/classabstraction/config/CameraConfig.java

@@ -1,10 +1,10 @@
 package com.chameleonvision.classabstraction.config;
 
 public class CameraConfig {
-    public double fov;
-    public String path;
-    public String name;
-    public String nickname;
+    public final double fov;
+    public final String path;
+    public final String name;
+    public final String nickname;
 
     public CameraConfig(double FOV,
                         String path, String name,
@@ -14,5 +14,4 @@ public class CameraConfig {
         this.name = name;
         this.nickname = nickname;
     }
-
 }

Main/src/main/java/com/chameleonvision/classabstraction/pipeline/CVPipeline2d.java

@@ -24,6 +24,11 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
 
     @Override
     public CVPipeline2dResult runPipeline(Mat inputMat) {
+
+        if (cameraProcess == null) {
+            throw new RuntimeException("Pipeline was not initialized before being run!");
+        }
+
         long totalProcessTimeNanos = 0;
         StringBuilder procTimeStringBuilder = new StringBuilder();
 

Main/src/main/java/com/chameleonvision/network/NetworkManager.java

@@ -8,6 +8,8 @@ import java.net.SocketException;
 import java.util.ArrayList;
 import java.util.List;
 
+import static com.chameleonvision.settings.Platform.CurrentPlatform;
+
 public class NetworkManager {
 	private NetworkManager() {}
 
@@ -20,11 +22,9 @@ public class NetworkManager {
 			return;
 		}
 
-		Platform platform = Platform.getCurrentPlatform();
-
-		if (platform.isLinux()) {
+		if (CurrentPlatform.isLinux()) {
 			networking = new LinuxNetworking();
-		} else if (platform.isWindows()) {
+		} else if (CurrentPlatform.isWindows()) {
 //			networking = new WindowsNetworking();
             System.out.println("Windows networking is not yet supported. Running unmanaged.");
             return;