Continued rework of networking, added root check

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

@@ -1,16 +1,18 @@
 package com.chameleonvision;
 
+import com.chameleonvision.network.NetworkManager;
 import com.chameleonvision.settings.Platform;
 import com.chameleonvision.settings.SettingsManager;
-import com.chameleonvision.settings.network.NetworkManager;
 import com.chameleonvision.util.Utilities;
 import com.chameleonvision.vision.camera.CameraManager;
 import com.chameleonvision.web.Server;
 import edu.wpi.cscore.CameraServerCvJNI;
 import edu.wpi.cscore.CameraServerJNI;
+import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTableInstance;
 
 import java.io.IOException;
+import java.util.function.Consumer;
 
 public class Main {
 
@@ -18,14 +20,31 @@ public class Main {
     private static final String NT_SERVERMODE_KEY = "--nt-servermode"; // no args for this setting
     private static final String NT_CLIENTMODESERVER_KEY = "--nt-client-server"; // expects String representing an IP address (hostnames will be rejected!)
     private static final String NETWORK_MANAGE_KEY = "--unmanage-network"; // no args for this setting
+    private static final String IGNORE_ROOT = "--ignore-root"; // no args for this setting
 
     private static final int DEFAULT_PORT = 8888;
 
     private static int webserverPort = DEFAULT_PORT;
     private static boolean ntServerMode = false;
     private static boolean manageNetwork = true;
+    private static boolean ignoreRoot = false;
     private static String ntClientModeServer = null;
 
+    private static class NTLogger implements Consumer<LogMessage> {
+
+        private boolean hasReportedConnectionFailure = false;
+
+        @Override
+        public void accept(LogMessage logMessage) {
+            if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
+                System.err.println("NT Connection has failed!");
+                hasReportedConnectionFailure = true;
+            }
+        }
+    }
+
+    public static final Platform CurrentPlatform = Platform.getCurrentPlatform();
+
     private static void handleArgs(String[] args) {
         for (int i = 0; i < args.length; i++) {
             var key = args[i].toLowerCase();
@@ -44,6 +63,7 @@ public class Main {
                     break;
                 case NT_SERVERMODE_KEY:
                 case NETWORK_MANAGE_KEY:
+                case IGNORE_ROOT:
                     // nothing
             }
 
@@ -78,6 +98,8 @@ public class Main {
                 case NETWORK_MANAGE_KEY:
                     manageNetwork = false;
                     break;
+                case IGNORE_ROOT:
+                    ignoreRoot = true;
             }
         }
     }
@@ -85,23 +107,36 @@ public class Main {
     public static void main(String[] args) {
         handleArgs(args);
 
+        if (!CurrentPlatform.isRoot()) {
+            if (ignoreRoot) {
+                // TODO: should we do this?
+                // manageNetwork = false;
+                System.out.println("Ignoring root, network will not be managed!");
+            } else {
+                System.err.println("This program must be run as root!");
+                    return;
+            }
+        }
+
         // Attempt to load the JNI Libraries
         try {
             CameraServerJNI.forceLoad();
             CameraServerCvJNI.forceLoad();
         } catch (IOException e) {
-            var errorStr = Platform.getCurrentPlatform().equals(Platform.UNSUPPORTED) ? "Unsupported platform!" : "Failed to load JNI Libraries!";
+            var errorStr = CurrentPlatform.equals(Platform.UNSUPPORTED) ? "Unsupported platform!" : "Failed to load JNI Libraries!";
             throw new RuntimeException(errorStr);
         }
 
         if (CameraManager.initializeCameras()) {
-            SettingsManager.initialize(manageNetwork);
+            SettingsManager.initialize();
+            NetworkManager.initialize(manageNetwork);
             CameraManager.initializeThreads();
 
             if (ntServerMode) {
                 System.out.println("Starting NT Server");
                 NetworkTableInstance.getDefault().startServer();
             } else {
+                NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
                 if (ntClientModeServer != null) {
                     NetworkTableInstance.getDefault().startClient(ntClientModeServer);
                 } else {

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

@@ -0,0 +1,99 @@
+package com.chameleonvision.network;
+
+import com.chameleonvision.settings.NetworkSettings;
+import com.chameleonvision.settings.SettingsManager;
+import com.chameleonvision.util.ShellExec;
+
+import java.io.BufferedOutputStream;
+import java.io.IOException;
+import java.net.InetAddress;
+import java.net.SocketException;
+import java.net.UnknownHostException;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+
+public class LinuxNetworking extends SysNetworking {
+
+	private ShellExec shell = new ShellExec(true, true);
+
+	@Override
+	public boolean setDHCP() {
+		var ifaceName = networkInterface.name;
+		var ethResetCmd = String.format("ifconfig %s 0.0.0.0 0.0.0.0", ifaceName);
+		var dhclientCmd = String.format("dhclient %s", ifaceName);
+
+
+		// ifconfig eth0 0.0.0.0 0.0.0.0
+		try {
+			int retCode = shell.execute("ifconfig", null, true, ifaceName, "0.0.0.0", "0.0.0.0");
+			while (!shell.isOutputCompleted() && !shell.isErrorCompleted()) {}
+			var out = shell.getOutput();
+			var err = shell.getError();
+			if (retCode != 0) return false;
+		} catch (IOException e) {
+			e.printStackTrace();
+			return false;
+		}
+
+		try {
+			int retCode = shell.execute("dhclient", null, true, ifaceName);
+			while (!shell.isOutputCompleted() && !shell.isErrorCompleted()) {}
+			var out = shell.getOutput();
+			var err = shell.getError();
+			if (retCode != 0) return false;
+		} catch (IOException e) {
+			e.printStackTrace();
+			return false;
+		}
+
+		return true;
+	}
+
+	@Override
+	public boolean setHostname(String newHostname) {
+		var cmdString = String.format("hostnamectl set-hostname %s", newHostname);
+
+		try {
+			var process = Runtime.getRuntime().exec(cmdString);
+			var returnCode = shell.execute("hostnamectl", null, true, "set-hostname", newHostname);
+			return returnCode == 0;
+		} catch(Exception e)  {
+			e.printStackTrace();
+			return false;
+		}
+	}
+
+	@Override
+	public boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast) {
+		try {
+			int clearRetCode = shell.execute("ip addr flush dev", null, true, networkInterface.name);
+			int setIPRetCode = shell.execute(String.format("ip addr add %s/%s broadcast %s dev %s", ipAddress, netmask, broadcast, networkInterface.name), null, true);
+			int setGatewayRetCode = shell.execute(String.format("ip route replace default via %s dev %s", gateway, networkInterface.name), null, false);
+			return clearRetCode == 0 && setIPRetCode == 0 && setGatewayRetCode == 0;
+		} catch (IOException e) {
+			e.printStackTrace();
+			return false;
+		}
+	}
+
+	@Override
+	public List<java.net.NetworkInterface> getNetworkInterfaces() throws SocketException {
+		List<java.net.NetworkInterface> netInterfaces;
+		try {
+			netInterfaces = Collections.list(java.net.NetworkInterface.getNetworkInterfaces());
+		} catch (SocketException e) {
+			return null;
+		}
+
+		List<java.net.NetworkInterface> goodInterfaces = new ArrayList<>();
+
+		for (var netInterface : netInterfaces) {
+		    if (netInterface.getDisplayName().contains("lo")) continue;
+			if (!netInterface.isUp()) continue;
+			goodInterfaces.add(netInterface);
+		}
+		return goodInterfaces;
+
+	}
+}

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

@@ -1,4 +1,4 @@
-package com.chameleonvision.settings.network;
+package com.chameleonvision.network;
 
 public enum NetworkIPMode {
 	DHCP,

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

@@ -0,0 +1,57 @@
+package com.chameleonvision.network;
+
+import com.chameleonvision.settings.GeneralSettings;
+
+import java.net.InetAddress;
+import java.net.InterfaceAddress;
+
+public class NetworkInterface {
+	public final String name;
+	public final String displayName;
+	public final String IPAddress;
+	public final String Netmask;
+	public final String Gateway;
+	public final String Broadcast;
+
+	public NetworkInterface(java.net.NetworkInterface inetface, InterfaceAddress ifaceAddress) {
+		name = inetface.getName();
+		displayName = inetface.getDisplayName();
+
+		var inetAddress = ifaceAddress.getAddress();
+		IPAddress = inetAddress.getHostAddress();
+        Netmask = getIPv4LocalNetMask(ifaceAddress);
+
+        // TODO: hack to "get" gateway, this is gross and bad, pls fix
+        var splitIPAddr = IPAddress.split("\\.");
+        splitIPAddr[3] = "1";
+        Gateway = String.join(".", splitIPAddr);
+        splitIPAddr[3] = "255";
+        Broadcast = String.join(".", splitIPAddr);
+	}
+
+    private static String getIPv4LocalNetMask(InterfaceAddress interfaceAddress) {
+	    var netPrefix = interfaceAddress.getNetworkPrefixLength();
+        try {
+            // Since this is for IPv4, it's 32 bits, so set the sign value of
+            // the int to "negative"...
+            int shiftby = (1<<31);
+            // For the number of bits of the prefix -1 (we already set the sign bit)
+            for (int i = netPrefix - 1; i > 0; i--) {
+                // Shift the sign right... Java makes the sign bit sticky on a shift...
+                // So no need to "set it back up"...
+                shiftby = (shiftby >> 1);
+            }
+            // Transform the resulting value in xxx.xxx.xxx.xxx format, like if
+            /// it was a standard address...
+            String maskString = ((shiftby >> 24) & 255) + "." + ((shiftby >> 16) & 255) + "." + ((shiftby >> 8) & 255) + "." + (shiftby & 255);
+            // Return the address thus created...
+            return maskString;
+//            return InetAddress.getByName(maskString);
+        }
+        catch(Exception e) {
+            e.printStackTrace();
+        }
+        // Something went wrong here...
+        return null;
+    }
+}

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

@@ -0,0 +1,122 @@
+package com.chameleonvision.network;
+
+
+import com.chameleonvision.settings.NetworkSettings;
+import com.chameleonvision.settings.Platform;
+import com.chameleonvision.settings.SettingsManager;
+
+import java.net.SocketException;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+
+public class NetworkManager {
+	private NetworkManager() {}
+
+	protected static SysNetworking networking;
+	protected static NetworkInterface botInterface = null;
+	private static boolean isManaged = false;
+
+	public static void initialize(boolean manage) {
+		isManaged = manage;
+		if (!isManaged) {
+			return;
+		}
+
+		Platform platform = Platform.getCurrentPlatform();
+
+		if (platform.isLinux()) {
+			networking = new LinuxNetworking();
+		} else if (platform.isWindows()) {
+//			networking = new WindowsNetworking();
+            System.out.println("Windows networking is not yet supported. Running unmanaged.");
+            return;
+		}
+
+		List<java.net.NetworkInterface> interfaces = new ArrayList<>();
+		List<NetworkInterface> goodInterfaces = new ArrayList<>();
+
+		try {
+			interfaces = networking.getNetworkInterfaces();
+		} catch (SocketException e) {
+			e.printStackTrace();
+		}
+
+        var teamBytes = NetworkSettings.GetTeamNumberIPBytes(SettingsManager.GeneralSettings.team_number);
+
+        if (interfaces.size() > 0) {
+			for (var inetface : interfaces) {
+                for (var inetfaceAddr : inetface.getInterfaceAddresses()) {
+                    var rawAddr = inetfaceAddr.getAddress().getAddress();
+                    if (rawAddr.length > 4) continue;
+                    if (rawAddr[1] == teamBytes[0] && rawAddr[2] == teamBytes[1]) {
+                        goodInterfaces.add(new NetworkInterface(inetface, inetfaceAddr));
+                    }
+                }
+			}
+
+			if (goodInterfaces.size() == 0) {
+				isManaged = false;
+				System.err.println("No valid network interfaces found! Staying unmanaged.");
+				return;
+			}
+
+			botInterface = goodInterfaces.get(0);
+			networking.setNetworkInterface(botInterface);
+		} else {
+        	isManaged = false;
+			System.err.println("No valid network interfaces found! Staying unmanaged.");
+			return;
+		}
+
+		if(!loadFromGeneralSettings()) {
+			isManaged = false;
+			System.err.println("Failed to load network settings. Staying unmanaged!");
+		}
+	}
+
+	private static boolean loadFromGeneralSettings() {
+		if (!isManaged) {
+			return true;
+		}
+
+		var genSettings = SettingsManager.GeneralSettings;
+		boolean isStatic = genSettings.connection_type.toLowerCase().equals("Static");
+
+		if (isStatic) {
+			var splitIPAddr = genSettings.ip.split("\\.");
+			splitIPAddr[3] = "255";
+			var broadcast = String.join(".", splitIPAddr);
+			if (!setStatic(genSettings.ip, genSettings.netmask, genSettings.gateway, broadcast)) {
+				return false;
+			}
+		} else {
+			if (!setDHCP()) {
+				return false;
+			}
+		}
+
+		return setHostname(genSettings.hostname);
+	}
+
+	private static boolean setDHCP() {
+		if (!isManaged) {
+			return true;
+		}
+	    return networking.setDHCP();
+    }
+
+    private static boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast) {
+		if (!isManaged) {
+			return true;
+		}
+	    return networking.setStatic(ipAddress, netmask, gateway, broadcast);
+    }
+
+    private static boolean setHostname(String hostname) {
+		if (!isManaged) {
+			return true;
+		}
+	    return networking.setHostname(hostname);
+    }
+}

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

@@ -0,0 +1,37 @@
+package com.chameleonvision.network;
+
+import com.chameleonvision.util.ShellExec;
+
+import java.io.IOException;
+import java.net.SocketException;
+import java.util.List;
+import java.util.Scanner;
+
+public abstract class SysNetworking {
+
+	NetworkInterface networkInterface;
+	ShellExec shell = new ShellExec(true, true);
+
+	public String getHostname() {
+		try {
+			var retCode = shell.execute("hostname", null, true);
+			if (retCode == 0) {
+				while(!shell.isOutputCompleted()) {}
+				return shell.getOutput();
+			} else {
+				return null;
+			}
+		} catch (IOException e) {
+			return null;
+		}
+	}
+
+	public void setNetworkInterface(NetworkInterface networkInterface) {
+		this.networkInterface = networkInterface;
+	}
+	public abstract boolean setDHCP();
+	public abstract boolean setHostname(String hostname);
+	public abstract boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast);
+	public abstract List<java.net.NetworkInterface> getNetworkInterfaces() throws SocketException;
+
+}

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

@@ -0,0 +1,57 @@
+package com.chameleonvision.network;
+
+import com.chameleonvision.settings.NetworkSettings;
+import com.chameleonvision.settings.SettingsManager;
+
+import java.net.SocketException;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+
+public class WindowsNetworking extends SysNetworking {
+
+	@Override
+	public boolean setDHCP() {
+		return false;
+	}
+
+	@Override
+	public boolean setHostname(String newHostname) {
+		var currentHostname = getHostname();
+
+		if (getHostname() == null) {
+			return false;
+		}
+
+		String command = String.format("wmic computersystem where name=\"%s\" call rename name=\"%s\"", currentHostname, newHostname);
+
+		try {
+			var process = Runtime.getRuntime().exec(command);
+			var returnCode = process.waitFor();
+			return returnCode == 0;
+		} catch(Exception e)  {
+			return false;
+		}
+	}
+
+	@Override
+	public boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast) {
+		return false;
+	}
+
+	@Override
+	public List<java.net.NetworkInterface> getNetworkInterfaces() throws SocketException {
+		var netInterfaces = Collections.list(java.net.NetworkInterface.getNetworkInterfaces());
+
+		List<java.net.NetworkInterface> goodInterfaces = new ArrayList<>();
+
+		for (var netInterface : netInterfaces) {
+			if (netInterface.getDisplayName().toLowerCase().contains("bluetooth")) continue;
+			if (netInterface.getDisplayName().toLowerCase().contains("virtual")) continue;
+			if (netInterface.getDisplayName().toLowerCase().contains("loopback")) continue;
+			if (!netInterface.isUp()) continue;
+			goodInterfaces.add(netInterface);
+		}
+		return goodInterfaces;
+	}
+}

Main/src/main/java/com/chameleonvision/settings/Platform.java

@@ -1,10 +1,14 @@
 package com.chameleonvision.settings;
 
+import com.chameleonvision.util.ShellExec;
+
+import java.io.IOException;
+
 public enum Platform {
 	WINDOWS_64("Windows x64"),
 	LINUX_64("Linux x64"),
 	LINUX_RASPBIAN("Linux Raspbian"),
-	LINUX_AARCH64("Linux ARM 64bit"),
+	LINUX_AARCH64("Linux For Tegra"),
 	MACOS_64("Mac OS x64"),
 	UNSUPPORTED("Unsupported Platform");
 
@@ -26,6 +30,29 @@ public enum Platform {
 		return this == MACOS_64;
 	}
 
+	private static ShellExec shell = new ShellExec(true, false);
+
+	public boolean isRoot() {
+		if (isLinux() || isMac()) {
+			try {
+				shell.execute("id", null, true, "-u");
+			} catch (IOException e) {
+				e.printStackTrace();
+			}
+			while (!shell.isOutputCompleted()) {}
+			if (shell.getExitCode() == 0) {
+				var out = shell.getOutput();
+				out = out.split("\n")[0];
+				return out.equals("0");
+			}
+		} else if (isWindows()) {
+			return true;
+		} else {
+			return true;
+		}
+		return false;
+	}
+
 	public static Platform getCurrentPlatform() {
 		var osName = System.getProperty("os.name");
 		var osArch = System.getProperty("os.arch");

Main/src/main/java/com/chameleonvision/settings/SettingsManager.java

@@ -1,6 +1,6 @@
 package com.chameleonvision.settings;
 
-import com.chameleonvision.settings.network.NetworkManager;
+import com.chameleonvision.network.NetworkManager;
 import com.chameleonvision.util.FileHelper;
 import com.chameleonvision.vision.camera.CameraManager;
 import com.google.gson.Gson;
@@ -19,10 +19,10 @@ public class SettingsManager {
 
 	private SettingsManager() {}
 
-	public static void initialize(boolean manageNetwork) {
+	public static void initialize() {
 		initGeneralSettings();
-		if (manageNetwork) {
-			NetworkManager.init();
+//		if (manageNetwork) {
+
 //            NetworkSettings netSettings = new NetworkSettings();
 //            netSettings.hostname = GeneralSettings.hostname;
 //            netSettings.gateway = GeneralSettings.gateway;
@@ -30,7 +30,7 @@ public class SettingsManager {
 //            netSettings.connectionType = GeneralSettings.connection_type;
 //            netSettings.ip = GeneralSettings.ip;
 //            netSettings.run();
-        }
+//        }
 		var allCameras = CameraManager.getAllCamerasByName();
 		if (!allCameras.containsKey(GeneralSettings.curr_camera) && allCameras.size() > 0) {
 			var cam = allCameras.entrySet().stream().findFirst().get().getValue();

Main/src/main/java/com/chameleonvision/settings/network/INetworking.java

@@ -1,14 +0,0 @@
-package com.chameleonvision.settings.network;
-
-import java.net.SocketException;
-import java.util.List;
-
-public interface INetworking {
-	String getHostname();
-	NetworkIPMode getIPMode();
-	boolean setDHCP();
-	boolean setHostname(String hostname);
-	boolean setStatic(String ipAddress, String netmask, String gateway);
-	List<NetworkInterface> getNetworkInterfaces() throws SocketException;
-
-}

Main/src/main/java/com/chameleonvision/settings/network/LinuxNetworking.java

@@ -1,37 +0,0 @@
-package com.chameleonvision.settings.network;
-
-import java.net.SocketException;
-import java.util.List;
-
-public class LinuxNetworking implements INetworking {
-
-	@Override
-	public String getHostname() {
-		return null;
-	}
-
-	@Override
-	public NetworkIPMode getIPMode() {
-		return null;
-	}
-
-	@Override
-	public boolean setDHCP() {
-		return false;
-	}
-
-	@Override
-	public boolean setHostname(String hostname) {
-		return false;
-	}
-
-	@Override
-	public boolean setStatic(String ipAddress, String netmask, String gateway) {
-		return false;
-	}
-
-	@Override
-	public List<NetworkInterface> getNetworkInterfaces() throws SocketException {
-		return null;
-	}
-}

Main/src/main/java/com/chameleonvision/settings/network/NetworkInterface.java

@@ -1,23 +0,0 @@
-package com.chameleonvision.settings.network;
-
-import com.chameleonvision.settings.NetworkSettings;
-import com.chameleonvision.settings.SettingsManager;
-
-import java.net.InetAddress;
-import java.util.Collections;
-
-public class NetworkInterface {
-	public final String name;
-	public final String displayName;
-//	public NetworkIPMode IPMode;
-//	public String IPAddress;
-//	public String Netmask;
-//	public String Gateway;
-
-	public NetworkInterface(java.net.NetworkInterface inetface) {
-
-		name = inetface.getName();
-		displayName = inetface.getDisplayName();
-
-	}
-}

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

@@ -1,40 +0,0 @@
-package com.chameleonvision.settings.network;
-
-
-import com.chameleonvision.settings.Platform;
-
-import java.net.SocketException;
-import java.util.ArrayList;
-import java.util.List;
-
-public class NetworkManager {
-	private NetworkManager() {}
-
-	private static INetworking networking;
-
-	public static void init() {
-		Platform platform = Platform.getCurrentPlatform();
-
-		if (platform.isLinux()) {
-			networking = new LinuxNetworking();
-		} else if (platform.isWindows()) {
-			networking = new WindowsNetworking();
-		}
-
-		List<NetworkInterface> interfaces = new ArrayList<>();
-
-		try {
-			interfaces = networking.getNetworkInterfaces();
-		} catch (SocketException e) {
-			e.printStackTrace();
-		}
-
-		if (interfaces != null) {
-			for (var inetface : interfaces) {
-				if (inetface.displayName.toLowerCase().contains("asus")) {
-//					networking.setHostname("BIGRIG");
-				}
-			}
-		}
-	}
-}

Main/src/main/java/com/chameleonvision/settings/network/WindowsNetworking.java

@@ -1,83 +0,0 @@
-package com.chameleonvision.settings.network;
-
-import com.chameleonvision.settings.NetworkSettings;
-import com.chameleonvision.settings.SettingsManager;
-
-import java.io.BufferedReader;
-import java.io.InputStreamReader;
-import java.net.InetAddress;
-import java.net.SocketException;
-import java.net.UnknownHostException;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
-
-public class WindowsNetworking implements INetworking {
-
-	@Override
-	public String getHostname() {
-		try {
-			InetAddress localhost = InetAddress.getLocalHost();
-			return localhost.getHostName().split("/")[0];
-		} catch (UnknownHostException e) {
-			return null;
-		}
-	}
-
-	@Override
-	public NetworkIPMode getIPMode() {
-		return NetworkIPMode.UNKNOWN;
-	}
-
-	@Override
-	public boolean setDHCP() {
-		return false;
-	}
-
-	@Override
-	public boolean setHostname(String newHostname) {
-		var currentHostname = getHostname();
-
-		if (getHostname() == null) {
-			return false;
-		}
-
-		String command = String.format("wmic computersystem where name=\"%s\" call rename name=\"%s\"", currentHostname, newHostname);
-
-		try {
-			var process = Runtime.getRuntime().exec(command);
-			var returnCode = process.waitFor();
-			return returnCode == 0;
-		} catch(Exception e)  {
-			return false;
-		}
-	}
-
-	@Override
-	public boolean setStatic(String ipAddress, String netmask, String gateway) {
-		return false;
-	}
-
-	@Override
-	public List<NetworkInterface> getNetworkInterfaces() throws SocketException {
-		var netInterfaces = Collections.list(java.net.NetworkInterface.getNetworkInterfaces());
-
-		List<NetworkInterface> goodInterfaces = new ArrayList<>();
-
-		var teamBytes = NetworkSettings.GetTeamNumberIPBytes(SettingsManager.GeneralSettings.team_number);
-
-		for (var inetface : netInterfaces) {
-			if (inetface.getDisplayName().toLowerCase().contains("bluetooth")) continue;
-			if (inetface.getDisplayName().toLowerCase().contains("virtual")) continue;
-			if (inetface.getDisplayName().toLowerCase().contains("loopback")) continue;
-			if (!inetface.isUp()) continue;
-			for (var inetAddr : Collections.list(inetface.getInetAddresses())) {
-				var rawAddr = inetAddr.getAddress();
-				if (rawAddr[1] == teamBytes[0] && rawAddr[2] == teamBytes[1]) {
-					goodInterfaces.add(new NetworkInterface(inetface));
-				}
-			}
-		}
-		return goodInterfaces;
-	}
-}

Main/src/main/java/com/chameleonvision/util/MathHandler.java

@@ -1,15 +1,20 @@
-package com.chameleonvision.Handler;
+package com.chameleonvision.util;
+
 import java.lang.Math;
+
 public class MathHandler {
-    MathHandler(){}
+    MathHandler() {}
+
     public static double sigmoid(double x){
         double bias = 0;
         double a = 5;
         double b = -0.05;
         double k = 200;
+
         if (x < 50){
             bias = -1.338;
         }
+
         return ((k / (1 + Math.pow(Math.E,(a + (b * x))))) + bias);
     }
 }

Main/src/main/java/com/chameleonvision/util/ShellExec.java

@@ -0,0 +1,141 @@
+package com.chameleonvision.util;
+
+import java.io.*;
+
+/**
+ * Execute external process and optionally read output buffer.
+ */
+public class ShellExec {
+    private int exitCode;
+    private boolean readOutput, readError;
+    private StreamGobbler errorGobbler, outputGobbler;
+
+    public ShellExec() {
+        this(false, false);
+    }
+
+    public ShellExec(boolean readOutput, boolean readError) {
+        this.readOutput = readOutput;
+        this.readError = readError;
+    }
+
+    /**
+     * Execute a command.
+     * @param command   command ("c:/some/folder/script.bat" or "some/folder/script.sh")
+     * @param workdir   working directory or NULL to use command folder
+     * @param wait  wait for process to end
+     * @param args  0..n command line arguments
+     * @return  process exit code
+     */
+    public int execute(String command, String workdir, boolean wait, String...args) throws IOException {
+        String[] cmdArr;
+        if (args != null && args.length > 0) {
+            cmdArr = new String[1+args.length];
+            cmdArr[0] = command;
+            System.arraycopy(args, 0, cmdArr, 1, args.length);
+        } else {
+            cmdArr = new String[] { command };
+        }
+
+        ProcessBuilder pb =  new ProcessBuilder(cmdArr);
+        File workingDir = (workdir==null ? new File(command).getParentFile() : new File(workdir) );
+        pb.directory(workingDir);
+
+        Process process = pb.start();
+
+        // Consume streams, older jvm's had a memory leak if streams were not read,
+        // some other jvm+OS combinations may block unless streams are consumed.
+        errorGobbler  = new StreamGobbler(process.getErrorStream(), readError);
+        outputGobbler = new StreamGobbler(process.getInputStream(), readOutput);
+        errorGobbler.start();
+        outputGobbler.start();
+
+        exitCode = 0;
+        if (wait) {
+            try {
+                process.waitFor();
+                exitCode = process.exitValue();
+            } catch (InterruptedException ignored) { }
+        }
+        return exitCode;
+    }
+
+    public int getExitCode() {
+        return exitCode;
+    }
+
+    public boolean isOutputCompleted() {
+        return (outputGobbler != null && outputGobbler.isCompleted());
+    }
+
+    public boolean isErrorCompleted() {
+        return (errorGobbler != null && errorGobbler.isCompleted());
+    }
+
+    public String getOutput() {
+        return (outputGobbler != null ? outputGobbler.getOutput() : null);
+    }
+
+    public String getError() {
+        return (errorGobbler != null ? errorGobbler.getOutput() : null);
+    }
+
+//********************************************
+//********************************************
+
+    /**
+     * StreamGobbler reads inputstream to "gobble" it.
+     * This is used by Executor class when running
+     * a commandline applications. Gobblers must read/purge
+     * INSTR and ERRSTR process streams.
+     * http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4
+     */
+    @SuppressWarnings("WeakerAccess")
+    private class StreamGobbler extends Thread {
+        private InputStream is;
+        private StringBuilder output;
+        private volatile boolean completed; // mark volatile to guarantee a thread safety
+
+        public StreamGobbler(InputStream is, boolean readStream) {
+            this.is = is;
+            this.output = (readStream ? new StringBuilder(256) : null);
+        }
+
+        public void run() {
+            completed = false;
+            try {
+                String NL = System.getProperty("line.separator", "\r\n");
+
+                InputStreamReader isr = new InputStreamReader(is);
+                BufferedReader br = new BufferedReader(isr);
+                String line;
+                while ( (line = br.readLine()) != null) {
+                    if (output != null)
+                        output.append(line).append(NL);
+                }
+            } catch (IOException ex) {
+                // ex.printStackTrace();
+            }
+            completed = true;
+        }
+
+        /**
+         * Get inputstream buffer or null if stream
+         * was not consumed.
+         * @return
+         */
+        public String getOutput() {
+            return (output != null ? output.toString() : null);
+        }
+
+        /**
+         * Is input stream completed.
+         * @return
+         */
+        public boolean isCompleted() {
+            return completed;
+        }
+
+    }
+
+}

Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java

@@ -1,7 +1,7 @@
 package com.chameleonvision.vision.process;
 
 import com.chameleonvision.vision.camera.CameraValues;
-import com.chameleonvision.Handler.MathHandler;
+import com.chameleonvision.util.MathHandler;
 import org.apache.commons.math3.util.FastMath;
 import org.jetbrains.annotations.NotNull;
 import org.opencv.core.*;