Convert to user selected camera matching (#1556)

docs/source/docs/contributing/design-descriptions/camera-matching.md

@@ -0,0 +1,112 @@
+# Camera Matching
+
+Diagrams generated by the [PlantUML UML editor](https://www.plantuml.com/plantuml/). Copy the image URLs below and decode in the editor to make changes.
+
+## Initial Setup
+
+When PhotonVision first starts, settings are loaded from disk and [VisionSources](https://javadocs.photonvision.org/org/photonvision/vision/processes/VisionSource.html) are created for every serialized & active [Camera Configuration](https://javadocs.photonvision.org/org/photonvision/common/configuration/CameraConfiguration.html)
+
+![](https://www.plantuml.com/plantuml/png/VP5FQnin4CNl-XI3JotK-DAJAI6fIw6GfOMbFkKoramSqTKVfF6MVFkETfKsei6trVpUldbwkYs2MIv-CeI29omCcn5d9XXPn8LpsG0MAErWaggTTGc3m6P05nRizQD7HrTS3336IxOC0mOySrwqS_5lIeT8bubxgVTNN9jRhpYCXvXNP8lLpokxsWvZNcwtlQaNsSDzH8B773sGAxzC7MvlDFSUxeXWKie4DeP7futelC8z73AZCDnPSJD35xKOh5F5DR31IU3d-1aiUive06PTlSRTm_V4eH4uFJ-4Aamn2xmxFMyJojDx0x2AjtNn-WSJ73_UltRyzC_o2mjRQH1IZecpE4t5WPOmX_5R7sPof_NyVvwghNbK-LVL1sbErTneFLqxNxF27pdEZZXNs8gjbJFrhHdYLxMredrx1Obm70QZvnUBtKxdJE2NnosxNVj3qIYO1GB_Rb3DEZAlQxKPowMuS7u8oIMUNE0F84-PaOgvvK0NF_q1)
+
+## UI Workflow
+
+A [background thread](https://javadocs.photonvision.org/org/photonvision/common/util/TimedTaskManager.html) will periodically query CSCore and Libcamera for what cameras we currently see connected. This list is provided to the web UI for display.
+
+![](https://www.plantuml.com/plantuml/svg/POvDJyCm343l-HLMxnFt7j14uJ099AHkSCvSCopoCSLE-FjaxQW8kpbwpy_PYjgasJk3qJb2vHW4kZrxcc1lvGjURB0dIXrO0LLlpBakCFBP1eNkZQLkm1XpGchS8hvLXt68YMQ6WdLiyJCVqNfATZRSxwkLtka8XzriP3P6rM_kww4U7hac2oK8z0qJ5KOIKwJYvLOFJo5VUafm61zWYOjPwEPQ6M88X4fJuyoPzKD_IyEuMwrLk8rLhOrbxk4rooVWwbmvE1Rz9rbKBdJ7OHakInzy4hEbC6NlVW00)
+
+![](images/matching_ui.png)
+
+This UI allows users to "Activate" a camera that's never been seen before, or activate a CameraConfiguration we've seen before but was disabled. Allowing camera configurations to be saved but not loaded by default lets us support temporarily disabling/unplugging a camera without flooding log files.
+
+Since our backend logic intentionally does not protect users from plugging camera B into the port that camera A was active on, the UI shall show a warning but vision processing will (attempt to) continue like normal.
+
+### Activate New Camera
+
+When a new camera (ie, one we can't match by-path to a deserialized CameraConfiguration) is activated, we'll create a spin up a new Vision Module for it
+
+![](https://www.plantuml.com/plantuml/svg/VL7B3jCm4BpxArOzWKIK2wSALOKWf4gDG8fQBhquzggrY1_u4TI_PvCufGRKK-ATySpiU1yYzp7fWJdwAg4SDn4stx67qs43F41I9NHMGLa3dKrU8BJSy2lwcJa6_LzgQsKQ_g9g_K8rgvMCfckiNo0H1FsMy57rWclqV6OCw-b5e1o4iQIg7MNVmaSfeRz3CkfdGZ0am6YUmOuR5UyWRYX-X7M-XSOZZmX5_i2uY6ga-RG5uqE4K_S9SYAWORLRTjZ2LuSc8-HzCHFHMH_XJN-l78-tjmpomjNakDn02UVtnrKHZPnDckvGcZng-DU7kBCFCH-imk1PdDRzy2VoPumeuYhcl7L87UDKIj795q-CRzwEIgAVmDpaqNA9igoCINpgBDUhyvj42-UsPNHU9UgQvgIXvvSCTRtUe7UAt4Sm-2k395OWus9BiGM6eCprOfnoE2Y3xo3UF78Ps1wDJ7hu3G00)
+
+### Deactivate Camera
+
+Deactivating a camera will release the native resources it owns, and return the CameraConfiguration to the pool of currently disabled cameras we can re-enable later.
+
+![](https://www.plantuml.com/plantuml/svg/ROxBJiCm44Nt_efHLtIH7yWYgWWB8gYeI0eRDXDdW97yABQd5N-FvV1G8bOUppdNrxkOC2InHftooPfFw19idcc4OxS1Z22yH4ySsJlelGHDi4U7RnIAUOxsNtNl9p4hrQxKjczzeC9qr7bSudiUDLeAM0ppSrDAk6foRmqtX3hn6HD16GXcvSMDdo2EFuJ0vOtATexO77aawxDdo_TKNbLLCvVNq1eV_vwuwbxXs5zllwNV_Xe6mZ3vYrkeRTzjvvv6k8Q3n7TmT86OC541LG6tmt20Xpkr8pU9DLy0)
+
+### Reactivate a CameraConfig
+
+When a new camera (ie, one we can't match by-path to a deserialized CameraConfiguration) is activated, we'll create and spin up a new Vision Module for it.
+
+![](https://www.plantuml.com/plantuml/svg/VP9BYnD158NtzIikirAmoSPL8s5YH1n8SB1duYQRsrtNcGlrAElHadzlLVgXXP9LACvNvvmwwViGqSUabN3vbmTsQ2BSVQSUdX_k00CahgKJ1xO6EflyG714Wo_ah-GOz7_HevL9KOrgVSDrTgk9VRUtVfA6C5XFjNpWVa1D7g-4Maut2ir5X4ZSR7Ft5huH3f57Z0II0_QA94msPzDV81d-cGWCQX82LOJdxYCuwoEmWHH8G9cWsIPkuSlJqoFyG5R9ao0ZXIXIZcbXxwaax4eKGVNm8DO2OrWpvWvN-sOxFRw5huxCh41_EPkrp9l-qZYChsy5m0GtKt2vGH9Exm-BOobMGlRTGnsoxlTlJc5BJYPNgWgOuUNL7_vK_aIHXhYOEMyT-SWKCbLDyzbduj7RaINv8ix_py6Y95bF9YJzjTcyiixmJag85ax7eyZdnMApsSdYeQ-VGDXibXijT15z14E_5b6CbJ9EiRdsG26mUJaRnuuK6te7yTKJoY3koSYarMy0)
+
+# Camera Matching Requirements
+
+## Definitions
+- VALID USB PATH: a path in the form `/dev/v4l/by-path/[UUID]`
+- VIDEO DEVICE PATH: a CSCore-provided identifier derived from the V4L path `/dev/video[N]` on Linux, or an opaque string on Windows
+- UNIQUE NAME: an identifier that is unique within the set of all deserialized CameraConfigurations and unmatched USB cameras
+  - I don't love this, it means that a USB camera matched to a VisionModule will share a UNIQUE NAME, right?
+- DESERIALIZED CAMERA CONFIGURATIONS: The set of camera configurations loaded from disk and provided to the VisionSourceManager. This configuration data structure includes the UNIQUE NAME
+- CURRENTLY ACTIVE CAMERAS: The set of VisionModules currently active and processing vision data, and associated metadata
+
+## Startup:
+
+- GIVEN An emtpy set of deserialized Camera Configurations
+<br>WHEN PhotonVision starts
+<br>THEN no VisionModules will be started
+
+- GIVEN A valid set of deserialized Camera Configurations
+<br>WHEN PhotonVision starts
+<br>THEN VisionModules will be started FOR EACH un-DISABLED config
+
+- GIVEN A valid set of deserialized Camera Configurations
+<br>WHEN PhotonVision starts
+<br>THEN VisionModules will NOT be started FOR EACH DISABLED config
+
+- GIVEN A CameraConfiguration with a VALID USB PATH
+<br>WHEN a VisionModule is created
+<br>THEN The VisionModule shall open the camera using the USB path
+
+- GIVEN A CameraConfiguration without a valid USB path
+<br>WHEN a VisionModule is created
+<br>THEN The VisionModule shall open the camera using the VIDEO DEVICE PATH
+
+## Camera (re)enumeration:
+
+- GIVEN a NEW USB CAMERA is avaliable for enumeration
+<br>WHEN a USB camera is discovered by VisionSourceManager
+<br>AND the USB camera's VIDEO DEVICE PATH is not in the set of DESERIALIZED CAMERA CONFIGURATIONS
+<br>THEN a UNIQUE NAME will be assigned to the camera info
+
+- GIVEN a NEW USB CAMERA is avaliable for enumeration
+<br>WHEN a USB camera is discovered by VisionSourceManager
+<br>AND the USB camera's VIDEO DEVICE PATH is in the set of DESERIALIZED CAMERA CONFIGURATIONS
+<br>THEN a UNIQUE NAME equal to the matching DESERIALIZED CAMERA CONFIGURATION will be assigned to the camera info
+  - This is a weird case. How -should- we handle this? see above
+
+## Creating from a new camera
+
+- Given: A UNIQUE NAME from a NEW USB CAMERA
+<br>WHEN I request a new VisionModule is created for this NEW USB CAMREA
+<br>AND the camera has a VALID USB PATH
+<br>AND the camera's VALID USB PATH is not in use by any CURRENTLY ACTIVE CAMERAS
+<br>THEN a NEW VisionModule will be started for the NEW USB CAMERA using the VALID USB PATH
+
+- Given: A UNIQUE NAME from a NEW USB CAMERA
+<br>WHEN I request a new VisionModule is created for this NEW USB CAMREA
+<br>AND the camera does not have a VALID USB PATH
+<br>AND the camera's VIDEO DEVICE PATH is not in use by any CURRENTLY ACTIVE CAMERAS
+<br>THEN a NEW VisionModule will be started for the NEW USB CAMERA using the VIDEO DEVICE PATH
+
+## Deactivate
+
+- Given: A UNIQUE NAME from a CURRENTLY ACTIVE CAMERA
+<br>WHEN I request the VisionModule be DEACTIVATED
+<br>THEN the VisionModule will be stopped for the given CURRENTLY ACTIVE CAMERA
+<br>AND the CameraConfiguration DISABLED flag will be set to TRUE
+
+## Reactivate
+
+- Given: A UNIQUE NAME from a DESERIALIZED CAMERA CONFIGURATIONS
+<br>WHEN I request the VisionModule be ACTIVATED
+<br>AND the CameraConfiguration's DISABLED flag is TRUE
+<br>THEN a VisionModule will be created and started for the camera

docs/source/docs/contributing/design-descriptions/index.md

@@ -4,4 +4,5 @@
 :maxdepth: 1
 image-rotation
 time-sync
+camera-matching
 ```

photon-client/package-lock.json

@@ -13,11 +13,13 @@
         "@msgpack/msgpack": "^3.0.0-beta2",
         "axios": "^1.6.3",
         "jspdf": "^2.5.1",
+        "lodash": "^4.17.21",
         "pinia": "^2.1.4",
         "three": "^0.160.0",
         "vue": "^2.7.14",
         "vue-router": "^3.6.5",
         "vue-virtual-scroll-list": "^2.3.5",
+        "vue2-helpers": "^2.1.1",
         "vuetify": "^2.7.1"
       },
       "devDependencies": {
@@ -3482,8 +3484,7 @@
     "node_modules/lodash": {
       "version": "4.17.21",
       "resolved": "https://registry.npmjs.org/lodash/-/lodash-4.17.21.tgz",
-      "integrity": "sha512-v2kDEe57lecTulaDIuNTPy3Ry4gLGJ6Z1O3vE1krgXZNrsQ+LFTGHVxVjcXPs17LhbZVGedAJv8XZ1tvj5FvSg==",
-      "dev": true
+      "integrity": "sha512-v2kDEe57lecTulaDIuNTPy3Ry4gLGJ6Z1O3vE1krgXZNrsQ+LFTGHVxVjcXPs17LhbZVGedAJv8XZ1tvj5FvSg=="
     },
     "node_modules/lodash.merge": {
       "version": "4.6.2",
@@ -5347,6 +5348,25 @@
       "resolved": "https://registry.npmjs.org/vue-virtual-scroll-list/-/vue-virtual-scroll-list-2.3.5.tgz",
       "integrity": "sha512-YFK6u5yltqtAOfTBcij/KGAS2SoZvzbNIAf9qTULauPObEp53xj22tDuohrrM2vNkgoD5kejXICIUBt2Q4ZDqQ=="
     },
+    "node_modules/vue2-helpers": {
+      "version": "2.1.1",
+      "resolved": "https://registry.npmjs.org/vue2-helpers/-/vue2-helpers-2.1.1.tgz",
+      "integrity": "sha512-ujYiQ5xfO8qKP3ly8hMqtNA/QGoJCTmKdYErsL3Oxr3nURJ5axah3IV4ztC/Y3zR6qsST0yVwuG1nEneQ9jXQQ==",
+      "license": "Apache-2.0",
+      "peerDependencies": {
+        "vue": "~2.7.0",
+        "vue-router": "^3",
+        "vuex": "^3"
+      },
+      "peerDependenciesMeta": {
+        "vue-router": {
+          "optional": true
+        },
+        "vuex": {
+          "optional": true
+        }
+      }
+    },
     "node_modules/vuetify": {
       "version": "2.7.1",
       "resolved": "https://registry.npmjs.org/vuetify/-/vuetify-2.7.1.tgz",

photon-client/package.json

@@ -20,11 +20,13 @@
     "@msgpack/msgpack": "^3.0.0-beta2",
     "axios": "^1.6.3",
     "jspdf": "^2.5.1",
+    "lodash": "^4.17.21",
     "pinia": "^2.1.4",
     "three": "^0.160.0",
     "vue": "^2.7.14",
     "vue-router": "^3.6.5",
     "vue-virtual-scroll-list": "^2.3.5",
+    "vue2-helpers": "^2.1.1",
     "vuetify": "^2.7.1"
   },
   "devDependencies": {

photon-client/src/App.vue

@@ -40,6 +40,9 @@ if (!is_demo) {
       if (data.calibrationData !== undefined) {
         useStateStore().updateCalibrationStateValuesFromWebsocket(data.calibrationData);
       }
+      if (data.visionSourceManager !== undefined) {
+        useStateStore().updateDiscoveredCameras(data.visionSourceManager);
+      }
     },
     () => {
       useStateStore().$patch({ backendConnected: false });

photon-client/src/assets/styles/variables.scss

@@ -3,6 +3,11 @@
 $default-font: "Prompt", sans-serif !default;
 $body-font-family: $default-font;
 $heading-font-family: $default-font;
+$body-background: #282c34;
+
+body {
+  background: $body-background;
+}
 
 .v-application {
   font-family: $default-font !important;

photon-client/src/components/app/photon-camera-stream.vue

@@ -1,20 +1,20 @@
 <script setup lang="ts">
 import { computed, inject, ref, onBeforeUnmount } from "vue";
-import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
 import loadingImage from "@/assets/images/loading.svg";
 import type { StyleValue } from "vue/types/jsx";
 import PvIcon from "@/components/common/pv-icon.vue";
+import type { UiCameraConfiguration } from "@/types/SettingTypes";
 
 const props = defineProps<{
   streamType: "Raw" | "Processed";
   id: string;
+  cameraSettings: UiCameraConfiguration;
 }>();
 
 const emptyStreamSrc = "//:0";
 const streamSrc = computed<string>(() => {
-  const port =
-    useCameraSettingsStore().currentCameraSettings.stream[props.streamType === "Raw" ? "inputPort" : "outputPort"];
+  const port = props.cameraSettings.stream[props.streamType === "Raw" ? "inputPort" : "outputPort"];
 
   if (!useStateStore().backendConnected || port === 0) {
     return emptyStreamSrc;
@@ -32,8 +32,12 @@ const streamStyle = computed<StyleValue>(() => {
 });
 
 const containerStyle = computed<StyleValue>(() => {
-  const resolution = useCameraSettingsStore().currentVideoFormat.resolution;
-  const rotation = useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode;
+  if (props.cameraSettings.validVideoFormats.length === 0) {
+    return { aspectRatio: "1/1" };
+  }
+  const resolution =
+    props.cameraSettings.validVideoFormats[props.cameraSettings.pipelineSettings.cameraVideoModeIndex].resolution;
+  const rotation = props.cameraSettings.pipelineSettings.inputImageRotationMode;
   if (rotation === 1 || rotation === 3) {
     return {
       aspectRatio: `${resolution.height}/${resolution.width}`
@@ -54,9 +58,9 @@ const overlayStyle = computed<StyleValue>(() => {
 
 const handleCaptureClick = () => {
   if (props.streamType === "Raw") {
-    useCameraSettingsStore().saveInputSnapshot();
+    props.cameraSettings.pipelineSettings[props.cameraSettings.currentPipelineIndex].saveInputSnapshot();
   } else {
-    useCameraSettingsStore().saveOutputSnapshot();
+    props.cameraSettings.pipelineSettings[props.cameraSettings.currentPipelineIndex].saveOutputSnapshot();
   }
 };
 const handlePopoutClick = () => {
@@ -69,6 +73,16 @@ const handleFullscreenRequest = () => {
 };
 
 const mjpgStream: any = ref(null);
+
+const handleStreamError = () => {
+  if (streamSrc.value && streamSrc.value !== emptyStreamSrc) {
+    console.error("Error loading stream:", streamSrc.value, " Trying again.");
+    setTimeout(() => {
+      mjpgStream.value.src = streamSrc.value;
+    }, 100);
+  }
+};
+
 onBeforeUnmount(() => {
   if (!mjpgStream.value) return;
   mjpgStream.value["src"] = emptyStreamSrc;
@@ -79,7 +93,6 @@ onBeforeUnmount(() => {
   <div class="stream-container" :style="containerStyle">
     <img :src="loadingImage" class="stream-loading" />
     <img
-      v-show="streamSrc !== emptyStreamSrc"
       :id="id"
       ref="mjpgStream"
       class="stream-video"
@@ -87,6 +100,7 @@ onBeforeUnmount(() => {
       :src="streamSrc"
       :alt="streamDesc"
       :style="streamStyle"
+      @error="handleStreamError"
     />
     <div class="stream-overlay" :style="overlayStyle">
       <pv-icon

photon-client/src/components/app/photon-sidebar.vue

@@ -2,6 +2,9 @@
 import { computed, getCurrentInstance } from "vue";
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { PlaceholderCameraSettings } from "@/types/SettingTypes";
+import { useRoute } from "vue2-helpers/vue-router";
 
 const compact = computed<boolean>({
   get: () => {
@@ -14,6 +17,12 @@ const compact = computed<boolean>({
 
 // Vuetify2 doesn't yet support the useDisplay API so this is required to access the prop when using the Composition API
 const mdAndUp = computed<boolean>(() => getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndUp || false);
+
+const needsCamerasConfigured = computed<boolean>(() => {
+  return (
+    useCameraSettingsStore().cameras.length === 0 || useCameraSettingsStore().cameras[0] === PlaceholderCameraSettings
+  );
+});
 </script>
 
 <template>
@@ -35,14 +44,6 @@ const mdAndUp = computed<boolean>(() => getCurrentInstance()?.proxy.$vuetify.bre
           <v-list-item-title>Dashboard</v-list-item-title>
         </v-list-item-content>
       </v-list-item>
-      <v-list-item ref="camerasTabOpener" link to="/cameras">
-        <v-list-item-icon>
-          <v-icon>mdi-camera</v-icon>
-        </v-list-item-icon>
-        <v-list-item-content>
-          <v-list-item-title>Cameras</v-list-item-title>
-        </v-list-item-content>
-      </v-list-item>
       <v-list-item link to="/settings">
         <v-list-item-icon>
           <v-icon>mdi-cog</v-icon>
@@ -51,6 +52,26 @@ const mdAndUp = computed<boolean>(() => getCurrentInstance()?.proxy.$vuetify.bre
           <v-list-item-title>Settings</v-list-item-title>
         </v-list-item-content>
       </v-list-item>
+      <v-list-item ref="camerasTabOpener" link to="/cameras">
+        <v-list-item-icon>
+          <v-icon>mdi-camera</v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title>Camera</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
+      <v-list-item
+        link
+        to="/cameraConfigs"
+        :class="{ cameraicon: needsCamerasConfigured && useRoute().path !== '/cameraConfigs' }"
+      >
+        <v-list-item-icon>
+          <v-icon :class="{ 'red--text': needsCamerasConfigured }">mdi-swap-horizontal-bold</v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title :class="{ 'red--text': needsCamerasConfigured }">Camera Matching</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
       <v-list-item link to="/docs">
         <v-list-item-icon>
           <v-icon>mdi-bookshelf</v-icon>
@@ -119,4 +140,18 @@ const mdAndUp = computed<boolean>(() => getCurrentInstance()?.proxy.$vuetify.bre
   height: 70px;
   object-fit: contain;
 }
+
+.cameraicon {
+  animation: pulse 2s infinite;
+}
+
+@keyframes pulse {
+  0%,
+  100% {
+    transform: scale(0.95);
+  }
+  50% {
+    transform: scale(1.05);
+  }
+}
 </style>

photon-client/src/components/cameras/CameraCalibrationCard.vue

@@ -20,6 +20,7 @@ const settingsValid = ref(true);
 
 const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
   const uniqueResolutions: VideoFormat[] = [];
+  if (useCameraSettingsStore().currentCameraSettings.validVideoFormats.length === 0) return uniqueResolutions;
   useCameraSettingsStore().currentCameraSettings.validVideoFormats.forEach((format) => {
     const index = uniqueResolutions.findIndex((v) => resolutionsAreEqual(v.resolution, format.resolution));
     const contains = index != -1;
@@ -248,7 +249,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
           </v-simple-table>
         </v-row>
         <v-divider />
-        <v-row style="display: flex; flex-direction: column" class="mt-4">
+        <v-row v-if="useCameraSettingsStore().isConnected" style="display: flex; flex-direction: column" class="mt-4">
           <v-card-subtitle v-show="!isCalibrating" class="pl-3 pa-0 ma-0"> Configure New Calibration</v-card-subtitle>
           <v-form ref="form" v-model="settingsValid" class="pl-4 mb-10 pr-5">
             <!-- TODO: the default videoFormatIndex is 0, but the list of unique video mode indexes might not include 0. getUniqueVideoResolutionStrings indexing is also different from the normal video mode indexing -->

photon-client/src/components/cameras/CamerasView.vue

@@ -57,6 +57,7 @@ const fpsTooLow = computed<boolean>(() => {
         </div>
         <div>
           <v-chip
+            v-if="useCameraSettingsStore().currentCameraSettings.isConnected"
             label
             :color="fpsTooLow ? 'error' : 'transparent'"
             :text-color="fpsTooLow ? '#C7EA46' : '#ff4d00'"
@@ -67,6 +68,9 @@ const fpsTooLow = computed<boolean>(() => {
               {{ Math.min(Math.round(useStateStore().currentPipelineResults?.latency || 0), 9999) }} ms latency
             </span>
           </v-chip>
+          <v-chip v-else label color="transparent" text-color="red" style="font-size: 1rem; padding: 0; margin: 0">
+            <span class="pr-1"> Camera not connected </span>
+          </v-chip>
         </div>
       </div>
 
@@ -86,6 +90,7 @@ const fpsTooLow = computed<boolean>(() => {
         <photon-camera-stream
           v-if="value.includes(0)"
           id="input-camera-stream"
+          :camera-settings="useCameraSettingsStore().currentCameraSettings"
           stream-type="Raw"
           style="max-width: 100%"
         />
@@ -94,6 +99,7 @@ const fpsTooLow = computed<boolean>(() => {
         <photon-camera-stream
           v-if="value.includes(1)"
           id="output-camera-stream"
+          :camera-settings="useCameraSettingsStore().currentCameraSettings"
           stream-type="Processed"
           style="max-width: 100%"
         />

photon-client/src/components/common/pv-camera-info-card.vue

@@ -0,0 +1,75 @@
+<script setup lang="ts">
+import { PVCameraInfo } from "@/types/SettingTypes";
+
+const { camera, showTitle } = defineProps({
+  camera: {
+    type: PVCameraInfo,
+    required: true
+  },
+  showTitle: {
+    type: Boolean,
+    required: false,
+    default: true
+  }
+});
+
+const cameraInfoFor: any = (camera: PVCameraInfo) => {
+  if (camera.PVUsbCameraInfo) {
+    return camera.PVUsbCameraInfo;
+  }
+  if (camera.PVCSICameraInfo) {
+    return camera.PVCSICameraInfo;
+  }
+  if (camera.PVFileCameraInfo) {
+    return camera.PVFileCameraInfo;
+  }
+  return {};
+};
+</script>
+
+<template>
+  <div>
+    <div v-if="showTitle === true">
+      <h3 v-if="camera.PVUsbCameraInfo" class="mb-3">USB Camera Info</h3>
+      <h3 v-if="camera.PVCSICameraInfo" class="mb-3">CSI Camera Info</h3>
+      <h3 v-if="camera.PVFileCameraInfo" class="mb-3">File Camera Info</h3>
+    </div>
+
+    <v-simple-table dense :style="{ backgroundColor: 'var(--v-primary-base)' }">
+      <tbody>
+        <tr v-if="cameraInfoFor(camera).dev !== undefined && cameraInfoFor(camera).dev !== null">
+          <td>Device Number:</td>
+          <td>{{ cameraInfoFor(camera).dev }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(camera).name !== undefined && cameraInfoFor(camera).name !== null">
+          <td>Name:</td>
+          <td>{{ cameraInfoFor(camera).name }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(camera).baseName !== undefined && cameraInfoFor(camera).baseName !== null">
+          <td>Base Name:</td>
+          <td>{{ cameraInfoFor(camera).baseName }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(camera).vendorId !== undefined && cameraInfoFor(camera).vendorId !== null">
+          <td>Vendor ID:</td>
+          <td>{{ cameraInfoFor(camera).vendorId }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(camera).productId !== undefined && cameraInfoFor(camera).productId !== null">
+          <td>Product ID:</td>
+          <td>{{ cameraInfoFor(camera).productId }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(camera).path !== undefined && cameraInfoFor(camera).path !== null">
+          <td>Path:</td>
+          <td style="word-break: break-all">{{ cameraInfoFor(camera).path }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(camera).otherPaths !== undefined && cameraInfoFor(camera).otherPaths !== null">
+          <td>Other Paths:</td>
+          <td>{{ cameraInfoFor(camera).otherPaths }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(camera).uniquePath !== undefined && cameraInfoFor(camera).uniquePath !== null">
+          <td>Unique Path:</td>
+          <td style="word-break: break-all">{{ cameraInfoFor(camera).uniquePath }}</td>
+        </tr>
+      </tbody>
+    </v-simple-table>
+  </div>
+</template>

photon-client/src/components/common/pv-camera-match-card.vue

@@ -0,0 +1,85 @@
+<script setup lang="ts">
+import { PVCameraInfo } from "@/types/SettingTypes";
+
+const { saved, matched } = defineProps({
+  saved: {
+    type: PVCameraInfo,
+    required: true
+  },
+  matched: {
+    type: PVCameraInfo,
+    required: true
+  }
+});
+
+const cameraInfoFor = (camera: PVCameraInfo): any => {
+  if (camera.PVUsbCameraInfo) {
+    return camera.PVUsbCameraInfo;
+  }
+  if (camera.PVCSICameraInfo) {
+    return camera.PVCSICameraInfo;
+  }
+  if (camera.PVFileCameraInfo) {
+    return camera.PVFileCameraInfo;
+  }
+  return {};
+};
+</script>
+
+<template>
+  <div>
+    <h3 v-if="saved.PVUsbCameraInfo" class="mb-3">USB Camera Info</h3>
+    <h3 v-if="saved.PVCSICameraInfo" class="mb-3">CSI Camera Info</h3>
+    <h3 v-if="saved.PVFileCameraInfo" class="mb-3">File Camera Info</h3>
+
+    <v-simple-table dense :style="{ backgroundColor: 'var(--v-primary-base)' }">
+      <tbody>
+        <tr>
+          <th></th>
+          <th>Saved</th>
+          <th>Matched</th>
+        </tr>
+        <tr v-if="cameraInfoFor(saved).dev !== undefined && cameraInfoFor(saved).dev !== null">
+          <td>Device Number:</td>
+          <td>{{ cameraInfoFor(saved).dev }}</td>
+          <td>{{ cameraInfoFor(matched).dev }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(saved).name !== undefined && cameraInfoFor(saved).name !== null">
+          <td>Name:</td>
+          <td>{{ cameraInfoFor(saved).name }}</td>
+          <td>{{ cameraInfoFor(matched).name }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(saved).baseName !== undefined && cameraInfoFor(saved).baseName !== null">
+          <td>Base Name:</td>
+          <td>{{ cameraInfoFor(saved).baseName }}</td>
+          <td>{{ cameraInfoFor(matched).baseName }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(saved).vendorId !== undefined && cameraInfoFor(saved).vendorId !== null">
+          <td>Vendor ID:</td>
+          <td>{{ cameraInfoFor(saved).vendorId }}</td>
+          <td>{{ cameraInfoFor(matched).vendorId }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(saved).productId !== undefined && cameraInfoFor(saved).productId !== null">
+          <td>Product ID:</td>
+          <td>{{ cameraInfoFor(saved).productId }}</td>
+          <td>{{ cameraInfoFor(matched).productId }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(saved).path !== undefined && cameraInfoFor(saved).path !== null">
+          <td>Path:</td>
+          <td style="word-break: break-all">{{ cameraInfoFor(saved).path }}</td>
+          <td style="word-break: break-all">{{ cameraInfoFor(matched).path }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(saved).otherPaths !== undefined && cameraInfoFor(saved).otherPaths !== null">
+          <td>Other Paths:</td>
+          <td>{{ cameraInfoFor(saved).otherPaths }}</td>
+          <td>{{ cameraInfoFor(matched).otherPaths }}</td>
+        </tr>
+        <tr v-if="cameraInfoFor(saved).uniquePath !== undefined && cameraInfoFor(saved).uniquePath !== null">
+          <td>Unique Path:</td>
+          <td style="word-break: break-all">{{ cameraInfoFor(saved).uniquePath }}</td>
+          <td style="word-break: break-all">{{ cameraInfoFor(matched).uniquePath }}</td>
+        </tr>
+      </tbody>
+    </v-simple-table>
+  </div>
+</template>

photon-client/src/components/common/pv-slider.vue

@@ -81,7 +81,7 @@ const localValue = computed({
           type="number"
           style="width: 45px"
           :step="step"
-          hide-spin-buttons="true"
+          :hide-spin-buttons="true"
           @keyup.enter="localValue = $event.target.value"
           @blur="localValue = $event.target.value"
         />

photon-client/src/components/common/pv-switch.vue

@@ -14,7 +14,8 @@ const props = withDefaults(
   }>(),
   {
     disabled: false,
-    labelCols: 2
+    labelCols: 2,
+    switchCols: 8
   }
 );
 

photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue

@@ -282,7 +282,11 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
           :value="useCameraSettingsStore().currentCameraSettings.currentPipelineIndex"
           label="Pipeline"
           tooltip="Each pipeline runs on a camera output and stores a unique set of processing settings"
-          :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
+          :disabled="
+            useCameraSettingsStore().isDriverMode ||
+            useCameraSettingsStore().isCalibrationMode ||
+            !useCameraSettingsStore().hasConnected
+          "
           :items="pipelineNamesWrapper"
           @input="(args) => useCameraSettingsStore().changeCurrentPipelineIndex(args, true)"
         />
@@ -349,7 +353,11 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
           v-model="currentPipelineType"
           label="Type"
           tooltip="Changes the pipeline type, which changes the type of processing that will happen on input frames"
-          :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
+          :disabled="
+            useCameraSettingsStore().isDriverMode ||
+            useCameraSettingsStore().isCalibrationMode ||
+            !useCameraSettingsStore().hasConnected
+          "
           :items="pipelineTypesWrapper"
           @input="showPipelineTypeChangeDialog = true"
         />

photon-client/src/components/dashboard/CamerasCard.vue

@@ -49,6 +49,7 @@ const performanceRecommendation = computed<string>(() => {
       </v-col>
       <v-col class="align-self-center" style="text-align: right; margin-right: 12px; padding-left: 24px">
         <v-chip
+          v-if="useCameraSettingsStore().currentCameraSettings.isConnected"
           label
           :color="fpsTooLow ? 'error' : 'transparent'"
           :text-color="fpsTooLow ? '#C7EA46' : '#ff4d00'"
@@ -58,6 +59,9 @@ const performanceRecommendation = computed<string>(() => {
             >Processing @ {{ Math.round(useStateStore().currentPipelineResults?.fps || 0) }}&nbsp;FPS &ndash;</span
           ><span>{{ performanceRecommendation }}</span>
         </v-chip>
+        <v-chip v-else label color="transparent" text-color="red" style="font-size: 1rem; padding: 0; margin: 0">
+          <span class="pr-1"> Camera not connected </span>
+        </v-chip>
       </v-col>
       <v-col
         class="align-self-center"
@@ -82,10 +86,20 @@ const performanceRecommendation = computed<string>(() => {
     <v-divider style="border-color: white" />
     <v-row class="stream-viewer-container pa-3">
       <v-col v-if="value.includes(0)" class="stream-view">
-        <photon-camera-stream id="input-camera-stream" stream-type="Raw" style="width: 100%; height: auto" />
+        <photon-camera-stream
+          id="input-camera-stream"
+          :camera-settings="useCameraSettingsStore().currentCameraSettings"
+          stream-type="Raw"
+          style="width: 100%; height: auto"
+        />
       </v-col>
       <v-col v-if="value.includes(1)" class="stream-view">
-        <photon-camera-stream id="output-camera-stream" stream-type="Processed" style="width: 100%; height: auto" />
+        <photon-camera-stream
+          id="output-camera-stream"
+          :camera-settings="useCameraSettingsStore().currentCameraSettings"
+          stream-type="Processed"
+          style="width: 100%; height: auto"
+        />
       </v-col>
     </v-row>
   </v-card>

photon-client/src/components/dashboard/ConfigOptions.vue

@@ -145,31 +145,42 @@ onBeforeUpdate(() => {
 
 <template>
   <v-row no-gutters class="tabGroups">
-    <v-col
-      v-for="(tabGroupData, tabGroupIndex) in tabGroups"
-      :key="tabGroupIndex"
-      :class="tabGroupIndex !== tabGroups.length - 1 && 'pr-3'"
-    >
-      <v-card color="primary" height="100%" class="pr-4 pl-4">
-        <v-tabs
-          v-model="selectedTabs[tabGroupIndex]"
-          grow
-          background-color="primary"
-          dark
-          height="48"
-          slider-color="accent"
-        >
-          <v-tab v-for="(tabConfig, index) in tabGroupData" :key="index">
-            {{ tabConfig.tabName }}
-          </v-tab>
-        </v-tabs>
-        <div class="pl-4 pr-4 pt-4 pb-2">
-          <KeepAlive>
-            <Component :is="tabGroupData[selectedTabs[tabGroupIndex]].component" />
-          </KeepAlive>
-        </div>
-      </v-card>
-    </v-col>
+    <template v-if="!useCameraSettingsStore().hasConnected">
+      <v-col v-if="!useCameraSettingsStore().hasConnected" cols="12">
+        <v-card color="error">
+          <v-card-title class="white--text">
+            Camera has not connected. Please check your connection and try again.
+          </v-card-title>
+        </v-card>
+      </v-col>
+    </template>
+    <template v-else>
+      <v-col
+        v-for="(tabGroupData, tabGroupIndex) in tabGroups"
+        :key="tabGroupIndex"
+        :class="tabGroupIndex !== tabGroups.length - 1 && 'pr-3'"
+      >
+        <v-card color="primary" height="100%" class="pr-4 pl-4">
+          <v-tabs
+            v-model="selectedTabs[tabGroupIndex]"
+            grow
+            background-color="primary"
+            dark
+            height="48"
+            slider-color="accent"
+          >
+            <v-tab v-for="(tabConfig, index) in tabGroupData" :key="index">
+              {{ tabConfig.tabName }}
+            </v-tab>
+          </v-tabs>
+          <div class="pl-4 pr-4 pt-4 pb-2">
+            <KeepAlive>
+              <Component :is="tabGroupData[selectedTabs[tabGroupIndex]].component" />
+            </KeepAlive>
+          </div>
+        </v-card>
+      </v-col>
+    </template>
   </v-row>
 </template>
 

photon-client/src/components/dashboard/StreamConfigCard.vue

@@ -38,11 +38,16 @@ const processingMode = computed<number>({
       <v-col>
         <p style="color: white">Processing Mode</p>
         <v-btn-toggle v-model="processingMode" mandatory dark class="fill">
-          <v-btn color="secondary">
+          <v-btn color="secondary" :disabled="!useCameraSettingsStore().hasConnected">
             <v-icon left>mdi-square-outline</v-icon>
             <span>2D</span>
           </v-btn>
-          <v-btn color="secondary" :disabled="!useCameraSettingsStore().isCurrentVideoFormatCalibrated">
+          <v-btn
+            color="secondary"
+            :disabled="
+              !useCameraSettingsStore().hasConnected || !useCameraSettingsStore().isCurrentVideoFormatCalibrated
+            "
+          >
             <v-icon left>mdi-cube-outline</v-icon>
             <span>3D</span>
           </v-btn>

photon-client/src/router/index.ts

@@ -6,6 +6,7 @@ import CameraSettingsView from "@/views/CameraSettingsView.vue";
 import GeneralSettingsView from "@/views/GeneralSettingsView.vue";
 import DocsView from "@/views/DocsView.vue";
 import NotFoundView from "@/views/NotFoundView.vue";
+import CameraMatchingView from "@/views/CameraMatchingView.vue";
 
 Vue.use(VueRouter);
 
@@ -33,6 +34,11 @@ const router = new VueRouter({
       name: "Settings",
       component: GeneralSettingsView
     },
+    {
+      path: "/cameraConfigs",
+      name: "Camera Matching",
+      component: CameraMatchingView
+    },
     {
       path: "/docs",
       name: "Docs",

photon-client/src/stores/StateStore.ts

@@ -1,5 +1,5 @@
 import { defineStore } from "pinia";
-import type { LogMessage } from "@/types/SettingTypes";
+import type { LogMessage, VsmState } from "@/types/SettingTypes";
 import type { AutoReconnectingWebsocket } from "@/lib/AutoReconnectingWebsocket";
 import type { MultitagResult, PipelineResult } from "@/types/PhotonTrackingTypes";
 import type {
@@ -24,7 +24,7 @@ interface StateStore {
   logMessages: LogMessage[];
   currentCameraIndex: number;
 
-  backendResults: Record<string, PipelineResult>;
+  backendResults: Record<number, PipelineResult>;
   multitagResultBuffer: Record<string, MultitagResult[]>;
 
   colorPickingMode: boolean;
@@ -42,6 +42,8 @@ interface StateStore {
     color: string;
     timeout: number;
   };
+
+  vsmState: VsmState;
 }
 
 export const useStateStore = defineStore("state", {
@@ -59,7 +61,16 @@ export const useStateStore = defineStore("state", {
       logMessages: [],
       currentCameraIndex: 0,
 
-      backendResults: {},
+      backendResults: {
+        0: {
+          classNames: [],
+          fps: 1,
+          latency: 2,
+          sequenceID: 3,
+          targets: [],
+          multitagResult: undefined
+        }
+      },
       multitagResultBuffer: {},
 
       colorPickingMode: false,
@@ -76,6 +87,11 @@ export const useStateStore = defineStore("state", {
         message: "No Message",
         color: "info",
         timeout: 2000
+      },
+
+      vsmState: {
+        allConnectedCameras: [],
+        disabledConfigs: []
       }
     };
   },
@@ -136,6 +152,9 @@ export const useStateStore = defineStore("state", {
         hasEnoughImages: data.hasEnough
       };
     },
+    updateDiscoveredCameras(data: VsmState) {
+      this.vsmState = data;
+    },
     showSnackbarMessage(data: { message: string; color: string; timeout?: number }) {
       this.snackbarData = {
         show: true,

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -3,7 +3,7 @@ import type {
   CalibrationTagFamilies,
   CalibrationBoardTypes,
   CameraCalibrationResult,
-  CameraSettings,
+  UiCameraConfiguration,
   CameraSettingsChangeRequest,
   Resolution,
   RobotOffsetType,
@@ -18,7 +18,7 @@ import axios from "axios";
 import { resolutionsAreEqual } from "@/lib/PhotonUtils";
 
 interface CameraSettingsStore {
-  cameras: CameraSettings[];
+  cameras: UiCameraConfiguration[];
 }
 
 export const useCameraSettingsStore = defineStore("cameraSettings", {
@@ -27,7 +27,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
   }),
   getters: {
     // TODO update types to update this value being undefined. This would be a decently large change.
-    currentCameraSettings(): CameraSettings {
+    currentCameraSettings(): UiCameraConfiguration {
       return this.cameras[useStateStore().currentCameraIndex];
     },
     currentPipelineSettings(): ActivePipelineSettings {
@@ -52,7 +52,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       return this.cameras.map((c) => c.nickname);
     },
     cameraUniqueNames(): string[] {
-      return this.cameras.map((c) => c.nickname);
+      return this.cameras.map((c) => c.uniqueName);
     },
     currentCameraName(): string {
       return this.cameraNames[useStateStore().currentCameraIndex];
@@ -83,11 +83,19 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
     },
     maxWhiteBalanceTemp(): number {
       return this.currentCameraSettings.maxWhiteBalanceTemp;
+    },
+    isConnected(): boolean {
+      return this.currentCameraSettings.isConnected;
+    },
+    hasConnected(): boolean {
+      return this.currentCameraSettings.hasConnected;
     }
   },
   actions: {
     updateCameraSettingsFromWebsocket(data: WebsocketCameraSettingsUpdate[]) {
-      const configuredCameras = data.map<CameraSettings>((d) => ({
+      const configuredCameras = data.map<UiCameraConfiguration>((d) => ({
+        cameraPath: d.cameraPath,
+
         nickname: d.nickname,
         uniqueName: d.uniqueName,
         fov: {
@@ -124,8 +132,18 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         pipelineSettings: d.currentPipelineSettings,
         cameraQuirks: d.cameraQuirks,
         minWhiteBalanceTemp: d.minWhiteBalanceTemp,
-        maxWhiteBalanceTemp: d.maxWhiteBalanceTemp
+        maxWhiteBalanceTemp: d.maxWhiteBalanceTemp,
+        matchedCameraInfo: d.matchedCameraInfo,
+        isConnected: d.isConnected,
+        hasConnected: d.hasConnected
       }));
+
+      // Clamp index to between 0 and [length - 1]
+      useStateStore().currentCameraIndex = Math.max(
+        0,
+        Math.min(useStateStore().currentCameraIndex, configuredCameras.length - 1)
+      );
+
       this.cameras = configuredCameras.length > 0 ? configuredCameras : [PlaceholderCameraSettings];
     },
     /**

photon-client/src/stores/settings/GeneralSettingsStore.ts

@@ -10,14 +10,13 @@ import { NetworkConnectionType } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";
 import axios from "axios";
 import type { WebsocketSettingsUpdate } from "@/types/WebsocketDataTypes";
-import type { AprilTagFieldLayout } from "@/types/PhotonTrackingTypes";
 
 interface GeneralSettingsStore {
   general: GeneralSettings;
   network: NetworkSettings;
   lighting: LightingSettings;
   metrics: MetricData;
-  currentFieldLayout: AprilTagFieldLayout;
+  currentFieldLayout;
 }
 
 export const useSettingsStore = defineStore("settings", {

photon-client/src/types/PhotonTrackingTypes.ts

@@ -67,6 +67,7 @@ export interface MultitagResult {
 }
 
 export interface PipelineResult {
+  sequenceID: number;
   fps: number;
   latency: number;
   targets: PhotonTarget[];

photon-client/src/types/SettingTypes.ts

@@ -1,5 +1,6 @@
 import { type ActivePipelineSettings, DefaultAprilTagPipelineSettings } from "@/types/PipelineTypes";
 import type { Pose3d } from "@/types/PhotonTrackingTypes";
+import type { WebsocketCameraSettingsUpdate } from "./WebsocketDataTypes";
 
 export interface GeneralSettings {
   version?: string;
@@ -56,6 +57,52 @@ export type ConfigurableNetworkSettings = Omit<
   "canManage" | "networkInterfaceNames" | "networkingDisabled"
 >;
 
+export interface PVCameraInfoBase {
+  /*
+  Huge hack. In Jackson, this is set based on the underlying type -- this
+  then maps to one of the 3 subclasses here below. Not sure how to best deal with this.
+  */
+  cameraTypename: "PVUsbCameraInfo" | "PVCSICameraInfo" | "PVFileCameraInfo";
+}
+
+export interface PVUsbCameraInfo {
+  dev: number;
+  name: string;
+  otherPaths: string[];
+  path: string;
+  vendorId: number;
+  productId: number;
+
+  // In Java, PVCameraInfo provides a uniquePath property so we can have one Source of Truth here
+  uniquePath: string;
+}
+export interface PVCSICameraInfo {
+  baseName: string;
+  path: string;
+
+  // In Java, PVCameraInfo provides a uniquePath property so we can have one Source of Truth here
+  uniquePath: string;
+}
+export interface PVFileCameraInfo {
+  path: string;
+  name: string;
+
+  // In Java, PVCameraInfo provides a uniquePath property so we can have one Source of Truth here
+  uniquePath: string;
+}
+
+// This camera info will only ever hold one of its members - the others should be undefined.
+export class PVCameraInfo {
+  PVUsbCameraInfo: PVUsbCameraInfo | undefined;
+  PVCSICameraInfo: PVCSICameraInfo | undefined;
+  PVFileCameraInfo: PVFileCameraInfo | undefined;
+}
+
+export interface VsmState {
+  disabledConfigs: WebsocketCameraSettingsUpdate[];
+  allConnectedCameras: PVCameraInfo[];
+}
+
 export interface LightingSettings {
   supported: boolean;
   brightness: number;
@@ -172,7 +219,9 @@ export interface QuirkyCamera {
   quirks: Record<ValidQuirks, boolean>;
 }
 
-export interface CameraSettings {
+export interface UiCameraConfiguration {
+  cameraPath: string;
+
   nickname: string;
   uniqueName: string;
 
@@ -201,6 +250,10 @@ export interface CameraSettings {
 
   minWhiteBalanceTemp: number;
   maxWhiteBalanceTemp: number;
+
+  matchedCameraInfo: PVCameraInfo;
+  isConnected: boolean;
+  hasConnected: boolean;
 }
 
 export interface CameraSettingsChangeRequest {
@@ -208,7 +261,9 @@ export interface CameraSettingsChangeRequest {
   quirksToChange: Record<ValidQuirks, boolean>;
 }
 
-export const PlaceholderCameraSettings: CameraSettings = {
+export const PlaceholderCameraSettings: UiCameraConfiguration = {
+  cameraPath: "/dev/null",
+
   nickname: "Placeholder Camera",
   uniqueName: "Placeholder Name",
   fov: {
@@ -307,7 +362,18 @@ export const PlaceholderCameraSettings: CameraSettings = {
   minExposureRaw: 1,
   maxExposureRaw: 100,
   minWhiteBalanceTemp: 2000,
-  maxWhiteBalanceTemp: 10000
+  maxWhiteBalanceTemp: 10000,
+  matchedCameraInfo: {
+    PVFileCameraInfo: {
+      name: "Foobar",
+      path: "/dev/foobar",
+      uniquePath: "/dev/foobar2"
+    },
+    PVCSICameraInfo: undefined,
+    PVUsbCameraInfo: undefined
+  },
+  isConnected: true,
+  hasConnected: true
 };
 
 export enum CalibrationBoardTypes {

photon-client/src/types/WebsocketDataTypes.ts

@@ -5,7 +5,9 @@ import type {
   LogLevel,
   MetricData,
   NetworkSettings,
-  QuirkyCamera
+  PVCameraInfo,
+  QuirkyCamera,
+  VsmState
 } from "@/types/SettingTypes";
 import type { ActivePipelineSettings } from "@/types/PipelineTypes";
 import type { AprilTagFieldLayout, PipelineResult } from "@/types/PhotonTrackingTypes";
@@ -44,7 +46,9 @@ export type WebsocketVideoFormat = Record<
   }
 >;
 
+// Companion to UICameraConfiguration in Java
 export interface WebsocketCameraSettingsUpdate {
+  cameraPath: string;
   calibrations: CameraCalibrationResult[];
   currentPipelineIndex: number;
   currentPipelineSettings: ActivePipelineSettings;
@@ -62,6 +66,9 @@ export interface WebsocketCameraSettingsUpdate {
   maxExposureRaw: number;
   minWhiteBalanceTemp: number;
   maxWhiteBalanceTemp: number;
+  matchedCameraInfo: PVCameraInfo;
+  isConnected: boolean;
+  hasConnected: boolean;
 }
 export interface WebsocketNTUpdate {
   connected: boolean;
@@ -98,6 +105,7 @@ export interface IncomingWebsocketData {
   mutatePipelineSettings?: Partial<ActivePipelineSettings>;
   cameraIndex?: number; // Sent when mutating pipeline settings to check against currently active
   calibrationData?: WebsocketCalibrationData;
+  visionSourceManager?: VsmState;
 }
 
 export enum WebsocketPipelineType {

photon-client/src/views/CameraMatchingView.vue

@@ -0,0 +1,445 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { computed, inject, ref } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+import {
+  PlaceholderCameraSettings,
+  PVCameraInfo,
+  type PVCSICameraInfo,
+  type PVFileCameraInfo,
+  type PVUsbCameraInfo
+} from "@/types/SettingTypes";
+import { getResolutionString } from "@/lib/PhotonUtils";
+import PvCameraInfoCard from "@/components/common/pv-camera-info-card.vue";
+import axios from "axios";
+import _ from "lodash";
+
+const formatUrl = (port) => `http://${inject("backendHostname")}:${port}/stream.mjpg`;
+const host = inject<string>("backendHost");
+
+const activateModule = (moduleUniqueName: string) => {
+  const url = new URL(`http://${host}/api/utils/activateMatchedCamera`);
+  url.searchParams.set("uniqueName", moduleUniqueName);
+
+  fetch(url.toString(), {
+    method: "POST"
+  });
+};
+const activateCamera = (cameraInfo: PVCameraInfo) => {
+  const url = new URL(`http://${host}/api/utils/assignUnmatchedCamera`);
+  url.searchParams.set("cameraInfo", JSON.stringify(cameraInfo));
+
+  fetch(url.toString(), {
+    method: "POST"
+  });
+};
+const deactivateCamera = (cameraUniqueName: string) => {
+  const url = new URL(`http://${host}/api/utils/unassignCamera`);
+  url.searchParams.set("uniqueName", cameraUniqueName);
+
+  fetch(url.toString(), {
+    method: "POST"
+  });
+};
+
+const deleteThisCamera = (cameraName: string) => {
+  const payload = {
+    cameraUniqueName: cameraName
+  };
+
+  axios
+    .post("/utils/nukeOneCamera", payload)
+    .then(() => {
+      useStateStore().showSnackbarMessage({
+        message: "Successfully deleted " + cameraName,
+        color: "success"
+      });
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          message: "The backend is unable to fulfil the request to delete this camera.",
+          color: "error"
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          message: "Error while trying to process the request! The backend didn't respond.",
+          color: "error"
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          message: "An error occurred while trying to process the request.",
+          color: "error"
+        });
+      }
+    });
+};
+
+const cameraInfoFor = (camera: PVCameraInfo): PVUsbCameraInfo | PVCSICameraInfo | PVFileCameraInfo | any => {
+  if (camera.PVUsbCameraInfo) {
+    return camera.PVUsbCameraInfo;
+  }
+  if (camera.PVCSICameraInfo) {
+    return camera.PVCSICameraInfo;
+  }
+  if (camera.PVFileCameraInfo) {
+    return camera.PVFileCameraInfo;
+  }
+  return {};
+};
+
+const uniquePathForCamera = (info: PVCameraInfo) => {
+  if (info.PVUsbCameraInfo) {
+    return info.PVUsbCameraInfo.uniquePath;
+  }
+  if (info.PVCSICameraInfo) {
+    return info.PVCSICameraInfo.uniquePath;
+  }
+  if (info.PVFileCameraInfo) {
+    return info.PVFileCameraInfo.uniquePath;
+  }
+
+  // TODO - wut
+  return "";
+};
+
+/**
+ * Find the PVCameraInfo currently occupying the same uniquepath as the the given module
+ */
+const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
+  if (!info) {
+    return {
+      PVFileCameraInfo: {
+        name: "!",
+        path: "!",
+        uniquePath: "!"
+      },
+      PVCSICameraInfo: undefined,
+      PVUsbCameraInfo: undefined
+    };
+  }
+  return (
+    useStateStore().vsmState.allConnectedCameras.find(
+      (it) => uniquePathForCamera(it) === uniquePathForCamera(info)
+    ) || {
+      PVFileCameraInfo: {
+        name: "!",
+        path: "!",
+        uniquePath: "!"
+      },
+      PVCSICameraInfo: undefined,
+      PVUsbCameraInfo: undefined
+    }
+  );
+};
+
+const unmatchedCameras = computed(() => {
+  const activeVmPaths = useCameraSettingsStore().cameras.map((it) => uniquePathForCamera(it.matchedCameraInfo));
+  const disabledVmPaths = useStateStore().vsmState.disabledConfigs.map((it) =>
+    uniquePathForCamera(it.matchedCameraInfo)
+  );
+
+  return useStateStore().vsmState.allConnectedCameras.filter(
+    (it) => !activeVmPaths.includes(uniquePathForCamera(it)) && !disabledVmPaths.includes(uniquePathForCamera(it))
+  );
+});
+
+const activeVisionModules = computed(() =>
+  useCameraSettingsStore().cameras.filter(
+    (camera) => JSON.stringify(camera) !== JSON.stringify(PlaceholderCameraSettings)
+  )
+);
+const disabledVisionModules = computed(() => useStateStore().vsmState.disabledConfigs);
+
+const viewingDetails = ref(false);
+const showCurrentView = ref(false);
+const viewingCamera = ref<PVCameraInfo | null>(null);
+
+const setCameraView = (camera: PVCameraInfo | null, showCurrent: boolean = false) => {
+  viewingDetails.value = camera !== null;
+  viewingCamera.value = camera;
+  showCurrentView.value = showCurrent;
+};
+</script>
+
+<template>
+  <div class="pa-5">
+    <v-row>
+      <!-- Active modules -->
+      <v-col
+        cols="12"
+        sm="6"
+        lg="4"
+        v-for="(module, index) in activeVisionModules"
+        :key="`enabled-${module.uniqueName}`"
+      >
+        <v-card dark color="primary">
+          <v-card-title>{{ module.nickname }}</v-card-title>
+          <v-card-subtitle v-if="_.isEqual(getMatchedDevice(module.matchedCameraInfo), module.matchedCameraInfo)"
+            >Status: <span class="active-status">Active</span></v-card-subtitle
+          >
+          <v-card-subtitle v-else>Status: <span class="mismatch-status">Mismatch</span></v-card-subtitle>
+          <v-card-text>
+            <v-simple-table dark dense>
+              <tbody>
+                <tr>
+                  <td>Streams:</td>
+                  <td>
+                    <a :href="formatUrl(module.stream.inputPort)" target="_blank" class="active-status">
+                      Input Stream
+                    </a>
+                    /
+                    <a :href="formatUrl(module.stream.outputPort)" target="_blank" class="active-status">
+                      Output Stream
+                    </a>
+                  </td>
+                </tr>
+                <tr>
+                  <td>Pipelines</td>
+                  <td>{{ module.pipelineNicknames.join(", ") }}</td>
+                </tr>
+                <tr>
+                  <td>Connected</td>
+                  <td>{{ module.isConnected }}</td>
+                </tr>
+                <tr>
+                  <td>Calibrations</td>
+                  <td>
+                    {{
+                      module.completeCalibrations.map((it) => getResolutionString(it.resolution)).join(", ") ||
+                      "Not calibrated"
+                    }}
+                  </td>
+                </tr>
+                <tr v-if="module.isConnected && useStateStore().backendResults[index]">
+                  <td>Frames Processed</td>
+                  <td>
+                    {{ useStateStore().backendResults[index].sequenceID }} ({{
+                      useStateStore().backendResults[index].fps
+                    }}
+                    FPS)
+                  </td>
+                </tr>
+              </tbody>
+            </v-simple-table>
+            <photon-camera-stream
+              class="mt-3"
+              id="output-camera-stream"
+              :camera-settings="module"
+              stream-type="Processed"
+              style="width: 100%; height: auto"
+            />
+          </v-card-text>
+          <v-card-text class="pt-0">
+            <v-row>
+              <v-col cols="12" md="4" class="pr-md-0 pb-0 pb-md-3">
+                <v-btn color="secondary" @click="setCameraView(module.matchedCameraInfo, true)" style="width: 100%">
+                  <span>Details</span>
+                </v-btn>
+              </v-col>
+              <v-col cols="6" md="5" class="pr-0">
+                <v-btn
+                  class="black--text"
+                  @click="deactivateCamera(module.uniqueName)"
+                  color="accent"
+                  style="width: 100%"
+                >
+                  Deactivate
+                </v-btn>
+              </v-col>
+              <v-col cols="6" md="3">
+                <v-btn
+                  class="black--text pa-0"
+                  @click="deleteThisCamera(module.uniqueName)"
+                  color="red"
+                  style="width: 100%"
+                >
+                  <v-icon>mdi-trash-can-outline</v-icon>
+                </v-btn>
+              </v-col>
+            </v-row>
+          </v-card-text>
+        </v-card>
+      </v-col>
+
+      <!-- Disabled modules -->
+      <v-col cols="12" sm="6" lg="4" v-for="module in disabledVisionModules" :key="`disabled-${module.uniqueName}`">
+        <v-card dark color="primary">
+          <v-card-title>{{ module.nickname }}</v-card-title>
+          <v-card-subtitle>Status: <span class="inactive-status">Deactivated</span></v-card-subtitle>
+          <v-card-text>
+            <v-simple-table dense>
+              <tbody>
+                <tr>
+                  <td>Name</td>
+                  <td>
+                    {{ module.cameraQuirks.baseName }}
+                  </td>
+                </tr>
+                <tr>
+                  <td>Pipelines</td>
+                  <td>{{ module.pipelineNicknames.join(", ") }}</td>
+                </tr>
+                <tr>
+                  <td>Connected</td>
+                  <td>{{ module.isConnected }}</td>
+                </tr>
+                <tr>
+                  <td>Calibrations</td>
+                  <td>
+                    {{
+                      module.calibrations.map((it2) => getResolutionString(it2.resolution)).join(", ") ||
+                      "Not calibrated"
+                    }}
+                  </td>
+                </tr>
+              </tbody>
+            </v-simple-table>
+          </v-card-text>
+          <v-card-text class="pt-0">
+            <v-row>
+              <v-col cols="12" md="4" class="pr-md-0 pb-0 pb-md-3">
+                <v-btn color="secondary" @click="setCameraView(module.matchedCameraInfo)" style="width: 100%">
+                  <span>Details</span>
+                </v-btn>
+              </v-col>
+              <v-col cols="6" md="5" class="pr-0">
+                <v-btn
+                  class="black--text"
+                  @click="activateModule(module.uniqueName)"
+                  color="accent"
+                  style="width: 100%"
+                >
+                  Activate
+                </v-btn>
+              </v-col>
+              <v-col cols="6" md="3">
+                <v-btn
+                  class="black--text pa-0"
+                  @click="deleteThisCamera(module.uniqueName)"
+                  color="red"
+                  style="width: 100%"
+                >
+                  <v-icon>mdi-trash-can-outline</v-icon>
+                </v-btn>
+              </v-col>
+            </v-row>
+          </v-card-text>
+        </v-card>
+      </v-col>
+
+      <!-- Unassigned cameras -->
+      <v-col cols="12" sm="6" lg="4" v-for="(camera, index) in unmatchedCameras" :key="index">
+        <v-card dark color="primary">
+          <v-card-title>
+            <span v-if="camera.PVUsbCameraInfo">USB Camera:</span>
+            <span v-else-if="camera.PVCSICameraInfo">CSI Camera:</span>
+            <span v-else-if="camera.PVFileCameraInfo">File Camera:</span>
+            <span v-else>Unknown Camera:</span>
+            &nbsp;<span>{{ cameraInfoFor(camera)?.name ?? cameraInfoFor(camera)?.baseName }}</span>
+          </v-card-title>
+          <v-card-subtitle>Status: Unassigned</v-card-subtitle>
+          <v-card-text>
+            <span style="word-break: break-all">{{ cameraInfoFor(camera)?.path }}</span>
+          </v-card-text>
+          <v-card-text class="pt-0">
+            <v-row>
+              <v-col cols="6" class="pr-0">
+                <v-btn color="secondary" @click="setCameraView(camera)" style="width: 100%">
+                  <span>Details</span>
+                </v-btn>
+              </v-col>
+              <v-col cols="6">
+                <v-btn class="black--text" @click="activateCamera(camera)" color="accent" style="width: 100%">
+                  Activate
+                </v-btn>
+              </v-col>
+            </v-row>
+          </v-card-text>
+        </v-card>
+      </v-col>
+
+      <!-- Info card -->
+      <v-col cols="12" sm="6" lg="4">
+        <v-card
+          dark
+          flat
+          class="pl-6 pr-6 d-flex flex-column justify-center"
+          style="background-color: transparent; height: 100%"
+        >
+          <v-card-text class="d-flex flex-column align-center justify-center">
+            <v-icon size="64" color="primary">mdi-plus</v-icon>
+          </v-card-text>
+          <v-card-title>Additional plugged in cameras will display here!</v-card-title>
+        </v-card>
+      </v-col>
+    </v-row>
+
+    <!-- Camera details modal -->
+    <v-dialog v-model="viewingDetails">
+      <v-card dark flat color="primary" v-if="viewingCamera !== null">
+        <v-card-title class="d-flex justify-space-between">
+          <span>{{ cameraInfoFor(viewingCamera)?.name ?? cameraInfoFor(viewingCamera)?.baseName }}</span>
+          <v-btn text @click="setCameraView(null)">
+            <v-icon>mdi-close-thick</v-icon>
+          </v-btn>
+        </v-card-title>
+        <v-card-text>
+          <v-banner
+            v-show="!_.isEqual(getMatchedDevice(viewingCamera), viewingCamera)"
+            rounded
+            color="red"
+            text-color="white"
+            icon="mdi-information-outline"
+            class="mb-3"
+          >
+            Camera Mismatched:<br />It looks like a different camera has been connected to this device! Compare the
+            below information carefully.
+          </v-banner>
+          <div v-if="showCurrentView">
+            <h3>Saved camera</h3>
+            <PvCameraInfoCard :camera="viewingCamera" :showTitle="false" />
+            <br />
+            <h3>Current camera</h3>
+            <PvCameraInfoCard :camera="getMatchedDevice(viewingCamera)" :showTitle="false" />
+          </div>
+          <div v-else>
+            <PvCameraInfoCard :camera="viewingCamera" />
+          </div>
+        </v-card-text>
+      </v-card>
+    </v-dialog>
+  </div>
+</template>
+
+<style scoped>
+.v-data-table {
+  background-color: #006492 !important;
+}
+
+a:link,
+.active-status {
+  color: rgb(14, 240, 14);
+  background-color: transparent;
+  text-decoration: none;
+}
+
+.inactive-status {
+  color: red;
+  background-color: transparent;
+  text-decoration: none;
+}
+
+a:hover {
+  color: pink;
+  background-color: transparent;
+  text-decoration: underline;
+}
+
+a:active,
+.mismatch-status {
+  color: yellow;
+  background-color: transparent;
+  text-decoration: none;
+}
+</style>

photon-client/src/views/DashboardView.vue

@@ -6,6 +6,7 @@ import StreamConfigCard from "@/components/dashboard/StreamConfigCard.vue";
 import PipelineConfigCard from "@/components/dashboard/ConfigOptions.vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
+import { PlaceholderCameraSettings } from "@/types/SettingTypes";
 
 const cameraViewType = computed<number[]>({
   get: (): number[] => {
@@ -37,6 +38,13 @@ const cameraViewType = computed<number[]>({
     );
   }
 });
+
+// TODO - deduplicate with needsCamerasConfigured
+const warningShown = computed<boolean>(() => {
+  return (
+    useCameraSettingsStore().cameras.length === 0 || useCameraSettingsStore().cameras[0] === PlaceholderCameraSettings
+  );
+});
 </script>
 
 <template>
@@ -51,5 +59,39 @@ const cameraViewType = computed<number[]>({
       </v-col>
     </v-row>
     <PipelineConfigCard />
+
+    <!-- TODO - not sure this belongs here -->
+    <v-dialog :persistent="false" v-model="warningShown" v-if="warningShown" max-width="1500" dark>
+      <v-card dark flat color="primary">
+        <v-card-title>Setup some cameras to get started!</v-card-title>
+        <v-card-text>
+          No cameras activated - head to the <a href="#/cameraConfigs">Camera matching tab</a> to set some up!
+        </v-card-text>
+      </v-card>
+    </v-dialog>
   </v-container>
 </template>
+
+<style scoped>
+a:link {
+  color: #ffd843;
+  background-color: transparent;
+  text-decoration: none;
+}
+a:visited {
+  color: #ffd843;
+  background-color: transparent;
+  text-decoration: none;
+}
+a:hover {
+  color: pink;
+  background-color: transparent;
+  text-decoration: underline;
+}
+
+a:active {
+  color: yellow;
+  background-color: transparent;
+  text-decoration: none;
+}
+</style>

photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java

@@ -20,14 +20,16 @@ package org.photonvision.common.configuration;
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
-import java.util.Optional;
+import java.util.UUID;
+import org.photonvision.common.dataflow.websocket.UICameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraType;
+import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
@@ -36,83 +38,108 @@ import org.photonvision.vision.processes.PipelineManager;
 public class CameraConfiguration {
     private static final Logger logger = new Logger(CameraConfiguration.class, LogGroup.Camera);
 
-    /** Name as reported by CSCore */
-    public String baseName = "";
-
-    /** Name used to title the subfolder of this config */
+    /** A unique name (ostensibly an opaque UUID) to identify this particular configuration */
     public String uniqueName = "";
 
+    /**
+     * The info of the camera we last matched to. We still match by unique path (where we can), but
+     * this is useful to provide warnings to users
+     */
+    public PVCameraInfo matchedCameraInfo;
+
     /** User-set nickname */
     public String nickname = "";
 
-    /** Can be either path (ex /dev/videoX) or index (ex 1). */
-    public String path = "";
+    /** Deactivated vision modules do not open camera hardware or lock USB ports */
+    public boolean deactivated = false;
 
     public QuirkyCamera cameraQuirks;
 
-    @JsonIgnore public String[] otherPaths = {};
-
-    @JsonProperty("usbVID")
-    public int usbVID = -1;
-
-    @JsonProperty("usbPID")
-    public int usbPID = -1;
-
-    public CameraType cameraType = CameraType.UsbCamera;
     public double FOV = 70;
-    public final List<CameraCalibrationCoefficients> calibrations;
+    public List<CameraCalibrationCoefficients> calibrations = new ArrayList<>();
     public int currentPipelineIndex = 0;
 
     public int streamIndex = 0; // 0 index means ports [1181, 1182], 1 means [1183, 1184], etc...
 
-    @JsonIgnore // this ignores the pipes as we serialize them to their own subfolder
-    public List<CVPipelineSettings> pipelineSettings = new ArrayList<>();
+    // Ignore the pipes, as we serialize them to their own column to hack around
+    // polymorphic lists
+    @JsonIgnore public List<CVPipelineSettings> pipelineSettings = new ArrayList<>();
 
     @JsonIgnore
     public DriverModePipelineSettings driveModeSettings = new DriverModePipelineSettings();
 
-    public CameraConfiguration(String baseName, String path) {
-        this(baseName, baseName, baseName, path, new String[0]);
-    }
-
-    public CameraConfiguration(
-            String baseName, String uniqueName, String nickname, String path, String[] alternates) {
-        this.baseName = baseName;
+    public CameraConfiguration(PVCameraInfo cameraInfo, String uniqueName, String nickname) {
+        this.matchedCameraInfo = cameraInfo;
         this.uniqueName = uniqueName;
         this.nickname = nickname;
-        this.path = path;
         this.calibrations = new ArrayList<>();
-        this.otherPaths = alternates;
 
         logger.debug("Creating USB camera configuration for " + this.toShortString());
     }
 
+    // Shiny new constructor
     @JsonCreator
     public CameraConfiguration(
-            @JsonProperty("baseName") String baseName,
             @JsonProperty("uniqueName") String uniqueName,
+            @JsonProperty("matchedCameraInfo") PVCameraInfo matchedCameraInfo,
             @JsonProperty("nickname") String nickname,
-            @JsonProperty("FOV") double FOV,
-            @JsonProperty("path") String path,
-            @JsonProperty("cameraType") CameraType cameraType,
+            @JsonProperty("deactivated") boolean deactivated,
             @JsonProperty("cameraQuirks") QuirkyCamera cameraQuirks,
-            @JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
-            @JsonProperty("currentPipelineIndex") int currentPipelineIndex,
-            @JsonProperty("usbVID") int usbVID,
-            @JsonProperty("usbPID") int usbPID) {
-        this.baseName = baseName;
+            @JsonProperty("FOV") double FOV,
+            @JsonProperty("calibrations") List<CameraCalibrationCoefficients> calibrations,
+            @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
         this.uniqueName = uniqueName;
+        this.matchedCameraInfo = matchedCameraInfo;
         this.nickname = nickname;
-        this.FOV = FOV;
-        this.path = path;
-        this.cameraType = cameraType;
+        this.deactivated = deactivated;
         this.cameraQuirks = cameraQuirks;
+        this.FOV = FOV;
         this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
         this.currentPipelineIndex = currentPipelineIndex;
-        this.usbPID = usbPID;
-        this.usbVID = usbVID;
+    }
 
-        logger.debug("Loaded camera configuration for " + toShortString());
+    // Special case constructor for use with File sources
+    public CameraConfiguration(String uniqueName, PVCameraInfo camInfo) {
+        this.uniqueName = uniqueName;
+        this.matchedCameraInfo = camInfo;
+        this.nickname = camInfo.humanReadableName();
+        this.calibrations = new ArrayList<>();
+        this.cameraQuirks = null; // we'll deal with this later. TODO: should we not just do it now?
+    }
+
+    /**
+     * Constructor for when we don't know anything about the camera yet. Generates a UUID for the
+     * unique name
+     */
+    public CameraConfiguration(PVCameraInfo camInfo) {
+        this(UUID.randomUUID().toString(), camInfo);
+    }
+
+    public static class LegacyCameraConfigStruct {
+        PVCameraInfo matchedCameraInfo;
+
+        /** Legacy constructor for compat with 2024.3.1 */
+        @JsonCreator
+        public LegacyCameraConfigStruct(
+                @JsonProperty("baseName") String baseName,
+                @JsonProperty("path") String path,
+                @JsonProperty("otherPaths") String[] otherPaths,
+                @JsonProperty("cameraType") CameraType cameraType,
+                @JsonProperty("usbVID") int usbVID,
+                @JsonProperty("usbPID") int usbPID) {
+            if (cameraType == CameraType.UsbCamera) {
+                this.matchedCameraInfo =
+                        PVCameraInfo.fromUsbCameraInfo(
+                                new UsbCameraInfo(-1, path, baseName, otherPaths, usbVID, usbPID));
+            } else if (cameraType == CameraType.ZeroCopyPicam) {
+                this.matchedCameraInfo = PVCameraInfo.fromCSICameraInfo(path, baseName);
+            } else {
+                // wtf
+                logger.error("Camera type is invalid");
+                this.matchedCameraInfo = null;
+                return;
+            }
+        }
     }
 
     public void addPipelineSettings(List<CVPipelineSettings> settings) {
@@ -163,54 +190,43 @@ public class CameraConfiguration {
     }
 
     /**
-     * Get a unique descriptor of the USB port this camera is attached to. EG
-     * "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1.3:1.0-video-index0"
+     * cscore will auto-reconnect to the camera path we give it. v4l does not guarantee that if i swap
+     * cameras around, the same /dev/videoN ID will be assigned to that camera. So instead default to
+     * pinning to a particular USB port, or by "path" (appears to be a global identifier on Windows).
      *
-     * @return
+     * <p>This represents our best guess at an immutable path to detect a camera at.
      */
     @JsonIgnore
-    public Optional<String> getUSBPath() {
-        return Arrays.stream(otherPaths).filter(path -> path.contains("/by-path/")).findFirst();
+    public String getDevicePath() {
+        return matchedCameraInfo.uniquePath();
     }
 
     public String toShortString() {
-        return "CameraConfiguration [baseName="
-                + baseName
-                + ", uniqueName="
+        return "CameraConfiguration [uniqueName="
                 + uniqueName
+                + ", matchedCameraInfo="
+                + matchedCameraInfo
                 + ", nickname="
                 + nickname
-                + ", path="
-                + path
-                + ", otherPaths="
-                + Arrays.toString(otherPaths)
-                + ", cameraType="
-                + cameraType
+                + ", deactivated="
+                + deactivated
                 + ", cameraQuirks="
                 + cameraQuirks
                 + ", FOV="
                 + FOV
-                + "]"
-                + ", PID="
-                + usbPID
-                + ", VID="
-                + usbVID;
+                + "]";
     }
 
     @Override
     public String toString() {
-        return "CameraConfiguration [baseName="
-                + baseName
-                + ", uniqueName="
+        return "CameraConfiguration [uniqueName="
                 + uniqueName
+                + ", matchedCameraInfo="
+                + matchedCameraInfo
                 + ", nickname="
                 + nickname
-                + ", path="
-                + path
-                + ", otherPaths="
-                + Arrays.toString(otherPaths)
-                + ", cameraType="
-                + cameraType
+                + ", deactivated="
+                + deactivated
                 + ", cameraQuirks="
                 + cameraQuirks
                 + ", FOV="
@@ -227,4 +243,25 @@ public class CameraConfiguration {
                 + driveModeSettings
                 + "]";
     }
+
+    /**
+     * UICameraConfiguration has some stuff particular to VisionModule, but enough of it's common to
+     * warrant this helper
+     */
+    public UICameraConfiguration toUiConfig() {
+        var ret = new UICameraConfiguration();
+
+        ret.matchedCameraInfo = matchedCameraInfo;
+        ret.cameraPath = getDevicePath();
+        ret.nickname = nickname;
+        ret.uniqueName = uniqueName;
+        ret.deactivated = deactivated;
+        ret.isCSICamera = matchedCameraInfo.type() == CameraType.ZeroCopyPicam;
+        ret.pipelineNicknames = pipelineSettings.stream().map(it -> it.pipelineNickname).toList();
+        ret.cameraQuirks = cameraQuirks;
+        ret.calibrations =
+                calibrations.stream().map(CameraCalibrationCoefficients::cloneWithoutObservations).toList();
+
+        return ret;
+    }
 }

photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java

@@ -197,6 +197,11 @@ public class ConfigManager {
         requestSave();
     }
 
+    public void addCameraConfiguration(CameraConfiguration config) {
+        getConfig().addCameraConfig(config);
+        requestSave();
+    }
+
     public void saveModule(CameraConfiguration config, String uniqueName) {
         getConfig().addCameraConfig(uniqueName, config);
         requestSave();

photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java

@@ -34,14 +34,6 @@ public class NetworkConfig {
     public boolean shouldManage;
     public boolean shouldPublishProto = false;
 
-    /**
-     * If we should ONLY match cameras by path, and NEVER only by base-name. For now default to false
-     * to preserve old matching logic.
-     *
-     * <p>This also disables creating new CameraConfigurations for detected "new" cameras.
-     */
-    public boolean matchCamerasOnlyByPath = false;
-
     @JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
     @JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";
 
@@ -70,8 +62,7 @@ public class NetworkConfig {
             @JsonProperty("shouldPublishProto") boolean shouldPublishProto,
             @JsonProperty("networkManagerIface") String networkManagerIface,
             @JsonProperty("setStaticCommand") String setStaticCommand,
-            @JsonProperty("setDHCPcommand") String setDHCPcommand,
-            @JsonProperty("matchCamerasOnlyByPath") boolean matchCamerasOnlyByPath) {
+            @JsonProperty("setDHCPcommand") String setDHCPcommand) {
         this.ntServerAddress = ntServerAddress;
         this.connectionType = connectionType;
         this.staticIp = staticIp;
@@ -81,7 +72,6 @@ public class NetworkConfig {
         this.networkManagerIface = networkManagerIface;
         this.setStaticCommand = setStaticCommand;
         this.setDHCPcommand = setDHCPcommand;
-        this.matchCamerasOnlyByPath = matchCamerasOnlyByPath;
         setShouldManage(shouldManage);
     }
 
@@ -96,8 +86,7 @@ public class NetworkConfig {
                 config.shouldPublishProto,
                 config.networkManagerIface,
                 config.setStaticCommand,
-                config.setDHCPcommand,
-                config.matchCamerasOnlyByPath);
+                config.setDHCPcommand);
     }
 
     @JsonIgnore

photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java

@@ -19,6 +19,7 @@ package org.photonvision.common.configuration;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.cscore.UsbCameraInfo;
 import java.io.File;
 import java.io.IOException;
 import java.io.UncheckedIOException;
@@ -30,6 +31,7 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Objects;
 import java.util.stream.Collectors;
+import org.photonvision.common.configuration.CameraConfiguration.LegacyCameraConfigStruct;
 import org.photonvision.common.configuration.DatabaseSchema.Columns;
 import org.photonvision.common.configuration.DatabaseSchema.Tables;
 import org.photonvision.common.logging.LogGroup;
@@ -165,7 +167,8 @@ public class SqlConfigProvider extends ConfigProvider {
         if (userVersion < expectedVersion) {
             // older database, run migrations
 
-            // first, check to see if this is one of the ones from 2024 beta that need special handling
+            // first, check to see if this is one of the ones from 2024 beta that need
+            // special handling
             if (userVersion == 0 && getSchemaVersion() > 0) {
                 String sql =
                         "SELECT COUNT(*) AS CNTREC FROM pragma_table_info('cameras') WHERE name='otherpaths_json';";
@@ -238,7 +241,8 @@ public class SqlConfigProvider extends ConfigProvider {
             try {
                 conn.close();
             } catch (SQLException e) {
-                // TODO, does the file still save if the SQL connection isn't closed correctly? If so,
+                // TODO, does the file still save if the SQL connection isn't closed correctly?
+                // If so,
                 // return false here.
                 logger.error("SQL Err closing connection while saving to disk: ", e);
             }
@@ -365,12 +369,11 @@ public class SqlConfigProvider extends ConfigProvider {
             // Replace this camera's row with the new settings
             var sqlString =
                     String.format(
-                            "REPLACE INTO %s (%s, %s, %s, %s, %s) VALUES (?,?,?,?,?);",
+                            "REPLACE INTO %s (%s, %s, %s, %s) VALUES (?,?,?,?);",
                             Tables.CAMERAS,
                             Columns.CAM_UNIQUE_NAME,
                             Columns.CAM_CONFIG_JSON,
                             Columns.CAM_DRIVERMODE_JSON,
-                            Columns.CAM_OTHERPATHS_JSON,
                             Columns.CAM_PIPELINE_JSONS);
 
             for (var c : config.getCameraConfigurations().entrySet()) {
@@ -380,7 +383,6 @@ public class SqlConfigProvider extends ConfigProvider {
                 statement.setString(1, c.getKey());
                 statement.setString(2, JacksonUtils.serializeToString(config));
                 statement.setString(3, JacksonUtils.serializeToString(config.driveModeSettings));
-                statement.setString(4, JacksonUtils.serializeToString(config.otherPaths));
 
                 // Serializing a list of abstract classes sucks. Instead, make it into an array
                 // of strings, which we can later unpack back into individual settings
@@ -397,7 +399,7 @@ public class SqlConfigProvider extends ConfigProvider {
                                         })
                                 .filter(Objects::nonNull)
                                 .collect(Collectors.toList());
-                statement.setString(5, JacksonUtils.serializeToString(settings));
+                statement.setString(4, JacksonUtils.serializeToString(settings));
 
                 statement.executeUpdate();
             }
@@ -433,7 +435,8 @@ public class SqlConfigProvider extends ConfigProvider {
     // In the future, this may not be needed. A better architecture would involve
     // manipulating the RAM representation of configuration when new .json files
     // are uploaded in the UI, and eliminate all other usages of saveOneFile().
-    // But, seeing as it's Dec 28 and kickoff is nigh, we put this here and moved on.
+    // But, seeing as it's Dec 28 and kickoff is nigh, we put this here and moved
+    // on.
     // Thank you for coming to my TED talk.
     private boolean skipSavingHWCfg = false;
     private boolean skipSavingHWSet = false;
@@ -586,14 +589,32 @@ public class SqlConfigProvider extends ConfigProvider {
                 List<String> dummyList = new ArrayList<>();
 
                 var uniqueName = result.getString(Columns.CAM_UNIQUE_NAME);
-                var config =
-                        JacksonUtils.deserialize(
-                                result.getString(Columns.CAM_CONFIG_JSON), CameraConfiguration.class);
+
+                // A horrifying hack to keep backward compat with otherpaths
+                // We -really- need to delete this -stupid- otherpaths column. I hate it.
+                var configStr = result.getString(Columns.CAM_CONFIG_JSON);
+                CameraConfiguration config = JacksonUtils.deserialize(configStr, CameraConfiguration.class);
+
+                if (config.matchedCameraInfo == null) {
+                    logger.info("Legacy CameraConfiguration detected - upgrading");
+
+                    // manually create the matchedCameraInfo ourselves. Need to upgrade:
+                    // baseName, path, otherPaths, cameraType, usbvid/pid -> matchedCameraInfo
+                    config.matchedCameraInfo =
+                            JacksonUtils.deserialize(configStr, LegacyCameraConfigStruct.class).matchedCameraInfo;
+
+                    // Except that otherPaths used to be its own column. so hack that in here as well
+                    var otherPaths =
+                            JacksonUtils.deserialize(
+                                    result.getString(Columns.CAM_OTHERPATHS_JSON), String[].class);
+                    if (config.matchedCameraInfo instanceof UsbCameraInfo usbInfo) {
+                        usbInfo.otherPaths = otherPaths;
+                    }
+                }
+
                 var driverMode =
                         JacksonUtils.deserialize(
                                 result.getString(Columns.CAM_DRIVERMODE_JSON), DriverModePipelineSettings.class);
-                var otherPaths =
-                        JacksonUtils.deserialize(result.getString(Columns.CAM_OTHERPATHS_JSON), String[].class);
                 List<?> pipelineSettings =
                         JacksonUtils.deserialize(
                                 result.getString(Columns.CAM_PIPELINE_JSONS), dummyList.getClass());
@@ -607,7 +628,6 @@ public class SqlConfigProvider extends ConfigProvider {
 
                 config.pipelineSettings = loadedSettings;
                 config.driveModeSettings = driverMode;
-                config.otherPaths = otherPaths;
                 loadedConfigurations.put(uniqueName, config);
             }
         } catch (SQLException | IOException e) {

photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeService.java

@@ -29,6 +29,25 @@ import org.photonvision.common.logging.Logger;
 public class DataChangeService {
     private static final Logger logger = new Logger(DataChangeService.class, LogGroup.WebServer);
 
+    public static class SubscriberHandle {
+        private final int[] idxs;
+
+        private SubscriberHandle(int[] idxs) {
+            this.idxs = idxs;
+        }
+
+        private SubscriberHandle(int idx) {
+            this.idxs = new int[] {idx};
+        }
+
+        public void stop() {
+            for (int idx : idxs) {
+                if (idx < 0) continue;
+                getInstance().subscribers.set(idx, null);
+            }
+        }
+    }
+
     private static class ThreadSafeSingleton {
         private static final DataChangeService INSTANCE = new DataChangeService();
     }
@@ -60,6 +79,7 @@ public class DataChangeService {
             try {
                 var taken = eventQueue.take();
                 for (var sub : subscribers) {
+                    if (sub == null) continue;
                     if (sub.wantedSources.contains(taken.sourceType)
                             && sub.wantedDestinations.contains(taken.destType)) {
                         sub.onDataChangeEvent(taken);
@@ -72,9 +92,10 @@ public class DataChangeService {
         }
     }
 
-    public void addSubscriber(DataChangeSubscriber subscriber) {
+    public SubscriberHandle addSubscriber(DataChangeSubscriber subscriber) {
         if (!subscribers.addIfAbsent(subscriber)) {
             logger.warn("Attempted to add already added subscriber!");
+            return new SubscriberHandle(-1);
         } else {
             logger.debug(
                     () -> {
@@ -89,13 +110,16 @@ public class DataChangeService {
 
                         return "Added subscriber - " + "Sources: " + sources + ", Destinations: " + dests;
                     });
+            return new SubscriberHandle(subscribers.size() - 1);
         }
     }
 
-    public void addSubscribers(DataChangeSubscriber... subs) {
-        for (var sub : subs) {
-            addSubscriber(sub);
+    public SubscriberHandle addSubscribers(DataChangeSubscriber... subs) {
+        int[] idxs = new int[subs.length];
+        for (int i = 0; i < subs.length; i++) {
+            idxs[i] = addSubscriber(subs[i]).idxs[0];
         }
+        return new SubscriberHandle(idxs);
     }
 
     public void publishEvent(DataChangeEvent event) {

photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UICameraConfiguration.java

@@ -19,15 +19,24 @@ package org.photonvision.common.dataflow.websocket;
 
 import java.util.HashMap;
 import java.util.List;
+import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.vision.calibration.UICameraCalibrationCoefficients;
+import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.camera.QuirkyCamera;
 
 public class UICameraConfiguration {
-    @SuppressWarnings("unused")
-    public double fov;
+    // Path to the camera device. On Linux, this is a special file in /dev/v4l/by-id
+    // or /dev/videoN.
+    // This is the path we hand to CSCore to do auto-reconnect on
+    public String cameraPath;
+
+    /** See {@link CameraConfiguration #deactivated} */
+    public boolean deactivated;
 
     public String nickname;
     public String uniqueName;
+
+    public double fov;
     public HashMap<String, Object> currentPipelineSettings;
     public int currentPipelineIndex;
     public List<String> pipelineNicknames;
@@ -42,4 +51,9 @@ public class UICameraConfiguration {
     public double maxExposureRaw;
     public double minWhiteBalanceTemp;
     public double maxWhiteBalanceTemp;
+    public PVCameraInfo matchedCameraInfo;
+
+    // Status for if the underlying device is present and such
+    public boolean isConnected;
+    public boolean hasConnected;
 }

photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java

@@ -46,6 +46,7 @@ public class UIDataPublisher implements CVPipelineResultConsumer {
         if (lastUIResultUpdateTime + 1000.0 / 10.0 > now) return;
 
         var dataMap = new HashMap<String, Object>();
+        dataMap.put("sequenceID", result.sequenceID);
         dataMap.put("fps", result.fps);
         dataMap.put("latency", result.getLatencyMillis());
         var uiTargets = new ArrayList<HashMap<String, Object>>(result.targets.size());

photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java

@@ -28,7 +28,7 @@ import org.photonvision.common.networking.NetworkUtils;
 import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.processes.VisionModule;
-import org.photonvision.vision.processes.VisionModuleManager;
+import org.photonvision.vision.processes.VisionSourceManager;
 
 public class UIPhotonConfiguration {
     public List<UICameraConfiguration> cameraSettings;
@@ -62,7 +62,7 @@ public class UIPhotonConfiguration {
                                         : c.getHardwareConfig().deviceName,
                                 Platform.getPlatformName()),
                         c.getApriltagFieldLayout()),
-                VisionModuleManager.getInstance().getModules().stream()
+                VisionSourceManager.getInstance().getVisionModules().stream()
                         .map(VisionModule::toUICameraConfig)
                         .collect(Collectors.toList()));
     }

photon-core/src/main/java/org/photonvision/vision/camera/CameraInfo.java

@@ -1,123 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.vision.camera;
-
-import edu.wpi.first.cscore.UsbCameraInfo;
-import java.util.Arrays;
-import java.util.Optional;
-import org.photonvision.common.hardware.Platform;
-
-public class CameraInfo extends UsbCameraInfo {
-    public final CameraType cameraType;
-
-    public CameraInfo(
-            int dev, String path, String name, String[] otherPaths, int vendorId, int productId) {
-        super(dev, path, name, otherPaths, vendorId, productId);
-        cameraType = CameraType.UsbCamera;
-    }
-
-    public CameraInfo(
-            int dev,
-            String path,
-            String name,
-            String[] otherPaths,
-            int vendorId,
-            int productId,
-            CameraType cameraType) {
-        super(dev, path, name, otherPaths, vendorId, productId);
-        this.cameraType = cameraType;
-    }
-
-    public CameraInfo(UsbCameraInfo info) {
-        super(info.dev, info.path, info.name, info.otherPaths, info.vendorId, info.productId);
-        cameraType = CameraType.UsbCamera;
-    }
-
-    /**
-     * @return True, if this camera is reported from V4L and is a CSI camera.
-     */
-    public boolean getIsV4lCsiCamera() {
-        return (Arrays.stream(otherPaths).anyMatch(it -> it.contains("csi-video"))
-                || getBaseName().equals("unicam"));
-    }
-
-    /**
-     * @return The base name of the camera aka the name as just ascii.
-     */
-    public String getBaseName() {
-        return name.replaceAll("[^\\x00-\\x7F]", "");
-    }
-
-    /**
-     * @return Returns a human readable name
-     */
-    public String getHumanReadableName() {
-        return getBaseName().replaceAll(" ", "_");
-    }
-
-    /**
-     * Get a unique descriptor of the USB port this camera is attached to. EG
-     * "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1.3:1.0-video-index0"
-     *
-     * @return
-     */
-    public Optional<String> getUSBPath() {
-        return Arrays.stream(otherPaths).filter(path -> path.contains("/by-path/")).findFirst();
-    }
-
-    @Override
-    public boolean equals(Object obj) {
-        if (this == obj) return true;
-        if (obj == null) return false;
-        if (getClass() != obj.getClass()) return false;
-        CameraInfo other = (CameraInfo) obj;
-
-        // Windows device number is not significant. See
-        // https://github.com/wpilibsuite/allwpilib/blob/4b94a64b06057c723d6fcafeb1a45f55a70d179a/cscore/src/main/native/windows/UsbCameraImpl.cpp#L1128
-        if (!Platform.isWindows()) {
-            if (dev != other.dev) return false;
-        }
-
-        if (!path.equals(other.path)) return false;
-        if (!name.equals(other.name)) return false;
-        if (!Arrays.asList(this.getUSBPath()).contains(other.getUSBPath())) return false;
-        if (vendorId != other.vendorId) return false;
-        if (productId != other.productId) return false;
-
-        // Don't trust super.equals, as it compares references. Should PR this to allwpilib at some
-        // point
-        return true;
-    }
-
-    @Override
-    public String toString() {
-        return "CameraInfo [cameraType="
-                + cameraType
-                + ", baseName="
-                + getBaseName()
-                + ", vid="
-                + vendorId
-                + ", pid="
-                + productId
-                + ", path="
-                + path
-                + ", otherPaths="
-                + Arrays.toString(otherPaths)
-                + "]";
-    }
-}

photon-core/src/main/java/org/photonvision/vision/camera/CameraType.java

@@ -19,6 +19,6 @@ package org.photonvision.vision.camera;
 
 public enum CameraType {
     UsbCamera,
-    HttpCamera,
-    ZeroCopyPicam
+    ZeroCopyPicam,
+    FileCamera // special case for File-based vision sources
 }

photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java

@@ -17,6 +17,7 @@
 
 package org.photonvision.vision.camera;
 
+import edu.wpi.first.cscore.UsbCameraInfo;
 import edu.wpi.first.cscore.VideoMode;
 import edu.wpi.first.util.PixelFormat;
 import java.nio.file.Path;
@@ -40,7 +41,8 @@ public class FileVisionSource extends VisionSource {
                         : null;
         frameProvider =
                 new FileFrameProvider(
-                        Path.of(cameraConfiguration.path),
+                        // TODO - create new File/replay camera info type
+                        Path.of(cameraConfiguration.getDevicePath()),
                         cameraConfiguration.FOV,
                         FileFrameProvider.MAX_FPS,
                         calibration);
@@ -53,7 +55,12 @@ public class FileVisionSource extends VisionSource {
     }
 
     public FileVisionSource(String name, String imagePath, double fov) {
-        super(new CameraConfiguration(name, imagePath));
+        // TODO - create new File/replay camera info type
+        super(
+                new CameraConfiguration(
+                        PVCameraInfo.fromUsbCameraInfo(new UsbCameraInfo(0, imagePath, name, null, 0, 0)),
+                        name,
+                        name));
         frameProvider = new FileFrameProvider(imagePath, fov);
         settables =
                 new FileSourceSettables(cameraConfiguration, frameProvider.get().frameStaticProperties);
@@ -85,7 +92,12 @@ public class FileVisionSource extends VisionSource {
         return false; // Assume USB cameras do not have photonvision-controlled LEDs
     }
 
-    private static class FileSourceSettables extends VisionSourceSettables {
+    @Override
+    public void release() {
+        frameProvider.release();
+    }
+
+    public static class FileSourceSettables extends VisionSourceSettables {
         private final VideoMode videoMode;
 
         private final HashMap<Integer, VideoMode> videoModes = new HashMap<>();

photon-core/src/main/java/org/photonvision/vision/camera/PVCameraInfo.java

@@ -0,0 +1,276 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.camera;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonGetter;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.annotation.JsonSubTypes;
+import com.fasterxml.jackson.annotation.JsonTypeInfo;
+import com.fasterxml.jackson.annotation.JsonTypeName;
+import edu.wpi.first.cscore.UsbCameraInfo;
+import java.util.Arrays;
+
+@JsonTypeInfo(use = JsonTypeInfo.Id.NAME, include = JsonTypeInfo.As.WRAPPER_OBJECT)
+@JsonSubTypes({
+    @JsonSubTypes.Type(value = PVCameraInfo.PVUsbCameraInfo.class),
+    @JsonSubTypes.Type(value = PVCameraInfo.PVCSICameraInfo.class),
+    @JsonSubTypes.Type(value = PVCameraInfo.PVFileCameraInfo.class)
+})
+public sealed interface PVCameraInfo {
+    /**
+     * @return The path of the camera.
+     */
+    String path();
+
+    /**
+     * @return The base name of the camera aka the name as just ascii.
+     */
+    String name();
+
+    /**
+     * @return Returns a human readable name
+     */
+    default String humanReadableName() {
+        return name().replaceAll(" ", "_");
+    }
+
+    /**
+     * If the camera is a USB camera this method returns a unique descriptor of the USB port this
+     * camera is attached to. EG "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1.3:1.0-video-index0".
+     * If the camera is a CSI camera this method returns the path of the camera.
+     *
+     * <p>If we are on Windows, this will return the opaque path as described by
+     * MF_DEVSOURCE_ATTRIBUTE_SOURCE_TYPE_VIDCAP_SYMBOLIC_LINK (see
+     * https://learn.microsoft.com/en-us/windows/win32/medfound/mf-devsource-attribute-source-type-vidcap-symbolic-link)
+     *
+     * @return The unique path of the camera
+     */
+    @JsonGetter(value = "uniquePath")
+    String uniquePath();
+
+    String[] otherPaths();
+
+    CameraType type();
+
+    default boolean equals(PVCameraInfo other) {
+        return uniquePath().equals(other.uniquePath());
+    }
+
+    @JsonTypeName("PVUsbCameraInfo")
+    public static final class PVUsbCameraInfo extends UsbCameraInfo implements PVCameraInfo {
+        @JsonCreator
+        public PVUsbCameraInfo(
+                @JsonProperty("dev") int dev,
+                @JsonProperty("path") String path,
+                @JsonProperty("name") String name,
+                @JsonProperty("otherPaths") String[] otherPaths,
+                @JsonProperty("vendorId") int vendorId,
+                @JsonProperty("productId") int productId) {
+            super(dev, path, name, otherPaths, vendorId, productId);
+        }
+
+        private PVUsbCameraInfo(UsbCameraInfo info) {
+            super(info.dev, info.path, info.name, info.otherPaths, info.vendorId, info.productId);
+        }
+
+        @Override
+        public String path() {
+            return super.path;
+        }
+
+        @Override
+        public String name() {
+            return super.name.replaceAll("[^\\x00-\\x7F]", "");
+        }
+
+        @Override
+        public String uniquePath() {
+            return Arrays.stream(super.otherPaths)
+                    .filter(path -> path.contains("/by-path/"))
+                    .findFirst()
+                    .orElse(path());
+        }
+
+        @Override
+        public String[] otherPaths() {
+            return super.otherPaths;
+        }
+
+        @Override
+        public CameraType type() {
+            return CameraType.UsbCamera;
+        }
+
+        @Override
+        public boolean equals(Object obj) {
+            if (this == obj) return true;
+            if (obj == null) return false;
+            if (obj instanceof PVCameraInfo info) {
+                return equals(info);
+            }
+            return false;
+        }
+
+        @Override
+        public String toString() {
+            return "PVUsbCameraInfo[type="
+                    + type()
+                    + ", dev="
+                    + super.dev
+                    + ", path='"
+                    + super.path
+                    + "', name='"
+                    + super.name
+                    + "', otherPaths="
+                    + Arrays.toString(super.otherPaths)
+                    + ", vid="
+                    + super.vendorId
+                    + ", pid="
+                    + super.productId
+                    + ", uniquePath='"
+                    + uniquePath()
+                    + "']";
+        }
+    }
+
+    @JsonTypeName("PVCSICameraInfo")
+    public static final class PVCSICameraInfo implements PVCameraInfo {
+        public final String path;
+        public final String baseName;
+
+        @JsonCreator
+        public PVCSICameraInfo(
+                @JsonProperty("path") String path, @JsonProperty("baseName") String baseName) {
+            this.path = path;
+            this.baseName = baseName;
+        }
+
+        @Override
+        public String path() {
+            return path;
+        }
+
+        @Override
+        public String name() {
+            return baseName.replaceAll("[^\\x00-\\x7F]", "");
+        }
+
+        @Override
+        public String uniquePath() {
+            return path();
+        }
+
+        @Override
+        public String[] otherPaths() {
+            return new String[0];
+        }
+
+        @Override
+        public CameraType type() {
+            return CameraType.ZeroCopyPicam;
+        }
+
+        @Override
+        public boolean equals(Object obj) {
+            if (this == obj) return true;
+            if (obj == null) return false;
+            if (obj instanceof PVCameraInfo info) {
+                return equals(info);
+            }
+            return false;
+        }
+
+        @Override
+        public String toString() {
+            return "PVCsiCameraInfo[type="
+                    + type()
+                    + ", basename="
+                    + baseName
+                    + ", path='"
+                    + path
+                    + "', uniquePath='"
+                    + uniquePath()
+                    + "']";
+        }
+    }
+
+    @JsonTypeName("PVFileCameraInfo")
+    public static final class PVFileCameraInfo implements PVCameraInfo {
+        public final String path;
+        public final String name;
+
+        @JsonCreator
+        public PVFileCameraInfo(@JsonProperty("path") String path, @JsonProperty("name") String name) {
+            this.path = path;
+            this.name = name;
+        }
+
+        @Override
+        public String path() {
+            return path;
+        }
+
+        @Override
+        public String name() {
+            return name;
+        }
+
+        @Override
+        public String uniquePath() {
+            return path();
+        }
+
+        @Override
+        public String[] otherPaths() {
+            return new String[0];
+        }
+
+        @Override
+        public CameraType type() {
+            return CameraType.FileCamera;
+        }
+
+        @Override
+        public boolean equals(Object obj) {
+            if (this == obj) return true;
+            if (obj == null) return false;
+            if (obj instanceof PVFileCameraInfo info) {
+                return equals(info);
+            }
+            return false;
+        }
+
+        @Override
+        public String toString() {
+            return "PVFileCameraInfo[type=" + type() + ", filename=" + name + ", path='" + path + "']";
+        }
+    }
+
+    public static PVCameraInfo fromUsbCameraInfo(UsbCameraInfo info) {
+        return new PVUsbCameraInfo(info);
+    }
+
+    public static PVCameraInfo fromCSICameraInfo(String path, String baseName) {
+        return new PVCSICameraInfo(path, baseName);
+    }
+
+    public static PVCameraInfo fromFileInfo(String path, String baseName) {
+        return new PVFileCameraInfo(path, baseName);
+    }
+}

photon-core/src/main/java/org/photonvision/vision/camera/TestSource.java

@@ -29,18 +29,17 @@ import org.photonvision.vision.processes.VisionSourceSettables;
 
 /** Dummy class for unit testing the vision source manager */
 public class TestSource extends VisionSource {
-    private FrameProvider usbFrameProvider;
-
     public TestSource(CameraConfiguration config) {
         super(config);
 
-        getCameraConfiguration().cameraQuirks =
-                QuirkyCamera.getQuirkyCamera(config.usbVID, config.usbVID, config.baseName);
+        // Disable camera quirk detection using this fun hack
+        getCameraConfiguration().cameraQuirks = QuirkyCamera.getQuirkyCamera(-1, -1, "");
     }
 
     @Override
     public void remakeSettables() {
-        // Nothing to do, settables for this type of VisionSource should never be remade.
+        // Nothing to do, settables for this type of VisionSource should never be
+        // remade.
         return;
     }
 
@@ -81,6 +80,22 @@ public class TestSource extends VisionSource {
                 // TODO Auto-generated method stub
                 throw new UnsupportedOperationException("Unimplemented method 'requestHsvSettings'");
             }
+
+            @Override
+            public void release() {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'release'");
+            }
+
+            @Override
+            public boolean checkCameraConnected() {
+                return true;
+            }
+
+            @Override
+            public boolean isConnected() {
+                return true;
+            }
         };
     }
 
@@ -100,4 +115,10 @@ public class TestSource extends VisionSource {
     public boolean hasLEDs() {
         return false; // Assume USB cameras do not have photonvision-controlled LEDs
     }
+
+    @Override
+    public void release() {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'close'");
+    }
 }

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java

@@ -67,8 +67,7 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
         this.configuration = configuration;
         this.camera = camera;
 
-        getAllVideoModes();
-
+        // TODO - how should this work post-refactor???
         if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS)) {
             if (!videoModes.isEmpty()) {
                 setVideoMode(videoModes.get(0)); // fixes double FPS set
@@ -91,6 +90,15 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
                 findProperty(
                         "raw_exposure_absolute", "raw_exposure_time_absolute", "exposure", "raw_Exposure");
 
+        if (expProp.isEmpty()) {
+            logger.warn("Could not find exposure property");
+            return;
+        } else {
+            exposureAbsProp = expProp.get();
+            this.minExposure = exposureAbsProp.getMin();
+            this.maxExposure = exposureAbsProp.getMax();
+        }
+
         // Photonvision needs to be able to control auto exposure. Make sure we can
         // first.
         var autoExpProp = findProperty("exposure_auto", "auto_exposure");
@@ -262,55 +270,68 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
         }
     }
 
-    @Override
-    public HashMap<Integer, VideoMode> getAllVideoModes() {
-        if (videoModes == null) {
-            videoModes = new HashMap<>();
-            List<VideoMode> videoModesList = new ArrayList<>();
-            try {
-                VideoMode[] modes;
+    private void cacheVideoModes() {
+        videoModes = new HashMap<>();
+        List<VideoMode> videoModesList = new ArrayList<>();
+        try {
+            VideoMode[] modes;
 
-                modes = camera.enumerateVideoModes();
+            modes = camera.enumerateVideoModes();
 
-                for (VideoMode videoMode : modes) {
-                    // Filter grey modes
-                    if (videoMode.pixelFormat == PixelFormat.kGray
-                            || videoMode.pixelFormat == PixelFormat.kUnknown) {
+            for (VideoMode videoMode : modes) {
+                // Filter grey modes
+                if (videoMode.pixelFormat == PixelFormat.kGray
+                        || videoMode.pixelFormat == PixelFormat.kUnknown) {
+                    continue;
+                }
+
+                if (configuration.cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
+                    if (videoMode.fps > 100) {
                         continue;
                     }
-
-                    if (configuration.cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
-                        if (videoMode.fps > 100) {
-                            continue;
-                        }
-                    }
-
-                    videoModesList.add(videoMode);
                 }
-            } catch (Exception e) {
-                logger.error("Exception while enumerating video modes!", e);
-                videoModesList = List.of();
-            }
 
-            // Sort by resolution
-            var sortedList =
-                    videoModesList.stream()
-                            .distinct() // remove redundant video mode entries
-                            .sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
-                            .collect(Collectors.toList());
-            Collections.reverse(sortedList);
-
-            // On vendor cameras, respect blacklisted indices
-            var indexBlacklist =
-                    ConfigManager.getInstance().getConfig().getHardwareConfig().blacklistedResIndices;
-            for (int badIdx : indexBlacklist) {
-                sortedList.remove(badIdx);
-            }
-
-            for (VideoMode videoMode : sortedList) {
-                videoModes.put(sortedList.indexOf(videoMode), videoMode);
+                videoModesList.add(videoMode);
             }
+        } catch (Exception e) {
+            logger.error("Exception while enumerating video modes!", e);
+            videoModesList = List.of();
         }
+
+        // Sort by resolution
+        var sortedList =
+                videoModesList.stream()
+                        .distinct() // remove redundant video mode entries
+                        .sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
+                        .collect(Collectors.toList());
+        Collections.reverse(sortedList);
+
+        // On vendor cameras, respect blacklisted indices
+        var indexBlacklist =
+                ConfigManager.getInstance().getConfig().getHardwareConfig().blacklistedResIndices;
+        for (int badIdx : indexBlacklist) {
+            sortedList.remove(badIdx);
+        }
+
+        for (VideoMode videoMode : sortedList) {
+            videoModes.put(sortedList.indexOf(videoMode), videoMode);
+        }
+
+        // If after all that we still have no video modes, not much we can do besides
+        // throw up our hands
+        if (videoModes.isEmpty()) {
+            logger.info("Camera " + camera.getPath() + " has no video modes supported by PhotonVision");
+        }
+    }
+
+    @Override
+    public HashMap<Integer, VideoMode> getAllVideoModes() {
+        if (!cameraPropertiesCached) {
+            // Device hasn't connected at least once, best I can do is given up
+            logger.warn("Device hasn't connected, cannot enumerate video modes");
+            return new HashMap<>();
+        }
+
         return videoModes;
     }
 
@@ -372,4 +393,21 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
     public double getMinWhiteBalanceTemp() {
         return minWhiteBalanceTemp;
     }
+
+    @Override
+    public void onCameraConnected() {
+        super.onCameraConnected();
+
+        logger.info("Caching cscore properties");
+
+        // Now that our device is actually connected, we can enumerate properties/video
+        // modes
+        setUpExposureProperties();
+        setUpWhiteBalanceProperties();
+        cacheVideoModes();
+
+        setAllCamDefaults();
+
+        calculateFrameStaticProps();
+    }
 }

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java

@@ -18,7 +18,6 @@
 package org.photonvision.vision.camera.USBCameras;
 
 import edu.wpi.first.cameraserver.CameraServer;
-import edu.wpi.first.cscore.CvSink;
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.cscore.VideoProperty;
@@ -28,6 +27,7 @@ import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.camera.CameraQuirk;
+import org.photonvision.vision.camera.PVCameraInfo.PVUsbCameraInfo;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.provider.USBFrameProvider;
@@ -39,37 +39,54 @@ public class USBCameraSource extends VisionSource {
     private final UsbCamera camera;
     protected GenericUSBCameraSettables settables;
     protected FrameProvider usbFrameProvider;
-    private final CvSink cvSink;
+
+    private void onCameraConnected() {
+        // Aid to the development team - record the properties available for whatever the user plugged
+        // in
+        printCameraProperaties();
+
+        settables.onCameraConnected();
+    }
 
     public USBCameraSource(CameraConfiguration config) {
         super(config);
 
         logger = new Logger(USBCameraSource.class, config.nickname, LogGroup.Camera);
-        // cscore will auto-reconnect to the camera path we give it. v4l does not guarantee that if i
-        // swap cameras around, the same /dev/videoN ID will be assigned to that camera. So instead
-        // default to pinning to a particular USB port, or by "path" (appears to be a global identifier)
-        // on Windows.
-        camera = new UsbCamera(config.nickname, config.getUSBPath().orElse(config.path));
-        cvSink = CameraServer.getVideo(this.camera);
 
-        // set vid/pid if not done already for future matching
-        if (config.usbVID <= 0) config.usbVID = this.camera.getInfo().vendorId;
-        if (config.usbPID <= 0) config.usbPID = this.camera.getInfo().productId;
+        if (!(config.matchedCameraInfo instanceof PVUsbCameraInfo)) {
+            logger.error(
+                    "USBCameraSource matched to a non-USB camera info?? "
+                            + config.matchedCameraInfo.toString());
+        }
 
+        camera = new UsbCamera(config.nickname, config.getDevicePath());
+
+        // TODO - I don't need this, do I?
+        // // set vid/pid if not done already for future matching
+        // if (config.usbVID <= 0) config.usbVID = this.camera.getInfo().vendorId;
+        // if (config.usbPID <= 0) config.usbPID = this.camera.getInfo().productId;
+
+        // TODO - why do we delegate this to USBCameraSource? Quirks are part of the CameraConfig??
+        // also TODO - is the config's saved usb info a reasonable guess for quirk detection? seems like
+        // yes to me...
         if (getCameraConfiguration().cameraQuirks == null) {
+            int vid =
+                    (config.matchedCameraInfo instanceof PVUsbCameraInfo)
+                            ? ((PVUsbCameraInfo) config.matchedCameraInfo).vendorId
+                            : -1;
+            int pid =
+                    (config.matchedCameraInfo instanceof PVUsbCameraInfo)
+                            ? ((PVUsbCameraInfo) config.matchedCameraInfo).productId
+                            : -1;
+
             getCameraConfiguration().cameraQuirks =
-                    QuirkyCamera.getQuirkyCamera(
-                            camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
+                    QuirkyCamera.getQuirkyCamera(vid, pid, config.matchedCameraInfo.name());
         }
 
         if (getCameraConfiguration().cameraQuirks.hasQuirks()) {
-            logger.info("Quirky camera detected: " + getCameraConfiguration().cameraQuirks.baseName);
+            logger.info("Quirky camera detected: " + getCameraConfiguration().cameraQuirks);
         }
 
-        // Aid to the development team - record the properties available for whatever the user plugged
-        // in
-        printCameraProperaties();
-
         var cameraBroken = getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken);
 
         if (cameraBroken) {
@@ -87,16 +104,7 @@ public class USBCameraSource extends VisionSource {
             settables = createSettables(config, camera);
             logger.info("Created settables " + settables);
 
-            if (settables.getAllVideoModes().isEmpty()) {
-                // No video modes produced from settables, disable the camera
-                logger.info("Camera " + camera.getPath() + " has no video modes supported by PhotonVision");
-                usbFrameProvider = null;
-
-            } else {
-                // Functional camera, set up the frame provider and configure defaults
-                usbFrameProvider = new USBFrameProvider(cvSink, settables);
-                settables.setAllCamDefaults();
-            }
+            usbFrameProvider = new USBFrameProvider(camera, settables, this::onCameraConnected);
         }
     }
 
@@ -147,9 +155,6 @@ public class USBCameraSource extends VisionSource {
             settables = new GenericUSBCameraSettables(config, camera);
         }
 
-        settables.setUpExposureProperties();
-        settables.setUpWhiteBalanceProperties();
-
         return settables;
     }
 
@@ -165,7 +170,14 @@ public class USBCameraSource extends VisionSource {
         var oldVideoMode = this.settables.getCurrentVideoMode();
         this.settables = createSettables(oldConfig, oldCamera);
 
-        // And update FrameStaticProps
+        // Settables only cache videomodes on connect - force this to happen next tick
+        if (settables.camera.isConnected()) {
+            this.settables.onCameraConnected();
+        } else {
+            this.usbFrameProvider.cameraPropertiesCached = false;
+        }
+
+        // And update the settables' FrameStaticProps
         settables.setVideoMode(oldVideoMode);
 
         // Propogate our updated settables over to the frame provider
@@ -228,6 +240,14 @@ public class USBCameraSource extends VisionSource {
         return false; // Assume USB cameras do not have photonvision-controlled LEDs
     }
 
+    @Override
+    public void release() {
+        CameraServer.removeCamera(camera.getName());
+        camera.close();
+        usbFrameProvider.release();
+        usbFrameProvider = null;
+    }
+
     @Override
     public boolean equals(Object obj) {
         if (this == obj) return true;
@@ -243,9 +263,6 @@ public class USBCameraSource extends VisionSource {
         if (usbFrameProvider == null) {
             if (other.usbFrameProvider != null) return false;
         } else if (!usbFrameProvider.equals(other.usbFrameProvider)) return false;
-        if (cvSink == null) {
-            if (other.cvSink != null) return false;
-        } else if (!cvSink.equals(other.cvSink)) return false;
         if (getCameraConfiguration().cameraQuirks == null) {
             if (other.getCameraConfiguration().cameraQuirks != null) return false;
         } else if (!getCameraConfiguration()
@@ -261,7 +278,6 @@ public class USBCameraSource extends VisionSource {
                 settables,
                 usbFrameProvider,
                 cameraConfiguration,
-                cvSink,
                 getCameraConfiguration().cameraQuirks);
     }
 }

photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java

@@ -15,7 +15,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package org.photonvision.vision.camera;
+package org.photonvision.vision.camera.csi;
 
 import edu.wpi.first.cscore.VideoMode;
 import edu.wpi.first.math.MathUtil;
@@ -25,7 +25,7 @@ import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.raspi.LibCameraJNI;
-import org.photonvision.vision.camera.LibcameraGpuSource.FPSRatedVideoMode;
+import org.photonvision.vision.camera.csi.LibcameraGpuSource.FPSRatedVideoMode;
 import org.photonvision.vision.opencv.ImageRotationMode;
 import org.photonvision.vision.processes.VisionSourceSettables;
 
@@ -64,7 +64,7 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
 
         videoModes = new HashMap<>();
 
-        sensorModel = LibCameraJNI.getSensorModel(configuration.path);
+        sensorModel = LibCameraJNI.getSensorModel(configuration.matchedCameraInfo.path());
 
         if (sensorModel == LibCameraJNI.SensorModel.IMX219) {
             // Settings for the IMX219 sensor, which is used on the Pi Camera Module v2
@@ -113,6 +113,8 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
         } else if (sensorModel == LibCameraJNI.SensorModel.OV5647) {
             minExposure = 560;
         }
+        this.cameraPropertiesCached =
+                true; // Camera properties are not able to be changed so they are always cached
     }
 
     @Override
@@ -213,7 +215,7 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
             logger.debug("Creating libcamera");
             r_ptr =
                     LibCameraJNI.createCamera(
-                            getConfiguration().path,
+                            getConfiguration().matchedCameraInfo.path(),
                             mode.width,
                             mode.height,
                             (m_rotationMode == ImageRotationMode.DEG_180_CCW ? 180 : 0));

photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSource.java

@@ -15,7 +15,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package org.photonvision.vision.camera;
+package org.photonvision.vision.camera.csi;
 
 import edu.wpi.first.cscore.VideoMode;
 import edu.wpi.first.util.PixelFormat;
@@ -23,6 +23,8 @@ import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.camera.CameraType;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.provider.LibcameraGpuFrameProvider;
 import org.photonvision.vision.processes.VisionSource;
@@ -32,11 +34,11 @@ public class LibcameraGpuSource extends VisionSource {
     static final Logger logger = new Logger(LibcameraGpuSource.class, LogGroup.Camera);
 
     private final LibcameraGpuSettables settables;
-    private final LibcameraGpuFrameProvider frameProvider;
+    private LibcameraGpuFrameProvider frameProvider;
 
     public LibcameraGpuSource(CameraConfiguration configuration) {
         super(configuration);
-        if (configuration.cameraType != CameraType.ZeroCopyPicam) {
+        if (configuration.matchedCameraInfo.type() != CameraType.ZeroCopyPicam) {
             throw new IllegalArgumentException(
                     "GPUAcceleratedPicamSource only accepts CameraConfigurations with type Picam");
         }
@@ -60,7 +62,8 @@ public class LibcameraGpuSource extends VisionSource {
 
     @Override
     public void remakeSettables() {
-        // Nothing to do, settables for this type of VisionSource should never be remade.
+        // Nothing to do, settables for this type of VisionSource should never be
+        // remade.
         return;
     }
 
@@ -99,4 +102,10 @@ public class LibcameraGpuSource extends VisionSource {
     public boolean hasLEDs() {
         return (ConfigManager.getInstance().getConfig().getHardwareConfig().ledPins.size() > 0);
     }
+
+    @Override
+    public void release() {
+        frameProvider.release();
+        frameProvider = null;
+    }
 }

photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java

@@ -19,11 +19,33 @@ package org.photonvision.vision.frame;
 
 import java.util.function.Supplier;
 import org.photonvision.vision.opencv.ImageRotationMode;
+import org.photonvision.vision.opencv.Releasable;
 import org.photonvision.vision.pipe.impl.HSVPipe;
 
-public abstract class FrameProvider implements Supplier<Frame> {
+public abstract class FrameProvider implements Supplier<Frame>, Releasable {
     protected int sequenceID = 0;
 
+    // Escape hatch to allow us to synchronously (from the main vision thread) run
+    // extra
+    // setup/callbacks once cscore connects to our underlying device for the first
+    // time
+    public boolean cameraPropertiesCached = false;
+
+    protected void onCameraConnected() {
+        cameraPropertiesCached = true;
+    }
+
+    public abstract boolean isConnected();
+
+    public abstract boolean checkCameraConnected();
+
+    /**
+     * Returns if the camera has connected at some point. This is not if it is currently connected.
+     */
+    public boolean hasConnected() {
+        return cameraPropertiesCached;
+    }
+
     public abstract String getName();
 
     /** Ask the camera to produce a certain kind of processed image (e.g. HSV or greyscale) */

photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java

@@ -169,4 +169,8 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
                 matchTypes[MathUtil.clamp((int) matchType.value, 0, matchTypes.length - 1)];
         return matchTypeStr + "-" + matchNum.value + "-" + eventName.value;
     }
+
+    public void close() {
+        // troododfa;lkjadsf;lkfdsaj otgooadflsk;j
+    }
 }

photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java

@@ -99,7 +99,9 @@ public abstract class CpuImageProcessor extends FrameProvider {
                 outputMat,
                 m_processType,
                 input.captureTimestamp,
-                input.staticProps.rotate(m_rImagePipe.getParams().rotation));
+                input.staticProps != null
+                        ? input.staticProps.rotate(m_rImagePipe.getParams().rotation)
+                        : input.staticProps);
     }
 
     @Override

photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java

@@ -27,12 +27,13 @@ import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.opencv.Releasable;
 
 /**
  * A {@link FrameProvider} that will read and provide an image from a {@link java.nio.file.Path
  * path}.
  */
-public class FileFrameProvider extends CpuImageProcessor {
+public class FileFrameProvider extends CpuImageProcessor implements Releasable {
     public static final int MAX_FPS = 10;
     private static int count = 0;
 
@@ -106,7 +107,9 @@ public class FileFrameProvider extends CpuImageProcessor {
             try {
                 Thread.sleep(millisDelay);
             } catch (InterruptedException e) {
-                e.printStackTrace();
+                System.err.println("FileFrameProvider interrupted - not busywaiting");
+                // throw back up the stack
+                throw new RuntimeException(e);
             }
         }
 
@@ -118,4 +121,24 @@ public class FileFrameProvider extends CpuImageProcessor {
     public String getName() {
         return "FileFrameProvider" + thisIndex + " - " + path.getFileName();
     }
+
+    @Override
+    public void release() {
+        originalFrame.release();
+    }
+
+    @Override
+    public boolean checkCameraConnected() {
+        return true;
+    }
+
+    @Override
+    public boolean isConnected() {
+        return true;
+    }
+
+    @Override
+    public boolean hasConnected() {
+        return true;
+    }
 }

photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java

@@ -22,7 +22,7 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.raspi.LibCameraJNI;
-import org.photonvision.vision.camera.LibcameraGpuSettables;
+import org.photonvision.vision.camera.csi.LibcameraGpuSettables;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.FrameThresholdType;
@@ -40,6 +40,8 @@ public class LibcameraGpuFrameProvider extends FrameProvider {
 
         var vidMode = settables.getCurrentVideoMode();
         settables.setVideoMode(vidMode);
+        this.cameraPropertiesCached =
+                true; // Camera properties are not able to be changed so they are always cached
     }
 
     @Override
@@ -132,4 +134,30 @@ public class LibcameraGpuFrameProvider extends FrameProvider {
     public void requestFrameCopies(boolean copyInput, boolean copyOutput) {
         LibCameraJNI.setFramesToCopy(settables.r_ptr, copyInput, copyOutput);
     }
+
+    @Override
+    public void release() {
+        synchronized (settables.CAMERA_LOCK) {
+            LibCameraJNI.stopCamera(settables.r_ptr);
+            LibCameraJNI.destroyCamera(settables.r_ptr);
+            settables.r_ptr = 0;
+        }
+    }
+
+    @Override
+    public boolean checkCameraConnected() {
+        String[] cameraNames = LibCameraJNI.getCameraNames();
+        for (String name : cameraNames) {
+            if (name.equals(settables.getConfiguration().getDevicePath())) {
+                return true;
+            }
+        }
+        return false;
+    }
+
+    // To our knowledge the camera is always connected (after boot) with csi cameras
+    @Override
+    public boolean isConnected() {
+        return checkCameraConnected();
+    }
 }

photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java

@@ -17,7 +17,9 @@
 
 package org.photonvision.vision.frame.provider;
 
+import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.CvSink;
+import edu.wpi.first.cscore.UsbCamera;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.opencv.CVMat;
@@ -26,27 +28,55 @@ import org.photonvision.vision.processes.VisionSourceSettables;
 public class USBFrameProvider extends CpuImageProcessor {
     private final Logger logger;
 
-    private final CvSink cvSink;
+    private UsbCamera camera = null;
+    private CvSink cvSink = null;
 
     @SuppressWarnings("SpellCheckingInspection")
     private VisionSourceSettables settables;
 
-    @SuppressWarnings("SpellCheckingInspection")
-    public USBFrameProvider(CvSink sink, VisionSourceSettables visionSettables) {
-        logger = new Logger(USBFrameProvider.class, sink.getName(), LogGroup.Camera);
+    private Runnable connectedCallback;
+
+    @SuppressWarnings("SpellCheckingInspection")
+    public USBFrameProvider(
+            UsbCamera camera, VisionSourceSettables visionSettables, Runnable connectedCallback) {
+        this.camera = camera;
+        this.cvSink = CameraServer.getVideo(this.camera);
+        this.logger =
+                new Logger(
+                        USBFrameProvider.class, visionSettables.getConfiguration().nickname, LogGroup.Camera);
+        this.cvSink.setEnabled(true);
 
-        cvSink = sink;
-        cvSink.setEnabled(true);
         this.settables = visionSettables;
+        this.connectedCallback = connectedCallback;
+    }
+
+    @Override
+    public boolean checkCameraConnected() {
+        boolean connected = camera.isConnected();
+
+        if (!cameraPropertiesCached && connected) {
+            logger.info("Camera connected! running callback");
+            onCameraConnected();
+        }
+
+        return connected;
     }
 
     @Override
     public CapturedFrame getInputMat() {
-        // We allocate memory so we don't fill a Mat in use by another thread (memory model is easier)
+        if (!cameraPropertiesCached && camera.isConnected()) {
+            onCameraConnected();
+        }
+
+        // We allocate memory so we don't fill a Mat in use by another thread (memory
+        // model is easier)
         var mat = new CVMat();
-        // This is from wpi::Now, or WPIUtilJNI.now(). The epoch from grabFrame is uS since
-        // Hal::initialize was called
-        long captureTimeNs = cvSink.grabFrame(mat.getMat()) * 1000;
+        // This is from wpi::Now, or WPIUtilJNI.now(). The epoch from grabFrame is uS
+        // since
+        // Hal::initialize was called. Timeout is in seconds
+        // TODO - under the hood, this incurs an extra copy. We should avoid this, if we
+        // can.
+        long captureTimeNs = cvSink.grabFrame(mat.getMat(), 1.0) * 1000;
 
         if (captureTimeNs == 0) {
             var error = cvSink.getError();
@@ -61,6 +91,25 @@ public class USBFrameProvider extends CpuImageProcessor {
         return "USBFrameProvider - " + cvSink.getName();
     }
 
+    @Override
+    public void release() {
+        CameraServer.removeServer(cvSink.getName());
+        cvSink.close();
+        cvSink = null;
+    }
+
+    @Override
+    public void onCameraConnected() {
+        super.onCameraConnected();
+
+        this.connectedCallback.run();
+    }
+
+    @Override
+    public boolean isConnected() {
+        return camera.isConnected();
+    }
+
     public void updateSettables(VisionSourceSettables settables) {
         this.settables = settables;
     }

photon-core/src/main/java/org/photonvision/vision/processes/CameraMatchingOptions.java

@@ -1,57 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.vision.processes;
-
-import java.util.List;
-import org.photonvision.vision.camera.CameraType;
-
-public class CameraMatchingOptions {
-    public CameraMatchingOptions(
-            boolean checkUSBPath,
-            boolean checkVidPid,
-            boolean checkBaseName,
-            boolean checkPath,
-            CameraType... allowedTypes) {
-        this.checkUSBPath = checkUSBPath;
-        this.checkVidPid = checkVidPid;
-        this.checkBaseName = checkBaseName;
-        this.checkPath = checkPath;
-        this.allowedTypes = List.of(allowedTypes);
-    }
-
-    public final boolean checkUSBPath;
-    public final boolean checkVidPid;
-    public final boolean checkBaseName;
-    public final boolean checkPath;
-    public final List<CameraType> allowedTypes;
-
-    @Override
-    public String toString() {
-        return "CameraMatchingOptions [checkUSBPath="
-                + checkUSBPath
-                + ", checkVidPid="
-                + checkVidPid
-                + ", checkBaseName="
-                + checkBaseName
-                + ", checkPath="
-                + checkPath
-                + ", allowedTypes="
-                + allowedTypes
-                + "]";
-    }
-}

photon-core/src/main/java/org/photonvision/vision/processes/Data.java

@@ -1,31 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.vision.processes;
-
-import org.photonvision.vision.opencv.Releasable;
-import org.photonvision.vision.pipeline.result.CVPipelineResult;
-
-// TODO replace with CTT's data class
-public class Data implements Releasable {
-    public CVPipelineResult result;
-
-    @Override
-    public void release() {
-        result.release();
-    }
-}

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -26,12 +26,12 @@ import java.util.HashMap;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.function.BiConsumer;
-import java.util.stream.Collectors;
 import org.opencv.core.Size;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.DataChangeService.SubscriberHandle;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.dataflow.networktables.NTDataPublisher;
 import org.photonvision.common.dataflow.statusLEDs.StatusLEDConsumer;
@@ -45,8 +45,8 @@ import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.CameraType;
-import org.photonvision.vision.camera.LibcameraGpuSource;
 import org.photonvision.vision.camera.QuirkyCamera;
+import org.photonvision.vision.camera.csi.LibcameraGpuSource;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.consumer.FileSaveFrameConsumer;
 import org.photonvision.vision.frame.consumer.MJPGFrameConsumer;
@@ -71,6 +71,7 @@ public class VisionModule {
     private final VisionRunner visionRunner;
     private final StreamRunnable streamRunnable;
     private final VisionModuleChangeSubscriber changeSubscriber;
+    private final SubscriberHandle changeSubscriberHandle;
     private final LinkedList<CVPipelineResultConsumer> resultConsumers = new LinkedList<>();
     // Raw result consumers run before any drawing has been done by the
     // OutputStreamPipeline
@@ -134,7 +135,7 @@ public class VisionModule {
         this.streamRunnable = new StreamRunnable(new OutputStreamPipeline());
         this.moduleIndex = index;
 
-        DataChangeService.getInstance().addSubscriber(changeSubscriber);
+        changeSubscriberHandle = DataChangeService.getInstance().addSubscriber(changeSubscriber);
 
         createStreams();
 
@@ -258,7 +259,7 @@ public class VisionModule {
 
         @Override
         public void run() {
-            while (true) {
+            while (!Thread.interrupted()) {
                 final Frame m_frame;
                 final AdvancedPipelineSettings settings;
                 final List<TrackedTarget> targets;
@@ -292,7 +293,8 @@ public class VisionModule {
                     try {
                         Thread.sleep(1);
                     } catch (InterruptedException e) {
-                        e.printStackTrace();
+                        logger.warn("StreamRunnable was interrupted - exiting");
+                        return;
                     }
                 }
             }
@@ -300,10 +302,33 @@ public class VisionModule {
     }
 
     public void start() {
+        visionSource.cameraConfiguration.deactivated = false;
         visionRunner.startProcess();
         streamRunnable.start();
     }
 
+    public void stop() {
+        visionSource.cameraConfiguration.deactivated = true;
+        visionRunner.stopProcess();
+
+        try {
+            streamRunnable.interrupt();
+            streamRunnable.join();
+        } catch (InterruptedException e) {
+            logger.error("Exception killing process thread", e);
+        }
+
+        visionSource.release();
+
+        inputVideoStreamer.close();
+        outputVideoStreamer.close();
+        inputFrameSaver.close();
+        outputFrameSaver.close();
+
+        changeSubscriberHandle.stop();
+        setVisionLEDs(false);
+    }
+
     public void setFov(double fov) {
         var settables = visionSource.getSettables();
         logger.trace(() -> "Setting " + settables.getConfiguration().nickname + ") FOV (" + fov + ")");
@@ -411,6 +436,9 @@ public class VisionModule {
         logger.info("Setting pipeline to " + index);
         logger.info("Pipeline name: " + pipelineManager.getPipelineNickname(index));
         pipelineManager.setIndex(index);
+
+        VisionSourceSettables settables = visionSource.getSettables();
+
         var pipelineSettings = pipelineManager.getPipelineSettings(index);
 
         if (pipelineSettings == null) {
@@ -418,49 +446,51 @@ public class VisionModule {
             return false;
         }
 
-        visionSource.getSettables().setVideoModeInternal(pipelineSettings.cameraVideoModeIndex);
-        visionSource.getSettables().setBrightness(pipelineSettings.cameraBrightness);
+        visionRunner.runSyncronously(
+                () -> {
+                    settables.setVideoModeInternal(pipelineSettings.cameraVideoModeIndex);
+                    settables.setBrightness(pipelineSettings.cameraBrightness);
 
-        // If manual exposure, force exposure slider to be valid
-        if (!pipelineSettings.cameraAutoExposure) {
-            if (pipelineSettings.cameraExposureRaw < 0)
-                pipelineSettings.cameraExposureRaw = 10; // reasonable default
-        }
+                    // If manual exposure, force exposure slider to be valid
+                    if (!pipelineSettings.cameraAutoExposure) {
+                        if (pipelineSettings.cameraExposureRaw < 0)
+                            pipelineSettings.cameraExposureRaw = 10; // reasonable default
+                    }
 
-        visionSource.getSettables().setExposureRaw(pipelineSettings.cameraExposureRaw);
-        try {
-            visionSource.getSettables().setAutoExposure(pipelineSettings.cameraAutoExposure);
-        } catch (VideoException e) {
-            logger.error("Unable to set camera auto exposure!");
-            logger.error(e.toString());
-        }
-        if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
-            // If the gain is disabled for some reason, re-enable it
-            if (pipelineSettings.cameraGain == -1) pipelineSettings.cameraGain = 75;
-            visionSource.getSettables().setGain(Math.max(0, pipelineSettings.cameraGain));
-        } else {
-            pipelineSettings.cameraGain = -1;
-        }
+                    settables.setExposureRaw(pipelineSettings.cameraExposureRaw);
+                    try {
+                        settables.setAutoExposure(pipelineSettings.cameraAutoExposure);
+                    } catch (VideoException e) {
+                        logger.error("Unable to set camera auto exposure!");
+                        logger.error(e.toString());
+                    }
+                    if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
+                        // If the gain is disabled for some reason, re-enable it
+                        if (pipelineSettings.cameraGain == -1) pipelineSettings.cameraGain = 75;
+                        settables.setGain(Math.max(0, pipelineSettings.cameraGain));
+                    } else {
+                        pipelineSettings.cameraGain = -1;
+                    }
 
-        if (cameraQuirks.hasQuirk(CameraQuirk.AwbRedBlueGain)) {
-            // If the AWB gains are disabled for some reason, re-enable it
-            if (pipelineSettings.cameraRedGain == -1) pipelineSettings.cameraRedGain = 11;
-            if (pipelineSettings.cameraBlueGain == -1) pipelineSettings.cameraBlueGain = 20;
-            visionSource.getSettables().setRedGain(Math.max(0, pipelineSettings.cameraRedGain));
-            visionSource.getSettables().setBlueGain(Math.max(0, pipelineSettings.cameraBlueGain));
-        } else {
-            pipelineSettings.cameraRedGain = -1;
-            pipelineSettings.cameraBlueGain = -1;
+                    if (cameraQuirks.hasQuirk(CameraQuirk.AwbRedBlueGain)) {
+                        // If the AWB gains are disabled for some reason, re-enable it
+                        if (pipelineSettings.cameraRedGain == -1) pipelineSettings.cameraRedGain = 11;
+                        if (pipelineSettings.cameraBlueGain == -1) pipelineSettings.cameraBlueGain = 20;
+                        settables.setRedGain(Math.max(0, pipelineSettings.cameraRedGain));
+                        settables.setBlueGain(Math.max(0, pipelineSettings.cameraBlueGain));
+                    } else {
+                        pipelineSettings.cameraRedGain = -1;
+                        pipelineSettings.cameraBlueGain = -1;
 
-            // All other cameras (than picams) should support AWB temp
-            visionSource.getSettables().setWhiteBalanceTemp(pipelineSettings.cameraWhiteBalanceTemp);
-            visionSource.getSettables().setAutoWhiteBalance(pipelineSettings.cameraAutoWhiteBalance);
-        }
+                        // All other cameras (than picams) should support AWB temp
+                        settables.setWhiteBalanceTemp(pipelineSettings.cameraWhiteBalanceTemp);
+                        settables.setAutoWhiteBalance(pipelineSettings.cameraAutoWhiteBalance);
+                    }
 
-        setVisionLEDs(pipelineSettings.ledMode);
+                    setVisionLEDs(pipelineSettings.ledMode);
 
-        visionSource.getSettables().getConfiguration().currentPipelineIndex =
-                pipelineManager.getRequestedIndex();
+                    settables.getConfiguration().currentPipelineIndex = pipelineManager.getRequestedIndex();
+                });
 
         return true;
     }
@@ -485,7 +515,7 @@ public class VisionModule {
                         getStateAsCameraConfig(), visionSource.getSettables().getConfiguration().uniqueName);
     }
 
-    void saveAndBroadcastAll() {
+    public void saveAndBroadcastAll() {
         saveModule();
         DataChangeService.getInstance()
                 .publishEvent(
@@ -521,8 +551,11 @@ public class VisionModule {
     public UICameraConfiguration toUICameraConfig() {
         var ret = new UICameraConfiguration();
 
+        var config = visionSource.getCameraConfiguration();
+        ret.matchedCameraInfo = config.matchedCameraInfo;
+        ret.cameraPath = config.getDevicePath();
         ret.fov = visionSource.getSettables().getFOV();
-        ret.isCSICamera = visionSource.getCameraConfiguration().cameraType == CameraType.ZeroCopyPicam;
+        ret.isCSICamera = config.matchedCameraInfo.type() == CameraType.ZeroCopyPicam;
         ret.nickname = visionSource.getSettables().getConfiguration().nickname;
         ret.uniqueName = visionSource.getSettables().getConfiguration().uniqueName;
         ret.currentPipelineSettings =
@@ -535,6 +568,8 @@ public class VisionModule {
         ret.minWhiteBalanceTemp = visionSource.getSettables().getMinWhiteBalanceTemp();
         ret.maxWhiteBalanceTemp = visionSource.getSettables().getMaxWhiteBalanceTemp();
 
+        ret.deactivated = config.deactivated;
+
         // TODO refactor into helper method
         var temp = new HashMap<Integer, HashMap<String, Object>>();
         var videoModes = visionSource.getSettables().getAllVideoModes();
@@ -554,6 +589,11 @@ public class VisionModule {
 
             temp.put(k, internalMap);
         }
+
+        if (videoModes.size() == 0) {
+            logger.error("no video modes, guhhhhh");
+        }
+
         ret.videoFormatList = temp;
         ret.outputStreamPort = this.outputStreamPort;
         ret.inputStreamPort = this.inputStreamPort;
@@ -561,11 +601,14 @@ public class VisionModule {
         ret.calibrations =
                 visionSource.getSettables().getConfiguration().calibrations.stream()
                         .map(CameraCalibrationCoefficients::cloneWithoutObservations)
-                        .collect(Collectors.toList());
+                        .toList();
 
         ret.isFovConfigurable =
                 !(ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV());
 
+        ret.isConnected = visionSource.getFrameProvider().isConnected();
+        ret.hasConnected = visionSource.getFrameProvider().hasConnected();
+
         return ret;
     }
 
@@ -643,4 +686,12 @@ public class VisionModule {
         visionSource.remakeSettables();
         saveAndBroadcastAll();
     }
+
+    public String uniqueName() {
+        return this.visionSource.cameraConfiguration.uniqueName;
+    }
+
+    public CameraConfiguration getCameraConfiguration() {
+        return this.visionSource.cameraConfiguration;
+    }
 }

photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java

@@ -19,6 +19,7 @@ package org.photonvision.vision.processes;
 
 import java.util.*;
 import java.util.stream.Collectors;
+import org.photonvision.common.dataflow.websocket.UICameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 
@@ -26,15 +27,7 @@ import org.photonvision.common.logging.Logger;
 public class VisionModuleManager {
     private final Logger logger = new Logger(VisionModuleManager.class, LogGroup.VisionModule);
 
-    private static class ThreadSafeSingleton {
-        private static final VisionModuleManager INSTANCE = new VisionModuleManager();
-    }
-
-    public static VisionModuleManager getInstance() {
-        return VisionModuleManager.ThreadSafeSingleton.INSTANCE;
-    }
-
-    protected final List<VisionModule> visionModules = new ArrayList<>();
+    private final List<VisionModule> visionModules = new ArrayList<>();
 
     VisionModuleManager() {}
 
@@ -53,25 +46,25 @@ public class VisionModuleManager {
         return visionModules.get(i);
     }
 
-    public List<VisionModule> addSources(List<VisionSource> visionSources) {
-        var addedModules = new HashMap<Integer, VisionModule>();
+    public synchronized VisionModule addSource(VisionSource visionSource) {
+        visionSource.cameraConfiguration.streamIndex = newCameraIndex();
 
-        assignCameraIndex(visionSources);
-        for (var visionSource : visionSources) {
-            var pipelineManager = new PipelineManager(visionSource.getCameraConfiguration());
+        var pipelineManager = new PipelineManager(visionSource.getCameraConfiguration());
+        var module =
+                new VisionModule(
+                        pipelineManager, visionSource, visionSource.cameraConfiguration.streamIndex);
+        visionModules.add(module);
 
-            var module = new VisionModule(pipelineManager, visionSource, visionModules.size());
-            visionModules.add(module);
-            addedModules.put(visionSource.getCameraConfiguration().streamIndex, module);
-        }
-
-        return addedModules.entrySet().stream()
-                .sorted(Comparator.comparingInt(Map.Entry::getKey)) // sort by stream index
-                .map(Map.Entry::getValue) // map to Stream of VisionModule
-                .collect(Collectors.toList()); // collect in a List
+        return module;
     }
 
-    private void assignCameraIndex(List<VisionSource> config) {
+    public synchronized void removeModule(VisionModule module) {
+        visionModules.remove(module);
+        module.stop();
+        module.saveAndBroadcastAll();
+    }
+
+    private synchronized int newCameraIndex() {
         // We won't necessarily have already added all the cameras we need to at this point
         // But by operating on the list, we have a fairly good idea of which we need to change,
         // but it's not guaranteed that we change the correct one
@@ -80,29 +73,40 @@ public class VisionModuleManager {
 
         // Big list, which should contain every vision source (currently loaded plus the new ones being
         // added)
-        var bigList = new ArrayList<VisionSource>();
-        bigList.addAll(
-                this.getModules().stream().map(it -> it.visionSource).collect(Collectors.toList()));
-        bigList.addAll(config);
-
-        for (var v : config) {
-            var listNoV = new ArrayList<>(bigList);
-            listNoV.remove(v);
-            if (listNoV.stream()
-                    .anyMatch(
-                            it ->
-                                    it.getCameraConfiguration().streamIndex
-                                            == v.getCameraConfiguration().streamIndex)) {
-                int idx = 0;
-                while (listNoV.stream()
+        List<Integer> bigList =
+                this.getModules().stream()
                         .map(it -> it.getCameraConfiguration().streamIndex)
-                        .collect(Collectors.toList())
-                        .contains(idx)) {
-                    idx++;
-                }
-                logger.debug("Assigning idx " + idx);
-                v.getCameraConfiguration().streamIndex = idx;
-            }
+                        .collect(Collectors.toList());
+
+        int idx = 0;
+        while (bigList.contains(idx)) {
+            idx++;
+        }
+
+        if (idx >= 5) {
+            logger.warn("VisionModuleManager has reached the maximum number of cameras (5).");
+        }
+
+        return idx;
+    }
+
+    public static class UiVmmState {
+        public final List<UICameraConfiguration> visionModules;
+
+        UiVmmState(List<UICameraConfiguration> _v) {
+            this.visionModules = _v;
         }
     }
+
+    public synchronized UiVmmState getState() {
+        return new UiVmmState(
+                this.visionModules.stream()
+                        .map(VisionModule::toUICameraConfig)
+                        .map(
+                                it -> {
+                                    it.calibrations = null;
+                                    return it;
+                                })
+                        .collect(Collectors.toList()));
+    }
 }

photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java

@@ -17,8 +17,17 @@
 
 package org.photonvision.vision.processes;
 
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.Callable;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.Future;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
+import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.dataflow.websocket.UIPhotonConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.camera.QuirkyCamera;
@@ -38,6 +47,7 @@ public class VisionRunner {
     private final Supplier<CVPipeline> pipelineSupplier;
     private final Consumer<CVPipelineResult> pipelineResultConsumer;
     private final VisionModuleChangeSubscriber changeSubscriber;
+    private final List<Runnable> runnableList = new ArrayList<Runnable>();
     private final QuirkyCamera cameraQuirks;
 
     private long loopCount;
@@ -72,12 +82,86 @@ public class VisionRunner {
         visionProcessThread.start();
     }
 
+    public void stopProcess() {
+        try {
+            System.out.println("Interrupting vision process thread");
+            visionProcessThread.interrupt();
+            visionProcessThread.join();
+        } catch (InterruptedException e) {
+            logger.error("Exception killing process thread", e);
+        }
+    }
+
+    public Future<Void> runSyncronously(Runnable runnable) {
+        CompletableFuture<Void> future = new CompletableFuture<>();
+
+        synchronized (runnableList) {
+            runnableList.add(
+                    () -> {
+                        try {
+                            runnable.run();
+                            future.complete(null);
+                        } catch (Exception ex) {
+                            future.completeExceptionally(ex);
+                        }
+                    });
+        }
+        return future;
+    }
+
+    public <T> Future<T> runSyncronously(Callable<T> callable) {
+        CompletableFuture<T> future = new CompletableFuture<>();
+
+        synchronized (runnableList) {
+            runnableList.add(
+                    () -> {
+                        try {
+                            T result = callable.call();
+                            future.complete(result);
+                        } catch (Exception ex) {
+                            future.completeExceptionally(ex);
+                        }
+                    });
+        }
+
+        return future;
+    }
+
     private void update() {
+        // wait for the camera to connect
+        while (!frameSupplier.checkCameraConnected() && !Thread.interrupted()) {
+            // yield
+            pipelineResultConsumer.accept(new CVPipelineResult(0l, 0, 0, null, new Frame()));
+            try {
+                Thread.sleep(100);
+            } catch (InterruptedException e) {
+                return;
+            }
+        }
+
+        DataChangeService.getInstance()
+                .publishEvent(
+                        new OutgoingUIEvent<>(
+                                "fullsettings",
+                                UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
+
         while (!Thread.interrupted()) {
             changeSubscriber.processSettingChanges();
+            synchronized (runnableList) {
+                for (var runnable : runnableList) {
+                    try {
+                        runnable.run();
+                    } catch (Exception ex) {
+                        logger.error("Exception running runnable", ex);
+                    }
+                }
+                runnableList.clear();
+            }
+
             var pipeline = pipelineSupplier.get();
 
-            // Tell our camera implementation here what kind of pre-processing we need it to be doing
+            // Tell our camera implementation here what kind of pre-processing we need it to
+            // be doing
             // (pipeline-dependent). I kinda hate how much leak this has...
             // TODO would a callback object be a better fit?
             var wantedProcessType = pipeline.getThresholdType();
@@ -101,14 +185,17 @@ public class VisionRunner {
             if (frame.processedImage.getMat().empty() && frame.colorImage.getMat().empty()) {
                 // give up without increasing loop count
                 // Still feed with blank frames just dont run any pipelines
+
                 pipelineResultConsumer.accept(new CVPipelineResult(0l, 0, 0, null, new Frame()));
                 continue;
             }
 
-            // If the pipeline has changed while we are getting our frame we should scrap that frame it
+            // If the pipeline has changed while we are getting our frame we should scrap
+            // that frame it
             // may result in incorrect frame settings like hsv values
             if (pipeline == pipelineSupplier.get()) {
-                // There's no guarantee the processing type change will occur this tick, so pipelines should
+                // There's no guarantee the processing type change will occur this tick, so
+                // pipelines should
                 // check themselves
                 try {
                     var pipelineResult = pipeline.run(frame, cameraQuirks);

photon-core/src/main/java/org/photonvision/vision/processes/VisionSource.java

@@ -19,8 +19,9 @@ package org.photonvision.vision.processes;
 
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.opencv.Releasable;
 
-public abstract class VisionSource {
+public abstract class VisionSource implements Releasable {
     protected final CameraConfiguration cameraConfiguration;
 
     protected VisionSource(CameraConfiguration cameraConfiguration) {

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java

@@ -21,14 +21,17 @@ import edu.wpi.first.cscore.UsbCamera;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Collection;
+import java.util.HashMap;
 import java.util.List;
-import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.Optional;
 import java.util.function.Predicate;
-import java.util.stream.Collectors;
+import java.util.regex.Pattern;
+import java.util.stream.Stream;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.dataflow.websocket.UICameraConfiguration;
 import org.photonvision.common.dataflow.websocket.UIPhotonConfiguration;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.hardware.Platform.OSType;
@@ -37,24 +40,28 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.raspi.LibCameraJNI;
 import org.photonvision.raspi.LibCameraJNILoader;
-import org.photonvision.vision.camera.CameraInfo;
-import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.CameraType;
-import org.photonvision.vision.camera.LibcameraGpuSource;
-import org.photonvision.vision.camera.TestSource;
+import org.photonvision.vision.camera.FileVisionSource;
+import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.camera.USBCameras.USBCameraSource;
+import org.photonvision.vision.camera.csi.LibcameraGpuSource;
 
+/**
+ * This class manages starting up VisionModules for serialized devices ({@link
+ * VisionSourceManager#loadVisionSourceFromCamConfig}), as well as handling requests from users to
+ * disable (release the camera device, but keep the configuration around) ({@link
+ * VisionSourceManager#deactivateVisionSource}), reactivate (recreate a VisionModule from a saved
+ * and currently disabled configuration) ({@link
+ * VisionSourceManager#reactivateDisabledCameraConfig}), and create a new VisionModule from a {@link
+ * PVCameraInfo} ({@link VisionSourceManager#assignUnmatchedCamera}).
+ *
+ * <p>We now require user interaction for pretty much every operation this undertakes.
+ */
 public class VisionSourceManager {
     private static final Logger logger = new Logger(VisionSourceManager.class, LogGroup.Camera);
+
     private static final List<String> deviceBlacklist = List.of("bcm2835-isp");
 
-    final List<CameraInfo> knownCameras = new CopyOnWriteArrayList<>();
-
-    final List<CameraConfiguration> unmatchedLoadedConfigs = new CopyOnWriteArrayList<>();
-    private boolean hasWarned;
-    private boolean hasWarnedNoCameras = false;
-    private String ignoredCamerasRegex = "";
-
     private static class SingletonHolder {
         private static final VisionSourceManager INSTANCE = new VisionSourceManager();
     }
@@ -63,547 +70,348 @@ public class VisionSourceManager {
         return SingletonHolder.INSTANCE;
     }
 
-    VisionSourceManager() {}
-
-    public void registerTimedTask() {
-        TimedTaskManager.getInstance().addTask("VisionSourceManager", this::tryMatchCams, 3000);
+    // Jackson does use these members even if your IDE claims otherwise
+    public static class VisionSourceManagerState {
+        public List<UICameraConfiguration> disabledConfigs;
+        public List<PVCameraInfo> allConnectedCameras;
     }
 
-    public void registerLoadedConfigs(CameraConfiguration... configs) {
-        registerLoadedConfigs(Arrays.asList(configs));
+    // Map of (unique name) -> (all CameraConfigurations) that have been registered
+    protected final HashMap<String, CameraConfiguration> disabledCameraConfigs = new HashMap<>();
+
+    // The subset of cameras that are "active", converted to VisionModules
+    public VisionModuleManager vmm = new VisionModuleManager();
+
+    public void registerTimedTasks() {
+        TimedTaskManager.getInstance().addTask("CameraDeviceExplorer", this::pushUiUpdate, 1000);
     }
 
     /**
-     * Register new camera configs loaded from disk. This will add them to the list of configs to try
-     * to match, and also automatically spawn new vision processes as necessary.
+     * Register new camera configs loaded from disk. This will create vision modules for each camera
+     * config and start them.
      *
      * @param configs The loaded camera configs.
      */
-    public void registerLoadedConfigs(Collection<CameraConfiguration> configs) {
-        unmatchedLoadedConfigs.addAll(configs);
-    }
+    public synchronized void registerLoadedConfigs(Collection<CameraConfiguration> configs) {
+        logger.info("Registering loaded camera configs");
 
-    /**
-     * Pre filter out any csi cameras to return just USB Cameras. Allow defining the camerainfo.
-     *
-     * @return a list containing usbcamerainfo.
-     */
-    protected List<CameraInfo> getConnectedUSBCameras() {
-        List<CameraInfo> cameraInfos =
-                List.of(UsbCamera.enumerateUsbCameras()).stream()
-                        .map(c -> new CameraInfo(c))
-                        .collect(Collectors.toList());
-        return cameraInfos;
-    }
+        final HashMap<String, CameraConfiguration> deserializedConfigs = new HashMap<>();
 
-    /**
-     * Retrieve the list of csi cameras from libcamera.
-     *
-     * @return a list containing csicamerainfo.
-     */
-    protected List<CameraInfo> getConnectedCSICameras() {
-        List<CameraInfo> cameraInfos = new ArrayList<CameraInfo>();
-        if (LibCameraJNILoader.isSupported())
-            for (String path : LibCameraJNI.getCameraNames()) {
-                String name = LibCameraJNI.getSensorModel(path).getFriendlyName();
-                cameraInfos.add(
-                        new CameraInfo(-1, path, name, new String[] {}, -1, -1, CameraType.ZeroCopyPicam));
+        // 1. Verify all camera unique names are unique and paths/types are unique for paranoia. This
+        // seems redundant, consider deleting
+        for (var config : configs) {
+            Predicate<PVCameraInfo> checkDuplicateCamera =
+                    (other) ->
+                            (other.type().equals(config.matchedCameraInfo.type())
+                                    && other.uniquePath().equals(config.matchedCameraInfo.uniquePath()));
+
+            if (deserializedConfigs.containsKey(config.uniqueName)) {
+                logger.error(
+                        "Duplicate unique name for config " + config.uniqueName + " -- not overwriting");
+            } else if (deserializedConfigs.values().stream()
+                    .map(it -> it.matchedCameraInfo)
+                    .anyMatch(checkDuplicateCamera)) {
+                logger.error(
+                        "Duplicate camera type & path for config " + config.uniqueName + " -- not overwriting");
+            } else {
+                deserializedConfigs.put(config.uniqueName, config);
             }
-        return cameraInfos;
+        }
+
+        // 2. create sources -> VMMs for all active cameras and add to our VMM. We don't care about if
+        // the underlying device is currently connected or not.
+        deserializedConfigs.values().stream()
+                .filter(it -> !it.deactivated)
+                .map(this::loadVisionSourceFromCamConfig)
+                .map(vmm::addSource)
+                .forEach(VisionModule::start);
+
+        // 3. write down all disabled sources for later
+        deserializedConfigs.entrySet().stream()
+                .filter(it -> it.getValue().deactivated)
+                .forEach(it -> this.disabledCameraConfigs.put(it.getKey(), it.getValue()));
+
+        logger.info(
+                "Finished registering loaded camera configs! Started "
+                        + vmm.getModules().size()
+                        + " active VisionModules, with "
+                        + deserializedConfigs.size()
+                        + " disabled VisionModules");
     }
 
-    protected void tryMatchCams() {
-        var visionSourceList = tryMatchCamImpl();
-        if (visionSourceList == null) return;
+    /**
+     * Reactivate a previously created vision source
+     *
+     * @param uniqueName
+     */
+    public synchronized boolean reactivateDisabledCameraConfig(String uniqueName) {
+        // Make sure we have an old, currently -inactive- camera around
+        var deactivatedConfig = Optional.ofNullable(this.disabledCameraConfigs.remove(uniqueName));
+        if (deactivatedConfig.isEmpty() || !deactivatedConfig.get().deactivated) {
+            // Not in map, give up
+            return false;
+        }
 
-        logger.info("Adding " + visionSourceList.size() + " configs to VMM.");
-        ConfigManager.getInstance().addCameraConfigurations(visionSourceList);
-        var addedSources = VisionModuleManager.getInstance().addSources(visionSourceList);
-        addedSources.forEach(VisionModule::start);
+        // Check if the camera is already in use by another module
+        if (vmm.getModules().stream()
+                .anyMatch(
+                        module ->
+                                module
+                                        .getCameraConfiguration()
+                                        .matchedCameraInfo
+                                        .uniquePath()
+                                        .equals(deactivatedConfig.get().matchedCameraInfo.uniquePath()))) {
+            logger.error(
+                    "Camera unique-path already in use by active VisionModule! Cannot reactivate "
+                            + deactivatedConfig.get().nickname);
+        }
+
+        // transform the camera info all the way to a VisionModule and then start it
+        var created =
+                deactivatedConfig
+                        .map(this::loadVisionSourceFromCamConfig)
+                        .map(vmm::addSource)
+                        .map(
+                                it -> {
+                                    it.start();
+                                    it.saveAndBroadcastAll();
+                                    return it;
+                                })
+                        .isPresent();
+
+        if (!created) {
+            // Couldn't create a VM for this config - restore state
+            this.disabledCameraConfigs.put(uniqueName, deactivatedConfig.get());
+        }
+
+        // We have a new camera! Tell the world about it
         DataChangeService.getInstance()
                 .publishEvent(
                         new OutgoingUIEvent<>(
                                 "fullsettings",
                                 UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
-    }
 
-    protected List<VisionSource> tryMatchCamImpl() {
-        return tryMatchCamImpl(null);
-    }
+        pushUiUpdate();
 
-    protected List<VisionSource> tryMatchCamImpl(ArrayList<CameraInfo> cameraInfos) {
-        return tryMatchCamImpl(cameraInfos, Platform.getCurrentPlatform());
+        return created;
     }
 
     /**
-     * @param cameraInfos Used to feed camera info for unit tests.
-     * @return New VisionSources.
-     */
-    protected List<VisionSource> tryMatchCamImpl(
-            ArrayList<CameraInfo> cameraInfos, Platform platform) {
-        boolean createSources = true;
-        List<CameraInfo> connectedCameras;
-        if (cameraInfos == null) {
-            // Detect USB cameras using CSCore
-            connectedCameras = new ArrayList<>(filterAllowedDevices(getConnectedUSBCameras(), platform));
-            // Detect CSI cameras using libcamera
-            connectedCameras.addAll(
-                    new ArrayList<>(filterAllowedDevices(getConnectedCSICameras(), platform)));
-        } else {
-            connectedCameras = new ArrayList<>(filterAllowedDevices(cameraInfos, platform));
-            createSources =
-                    false; // Dont create sources if we are using supplied camerainfo for unit tests.
-        }
-
-        // Return no new sources because there are no new sources
-        if (connectedCameras.isEmpty()) {
-            if (!hasWarnedNoCameras) {
-                logger.warn(
-                        "No cameras were detected! Check that all cameras are connected, and that the path is correct.");
-                hasWarnedNoCameras = true;
-            }
-            return null;
-        } else hasWarnedNoCameras = false;
-
-        // Remove any known cameras.
-        connectedCameras.removeIf(c -> knownCameras.contains(c));
-
-        // All cameras are already loaded return no new sources.
-        if (connectedCameras.isEmpty()) return null;
-
-        logger.debug("Matching " + connectedCameras.size() + " new camera(s)!");
-
-        // Debug prints
-        for (var info : connectedCameras) {
-            logger.info("Detected unmatched physical camera: " + info.toString());
-        }
-
-        if (!unmatchedLoadedConfigs.isEmpty())
-            logger.debug("Trying to match " + unmatchedLoadedConfigs.size() + " unmatched config(s)...");
-
-        // Match camera configs to physical cameras
-        List<CameraConfiguration> matchedCameras =
-                matchCameras(connectedCameras, unmatchedLoadedConfigs);
-
-        unmatchedLoadedConfigs.removeAll(matchedCameras);
-        if (!unmatchedLoadedConfigs.isEmpty() && !hasWarned) {
-            logger.warn(
-                    () ->
-                            "After matching, "
-                                    + unmatchedLoadedConfigs.size()
-                                    + " config(s) remained unmatched. Is your camera disconnected?");
-            logger.warn(
-                    "Unloaded configs: "
-                            + unmatchedLoadedConfigs.stream()
-                                    .map(it -> it.nickname)
-                                    .collect(Collectors.joining(", ")));
-            hasWarned = true;
-        }
-
-        // We add the matched cameras to the known camera list
-        this.knownCameras.addAll(connectedCameras);
-
-        if (matchedCameras.isEmpty()) return null;
-
-        // Turn these camera configs into vision sources
-        var sources = loadVisionSourcesFromCamConfigs(matchedCameras, createSources);
-
-        // Print info about each vision source
-        for (var src : sources) {
-            logger.debug(
-                    () ->
-                            "Matched config for camera \""
-                                    + src.getFrameProvider().getName()
-                                    + "\" and loaded "
-                                    + src.getCameraConfiguration().pipelineSettings.size()
-                                    + " pipelines");
-        }
-
-        return sources;
-    }
-
-    /**
-     * Get a predicate for checking cameras against a saved config.
+     * Assign a camera that currently has no associated CameraConfiguration loaded.
      *
-     * @param savedConfig The saved camera configuration to match against
-     * @param checkUSBPath If we should compare the USB port/bus IDs
-     * @param checkVidPid If we should compare USB VID and PID
-     * @param checkBaseName If we should compare {@link CameraInfo#getBaseName}
-     * @param checkPath If we should check {@link CameraInfo::path} (eg /dev/videoN on Linux, or
-     *     ?/usb#vid_05c8&pid_03df&mi_00#7&fa76035&0&0000#{e5323777-f976-4f5b-9b55-b94699c46e44}\global
-     *     on Windows)
+     * @param cameraInfo
      */
-    private final Predicate<CameraInfo> getCameraMatcher(
-            final CameraConfiguration savedConfig,
-            boolean checkUSBPath,
-            boolean checkVidPid,
-            boolean checkBaseName,
-            boolean checkPath) {
-        if (checkUSBPath && savedConfig.getUSBPath().isEmpty()) {
-            logger.debug(
-                    "WARN: Camera has empty USB path, but asked to match by name: "
-                            + savedConfig.toShortString());
+    public synchronized boolean assignUnmatchedCamera(PVCameraInfo cameraInfo) {
+        // Check if the camera is already in use by another module
+        if (vmm.getModules().stream()
+                .anyMatch(
+                        module ->
+                                module
+                                        .getCameraConfiguration()
+                                        .matchedCameraInfo
+                                        .uniquePath()
+                                        .equals(cameraInfo.uniquePath()))) {
+            logger.error(
+                    "Camera unique-path already in use by active VisionModule! Cannot add " + cameraInfo);
         }
 
-        return (CameraInfo physicalCamera) -> {
-            var matches = true;
+        var source = loadVisionSourceFromCamConfig(new CameraConfiguration(cameraInfo));
+        var module = vmm.addSource(source);
 
-            if (checkUSBPath) {
-                var savedPath = savedConfig.getUSBPath();
-                matches &= (savedPath.isPresent() && physicalCamera.getUSBPath().equals(savedPath));
-            }
-            if (checkBaseName) {
-                matches &= physicalCamera.getBaseName().equals(savedConfig.baseName);
-            }
-            if (checkVidPid) {
-                matches &=
-                        (physicalCamera.vendorId == savedConfig.usbVID
-                                && physicalCamera.productId == savedConfig.usbPID);
-            }
-            if (checkPath) {
-                matches &= (physicalCamera.path.equals(savedConfig.path));
-            }
+        module.start();
 
-            matches &= (physicalCamera.cameraType == savedConfig.cameraType);
+        // We have a new camera! Tell the world about it
+        DataChangeService.getInstance()
+                .publishEvent(
+                        new OutgoingUIEvent<>(
+                                "fullsettings",
+                                UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
 
-            return matches;
-        };
+        pushUiUpdate();
+
+        return true;
     }
 
-    /**
-     * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
-     * disk.
-     *
-     * @param detectedCamInfos Information about currently connected USB cameras.
-     * @param loadedCamConfigs The USB {@link CameraConfiguration}s loaded from disk.
-     * @return the matched configurations.
-     */
-    public List<CameraConfiguration> matchCameras(
-            List<CameraInfo> detectedCamInfos, List<CameraConfiguration> loadedCamConfigs) {
-        return matchCameras(
-                detectedCamInfos,
-                loadedCamConfigs,
-                ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath);
+    public synchronized boolean deleteVisionSource(String uniqueName) {
+        deactivateVisionSource(uniqueName);
+        var config = disabledCameraConfigs.remove(uniqueName);
+        ConfigManager.getInstance().getConfig().removeCameraConfig(uniqueName);
+        ConfigManager.getInstance().saveToDisk();
+
+        DataChangeService.getInstance()
+                .publishEvent(
+                        new OutgoingUIEvent<>(
+                                "fullsettings",
+                                UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
+        pushUiUpdate();
+
+        return config != null;
     }
 
-    /**
-     * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
-     * disk.
-     *
-     * @param detectedCamInfos Information about currently connected USB cameras.
-     * @param loadedCamConfigs The USB {@link CameraConfiguration}s loaded from disk.
-     * @param matchCamerasOnlyByPath If we should never try to match only by (base name, vid, pid)
-     * @return the matched configurations.
-     */
-    public List<CameraConfiguration> matchCameras(
-            List<CameraInfo> detectedCamInfos,
-            List<CameraConfiguration> loadedCamConfigs,
-            boolean matchCamerasOnlyByPath) {
-        var detectedCameraList = new ArrayList<>(detectedCamInfos);
-        ArrayList<CameraConfiguration> cameraConfigurations = new ArrayList<CameraConfiguration>();
-        ArrayList<CameraConfiguration> unloadedConfigs =
-                new ArrayList<CameraConfiguration>(loadedCamConfigs);
+    public synchronized boolean deactivateVisionSource(String uniqueName) {
+        // try to find the module. If we find it, remove it from the VMM
+        var removedConfig =
+                vmm.getModules().stream()
+                        .filter(module -> module.uniqueName().equals(uniqueName))
+                        .findFirst()
+                        .map(
+                                it -> {
+                                    vmm.removeModule(it);
+                                    return it.getCameraConfiguration();
+                                });
 
-        logger.info("Matching CSI cameras by port & base name...");
-        cameraConfigurations.addAll(
-                matchCamerasByStrategy(
-                        detectedCameraList,
-                        unloadedConfigs,
-                        new CameraMatchingOptions(false, false, true, true, CameraType.ZeroCopyPicam)));
-
-        logger.info("Matching USB cameras by usb port & name & USB VID/PID...");
-        cameraConfigurations.addAll(
-                matchCamerasByStrategy(
-                        detectedCameraList,
-                        unloadedConfigs,
-                        new CameraMatchingOptions(true, true, true, false, CameraType.UsbCamera)));
-
-        // On windows, the v4l path is actually useful and tells us the port the camera is physically
-        // connected to which is neat
-        if (Platform.isWindows() && !matchCamerasOnlyByPath) {
-            logger.info("Matching USB cameras by windows-path & USB VID/PID only...");
-            cameraConfigurations.addAll(
-                    matchCamerasByStrategy(
-                            detectedCameraList,
-                            unloadedConfigs,
-                            new CameraMatchingOptions(false, true, true, true, CameraType.UsbCamera)));
+        if (removedConfig.isEmpty()) {
+            logger.error("Could not find module " + uniqueName);
+            return false;
         }
 
-        logger.info("Matching USB cameras by usb port & USB VID/PID...");
-        cameraConfigurations.addAll(
-                matchCamerasByStrategy(
-                        detectedCameraList,
-                        unloadedConfigs,
-                        new CameraMatchingOptions(true, true, false, false, CameraType.UsbCamera)));
+        // And stuff it into our list of disabled camera configs
+        disabledCameraConfigs.put(removedConfig.get().uniqueName, removedConfig.get());
 
-        // Legacy migration -- VID/PID will be unset, so we have to try with our most relaxed strategy
-        // at least once. We _should_ still have a valid USB path (assuming cameras have not moved), so
-        // try that first, then fallback to base name only beloow
-        logger.info("Matching USB cameras by base-name & usb port...");
-        cameraConfigurations.addAll(
-                matchCamerasByStrategy(
-                        detectedCameraList,
-                        unloadedConfigs,
-                        new CameraMatchingOptions(true, false, true, false, CameraType.UsbCamera)));
+        logger.info("Disabled the VisionModule for " + removedConfig.get().nickname);
 
-        // handle disabling only-by-base-name matching
-        if (!matchCamerasOnlyByPath) {
-            logger.info("Matching USB cameras by base-name & USB VID/PID only...");
-            cameraConfigurations.addAll(
-                    matchCamerasByStrategy(
-                            detectedCameraList,
-                            unloadedConfigs,
-                            new CameraMatchingOptions(false, true, true, false, CameraType.UsbCamera)));
+        pushUiUpdate();
 
-            // Legacy migration for if no USB VID/PID set
-            logger.info("Matching USB cameras by base-name only...");
-            cameraConfigurations.addAll(
-                    matchCamerasByStrategy(
-                            detectedCameraList,
-                            unloadedConfigs,
-                            new CameraMatchingOptions(false, false, true, false, CameraType.UsbCamera)));
-        } else logger.info("Skipping match by filepath/vid/pid, disabled by user");
-
-        if (detectedCameraList.size() > 0) {
-            // handle disabling only-by-base-name matching
-            if (!matchCamerasOnlyByPath) {
-                cameraConfigurations.addAll(
-                        createConfigsForCameras(detectedCameraList, unloadedConfigs, cameraConfigurations));
-            } else {
-                logger.warn(
-                        "Not creating 'new' Photon CameraConfigurations for ["
-                                + detectedCamInfos.stream()
-                                        .map(CameraInfo::toString)
-                                        .collect(Collectors.joining(";"))
-                                + "], disabled by user");
-            }
-        }
-
-        logger.debug("Matched or created " + cameraConfigurations.size() + " camera configs!");
-        return cameraConfigurations;
+        return true;
     }
 
-    /**
-     * Abstractly match cameras
-     *
-     * @param detectedCamInfos Physical cameras unmatched and attached to the device
-     * @param unloadedConfigs {@link CameraConfiguration}
-     * @param checkUSBPath If we should compare the USB port/bus IDs
-     * @param checkVidPid If we should compare USB VID and PID
-     * @param checkBaseName If we should check {@link CameraInfo::getBaseName}
-     * @param checkPath If we should check {@link CameraInfo::path} (eg /dev/videoN on Linux, or
-     *     usb#vid_05c8&pid_03df&mi_00#7&fa76035&0&0000#{e5323777-f976-4f5b-9b55-b94699c46e44}\global
-     *     on Windows). Note that path may change based on order cameras are plugged in/unplugged on
-     *     Linux, and should not be trusted to remain the same.
-     * @return All matched or created new configs
-     */
-    private List<CameraConfiguration> matchCamerasByStrategy(
-            List<CameraInfo> detectedCamInfos,
-            List<CameraConfiguration> unloadedConfigs,
-            CameraMatchingOptions matchingOptions) {
-        List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
-        List<CameraConfiguration> unloadedConfigsCopy =
-                new ArrayList<CameraConfiguration>(unloadedConfigs);
+    protected synchronized VisionSourceManagerState getVsmState() {
+        var ret = new VisionSourceManagerState();
 
-        if (unloadedConfigsCopy.isEmpty()) return List.of();
+        ret.allConnectedCameras = filterAllowedDevices(getConnectedCameras());
+        ret.disabledConfigs =
+                disabledCameraConfigs.values().stream().map(it -> it.toUiConfig()).toList();
 
-        logger.debug("Matching with options " + matchingOptions.toString());
-
-        for (CameraConfiguration config : unloadedConfigsCopy) {
-            // Only run match path by id if the camera type is allowed. This allows us to specify matching
-            // behavior per-camera-type
-            if (matchingOptions.allowedTypes.contains(config.cameraType)) {
-                logger.debug(
-                        String.format(
-                                "Trying to find a match for loaded camera %s (%s) with camera config: %s",
-                                config.baseName, config.uniqueName, config.toShortString()));
-
-                // Get matcher and filter against it, picking out the first match
-                Predicate<CameraInfo> matches =
-                        getCameraMatcher(
-                                config,
-                                matchingOptions.checkUSBPath,
-                                matchingOptions.checkVidPid,
-                                matchingOptions.checkBaseName,
-                                matchingOptions.checkPath);
-                var cameraInfo = detectedCamInfos.stream().filter(matches).findFirst().orElse(null);
-
-                // If we actually matched a camera to a config, remove that camera from the list
-                // and add it to the output
-                if (cameraInfo != null) {
-                    logger.debug(
-                            "Matched the config for "
-                                    + config.uniqueName
-                                    + " to the physical camera config above!");
-                    ret.add(mergeInfoIntoConfig(config, cameraInfo));
-                    detectedCamInfos.remove(cameraInfo);
-                    unloadedConfigs.remove(config);
-                } else {
-                    logger.debug("No camera found for the config " + config.uniqueName);
-                }
-            }
-        }
         return ret;
     }
 
-    /**
-     * Create new {@link CameraConfiguration}s for unmatched cameras, and assign them a unique name
-     * (unique in the set of (loaded configs, unloaded configs, loaded vision modules) at least)
-     */
-    private List<CameraConfiguration> createConfigsForCameras(
-            List<CameraInfo> detectedCameraList,
-            List<CameraConfiguration> unloadedCamConfigs,
-            List<CameraConfiguration> loadedConfigs) {
-        List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
-        logger.debug(
-                "After matching loaded configs, these cameras remained unmatched: "
-                        + detectedCameraList.stream()
-                                .map(n -> String.valueOf(n))
-                                .collect(Collectors.joining("-", "{", "}")));
-        for (CameraInfo info : detectedCameraList) {
-            // create new camera config for all new cameras
-            String baseName = info.getBaseName();
-            String uniqueName = info.getHumanReadableName();
-
-            int suffix = 0;
-            while (containsName(loadedConfigs, uniqueName)
-                    || containsName(uniqueName)
-                    || containsName(unloadedCamConfigs, uniqueName)
-                    || containsName(ret, uniqueName)) {
-                suffix++;
-                uniqueName = String.format("%s (%d)", uniqueName, suffix);
-            }
-
-            logger.info("Creating a new camera config for camera " + uniqueName);
-
-            String nickname = uniqueName;
-
-            CameraConfiguration configuration =
-                    new CameraConfiguration(baseName, uniqueName, nickname, info.path, info.otherPaths);
-
-            configuration.cameraType = info.cameraType;
-
-            ret.add(configuration);
-        }
-        return ret;
+    protected void pushUiUpdate() {
+        DataChangeService.getInstance()
+                .publishEvent(OutgoingUIEvent.wrappedOf("visionSourceManager", getVsmState()));
     }
 
-    private CameraConfiguration mergeInfoIntoConfig(CameraConfiguration cfg, CameraInfo info) {
-        if (!cfg.path.equals(info.path)) {
-            logger.debug("Updating path config from " + cfg.path + " to " + info.path);
-            cfg.path = info.path;
-        }
-        cfg.otherPaths = info.otherPaths;
-        cfg.cameraType = info.cameraType;
-
-        if (cfg.otherPaths.length != info.otherPaths.length) {
-            logger.debug(
-                    "Updating otherPath config from "
-                            + Arrays.toString(cfg.otherPaths)
-                            + " to "
-                            + Arrays.toString(info.otherPaths));
-            cfg.otherPaths = info.otherPaths.clone();
-        } else {
-            for (int i = 0; i < info.otherPaths.length; i++) {
-                if (!cfg.otherPaths[i].equals(info.otherPaths[i])) {
-                    logger.debug(
-                            "Updating otherPath config from "
-                                    + Arrays.toString(cfg.otherPaths)
-                                    + " to "
-                                    + Arrays.toString(info.otherPaths));
-                    cfg.otherPaths = info.otherPaths.clone();
-                    break;
-                }
-            }
+    protected List<PVCameraInfo> getConnectedCameras() {
+        List<PVCameraInfo> cameraInfos = new ArrayList<>();
+        // find all connected cameras
+        // cscore can return usb and csi cameras but csi are filtered out
+        Stream.of(UsbCamera.enumerateUsbCameras())
+                .map(c -> PVCameraInfo.fromUsbCameraInfo(c))
+                .filter(c -> !(String.join("", c.otherPaths()).contains("csi-video")))
+                .filter(c -> !c.name().equals("unicam"))
+                .forEach(cameraInfos::add);
+        if (LibCameraJNILoader.isSupported()) {
+            // find all CSI cameras (Raspberry Pi cameras)
+            Stream.of(LibCameraJNI.getCameraNames())
+                    .map(
+                            path -> {
+                                String name = LibCameraJNI.getSensorModel(path).getFriendlyName();
+                                return PVCameraInfo.fromCSICameraInfo(path, name);
+                            })
+                    .forEach(cameraInfos::add);
         }
 
-        return cfg;
+        // FileVisionSources are a bit quirky. They aren't enumerated by the above, but i still want my
+        // UI to look like it ought to work
+        vmm.getModules().stream()
+                .map(it -> it.getCameraConfiguration().matchedCameraInfo)
+                .filter(info -> info instanceof PVCameraInfo.PVFileCameraInfo)
+                .forEach(cameraInfos::add);
+
+        return cameraInfos;
     }
 
-    public void setIgnoredCamerasRegex(String ignoredCamerasRegex) {
-        this.ignoredCamerasRegex = ignoredCamerasRegex;
-    }
-
-    /**
-     * Filter out any blacklisted or ignored devices.
-     *
-     * @param allDevices
-     * @return list of devices with blacklisted or ignore devices removed.
-     */
-    private List<CameraInfo> filterAllowedDevices(List<CameraInfo> allDevices, Platform platform) {
-        List<CameraInfo> filteredDevices = new ArrayList<>();
+    private static List<PVCameraInfo> filterAllowedDevices(List<PVCameraInfo> allDevices) {
+        Platform platform = Platform.getCurrentPlatform();
+        ArrayList<PVCameraInfo> filteredDevices = new ArrayList<>();
         for (var device : allDevices) {
-            if (deviceBlacklist.contains(device.name)) {
+            boolean valid = false;
+            if (deviceBlacklist.contains(device.name())) {
                 logger.trace(
-                        "Skipping blacklisted device: \"" + device.name + "\" at \"" + device.path + "\"");
-            } else if (device.name.matches(ignoredCamerasRegex)) {
-                logger.trace("Skipping ignored device: \"" + device.name + "\" at \"" + device.path);
-            } else if (device.getIsV4lCsiCamera()) {
-            } else if (device.otherPaths.length == 0
-                    && platform.osType == OSType.LINUX
-                    && device.cameraType == CameraType.UsbCamera) {
-                logger.trace(
-                        "Skipping device with no other paths: \"" + device.name + "\" at \"" + device.path);
-                // If cscore hasnt passed this other paths aka a path by id or a path as in usb port then we
-                // cant guarantee it is a valid camera.
+                        "Skipping blacklisted device: \"" + device.name() + "\" at \"" + device.path() + "\"");
+            } else if (device instanceof PVCameraInfo.PVUsbCameraInfo usbDevice) {
+                if (usbDevice.otherPaths.length == 0
+                        && platform.osType == OSType.LINUX
+                        && device.type() == CameraType.UsbCamera) {
+                    logger.trace(
+                            "Skipping device with no other paths: \""
+                                    + device.name()
+                                    + "\" at \""
+                                    + device.path());
+                } else if (Arrays.stream(usbDevice.otherPaths).anyMatch(it -> it.contains("csi-video"))
+                        || usbDevice.name().equals("unicam")) {
+                    logger.trace(
+                            "Skipping CSI device from CSCore: \""
+                                    + device.name()
+                                    + "\" at \""
+                                    + device.path()
+                                    + "\"");
+                } else {
+                    valid = true;
+                }
             } else {
+                valid = true;
+            }
+            if (valid) {
                 filteredDevices.add(device);
                 logger.trace(
-                        "Adding local video device - \"" + device.name + "\" at \"" + device.path + "\"");
+                        "Adding local video device - \"" + device.name() + "\" at \"" + device.path() + "\"");
             }
         }
         return filteredDevices;
     }
 
-    private static List<VisionSource> loadVisionSourcesFromCamConfigs(
-            List<CameraConfiguration> camConfigs, boolean createSources) {
-        var cameraSources = new ArrayList<VisionSource>();
-        for (var configuration : camConfigs) {
-            // In unit tests, create dummy
-            if (!createSources) {
-                cameraSources.add(new TestSource(configuration));
-                continue;
-            }
+    /**
+     * Convert a configuration into a VisionSource. The VisionSource type is pulled from the {@link
+     * CameraConfiguration}'s matchedCameraInfo. We depend on the underlying {@link VisionSource} to
+     * be robust to disconnected sources at boot
+     *
+     * <p>Verify that nickname is unique within the set of desesrialized camera configurations, adding
+     * random characters if this isn't the case
+     */
+    protected VisionSource loadVisionSourceFromCamConfig(CameraConfiguration configuration) {
+        logger.debug("Creating VisionSource for " + configuration.toShortString());
 
-            boolean is_pi = Platform.isRaspberryPi();
-
-            if (configuration.cameraType == CameraType.ZeroCopyPicam && is_pi) {
-                // If the camera was loaded from libcamera then create its source using libcamera.
-                var piCamSrc = new LibcameraGpuSource(configuration);
-                cameraSources.add(piCamSrc);
+        // First, make sure that nickname is globally unique since we use the nickname in NetworkTables.
+        // "Just one more source of truth bro it'll real this time I promise"
+        var currentNicknames = new ArrayList<String>();
+        this.disabledCameraConfigs.values().stream()
+                .map(it -> it.nickname)
+                .forEach(currentNicknames::add);
+        this.vmm.getModules().stream()
+                .map(it -> it.getCameraConfiguration().nickname)
+                .forEach(currentNicknames::add);
+        // while it's a duplicate
+        while (currentNicknames.contains(configuration.nickname)) {
+            // if we already have a number, extract
+            var pattern = Pattern.compile("(^.*) \\(([0-9]+)\\)$");
+            var matcher = pattern.matcher(configuration.nickname);
+            if (matcher.find()) {
+                int oldNumber = Integer.parseInt(matcher.group(2));
+                int newNumber = oldNumber + 1;
+                configuration.nickname = matcher.group(1) + " (" + newNumber + ")";
             } else {
-                var newCam = new USBCameraSource(configuration);
-                if (!newCam.getCameraQuirks().hasQuirk(CameraQuirk.CompletelyBroken)
-                        && !newCam.getSettables().videoModes.isEmpty()) {
-                    cameraSources.add(newCam);
-                }
+                configuration.nickname += " (1)";
             }
-            logger.debug("Creating VisionSource for " + configuration.toShortString());
         }
-        return cameraSources;
+
+        VisionSource source =
+                switch (configuration.matchedCameraInfo.type()) {
+                    case UsbCamera -> new USBCameraSource(configuration);
+                    case ZeroCopyPicam -> new LibcameraGpuSource(configuration);
+                    case FileCamera -> new FileVisionSource(configuration);
+                };
+
+        if (source.getFrameProvider() == null) {
+            logger.error("Frame provider is null?");
+        }
+        if (source.getSettables() == null) {
+            logger.error("Settables are null?");
+        }
+
+        return source;
     }
 
-    /**
-     * Check if a given config list contains the given unique name.
-     *
-     * @param configList A list of camera configs.
-     * @param uniqueName The unique name.
-     * @return If the list of configs contains the unique name.
-     */
-    private boolean containsName(
-            final List<CameraConfiguration> configList, final String uniqueName) {
-        return configList.stream()
-                .anyMatch(configuration -> configuration.uniqueName.equals(uniqueName));
-    }
-
-    /**
-     * Check if the current list of known cameras contains the given unique name.
-     *
-     * @param uniqueName The unique name.
-     * @return If the list of cameras contains the unique name.
-     */
-    private boolean containsName(final String uniqueName) {
-        return VisionModuleManager.getInstance().getModules().stream()
-                .anyMatch(camera -> camera.visionSource.cameraConfiguration.uniqueName.equals(uniqueName));
+    public List<VisionModule> getVisionModules() {
+        return vmm.getModules();
     }
 }

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java

@@ -26,22 +26,33 @@ import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.frame.FrameStaticProperties;
 
 public abstract class VisionSourceSettables {
-    protected static final Logger logger =
-            new Logger(VisionSourceSettables.class, LogGroup.VisionModule);
+    protected Logger logger;
 
     private final CameraConfiguration configuration;
 
     protected VisionSourceSettables(CameraConfiguration configuration) {
         this.configuration = configuration;
+        this.logger =
+                new Logger(VisionSourceSettables.class, configuration.nickname, LogGroup.VisionModule);
     }
 
-    protected FrameStaticProperties frameStaticProperties;
-    protected HashMap<Integer, VideoMode> videoModes;
+    protected FrameStaticProperties frameStaticProperties = null;
+    protected HashMap<Integer, VideoMode> videoModes = new HashMap<>();
 
     public CameraConfiguration getConfiguration() {
         return configuration;
     }
 
+    // If the device has been connected at least once, and we cached properties
+    protected boolean cameraPropertiesCached = false;
+
+    /**
+     * Runs exactly once the first time that the underlying device goes from disconnected to connected
+     */
+    public void onCameraConnected() {
+        cameraPropertiesCached = true;
+    }
+
     public abstract void setExposureRaw(double exposureRaw);
 
     public abstract double getMinExposureRaw();
@@ -109,7 +120,7 @@ public abstract class VisionSourceSettables {
         calculateFrameStaticProps();
     }
 
-    private void calculateFrameStaticProps() {
+    protected void calculateFrameStaticProps() {
         var videoMode = getCurrentVideoMode();
         this.frameStaticProperties =
                 new FrameStaticProperties(

photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java

@@ -30,6 +30,7 @@ import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.file.JacksonUtils;
+import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
@@ -39,7 +40,8 @@ import org.photonvision.vision.target.TargetModel;
 public class ConfigTest {
     private static ConfigManager configMgr;
     private static final CameraConfiguration cameraConfig =
-            new CameraConfiguration("TestCamera", "/dev/video420");
+            new CameraConfiguration(
+                    "TestCamera", PVCameraInfo.fromFileInfo("TestCamera", "/dev/video420"));
     private static ReflectivePipelineSettings REFLECTIVE_PIPELINE_SETTINGS;
     private static ColoredShapePipelineSettings COLORED_SHAPE_PIPELINE_SETTINGS;
     private static AprilTagPipelineSettings APRIL_TAG_PIPELINE_SETTINGS;

photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java

@@ -20,6 +20,7 @@ package org.photonvision.common.configuration;
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import edu.wpi.first.cscore.UsbCameraInfo;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Files;
@@ -32,8 +33,7 @@ import org.junit.jupiter.api.Order;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.CameraQuirk;
-import org.photonvision.vision.camera.CameraType;
-import org.photonvision.vision.camera.QuirkyCamera;
+import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
 import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
@@ -76,26 +76,18 @@ public class SQLConfigTest {
 
         cfgLoader.load();
 
-        var testcamcfg =
+        var testCamCfg =
                 new CameraConfiguration(
-                        "basename",
-                        "a_unique_name",
-                        "a_nick_name",
-                        69,
-                        "a/path/idk",
-                        CameraType.UsbCamera,
-                        QuirkyCamera.getQuirkyCamera(-1, -1),
-                        List.of(),
-                        0,
-                        -1,
-                        -1);
-        testcamcfg.pipelineSettings =
+                        PVCameraInfo.fromUsbCameraInfo(
+                                new UsbCameraInfo(0, "/dev/videoN", "some_name", new String[0], -1, 01)));
+
+        testCamCfg.pipelineSettings =
                 List.of(
                         new ReflectivePipelineSettings(),
                         new AprilTagPipelineSettings(),
                         new ColoredShapePipelineSettings());
 
-        cfgLoader.getConfig().addCameraConfig(testcamcfg);
+        cfgLoader.getConfig().addCameraConfig(testCamCfg);
         cfgLoader.getConfig().getNetworkConfig().ntServerAddress = "5940";
         cfgLoader.saveToDisk();
 

photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java

@@ -31,7 +31,8 @@ public class MockUsbCameraSource extends USBCameraSource {
     public MockUsbCameraSource(CameraConfiguration config, int pid, int vid) {
         super(config);
 
-        getCameraConfiguration().cameraQuirks = QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
+        getCameraConfiguration().cameraQuirks =
+                QuirkyCamera.getQuirkyCamera(pid, vid, config.matchedCameraInfo.name());
 
         /** File used as frame provider */
         usbFrameProvider =

photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java

@@ -34,6 +34,7 @@ import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.jni.PhotonTargetingJniLoader;
+import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.camera.USBCameras.USBCameraSource;
 import org.photonvision.vision.frame.FrameProvider;
@@ -90,6 +91,9 @@ public class VisionModuleManagerTest {
         public void remakeSettables() {
             return;
         }
+
+        @Override
+        public void release() {}
     }
 
     private static class TestSettables extends VisionSourceSettables {
@@ -166,7 +170,9 @@ public class VisionModuleManagerTest {
     public void setupManager() {
         ConfigManager.getInstance().load();
 
-        var conf = new CameraConfiguration("Foo", "Bar");
+        var vmm = new VisionModuleManager();
+
+        var conf = new CameraConfiguration(PVCameraInfo.fromFileInfo("Foo", "Bar"));
         var ffp =
                 new FileFrameProvider(
                         TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
@@ -174,12 +180,12 @@ public class VisionModuleManagerTest {
 
         var testSource = new TestSource(ffp, conf);
 
-        var modules = VisionModuleManager.getInstance().addSources(List.of(testSource));
+        var module = vmm.addSource(testSource);
         var module0DataConsumer = new TestDataConsumer();
 
-        VisionModuleManager.getInstance().visionModules.get(0).addResultConsumer(module0DataConsumer);
+        module.addResultConsumer(module0DataConsumer);
 
-        modules.forEach(VisionModule::start);
+        module.start();
 
         sleep(1500);
 
@@ -193,7 +199,7 @@ public class VisionModuleManagerTest {
 
         var vmm = new VisionModuleManager();
 
-        var conf = new CameraConfiguration("Foo", "Bar");
+        var conf = new CameraConfiguration(PVCameraInfo.fromFileInfo("Foo", "Bar"));
         conf.streamIndex = 1;
         var ffp =
                 new FileFrameProvider(
@@ -201,7 +207,7 @@ public class VisionModuleManagerTest {
                         TestUtils.WPI2019Image.FOV);
         var testSource = new TestSource(ffp, conf);
 
-        var conf2 = new CameraConfiguration("Foo2", "Bar");
+        var conf2 = new CameraConfiguration(PVCameraInfo.fromFileInfo("Foo2", "Bar2"));
         conf2.streamIndex = 0;
         var ffp2 =
                 new FileFrameProvider(
@@ -209,7 +215,7 @@ public class VisionModuleManagerTest {
                         TestUtils.WPI2019Image.FOV);
         var testSource2 = new TestSource(ffp2, conf2);
 
-        var conf3 = new CameraConfiguration("Foo3", "Bar");
+        var conf3 = new CameraConfiguration(PVCameraInfo.fromFileInfo("Foo3", "Bar3"));
         conf3.streamIndex = 0;
         var ffp3 =
                 new FileFrameProvider(
@@ -218,24 +224,23 @@ public class VisionModuleManagerTest {
         var testSource3 = new TestSource(ffp3, conf3);
 
         // Arducam OV9281 UC844 raspberry pi test.
-        var conf4 = new CameraConfiguration("Left", "dev/video1");
+        var conf4 = new CameraConfiguration(PVCameraInfo.fromFileInfo("Left", "/dev/video1"));
         USBCameraSource usbSimulation = new MockUsbCameraSource(conf4, 0x6366, 0x0c45);
 
-        var conf5 = new CameraConfiguration("Right", "dev/video2");
+        var conf5 = new CameraConfiguration(PVCameraInfo.fromFileInfo("Right", "/dev/video2"));
         USBCameraSource usbSimulation2 = new MockUsbCameraSource(conf5, 0x6366, 0x0c45);
 
         var modules =
-                vmm.addSources(
-                        List.of(testSource, testSource2, testSource3, usbSimulation, usbSimulation2));
+                List.of(testSource, testSource2, testSource3, usbSimulation, usbSimulation2).stream()
+                        .map(vmm::addSource)
+                        .collect(Collectors.toList());
 
         System.out.println(
                 Arrays.toString(
-                        modules.stream()
-                                .map(it -> it.visionSource.getCameraConfiguration().streamIndex)
-                                .toArray()));
+                        modules.stream().map(it -> it.getCameraConfiguration().streamIndex).toArray()));
         var idxs =
                 modules.stream()
-                        .map(it -> it.visionSource.getCameraConfiguration().streamIndex)
+                        .map(it -> it.getCameraConfiguration().streamIndex)
                         .collect(Collectors.toList());
 
         assertTrue(usbSimulation.equals(usbSimulation));

photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java

@@ -17,674 +17,223 @@
 
 package org.photonvision.vision.processes;
 
-import static org.junit.jupiter.api.Assertions.*;
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.cscore.UsbCameraInfo;
+import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
-import org.photonvision.common.hardware.Platform;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.LogLevel;
-import org.photonvision.common.logging.Logger;
-import org.photonvision.vision.camera.CameraInfo;
-import org.photonvision.vision.camera.CameraType;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.common.util.file.JacksonUtils;
+import org.photonvision.jni.PhotonTargetingJniLoader;
+import org.photonvision.vision.camera.PVCameraInfo;
 
 public class VisionSourceManagerTest {
-    @Test
-    public void visionSourceTest() {
-        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+    // Test harness that overrides getConnectedCameras, but uses USB cameras for
+    // everything else
+    // when we start testing libcamera stuff we'll need to mock more stuff out
+    private static class TestVsm extends VisionSourceManager {
+        public List<PVCameraInfo> testCameras = new ArrayList<>();
 
-        var inst = new VisionSourceManager();
-        var cameraInfos = new ArrayList<CameraInfo>();
-        ConfigManager.getInstance().clearConfig();
+        @Override
+        protected List<PVCameraInfo> getConnectedCameras() {
+            return testCameras;
+        }
+
+        public void teardown() {
+            // release native resources
+            var uniqueNames = getVisionModules().stream().map(VisionModule::uniqueName).toList();
+            for (var name : uniqueNames) {
+                deactivateVisionSource(name);
+            }
+        }
+    }
+
+    @BeforeAll
+    public static void loadLibraries() {
+        TestUtils.loadLibraries();
+        assertDoesNotThrow(PhotonTargetingJniLoader::load);
+        assertTrue(PhotonTargetingJniLoader.isWorking);
+
+        // Broadcast all still calls into configmanager (ew) so set that up here
         ConfigManager.getInstance().load();
+    }
 
-        inst.tryMatchCamImpl(cameraInfos);
+    private TestVsm vsm = null;
 
-        var config3 =
-                new CameraConfiguration(
-                        "thirdTestVideo",
-                        "thirdTestVideo",
-                        "thirdTestVideo",
-                        "dev/video1",
-                        new String[] {"by-id/123"});
-        config3.usbVID = 3;
-        config3.usbPID = 4;
-        var config4 =
-                new CameraConfiguration(
-                        "fourthTestVideo",
-                        "fourthTestVideo",
-                        "fourthTestVideo",
-                        "dev/video2",
-                        new String[] {"by-id/321"});
-        config4.usbVID = 5;
-        config4.usbPID = 6;
+    @BeforeEach
+    public void createVsm() {
+        ConfigManager.getInstance().clearConfig();
+        vsm = new TestVsm();
+    }
 
-        CameraInfo info1 =
-                new CameraInfo(0, "dev/video0", "testVideo", new String[] {"/usb/path/0"}, 1, 2);
-
-        cameraInfos.add(info1);
-
-        inst.registerLoadedConfigs(config3, config4);
-
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(inst.knownCameras.contains(info1));
-        assertEquals(2, inst.unmatchedLoadedConfigs.size());
-
-        CameraInfo info2 =
-                new CameraInfo(0, "dev/video1", "secondTestVideo", new String[] {"/usb/path/1"}, 2, 3);
-
-        cameraInfos.add(info2);
-
-        var cams = inst.matchCameras(cameraInfos, inst.unmatchedLoadedConfigs);
-
-        // assertEquals("testVideo (1)", cams.get(0).uniqueName); // Proper suffixing
-
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(inst.knownCameras.contains(info2));
-        assertEquals(2, inst.unmatchedLoadedConfigs.size());
-
-        CameraInfo info3 =
-                new CameraInfo(0, "dev/video2", "thirdTestVideo", new String[] {"by-id/123"}, 3, 4);
-
-        CameraInfo info4 =
-                new CameraInfo(0, "dev/video3", "fourthTestVideo", new String[] {"by-id/321"}, 5, 6);
-
-        cameraInfos.add(info4);
-
-        cams = inst.matchCameras(cameraInfos, inst.unmatchedLoadedConfigs);
-
-        var cam4 =
-                cams.stream()
-                        .filter(
-                                cam -> cam.otherPaths.length > 0 && cam.otherPaths[0].equals(config4.otherPaths[0]))
-                        .findFirst()
-                        .orElse(null);
-        // If this is null, cam4 got matched to config3 instead of config4
-
-        assertEquals(cam4.nickname, config4.nickname);
-
-        cameraInfos.add(info3);
-
-        cams = inst.matchCameras(cameraInfos, inst.unmatchedLoadedConfigs);
-
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(inst.knownCameras.contains(info2));
-        assertTrue(inst.knownCameras.contains(info3));
-
-        var cam3 =
-                cams.stream()
-                        .filter(
-                                cam -> cam.otherPaths.length > 0 && cam.otherPaths[0].equals(config3.otherPaths[0]))
-                        .findFirst()
-                        .orElse(null);
-        cam4 =
-                cams.stream()
-                        .filter(
-                                cam -> cam.otherPaths.length > 0 && cam.otherPaths[0].equals(config4.otherPaths[0]))
-                        .findFirst()
-                        .orElse(null);
-
-        assertEquals(cam3.nickname, config3.nickname);
-        assertEquals(cam4.nickname, config4.nickname);
-
-        CameraInfo info5 =
-                new CameraInfo(
-                        2,
-                        "/dev/video2",
-                        "Left Camera",
-                        new String[] {
-                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Left_Camera_12345-video-index0",
-                            "/dev/v4l/by-path/platform-xhci-hcd.0-usb-0:2:1.0-video-index0"
-                        },
-                        7,
-                        8);
-        cameraInfos.add(info5);
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(inst.knownCameras.contains(info5));
-
-        CameraInfo info6 =
-                new CameraInfo(
-                        3,
-                        "dev/video3",
-                        "Right Camera",
-                        new String[] {
-                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Right_Camera_123456-video-index0",
-                            "/dev/v4l/by-path/platform-xhci-hcd.1-usb-0:1:1.0-video-index0"
-                        },
-                        9,
-                        10);
-        cameraInfos.add(info6);
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(inst.knownCameras.contains(info6));
-
-        // RPI 5 CSI Tests
-
-        // CSI CAMERAS SHOULD NOT BE LOADED LIKE THIS THEY SHOULD GO THROUGH LIBCAM.
-        CameraInfo info7 =
-                new CameraInfo(
-                        4,
-                        "dev/video4",
-                        "CSICAM-DEV", // Typically rp1-cfe for unit test changed to CSICAM-DEV
-                        new String[] {"/dev/v4l/by-path/platform-1f00110000.csi-video-index0"},
-                        11,
-                        12);
-        cameraInfos.add(info7);
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(!inst.knownCameras.contains(info7)); // This camera should not be recognized/used.
-
-        CameraInfo info8 =
-                new CameraInfo(
-                        5,
-                        "dev/video8",
-                        "CSICAM-DEV", // Typically rp1-cfe for unit test changed to CSICAM-DEV
-                        new String[] {"/dev/v4l/by-path/platform-1f00110000.csi-video-index4"},
-                        13,
-                        14);
-        cameraInfos.add(info8);
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(!inst.knownCameras.contains(info8)); // This camera should not be recognized/used.
-
-        CameraInfo info9 =
-                new CameraInfo(
-                        6,
-                        "dev/video9",
-                        "CSICAM-DEV", // Typically rp1-cfe for unit test changed to CSICAM-DEV
-                        new String[] {"/dev/v4l/by-path/platform-1f00110000.csi-video-index5"},
-                        15,
-                        16);
-        cameraInfos.add(info9);
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(!inst.knownCameras.contains(info9)); // This camera should not be recognized/used.
-        assertEquals(6, inst.knownCameras.size());
-        assertEquals(0, inst.unmatchedLoadedConfigs.size());
-
-        // RPI LIBCAMERA CSI CAMERA TESTS
-        CameraInfo info10 =
-                new CameraInfo(
-                        -1,
-                        "/base/soc/i2c0mux/i2c@0/ov9281@60",
-                        "OV9281", // Typically rp1-cfe for unit test changed to CSICAM-DEV
-                        new String[] {},
-                        -1,
-                        -1,
-                        CameraType.ZeroCopyPicam);
-        cameraInfos.add(info10);
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(inst.knownCameras.contains(info10));
-        assertEquals(7, inst.knownCameras.size());
-        assertEquals(0, inst.unmatchedLoadedConfigs.size());
-
-        CameraInfo info11 =
-                new CameraInfo(
-                        -1,
-                        "/base/soc/i2c0mux/i2c@1/ov9281@60",
-                        "OV9281", // Typically rp1-cfe for unit test changed to CSICAM-DEV
-                        new String[] {},
-                        -1,
-                        -1,
-                        CameraType.ZeroCopyPicam);
-        cameraInfos.add(info11);
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(inst.knownCameras.contains(info11));
-        assertEquals(8, inst.knownCameras.size());
-        assertEquals(0, inst.unmatchedLoadedConfigs.size());
-
-        CameraInfo info12 =
-                new CameraInfo(
-                        -1,
-                        " /base/axi/pcie@120000/rp1/i2c@80000/ov5647@36",
-                        "Camera Module v1",
-                        new String[] {},
-                        -1,
-                        -1,
-                        CameraType.ZeroCopyPicam);
-        cameraInfos.add(info12);
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(inst.knownCameras.contains(info12));
-        assertEquals(9, inst.knownCameras.size());
-        assertEquals(0, inst.unmatchedLoadedConfigs.size());
-
-        CameraInfo info13 =
-                new CameraInfo(
-                        -1,
-                        "/base/axi/pcie@120000/rp1/i2c@88000/imx708@1a",
-                        "Camera Module v3",
-                        new String[] {},
-                        -1,
-                        -1,
-                        CameraType.ZeroCopyPicam);
-        cameraInfos.add(info13);
-        inst.tryMatchCamImpl(cameraInfos);
-
-        assertTrue(inst.knownCameras.contains(info13));
-        assertEquals(10, inst.knownCameras.size());
-        assertEquals(0, inst.unmatchedLoadedConfigs.size());
+    @AfterEach
+    public void teardownVsm() {
+        vsm.teardown();
     }
 
     @Test
-    public void testDisableInhibitPathChangeIdenticalCams() {
-        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
-
-        var inst = new VisionSourceManager();
-        ConfigManager.getInstance().clearConfig();
-        ConfigManager.getInstance().load();
-        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = false;
-
-        var CAM2_OLD_PATH =
-                new String[] {"/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"};
-        var CAM2_NEW_PATH =
-                new String[] {"/dev/v4l/by-path/platform-fc880080.usb-usb-0:1:1.3-video-index0"};
-
-        var CAM1_OLD_PATHS =
-                new String[] {
-                    "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
-                    "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0"
-                };
-
-        var camera1_saved_config =
-                new CameraConfiguration(
-                        "Arducam OV2311 USB Camera",
-                        "Arducam OV2311 USB Camera",
-                        "front-left",
-                        "/dev/video0",
-                        CAM1_OLD_PATHS);
-        camera1_saved_config.usbVID = 3141;
-        camera1_saved_config.usbPID = 25446;
-        var camera2_saved_config =
-                new CameraConfiguration(
-                        "Arducam OV2311 USB Camera",
-                        "Arducam OV2311 USB Camera (1)",
-                        "front-left",
-                        "/dev/video2",
-                        CAM2_OLD_PATH);
-        camera2_saved_config.usbVID = 3141;
-        camera2_saved_config.usbPID = 25446;
-
-        // And load our "old" configs
-        inst.registerLoadedConfigs(camera1_saved_config, camera2_saved_config);
-
-        // Camera attached to new port, but strict matching disabled
+    public void testCameraInfoSerde() throws InterruptedException, IOException {
         {
-            CameraInfo info1 =
-                    new CameraInfo(
-                            0, "/dev/video11", "Arducam OV2311 USB Camera", CAM1_OLD_PATHS, 3141, 25446);
-            CameraInfo info2 =
-                    new CameraInfo(
-                            0, "/dev/video12", "Arducam OV2311 USB Camera", CAM2_NEW_PATH, 3141, 25446);
+            var usb =
+                    PVCameraInfo.fromUsbCameraInfo(
+                            new UsbCameraInfo(
+                                    2,
+                                    "/dev/video2",
+                                    "Left Camera", // renamed arducam
+                                    new String[] {
+                                        "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Left_Camera_12345-video-index0",
+                                        "/dev/v4l/by-path/platform-xhci-hcd.0-usb-0:2:1.0-video-index0"
+                                    },
+                                    7,
+                                    8));
 
-            var cameraInfos = new ArrayList<CameraInfo>();
-            cameraInfos.add(info1);
-            cameraInfos.add(info2);
-            List<VisionSource> ret1 = inst.tryMatchCamImpl(cameraInfos);
-
-            // and check the new one got matched got matched
-            assertEquals(2, ret1.size());
-            assertEquals(
-                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info1.path)).count());
-            assertEquals(
-                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info2.path)).count());
+            var str = JacksonUtils.serializeToString(usb);
+            System.out.println(str);
+            System.out.println(JacksonUtils.deserialize(str, PVCameraInfo.class));
         }
-    }
-
-    @Test
-    public void testInhibitPathChangeIdenticalCams() {
-        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
-
-        var inst = new VisionSourceManager();
-        ConfigManager.getInstance().clearConfig();
-        ConfigManager.getInstance().load();
-        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = true;
-
-        var CAM2_OLD_PATH =
-                new String[] {"/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"};
-        var CAM2_NEW_PATH =
-                new String[] {"/dev/v4l/by-path/platform-fc880080.usb-usb-0:1:1.3-video-index0"};
-
-        var CAM1_OLD_PATHS =
-                new String[] {
-                    "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
-                    "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0"
-                };
-
-        var camera1_saved_config =
-                new CameraConfiguration(
-                        "Arducam OV2311 USB Camera",
-                        "Arducam OV2311 USB Camera (1)",
-                        "front-left",
-                        "/dev/video0",
-                        CAM1_OLD_PATHS);
-        camera1_saved_config.usbVID = 3141;
-        camera1_saved_config.usbPID = 25446;
-        var camera2_saved_config =
-                new CameraConfiguration(
-                        "Arducam OV2311 USB Camera",
-                        "Arducam OV2311 USB Camera (1)",
-                        "front-left",
-                        "/dev/video2",
-                        CAM2_OLD_PATH);
-        camera2_saved_config.usbVID = 3141;
-        camera2_saved_config.usbPID = 25446;
-
-        // And load our "old" configs
-        inst.registerLoadedConfigs(camera1_saved_config, camera2_saved_config);
-
-        // initial pass with camera in the wrong spot
         {
-            // Give our cameras new "paths" to fake the windows logic out. this should not
-            // affect strict matching
-            CameraInfo info1 =
-                    new CameraInfo(
-                            0, "/dev/video11", "Arducam OV2311 USB Camera", CAM1_OLD_PATHS, 3141, 25446);
-            CameraInfo info2 =
-                    new CameraInfo(
-                            0, "/dev/video12", "Arducam OV2311 USB Camera", CAM2_NEW_PATH, 3141, 25446);
-
-            var cameraInfos = new ArrayList<CameraInfo>();
-            cameraInfos.add(info1);
-            cameraInfos.add(info2);
-            List<VisionSource> ret1 = inst.tryMatchCamImpl(cameraInfos);
-
-            // Our cameras should be "known"
-            assertTrue(inst.knownCameras.contains(info1));
-            assertTrue(inst.knownCameras.contains(info2));
-            assertEquals(2, inst.knownCameras.size());
-
-            // And we should have matched one camera
-            assertEquals(1, ret1.size());
-            // and only matched camera1, not 2
-            assertEquals(
-                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info1.path)).count());
-            assertEquals(
-                    0, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info2.path)).count());
-        }
-
-        // Now move our camera back
-        {
-            CameraInfo info1 =
-                    new CameraInfo(
-                            0, "/dev/video11", "Arducam OV2311 USB Camera", CAM1_OLD_PATHS, 3141, 25446);
-            CameraInfo info2 =
-                    new CameraInfo(
-                            0, "/dev/video12", "Arducam OV2311 USB Camera", CAM2_OLD_PATH, 3141, 25446);
-
-            var cameraInfos = new ArrayList<CameraInfo>();
-            cameraInfos.add(info1);
-            cameraInfos.add(info2);
-            List<VisionSource> ret1 = inst.tryMatchCamImpl(cameraInfos);
-
-            // and check the new one got matched got matched
-            assertEquals(1, ret1.size());
-            assertEquals(
-                    0, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info1.path)).count());
-            assertEquals(
-                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info2.path)).count());
+            var csi =
+                    PVCameraInfo.fromCSICameraInfo(
+                            "/dev/v4l/by-path/platform-1f00110000.csi-video-index0", "rp1-cfe");
+            var str = JacksonUtils.serializeToString(csi);
+            System.out.println(str);
+            System.out.println(JacksonUtils.deserialize(str, PVCameraInfo.class));
         }
     }
 
     @Test
-    public void testCSICameraMatching() {
-        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+    public void testEmpty() {
+        var vsm = new TestVsm();
 
-        // List of known cameras
-        var cameraInfos = new ArrayList<CameraInfo>();
+        List<CameraConfiguration> configs = List.of();
+        vsm.registerLoadedConfigs(configs);
 
-        var inst = new VisionSourceManager();
-        ConfigManager.getInstance().clearConfig();
-        ConfigManager.getInstance().load();
-        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = false;
+        // And make assertions about the current matching state
+        assertEquals(0, vsm.getVsmState().allConnectedCameras.size());
+        assertEquals(0, vsm.getVsmState().disabledConfigs.size());
+        assertEquals(0, vsm.vmm.getModules().size());
+    }
 
-        CameraInfo info1 =
-                new CameraInfo(
-                        -1,
-                        "/base/soc/i2c0mux/i2c@0/ov9281@60",
-                        "OV9281", // Typically rp1-cfe for unit test changed to CSICAM-DEV
-                        new String[] {},
-                        -1,
-                        -1,
-                        CameraType.ZeroCopyPicam);
+    @Test
+    public void testFileVisionSource() throws InterruptedException, IOException {
+        var fileCamera1 =
+                PVCameraInfo.fromFileInfo(
+                        TestUtils.getApriltagImagePath(TestUtils.ApriltagTestImages.kTag1_640_480, false)
+                                .toAbsolutePath()
+                                .toString(),
+                        "kTag1_640_480");
 
-        CameraInfo info2 =
-                new CameraInfo(
-                        -1,
-                        "/base/soc/i2c0mux/i2c@1/ov9281@60",
-                        "OV9281", // Typically rp1-cfe for unit test changed to CSICAM-DEV
-                        new String[] {},
-                        -1,
-                        -1,
-                        CameraType.ZeroCopyPicam);
+        vsm.testCameras = List.of(fileCamera1);
 
-        var camera1_saved_config =
+        List<CameraConfiguration> configs = List.of();
+        vsm.registerLoadedConfigs(configs);
+
+        vsm.assignUnmatchedCamera(fileCamera1);
+
+        System.out.println(JacksonUtils.serializeToString(ConfigManager.getInstance().getConfig()));
+
+        // And make assertions about the current matching state
+        assertEquals(1, vsm.getVsmState().allConnectedCameras.size());
+        assertEquals(0, vsm.getVsmState().disabledConfigs.size());
+        assertEquals(1, vsm.vmm.getModules().size());
+    }
+
+    @Test
+    public void testEnabledDisabled() throws InterruptedException {
+        // GIVEN a VSM
+        var vsm = new TestVsm();
+        // AND one enabled camera, and one disabled camera
+        var enabledCam =
                 new CameraConfiguration(
-                        "OV9281", "OV9281", "test-1", "/base/soc/i2c0mux/i2c@0/ov9281@60", new String[0]);
-        camera1_saved_config.cameraType = CameraType.ZeroCopyPicam;
-        camera1_saved_config.usbVID = -1;
-        camera1_saved_config.usbPID = -1;
+                        PVCameraInfo.fromUsbCameraInfo(
+                                new UsbCameraInfo(
+                                        0,
+                                        "/dev/video0",
+                                        "Lifecam HD-3000",
+                                        new String[] {"/dev/v4l/by-path/foobar1"},
+                                        5940,
+                                        5940)));
+        enabledCam.deactivated = false;
+        enabledCam.nickname = "Matt's awesome camera 1";
 
-        var camera2_saved_config =
+        var disabledCam =
                 new CameraConfiguration(
-                        "OV9281", "OV9281 (1)", "test-2", "/base/soc/i2c0mux/i2c@1/ov9281@60", new String[0]);
-        camera2_saved_config.usbVID = -1;
-        camera2_saved_config.usbPID = -1;
-        camera2_saved_config.cameraType = CameraType.ZeroCopyPicam;
+                        PVCameraInfo.fromUsbCameraInfo(
+                                new UsbCameraInfo(
+                                        1,
+                                        "/dev/video1",
+                                        "Lifecam HD-3000",
+                                        new String[] {"/dev/v4l/by-path/foobar2"},
+                                        5940,
+                                        5940)));
+        enabledCam.deactivated = true;
+        enabledCam.nickname = "Matt's awesome camera 2";
 
-        cameraInfos.add(info1);
-        cameraInfos.add(info2);
+        vsm.testCameras = List.of(enabledCam.matchedCameraInfo, disabledCam.matchedCameraInfo);
 
-        // Try matching with both cameras being "known"
-        inst.registerLoadedConfigs(camera1_saved_config, camera2_saved_config);
-        var ret1 = inst.tryMatchCamImpl(cameraInfos);
+        // WHEN cameras are loaded from disk
+        vsm.registerLoadedConfigs(List.of(enabledCam, disabledCam));
 
-        // Our cameras should be "known"
-        assertTrue(inst.knownCameras.contains(info1));
-        assertTrue(inst.knownCameras.contains(info2));
-        assertEquals(2, inst.knownCameras.size());
-        assertEquals(2, ret1.size());
+        // the enabled and disabled cameras will be matched
+        assertEquals(2, vsm.getVsmState().allConnectedCameras.size());
+        assertEquals(1, vsm.getVsmState().disabledConfigs.size());
+        assertEquals(1, vsm.vmm.getModules().size());
 
-        // Exactly one camera should have the path we put in
-        for (int i = 0; i < cameraInfos.size(); i++) {
-            var testPath = cameraInfos.get(i).path;
-            assertEquals(
-                    1, ret1.stream().filter(it -> testPath.equals(it.cameraConfiguration.path)).count());
-        }
+        Thread.sleep(2000);
+
+        vsm.teardown();
     }
 
     @Test
-    public void testNoOtherPaths() {
-        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+    public void testDuplicate() throws InterruptedException, IOException {
+        var fileCamera1 =
+                PVCameraInfo.fromFileInfo(
+                        TestUtils.getApriltagImagePath(TestUtils.ApriltagTestImages.kTag1_640_480, false)
+                                .toAbsolutePath()
+                                .toString(),
+                        "kTag1_640_480");
+        CameraConfiguration camConf1 = new CameraConfiguration(fileCamera1);
+        camConf1.deactivated = true;
 
-        // List of known cameras
-        var cameraInfos = new ArrayList<CameraInfo>();
+        var fileCamera2 =
+                PVCameraInfo.fromFileInfo(
+                        TestUtils.getApriltagImagePath(TestUtils.ApriltagTestImages.kRobots, false)
+                                .toAbsolutePath()
+                                .toString(),
+                        "kTag1_640_480");
+        CameraConfiguration camConf2 = new CameraConfiguration(fileCamera2);
+        camConf2.nickname = camConf1.nickname + " (1)";
+        camConf2.uniqueName += "owo";
+        camConf2.deactivated = true;
 
-        var inst = new VisionSourceManager();
-        ConfigManager.getInstance().clearConfig();
-        ConfigManager.getInstance().load();
-        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = false;
+        var fileCamera3 =
+                PVCameraInfo.fromFileInfo(
+                        TestUtils.getApriltagImagePath(TestUtils.ApriltagTestImages.kTag1_640_480, false)
+                                .toAbsolutePath()
+                                .toString(),
+                        "kTag1_640_480");
 
-        // Match empty camera infos
-        inst.tryMatchCamImpl(cameraInfos);
+        vsm.testCameras = List.of(fileCamera1, fileCamera2, fileCamera3);
 
-        CameraInfo info1 =
-                new CameraInfo(0, "/dev/video0", "Arducam OV2311 USB Camera", new String[] {}, 3141, 25446);
+        List<CameraConfiguration> configs = List.of(camConf1, camConf2);
+        vsm.registerLoadedConfigs(configs);
 
-        cameraInfos.add(info1);
+        vsm.assignUnmatchedCamera(fileCamera3);
 
-        // Match two "new" cameras
-        var ret1 = inst.tryMatchCamImpl(cameraInfos, Platform.LINUX_64);
+        System.out.println(JacksonUtils.serializeToString(ConfigManager.getInstance().getConfig()));
 
-        // Our cameras should be "known"
-        assertFalse(inst.knownCameras.contains(info1));
-        assertEquals(0, inst.knownCameras.size());
-        assertEquals(null, ret1);
-
-        // Match two "new" cameras
-        var ret2 = inst.tryMatchCamImpl(cameraInfos, Platform.WINDOWS_64);
-
-        // Our cameras should be "known"
-        assertTrue(inst.knownCameras.contains(info1));
-        assertEquals(1, inst.knownCameras.size());
-        assertEquals(1, ret2.size());
-    }
-
-    @Test
-    public void testIdenticalCameras() {
-        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
-
-        // List of known cameras
-        var cameraInfos = new ArrayList<CameraInfo>();
-
-        var inst = new VisionSourceManager();
-        ConfigManager.getInstance().clearConfig();
-        ConfigManager.getInstance().load();
-        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = false;
-
-        // Match empty camera infos
-        inst.tryMatchCamImpl(cameraInfos);
-
-        CameraInfo info1 =
-                new CameraInfo(
-                        0,
-                        "/dev/video0",
-                        "Arducam OV2311 USB Camera",
-                        new String[] {
-                            "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0" // V4l doesnt assign
-                            // by-id paths that
-                            // are identical to
-                            // two different
-                            // cameras
-                        },
-                        3141,
-                        25446);
-        CameraInfo info2 =
-                new CameraInfo(
-                        0,
-                        "/dev/video2",
-                        "Arducam OV2311 USB Camera",
-                        new String[] {
-                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
-                            "/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"
-                        },
-                        3141,
-                        25446);
-
-        cameraInfos.add(info1);
-        cameraInfos.add(info2);
-
-        // Match two "new" cameras
-        var ret1 = inst.tryMatchCamImpl(cameraInfos);
-
-        // Our cameras should be "known"
-        assertTrue(inst.knownCameras.contains(info1));
-        assertTrue(inst.knownCameras.contains(info2));
-        assertEquals(2, inst.knownCameras.size());
-        assertEquals(2, ret1.size());
-
-        // Exactly one camera should have the path we put in
-        for (int i = 0; i < cameraInfos.size(); i++) {
-            var testPath = cameraInfos.get(i).getUSBPath().get();
-            assertEquals(
-                    1,
-                    ret1.stream()
-                            .filter(it -> testPath.equals(it.cameraConfiguration.getUSBPath().get()))
-                            .count());
-        }
-
-        // and the names should be unique
-        for (int i = 0; i < ret1.size(); i++) {
-            var thisName = ret1.get(i).cameraConfiguration.uniqueName;
-            assertEquals(
-                    1,
-                    ret1.stream().filter(it -> thisName.equals(it.cameraConfiguration.uniqueName)).count());
-        }
-
-        // duplicate cameras, same info, new ref
-        var duplicateCameraInfos = new ArrayList<CameraInfo>();
-        CameraInfo info1_dup =
-                new CameraInfo(
-                        0,
-                        "/dev/video0",
-                        "Arducam OV2311 USB Camera",
-                        new String[] {
-                            "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0" // V4l doesnt assign
-                            // by-id paths that
-                            // are identical to
-                            // two different
-                            // cameras
-                        },
-                        3141,
-                        25446);
-        CameraInfo info2_dup =
-                new CameraInfo(
-                        0,
-                        "/dev/video2",
-                        "Arducam OV2311 USB Camera",
-                        new String[] {
-                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
-                            "/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"
-                        },
-                        3141,
-                        25446);
-
-        duplicateCameraInfos.add(info1_dup);
-        duplicateCameraInfos.add(info2_dup);
-
-        inst.tryMatchCamImpl(duplicateCameraInfos);
-
-        // Our cameras should be "known", and we should only "know" two cameras still
-        assertTrue(inst.knownCameras.contains(info1_dup));
-        assertTrue(inst.knownCameras.contains(info2_dup));
-        assertEquals(2, inst.knownCameras.size());
-
-        // duplicate cameras this simulates unplugging one and plugging the other in where v4l assigns
-        // the same by-id path to the other camera
-        var duplicateCameraInfos1 = new ArrayList<CameraInfo>();
-        CameraInfo info3_dup =
-                new CameraInfo(
-                        0,
-                        "/dev/video0",
-                        "Arducam OV2311 USB Camera",
-                        new String[] {
-                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
-                            "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0"
-                        },
-                        3141,
-                        25446);
-        CameraInfo info4_dup =
-                new CameraInfo(
-                        0,
-                        "/dev/video2",
-                        "Arducam OV2311 USB Camera",
-                        new String[] {
-                            "/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0" // V4l doesnt assign
-                            // by-id paths that
-                            // are identical to
-                            // two different
-                            // cameras
-                        },
-                        3141,
-                        25446);
-
-        duplicateCameraInfos1.add(info3_dup);
-        duplicateCameraInfos1.add(info4_dup);
-
-        inst.tryMatchCamImpl(duplicateCameraInfos1);
-
-        // Our cameras should be "known", and we should only "know" two cameras still
-        assertTrue(inst.knownCameras.contains(info3_dup));
-        assertTrue(inst.knownCameras.contains(info4_dup));
-        assertEquals(2, inst.knownCameras.size());
+        // And make assertions about the current matching state
+        assertEquals(3, vsm.getVsmState().allConnectedCameras.size());
+        assertEquals(2, vsm.getVsmState().disabledConfigs.size());
+        assertEquals(1, vsm.vmm.getModules().size());
     }
 }

photon-server/src/main/java/org/photonvision/Main.java

@@ -19,12 +19,9 @@ package org.photonvision;
 
 import edu.wpi.first.hal.HAL;
 import java.io.IOException;
-import java.nio.file.Files;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.List;
-import java.util.Objects;
-import java.util.stream.Collectors;
 import org.apache.commons.cli.*;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -41,25 +38,17 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.logging.PvCSCoreLogger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.common.util.numbers.IntegerCouple;
 import org.photonvision.jni.PhotonTargetingJniLoader;
 import org.photonvision.jni.RknnDetectorJNI;
 import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.server.Server;
 import org.photonvision.vision.apriltag.AprilTagFamily;
-import org.photonvision.vision.camera.FileVisionSource;
+import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.opencv.CVMat;
-import org.photonvision.vision.opencv.ContourGroupingMode;
-import org.photonvision.vision.opencv.ContourShape;
 import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
-import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
 import org.photonvision.vision.pipeline.PipelineProfiler;
-import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
-import org.photonvision.vision.processes.VisionModule;
-import org.photonvision.vision.processes.VisionModuleManager;
-import org.photonvision.vision.processes.VisionSource;
 import org.photonvision.vision.processes.VisionSourceManager;
 import org.photonvision.vision.target.TargetModel;
 
@@ -126,11 +115,6 @@ public class Main {
                 }
             }
 
-            if (cmd.hasOption("ignore-cameras")) {
-                VisionSourceManager.getInstance()
-                        .setIgnoredCamerasRegex(cmd.getOptionValue("ignore-cameras"));
-            }
-
             if (cmd.hasOption("disable-networking")) {
                 NetworkManager.getInstance().networkingIsDisabled = true;
             }
@@ -146,156 +130,27 @@ public class Main {
         return true;
     }
 
-    private static void addTestModeFromFolder() {
-        ConfigManager.getInstance().load();
-
-        try {
-            List<VisionSource> collectedSources =
-                    Files.list(testModeFolder)
-                            .filter(p -> p.toFile().isFile())
-                            .map(
-                                    p -> {
-                                        try {
-                                            CameraConfiguration camConf =
-                                                    new CameraConfiguration(
-                                                            p.getFileName().toString(), p.toAbsolutePath().toString());
-                                            camConf.FOV = TestUtils.WPI2019Image.FOV; // Good guess?
-                                            camConf.addCalibration(TestUtils.get2020LifeCamCoeffs(false));
-
-                                            var pipeSettings = new AprilTagPipelineSettings();
-                                            pipeSettings.pipelineNickname = p.getFileName().toString();
-                                            pipeSettings.outputShowMultipleTargets = true;
-                                            pipeSettings.inputShouldShow = true;
-                                            pipeSettings.outputShouldShow = false;
-                                            pipeSettings.solvePNPEnabled = true;
-
-                                            var aprilTag = new AprilTagPipelineSettings();
-                                            var psList = new ArrayList<CVPipelineSettings>();
-                                            psList.add(aprilTag);
-                                            camConf.pipelineSettings = psList;
-
-                                            return new FileVisionSource(camConf);
-                                        } catch (Exception e) {
-                                            logger.error("Couldn't load image " + p.getFileName().toString(), e);
-                                            return null;
-                                        }
-                                    })
-                            .filter(Objects::nonNull)
-                            .collect(Collectors.toList());
-
-            ConfigManager.getInstance().unloadCameraConfigs();
-            VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);
-            ConfigManager.getInstance().addCameraConfigurations(collectedSources);
-        } catch (IOException e) {
-            logger.error("Path does not exist!");
-            System.exit(1);
-        }
-    }
-
     private static void addTestModeSources() {
         ConfigManager.getInstance().load();
 
-        var camConf2019 =
-                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2019");
-        if (camConf2019 == null) {
-            camConf2019 =
-                    new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
-            camConf2019.FOV = TestUtils.WPI2019Image.FOV;
-            camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
-
-            var pipeline2019 = new ReflectivePipelineSettings();
-            pipeline2019.pipelineNickname = "CargoShip";
-            pipeline2019.targetModel = TargetModel.k2019DualTarget;
-            pipeline2019.outputShowMultipleTargets = true;
-            pipeline2019.contourGroupingMode = ContourGroupingMode.Dual;
-            pipeline2019.inputShouldShow = true;
-
-            var psList2019 = new ArrayList<CVPipelineSettings>();
-            psList2019.add(pipeline2019);
-            camConf2019.pipelineSettings = psList2019;
-        }
-
-        var camConf2020 =
-                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2020");
-        if (camConf2020 == null) {
-            camConf2020 =
-                    new CameraConfiguration("WPI2020", TestUtils.getTestMode2020ImagePath().toString());
-            camConf2020.FOV = TestUtils.WPI2020Image.FOV;
-            camConf2020.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
-
-            var pipeline2020 = new ReflectivePipelineSettings();
-            pipeline2020.pipelineNickname = "OuterPort";
-            pipeline2020.targetModel = TargetModel.k2020HighGoalOuter;
-            camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));
-            pipeline2020.inputShouldShow = true;
-
-            var psList2020 = new ArrayList<CVPipelineSettings>();
-            psList2020.add(pipeline2020);
-            camConf2020.pipelineSettings = psList2020;
-        }
-
-        var camConf2022 =
-                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2022");
-        if (camConf2022 == null) {
-            camConf2022 =
-                    new CameraConfiguration("WPI2022", TestUtils.getTestMode2022ImagePath().toString());
-            camConf2022.FOV = TestUtils.WPI2022Image.FOV;
-            camConf2022.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
-
-            var pipeline2022 = new ReflectivePipelineSettings();
-            pipeline2022.pipelineNickname = "OuterPort";
-            pipeline2022.targetModel = TargetModel.k2020HighGoalOuter;
-            pipeline2022.inputShouldShow = true;
-            //        camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));
-
-            var psList2022 = new ArrayList<CVPipelineSettings>();
-            psList2022.add(pipeline2022);
-            camConf2022.pipelineSettings = psList2022;
-        }
-
-        CameraConfiguration camConf2023 =
-                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2023");
-        if (camConf2023 == null) {
-            camConf2023 =
-                    new CameraConfiguration(
-                            "WPI2023",
-                            TestUtils.getResourcesFolderPath(true)
-                                    .resolve("testimages")
-                                    .resolve(TestUtils.WPI2023Apriltags.k383_60_Angle2.path)
-                                    .toString());
-
-            camConf2023.FOV = TestUtils.WPI2023Apriltags.FOV;
-            camConf2023.calibrations.add(TestUtils.get2023LifeCamCoeffs(true));
-
-            var pipeline2023 = new AprilTagPipelineSettings();
-            var path_split = Path.of(camConf2023.path).getFileName().toString();
-            pipeline2023.pipelineNickname = path_split.replace(".png", "");
-            pipeline2023.targetModel = TargetModel.kAprilTag6in_16h5;
-            pipeline2023.inputShouldShow = true;
-            pipeline2023.solvePNPEnabled = true;
-
-            var psList2023 = new ArrayList<CVPipelineSettings>();
-            psList2023.add(pipeline2023);
-            camConf2023.pipelineSettings = psList2023;
-        }
-
         CameraConfiguration camConf2024 =
                 ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2024");
-        if (camConf2024 == null) {
+        if (camConf2024 == null || true) {
             camConf2024 =
                     new CameraConfiguration(
-                            "WPI2024",
-                            TestUtils.getResourcesFolderPath(true)
-                                    .resolve("testimages")
-                                    .resolve(TestUtils.WPI2024Images.kSpeakerCenter_143in.path)
-                                    .toString());
+                            PVCameraInfo.fromFileInfo(
+                                    TestUtils.getResourcesFolderPath(true)
+                                            .resolve("testimages")
+                                            .resolve(TestUtils.WPI2024Images.kSpeakerCenter_143in.path)
+                                            .toString(),
+                                    "WPI2024"));
 
             camConf2024.FOV = TestUtils.WPI2024Images.FOV;
             // same camera as 2023
             camConf2024.calibrations.add(TestUtils.get2023LifeCamCoeffs(true));
 
             var pipeline2024 = new AprilTagPipelineSettings();
-            var path_split = Path.of(camConf2024.path).getFileName().toString();
+            var path_split = Path.of(camConf2024.matchedCameraInfo.path()).getFileName().toString();
             pipeline2024.pipelineNickname = path_split.replace(".jpg", "");
             pipeline2024.targetModel = TargetModel.kAprilTag6p5in_36h11;
             pipeline2024.tagFamily = AprilTagFamily.kTag36h11;
@@ -307,47 +162,11 @@ public class Main {
             camConf2024.pipelineSettings = psList2024;
         }
 
-        // Colored shape testing
-        var camConfShape =
-                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("Shape");
-
-        // If we haven't saved shape settings, create a new one
-        if (camConfShape == null) {
-            camConfShape =
-                    new CameraConfiguration(
-                            "Shape",
-                            TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_1, true)
-                                    .toString());
-            var settings = new ColoredShapePipelineSettings();
-            settings.hsvHue = new IntegerCouple(0, 35);
-            settings.hsvSaturation = new IntegerCouple(82, 255);
-            settings.hsvValue = new IntegerCouple(62, 255);
-            settings.contourShape = ContourShape.Triangle;
-            settings.outputShowMultipleTargets = true;
-            settings.circleAccuracy = 15;
-            settings.inputShouldShow = true;
-            camConfShape.addPipelineSetting(settings);
-        }
-
-        var collectedSources = new ArrayList<VisionSource>();
-
-        var fvsShape = new FileVisionSource(camConfShape);
-        var fvs2019 = new FileVisionSource(camConf2019);
-        var fvs2020 = new FileVisionSource(camConf2020);
-        var fvs2022 = new FileVisionSource(camConf2022);
-        var fvs2023 = new FileVisionSource(camConf2023);
-        var fvs2024 = new FileVisionSource(camConf2024);
-
-        collectedSources.add(fvs2024);
-        // collectedSources.add(fvs2023);
-        // collectedSources.add(fvs2022);
-        // collectedSources.add(fvsShape);
-        // collectedSources.add(fvs2020);
-        // collectedSources.add(fvs2019);
+        var cameraConfigs = List.of(camConf2024);
 
         ConfigManager.getInstance().unloadCameraConfigs();
-        VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);
-        ConfigManager.getInstance().addCameraConfigurations(collectedSources);
+        cameraConfigs.stream().forEach(ConfigManager.getInstance()::addCameraConfiguration);
+        VisionSourceManager.getInstance().registerLoadedConfigs(cameraConfigs);
     }
 
     public static void main(String[] args) {
@@ -475,21 +294,21 @@ public class Main {
             System.exit(0);
         }
 
+        // todo - should test mode just add test mode sources, but still allow local usb cameras to be
+        // added?
         if (!isTestMode) {
             logger.debug("Loading VisionSourceManager...");
             VisionSourceManager.getInstance()
                     .registerLoadedConfigs(
                             ConfigManager.getInstance().getConfig().getCameraConfigurations().values());
-
-            VisionSourceManager.getInstance().registerTimedTask();
         } else {
             if (testModeFolder == null) {
                 addTestModeSources();
-            } else {
-                addTestModeFromFolder();
             }
         }
 
+        VisionSourceManager.getInstance().registerTimedTasks();
+
         logger.info("Starting server...");
         HardwareManager.getInstance().setRunning(true);
         Server.initialize(DEFAULT_WEBPORT);

photon-server/src/main/java/org/photonvision/server/RequestHandler.java

@@ -52,7 +52,8 @@ import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.common.util.file.ProgramDirectoryUtilities;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraQuirk;
-import org.photonvision.vision.processes.VisionModuleManager;
+import org.photonvision.vision.camera.PVCameraInfo;
+import org.photonvision.vision.processes.VisionSourceManager;
 import org.zeroturnaround.zip.ZipUtil;
 
 public class RequestHandler {
@@ -395,7 +396,7 @@ public class RequestHandler {
             logger.info("Changing camera FOV to: " + fov);
             logger.info("Changing quirks to: " + settings.quirksToChange.toString());
 
-            var module = VisionModuleManager.getInstance().getModule(index);
+            var module = VisionSourceManager.getInstance().vmm.getModule(index);
             module.setFov(fov);
             module.changeCameraQuirks(settings.quirksToChange);
 
@@ -474,7 +475,7 @@ public class RequestHandler {
         try {
             index = kObjectMapper.readTree(ctx.bodyInputStream()).get("index").asInt();
 
-            var calData = VisionModuleManager.getInstance().getModule(index).endCalibration();
+            var calData = VisionSourceManager.getInstance().vmm.getModule(index).endCalibration();
             if (calData == null) {
                 ctx.result("The calibration process failed");
                 ctx.status(500);
@@ -551,7 +552,7 @@ public class RequestHandler {
             String name = data.get("name").asText();
             int idx = data.get("cameraIndex").asInt();
 
-            VisionModuleManager.getInstance().getModule(idx).setCameraNickname(name);
+            VisionSourceManager.getInstance().vmm.getModule(idx).setCameraNickname(name);
             ctx.status(200);
             ctx.result("Successfully changed the camera name to: " + name);
             logger.info("Successfully changed the camera name to: " + name);
@@ -581,7 +582,8 @@ public class RequestHandler {
         var observationIdx = Integer.parseInt(ctx.queryParam("snapshotIdx"));
 
         CameraCalibrationCoefficients calList =
-                VisionModuleManager.getInstance()
+                VisionSourceManager.getInstance()
+                        .vmm
                         .getModule(idx)
                         .getStateAsCameraConfig()
                         .calibrations
@@ -631,7 +633,7 @@ public class RequestHandler {
         var width = Integer.parseInt(ctx.queryParam("width"));
         var height = Integer.parseInt(ctx.queryParam("height"));
 
-        var cc = VisionModuleManager.getInstance().getModule(idx).getStateAsCameraConfig();
+        var cc = VisionSourceManager.getInstance().vmm.getModule(idx).getStateAsCameraConfig();
 
         CameraCalibrationCoefficients calList =
                 cc.calibrations.stream()
@@ -818,19 +820,63 @@ public class RequestHandler {
                 FileUtils.deleteDirectory(cameraDir);
             }
 
-            // prevent -anyone- else from writing camera configs -- but flush first
-            ConfigManager.getInstance().saveToDisk();
-            ConfigManager.getInstance().setWriteTaskEnabled(false);
-            ConfigManager.getInstance().disableFlushOnShutdown();
-            // remove the config from the global config and force-flush
-            ConfigManager.getInstance().getConfig().removeCameraConfig(name);
-            ConfigManager.getInstance().saveToDisk();
+            VisionSourceManager.getInstance().deleteVisionSource(name);
+
             ctx.status(200);
-            restartProgram();
         } catch (IOException e) {
             // todo
             logger.error("asdf", e);
             ctx.status(500);
         }
     }
+
+    public static void onActivateMatchedCameraRequest(Context ctx) {
+        logger.info(ctx.queryString().toString());
+
+        String uniqueName = ctx.queryParam("uniqueName");
+
+        if (VisionSourceManager.getInstance().reactivateDisabledCameraConfig(uniqueName)) {
+            ctx.status(200);
+        } else {
+            ctx.status(403);
+        }
+
+        ctx.result("Successfully assigned camera with unique name: " + uniqueName);
+    }
+
+    public static void onAssignUnmatchedCameraRequest(Context ctx) {
+        logger.info(ctx.queryString().toString());
+
+        PVCameraInfo camera;
+        try {
+            camera = JacksonUtils.deserialize(ctx.queryParam("cameraInfo"), PVCameraInfo.class);
+        } catch (IOException e) {
+            ctx.status(401);
+            return;
+        }
+
+        if (VisionSourceManager.getInstance().assignUnmatchedCamera(camera)) {
+            ctx.status(200);
+        } else {
+            ctx.status(403);
+        }
+
+        ctx.result("Successfully assigned camera: " + camera);
+    }
+
+    public static void onUnassignCameraRequest(Context ctx) {
+        logger.info(ctx.queryString().toString());
+
+        String uniqueName = ctx.queryParam("uniqueName");
+
+        if (VisionSourceManager.getInstance().deactivateVisionSource(uniqueName)) {
+            ctx.status(200);
+        } else {
+            ctx.status(403);
+        }
+
+        ctx.status(200);
+
+        ctx.result("Successfully assigned camera with unique name: " + uniqueName);
+    }
 }

photon-server/src/main/java/org/photonvision/server/Server.java

@@ -136,6 +136,9 @@ public class Server {
         app.get("/api/utils/getCalibrationJSON", RequestHandler::onCalibrationExportRequest);
         app.post("/api/utils/nukeConfigDirectory", RequestHandler::onNukeConfigDirectory);
         app.post("/api/utils/nukeOneCamera", RequestHandler::onNukeOneCamera);
+        app.post("/api/utils/activateMatchedCamera", RequestHandler::onActivateMatchedCameraRequest);
+        app.post("/api/utils/assignUnmatchedCamera", RequestHandler::onAssignUnmatchedCameraRequest);
+        app.post("/api/utils/unassignCamera", RequestHandler::onUnassignCameraRequest);
 
         // Calibration
         app.post("/api/calibration/end", RequestHandler::onCalibrationEndRequest);